CN208337028U - A kind of overhead transmission line circuit scanning test robot walking clipping mechanism - Google Patents
A kind of overhead transmission line circuit scanning test robot walking clipping mechanism Download PDFInfo
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- CN208337028U CN208337028U CN201821075961.9U CN201821075961U CN208337028U CN 208337028 U CN208337028 U CN 208337028U CN 201821075961 U CN201821075961 U CN 201821075961U CN 208337028 U CN208337028 U CN 208337028U
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- line circuit
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Abstract
The utility model relates to overhead transmission line circuit scanning test robot technical fields, specially a kind of overhead transmission line circuit scanning test robot walking clipping mechanism, including robot body's frame and ground wire, clamping device ontology is arranged in the middle part of robot body's frame, and the upper end two sides of robot body's frame are respectively provided with mounting groove, grafting sensor in the mounting groove, and the side wall of mounting groove is fixed by the screw through grafting, the beneficial effects of the utility model are: a kind of overhead transmission line circuit scanning test robot walking clipping mechanism provided by the utility model, using servo driving eccentric wheel to realize elevating function, it is simple with structure, it is easy for installation, control is easy, repetitive positioning accuracy is high；Guide post and sliding straight bearing guiding can greatly improve bearing capacity, and frictional resistance is smaller, compact-sized, to mitigate the weight of walking clipping mechanism entirety.
Description
Technical field
The utility model relates to overhead transmission line circuit scanning test robot technical field, specially a kind of overhead transmission line is patrolled
Examine robot walking clipping mechanism.
Background technique
In recent years, with China's rapid economic development, power grid scale is also expanded rapidly, and user is to electric network reliability requirement
Higher and higher, overhead transmission line circuit scanning test robot etc. comes into being, robot replace manual work using more more and more universal,
The safety of line robot on-line operation is also increasingly taken seriously.In existing EHV transmission line patrol robot mechanism
In, it is most of using the composite moving mechanism being composed of wheel type mobile and compound linkages or using the mobile list of multiple groups
The Multi-degree-of-freedom moving mechanism that member is composed in series.Structure is complicated for these crusing robots, weight is big, and leaping over obstacles process is multiple
Miscellaneous, more Downtime is long, and the speed of travel is slow, and ramp angle is small, and security protection is poor when walking, accordingly, it is difficult to be applied to practical
Aerial high-voltage power transmission line inspection operation in.
Utility model content
The purpose of this utility model is to provide a kind of overhead transmission line circuit scanning test robot walking clipping mechanisms, to solve
The problems mentioned above in the background art.
To achieve the above object, the utility model provides the following technical solutions: a kind of overhead transmission line circuit scanning test robot
Clamping device sheet is arranged in the middle part of walking clipping mechanism, including robot body's frame and ground wire, robot body's frame
Body, and the upper end two sides of robot body's frame are respectively provided with mounting groove, grafting sensor in the mounting groove, and the side of mounting groove
Wall is fixed by the screw through grafting, and robot body's frame drives close to the position of sensor setting robot ambulation
Driving wheel system, the lower end of the clamping device ontology are fixed with Zeng Wen mechanism of robot by screw, under Zeng Wen mechanism of robot
End has been connected by screw to holder, and the ground wire is interspersed in clamping device ontology, and the side of Zeng Wen mechanism is fixedly mounted and passes
Sensor trigger unit.
Preferably, the clamping device ontology include, eccentric wheel, compressed spring, guide post, guiding mounting base, clamping wheel,
Bottom plate and driving part are gone up and down, installation cavity is arranged in the middle part of robot body's frame, and the driving part is pacified by the way that screw is fixed
Mounted in the bottom end of installation cavity, and the two sides in driving part of installation cavity pass through perforative screw fixed guide column, guiding respectively
Mounting base and lifting bottom plate are respectively positioned between two guide posts, and the both ends for being oriented to mounting base and lifting bottom plate are socketed in respectively
In guide post, two compressed springs are placed between the guiding mounting base and lifting bottom plate, and compressed spring is socketed in leads respectively
To on column, clamping wheel is equipped with by fixed wheel shaft in the guiding mounting base, socket is solid on the central axis of the driving part
Determine eccentric wheel, the eccentric wheel and lifting contacts baseplate, the lower end in contact of the ground wire and robot ambulation drive train, and ground
The upper-end contact of line and clamping wheel.
Preferably, the hoofing part train is arranged two groups, and hoofing part train is respectively positioned on the interior of sensor, the row
Walking drive train includes driving wheel, and the ground contact is connected in the middle part of the lower end of driving wheel.
Preferably, the guide post is connect by the linear bearing of socket with lifting bottom plate.
Preferably, bearing is set between the clamping wheel and fixed wheel shaft.
Preferably, the driving part is steering engine.
Compared with prior art, the utility model has the beneficial effects that a kind of overhead transmission line provided by the utility model
Circuit scanning test robot walking clipping mechanism realizes elevating function using servo driving eccentric wheel, has structure simple, installation
Convenient, control is easy, and repetitive positioning accuracy is high；Guide post and sliding straight bearing guiding can greatly improve bearing capacity, rub
It is smaller to wipe resistance, it is compact-sized, to mitigate the weight of walking clipping mechanism entirety；
Detailed description of the invention
Fig. 1 is the structural side view of the utility model；
Fig. 2 is the clamping wheel structural schematic diagram of the utility model.
In figure: 1- robot ambulation drive train；2- robot body's frame；3- clamping device ontology；4- sensor；5-
Ground wire；Zeng Wen mechanism of 6- robot；7- holder；8- eccentric wheel；9- compressed spring；10- guide post；11- is oriented to mounting base；12-
Clamping wheel；13- goes up and down bottom plate；14- driving part.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
The utility model provides a kind of technical solution referring to FIG. 1-2: a kind of overhead transmission line circuit scanning test robot walking
Clamping device ontology 3 is arranged in clamping device, including robot body's frame 2 and ground wire 5, the middle part of robot body's frame 2, and
The upper end two sides of robot body's frame 2 are respectively provided with mounting groove, grafting sensor 4 in mounting groove, and the side wall of mounting groove passes through
Screw through grafting is fixed, and robot ambulation drive train 1 is arranged in the position close to sensor 4 in robot body's frame 2
The lower end of clamping device ontology 3 is fixed with Zeng Wen mechanism of robot 6 by screw, and the lower end of Zeng Wen mechanism of robot 6 passes through spiral shell
Nail is connected with holder 7, and ground wire 5 is interspersed in clamping device ontology 3, and sensor-triggered is fixedly mounted in the side of Zeng Wen mechanism 6
Component.
Clamping device ontology 3 includes eccentric wheel 8, compressed spring 9, guide post 10, guiding mounting base 11, clamping wheel 12, rises
Bottom plate 13 and driving part 14 drop, and driving part 14 is steering engine.
Installation cavity is arranged in the middle part of robot body's frame 2, and driving part 14 is fixedly mounted on installation cavity by screw
Bottom end, and the two sides in driving part 14 of installation cavity are oriented to mounting base 11 respectively by perforative screw fixed guide column 10
And lifting bottom plate 13 is respectively positioned between two guide posts 10, and the both ends for being oriented to mounting base 11 and lifting bottom plate 13 are socketed respectively
In guide post 10, guide post 10 is connect by the linear bearing of socket with lifting bottom plate 13.It is oriented to mounting base 11 and lifting bottom
Two compressed springs 9 are placed between plate 13, and compressed spring 9 is socketed in respectively in guide post 10, be oriented in mounting base 11 and pass through
Fixed wheel shaft is equipped with clamping wheel 12, and bearing is arranged between clamping wheel 12 and fixed wheel shaft, covers on the central axis of driving part 14
Fixed eccentric 8 is connect, eccentric wheel 8 is contacted with lifting bottom plate 13, the lower end in contact of ground wire 5 and robot ambulation drive train 1, and
The upper-end contact of ground wire 5 and clamping wheel 12.Hoofing part train 1 is arranged two groups, and hoofing part train 1 includes driving wheel, ground wire 5
It connects in the middle part of the lower end of driving wheel.
When utility model works, steering engine is fixed on robot body's frame, and driving part 14 i.e. steering engine passes through exclusive
Flange is connect with eccentric wheel 8, and lifting bottom plate 13 is connect with guide post 10 by sliding straight bearing, and eccentric wheel 8 is gone up and down when rotating
Bottom plate 13 can be moved back and forth along guide post 10, and clamping wheel 12 is connected on fixed wheel shaft by bearing, allow clamping wheel 12 around
Axle center is freely rotated, and is oriented between mounting base 11 and lifting bottom plate 13 and compressed spring 9 is arranged, when guiding is installed, 11 by downward
Pressure when compressed spring 9 compressed, to generate certain bounce.Limit of two sensors 4 as limit position is set
Switch, after determining stroke, sensor 4 is fixed on robot body's frame 2, the aluminium alloy of robot body's frame 2
There are screw slots above profile shapes, be adjusted so position can according to need, sensor-triggered component 11 is mounted on robot
In Zeng Wen mechanism 6, moved together with Zeng Wen mechanism of robot 6, when Zeng Wen mechanism of robot 6 moves to stroke limit position,
11 trigger sensor 4 of sensor-triggered component, driving part 14 stop running immediately, and the utility model compares traditional robot
Device, security protection is high when walking, conveniently using in actual aerial high-voltage power transmission line inspection operation.
While there has been shown and described that the embodiments of the present invention, for the ordinary skill in the art,
It is understood that these embodiments can be carried out with a variety of variations in the case where not departing from the principles of the present invention and spirit, repaired
Change, replacement and variant, the scope of the utility model is defined by the appended claims and the equivalents thereof.
Claims (6)
1. a kind of overhead transmission line circuit scanning test robot walking clipping mechanism, including robot body's frame (2) and ground wire (5),
It is characterized by: clamping device ontology (3) are arranged in the middle part of robot body's frame (2), and robot body's frame (2)
Upper end two sides be respectively provided with mounting groove, grafting sensor (4) in the mounting groove, and the side wall of mounting groove passes through through grafting
Screw is fixed, and robot ambulation drive train (1) is arranged in the position close to sensor (4) in robot body's frame (2),
The lower end of the clamping device ontology (3) is fixed with Zeng Wen mechanism of robot (6) by screw, Zeng Wen mechanism of robot (6)
Lower end has been connected by screw to holder (7), and the ground wire (5) is interspersed in clamping device ontology (3), and Zeng Wen mechanism (6)
Sensor-triggered component is fixedly mounted in side.
2. a kind of overhead transmission line circuit scanning test robot walking clipping mechanism according to claim 1, it is characterised in that: institute
Stating clamping device ontology (3) includes eccentric wheel (8), compressed spring (9), guide post (10), guiding mounting base (11), clamping wheel
(12), bottom plate (13) and driving part (14) are gone up and down, installation cavity, the driving portion is arranged in the middle part of robot body's frame (2)
Part (14) is fixedly mounted on the bottom end of installation cavity by screw, and the two sides in driving part (14) of installation cavity pass through pass through respectively
The screw fixed guide column (10) worn, is oriented to mounting base (11) and lifting bottom plate (13) is respectively positioned between two guide posts (10),
And the both ends for being oriented to mounting base (11) and lifting bottom plate (13) are socketed in respectively on guide post (10), the guiding mounting base
(11) two compressed springs (9) are placed between lifting bottom plate (13), and compressed spring (9) is socketed in guide post (10) respectively
On, it is equipped with clamping wheel (12) on the guiding mounting base (11) by fixed wheel shaft, the central axis of the driving part (14)
On be sleeved and fixed eccentric wheel (8), the eccentric wheel (8) with lifting bottom plate (13) contact, the ground wire (5) and robot ambulation drive
The lower end in contact of driving wheel system (1), and the upper-end contact of ground wire (5) and clamping wheel (12).
3. a kind of overhead transmission line circuit scanning test robot walking clipping mechanism according to claim 1, it is characterised in that: institute
It states hoofing part train (1) and is arranged two groups, the hoofing part train (1) includes driving wheel, and the ground wire (5) connects
In the middle part of the lower end of driving wheel.
4. a kind of overhead transmission line circuit scanning test robot walking clipping mechanism according to claim 2, it is characterised in that: institute
Guide post (10) are stated to connect by the linear bearing of socket with lifting bottom plate (13).
5. a kind of overhead transmission line circuit scanning test robot walking clipping mechanism according to claim 2, it is characterised in that: institute
It states and bearing is set between clamping wheel (12) and fixed wheel shaft.
6. a kind of overhead transmission line circuit scanning test robot walking clipping mechanism according to claim 2, it is characterised in that: institute
Stating driving part (14) is steering engine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821075961.9U CN208337028U (en) | 2018-07-09 | 2018-07-09 | A kind of overhead transmission line circuit scanning test robot walking clipping mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821075961.9U CN208337028U (en) | 2018-07-09 | 2018-07-09 | A kind of overhead transmission line circuit scanning test robot walking clipping mechanism |
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| CN208337028U true CN208337028U (en) | 2019-01-04 |
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| CN201821075961.9U Active CN208337028U (en) | 2018-07-09 | 2018-07-09 | A kind of overhead transmission line circuit scanning test robot walking clipping mechanism |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111761594A (en) * | 2020-09-02 | 2020-10-13 | 天津市普迅电力信息技术有限公司 | Robot driving system for urban comprehensive pipe gallery |
| CN112072544A (en) * | 2020-08-25 | 2020-12-11 | 杭州电子科技大学 | Walking type power line obstacle crossing inspection robot along line |
| CN112886471A (en) * | 2021-03-15 | 2021-06-01 | 国家电网有限公司 | High-voltage line inspection robot |
| WO2021121016A1 (en) * | 2019-12-16 | 2021-06-24 | 京东数科海益信息科技有限公司 | Rail-mounted robot and inspection system |
| CN113022869A (en) * | 2021-03-02 | 2021-06-25 | 郑州工业应用技术学院 | Line inspection robot |
| CN114918892A (en) * | 2022-04-20 | 2022-08-19 | 中铁大桥局集团有限公司 | Track type bridge inspection robot |
-
2018
- 2018-07-09 CN CN201821075961.9U patent/CN208337028U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021121016A1 (en) * | 2019-12-16 | 2021-06-24 | 京东数科海益信息科技有限公司 | Rail-mounted robot and inspection system |
| CN112072544A (en) * | 2020-08-25 | 2020-12-11 | 杭州电子科技大学 | Walking type power line obstacle crossing inspection robot along line |
| CN111761594A (en) * | 2020-09-02 | 2020-10-13 | 天津市普迅电力信息技术有限公司 | Robot driving system for urban comprehensive pipe gallery |
| CN113022869A (en) * | 2021-03-02 | 2021-06-25 | 郑州工业应用技术学院 | Line inspection robot |
| CN112886471A (en) * | 2021-03-15 | 2021-06-01 | 国家电网有限公司 | High-voltage line inspection robot |
| CN114918892A (en) * | 2022-04-20 | 2022-08-19 | 中铁大桥局集团有限公司 | Track type bridge inspection robot |
| CN114918892B (en) * | 2022-04-20 | 2023-05-30 | 中铁大桥局集团有限公司 | Rail mounted bridge inspection robot |
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