CN208571433U - A kind of high-voltage line crusing robot - Google Patents

A kind of high-voltage line crusing robot Download PDF

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Publication number
CN208571433U
CN208571433U CN201820877988.3U CN201820877988U CN208571433U CN 208571433 U CN208571433 U CN 208571433U CN 201820877988 U CN201820877988 U CN 201820877988U CN 208571433 U CN208571433 U CN 208571433U
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CN
China
Prior art keywords
servo motor
support
telescopic rod
output shaft
boss
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Expired - Fee Related
Application number
CN201820877988.3U
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Chinese (zh)
Inventor
胡伟
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Chengdu Golden Bug Technology Co Ltd
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Chengdu Golden Bug Technology Co Ltd
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Priority to CN201820877988.3U priority Critical patent/CN208571433U/en
Application granted granted Critical
Publication of CN208571433U publication Critical patent/CN208571433U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model discloses a kind of high-voltage line crusing robots, belong to the robotic technology field of high-voltage line inspection.Including support frame, at least three pairs of telescopic rods are arranged in the upper surface of support frame, telescopic rod is equipped with first servo motor by close end, the output shaft axis of first servo motor is vertical with flexible rod axis, the output shaft of first servo motor is equipped with first support, the end of first support is equipped with the second servo motor, the output shaft of second servo motor is equipped with second support, the end of second support is equipped with third servo motor, the output shaft of third servo motor is equipped with U-shaped idler wheel, support frame lower end surface is equipped with opposite first boss and second boss, first boss and second boss are equipped with screw rod, control cabinet is equipped with the screw thread matched with screw rod, control cabinet is placed in the middle part of screw rod, first telescopic rod, second telescopic rod and third telescopic rod successively throwing over barrier, a device completes throwing over barrier.

Description

A kind of high-voltage line crusing robot
Technical field
The utility model relates to robotic technology field, in particular to a kind of inspection that can cross obstacle on high-voltage line is mechanical Device.
Background technique
High voltage power transmission is generally transmitted frequently with the overhead line mode of steel tower carrying, using high pressure and super-pressure overhead power transmission line It is the major way of long range transmission & distribution electric power.Power line and shaft tower attachment are chronically exposed to field, because by lasting machinery Power, it is electrical dodge iron, the influence of material aging and be easy to produce stranded, abrasion, corrosion equivalent damage, such as repair replacement not in time, it is former This small breakage and defect may expand, and eventually lead to major accident, cause the power failure and huge economic damage of large area It loses.Currently there are mainly two types of the methods of transmission pressure inspection, maintenance: ground ocular estimate and aerophotographic method.Ocular estimate is used and is manually patrolled Inspection, this method large labor intensity, working efficiency and detection accuracy are low, poor reliability, and there are inspection blind areas;Aerophotographic method is using straight Aircraft line walking is risen, although this method has higher detection efficiency and precision, but this method is by the system of some environmental factors About, while the technical difficulty of inspection is high, and operating cost is higher.The development of inspection robot technology is the inspection of high voltage transmission line Work provides new technological means.
The technical research of existing inspection robot has been achieved for certain corresponding achievement, but for existing on transmission line of electricity Barrier can not cross over, can not achieve the continuous inspection of extra high voltage network.Therefore, it is necessary to which providing one kind can mitigate Labor intensity reduces operating cost, and is capable of the inspection robot mechanical structure of throwing over barrier.In patent In CN201610321148.4, author proposes a kind of traveling wheel and mechanical arm combined type inspection robot mechanical structure and its obstacle detouring Method, when encountering barrier, the first manipulator is fixed, and rack drives traveling wheel and the second machinery by the first rotating base Hand rotates 180 °, to clear the jumps, but this patent can have a problem that manipulator is fixed, manipulator is to be in One end of device, rotating base drive traveling wheel and the second manipulator to rotate 180 °, can generate during embodiment very big Torque, and the torque generated is that almost all is applied on high-voltage line, it is very big to the damage of high-voltage line.
Utility model content
The utility model aim is: in view of the above problems, being capable of crossing over blockage when to detect high pressure line process Object, and be unlikely to generate big torque during crossing conventional obstacles (such as insulator chain, aluminium hydraulic pressed connecting pipe, suspension clamp), it mentions A kind of inspection mechanical device for crossing obstacle on high-voltage line out, reduces labor intensity, reduces operating cost.
The purpose of this utility model is achieved through the following technical solutions:
At least three pairs of telescopic rods are arranged in the upper surface of a kind of high-voltage line crusing robot, including support frame, support frame as described above, The telescopic rod is equipped with the first slide assemblies and the second slide assemblies, and first slide assemblies include first servo motor, The first servo motor a is fixed on telescopic rod, and the output shaft axis of first servo motor a is vertical with flexible rod axis, institute The output shaft for stating first servo motor a is equipped with first support a, and the end of the first support a is equipped with the second servo motor a, institute The output shaft axis for stating the second servo motor a is vertical with first support a axis, and the output shaft of the second servo motor a is equipped with The end of second support a, the second support a are equipped with third servo motor a, the output shaft axis of the third servo motor a Vertical with second support a axis, the output shaft of the third servo motor a is equipped with U-shaped idler wheel;Second slide assemblies include First servo motor b, the first servo motor b are fixed on telescopic rod, the output shaft axis of first servo motor b and flexible Rod axis is vertical, and the output shaft of the first servo motor b is equipped with first support b, and the end of the first support b is equipped with second Servo motor b, the output shaft axis of the second servo motor b is vertical with first support b axis, the second servo motor b Output shaft be equipped with second support b, the upper end of second support b is equipped with the connecting rod vertical with the second support b, the connection Bar is equipped with U-shaped idler wheel far from one end of second support b;First slide assemblies are power source component, and the first slide assemblies are extremely It is equipped on two pairs and the telescopic rod that is respectively provided at both sides less, second slide assemblies are at least provided with a pair;Support frame as described above Upper surface center is equipped with detection device, and support frame as described above lower end surface is equipped with control cabinet.
Preferably, the upper end of the second support in second slide assemblies is equipped with third servo motor, the third The output end and connecting rod of servo motor are connected far from one end of U-shaped idler wheel.
Preferably, support frame as described above lower end surface is equipped with opposite first boss and second boss, the first boss and the Two boss are equipped with screw rod, and the control cabinet is equipped with the screw thread matched with screw rod, and the control cabinet is placed in the middle part of screw rod.
Preferably, it is equipped with bearing in the first boss, is equipped with the screw thread matched with screw rod bar in the second boss, Described screw rod one end is placed in bearing, and the screw rod other end is connected with servo motor, and the servo motor is fixed on second boss On.
Preferably, second slide assemblies are placed among the first slide assemblies, and are distributed between waiting.
Preferably, the length of the second support is greater than 50mm.
Compared with prior art, caused by the utility model the utility model has the advantages that
U-shaped idler wheel is set up on high-tension line, is driven screw rod movement by servo motor, is come so as to adjust the position of control cabinet The position of centre of gravity of adjustment whole device can make whole device transport forward when inspection high-voltage line front half section by adjusting center of gravity Dynamic, when needing throwing over barrier, telescopic rod elongation, the second servo motor drives second support rotation, so that U-shaped idler wheel deviates High-voltage line, telescopic rod shorten, and first servo motor drives first support rotation, so that second support is in horizontal plane hereinafter, whole A device travels forward, and after telescopic rod breaks the barriers, telescopic rod elongation repeats the inverse process that U-shaped idler wheel is detached from high-voltage line, the The U-shaped idler wheel of one telescopic rod is returned on high-voltage line, until all telescopic rods with this step by being broken the barriers, it is entire to fill It sets and completes throwing over barrier.
Detailed description of the invention
Fig. 1 is the mechanical device structure schematic diagram of the high-voltage line inspection of the utility model;
Fig. 2 is Telescopic rod structure schematic diagram in Fig. 1;
Fig. 3-8 is the structural schematic diagram of the inspection device obstacle detouring process of the utility model;
In figure, 1- control cabinet;2- first boss;3- second boss;4- screw rod;5- servo motor;6- support frame;7- detection Device;The first telescopic rod of 8-;801- first support a;802- second support a;The U-shaped idler wheel a of 803-;804- first servo motor a;The second servo motor of 805- a;806- third servo motor a;The second telescopic rod of 9-;901- first support b;902- second support b;The U-shaped idler wheel b of 903-;904- first servo motor b;The second servo motor of 905- b;906- third servo motor b;10- third Telescopic rod;11- high-voltage line;12- barrier.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawings and detailed description.The reality of the utility model The mode of applying includes but is not limited to the following example.
Embodiment 1
As shown in figures 1-8, a kind of high-voltage line crusing robot, which is characterized in that including support frame 6, support frame as described above 6 Upper surface be arranged at least three pairs of telescopic rods, the telescopic rod be equipped with the first slide assemblies and the second slide assemblies, described first Slide assemblies include first servo motor a804, and the first servo motor a804 is fixed on telescopic rod, first servo motor The output shaft axis of a804 is vertical with flexible rod axis, and the output shaft of the first servo motor a804 is equipped with first support The end of a801, the first support a801 are equipped with the second servo motor a805, the output shaft of the second servo motor a805 Axis is vertical with first support a801 axis, and the output shaft of the second servo motor a805 is equipped with second support a802, described The end of second support a802 is equipped with third servo motor a806, the output shaft axis and second of the third servo motor a806 Bracket a802 axis is vertical, and the output shaft of the third servo motor a806 is equipped with U-shaped idler wheel a803.Second slide assemblies Including first servo motor b904, the first servo motor b904 is fixed on telescopic rod, and first servo motor b904's is defeated Shaft axis is vertical with flexible rod axis, and the output shaft of the first servo motor b904 is equipped with first support b901, and described the The end of one bracket b901 is equipped with the second servo motor b905, the output shaft axis of the second servo motor b905 and first Frame b901 axis is vertical, and the output shaft of the second servo motor b905 is equipped with second support b902, and second support b902's is upper End is equipped with the connecting rod 906 vertical with the second support b, and the connecting rod 906 is equipped with U far from one end of second support b902 Type idler wheel 903.First slide assemblies are power source component, and the first slide assemblies are at least provided with two pairs and are separately positioned on two On the telescopic rod of side, second slide assemblies are at least provided with a pair.
Further, 6 upper surface center of support frame is equipped with detection device 7, and detection device 7 is used to detect the quality of high-voltage line Situation.
Further, 6 lower end surface of support frame is equipped with control cabinet 1, and control cabinet 1 is used to place the devices such as power supply and Setup Controller Part.
Further, 6 lower end surface of support frame is equipped with opposite first boss 2 and second boss 3, first boss 2 and second Boss 3 is equipped with screw rod 4, and control cabinet 1 is equipped with the screw thread matched with screw rod 4, and control cabinet 1 is placed in 4 middle part of screw rod, Ke Yiyong To adjust control cabinet in the position of 6 bottom of support frame.
Further, it is equipped bearing in first boss 2, is equipped with the screw thread matched with screw rod 4, silk in second boss 3 4 one end of bar is placed in bearing, and 4 other end of screw rod is equipped with servo motor 5, and servo motor 5 is fixed in second boss 3, this structure It may be implemented to automatically control control cabinet in the position of 6 bottom of support frame, screw rod movement driven by servo motor, so as to adjust control The position of case processed can make whole to adjust the position of centre of gravity of whole device when inspection high-voltage line front half section by adjusting center of gravity A device moves forward.
Further, second slide assemblies are placed among the first slide assemblies, and are distributed between waiting, as far as possible by device Gravity's center control is at the midpoint of support frame 6.
Further, the branch length that the second support of L-type is connected with the second servo motor 5 should be greater than 50mm, be in order to It prevents telescopic rod in elongation process, when U-shaped idler wheel is detached from high-voltage line, is unlikely to too close close to high-voltage line at the top of telescopic rod.
In the present embodiment, first slide assemblies are arranged two pairs, and are respectively placed on the telescopic rod of two sides, and second is sliding Dynamic component setting is a pair of, among two pair of first slide assemblies.For sake of convenience, telescopic rod from left to right is denoted as respectively One telescopic rod 8, the second telescopic rod 9 and third telescopic rod 10, the first telescopic rod 8 and third telescopic rod 10 are equipped with the first Slide Group Part, the second telescopic rod 9 are equipped with the second slide assemblies.
Detailed process is as follows:
U-shaped idler wheel is set up on high-tension line, is driven screw rod movement by servo motor, is come so as to adjust the position of control cabinet The position of centre of gravity for adjusting whole device suitably adjusts the stability of the position holding device of control cabinet according to detection environment, when patrolling When examining high-voltage line front half section, by adjusting center of gravity whole device can be moved forward.It is first when device has detected barrier First, the first telescopic rod 8 elongation, the second telescopic rod 9 and third telescopic rod 10 are motionless, and then the second servo motor a805 drives second Bracket a802 rotation, so that U-shaped idler wheel a803 is detached from high-voltage line, the first telescopic rod 8 shortens, and first servo motor a804 drives the One bracket a801 rotation so that second support a802 be in horizontal plane hereinafter, third telescopic rod 10 third servo motor a806 Rotation drives the continuation of the U-shaped idler wheel of the second telescopic rod 9 and third telescopic rod 10 to travel forward along high-voltage line, and the first telescopic rod 8 is logical After crossing barrier, first servo motor a804 is reversed, and first servo motor a804 drives first support a801 rotation, so that second Bracket a802 is vertical direction, and the first telescopic rod 8 extends, and the second servo motor a805 is reversed, and U-shaped idler wheel a803 is driven to be in height Above crimping, the first telescopic rod 8 shortens, and U-shaped idler wheel a803 is acted on high-voltage line, the third servo motor of the first telescopic rod 8 A806 rotation, drives the U-shaped idler wheel a803 of the first telescopic rod 8 to advance along high-voltage line;After second telescopic rod 9 encounters barrier, The movement of the first telescopic rod 8 is repeated, the first telescopic rod 8 and third telescopic rod 10 are motionless, until the second telescopic rod 9 clears the jumps; After third telescopic rod 10 encounters barrier, the movement of the first telescopic rod 8 is repeated, the first telescopic rod 8 and the second telescopic rod 9 are motionless, directly It clears the jumps to the second telescopic rod 9, whole device completes throwing over barrier.
It is as described above the embodiments of the present invention.The utility model is not limited to above embodiment, anyone It should learn the structure change made under the enlightenment of the utility model, it is all that there is same or similar skill with the utility model Art scheme, each falls within the protection scope of the utility model.

Claims (6)

1. a kind of high-voltage line crusing robot, which is characterized in that including support frame, the upper surface setting at least three of support frame as described above To telescopic rod, the telescopic rod is equipped with the first slide assemblies and the second slide assemblies, and first slide assemblies include first Servo motor, the first servo motor a are fixed on telescopic rod, the output shaft axis and telescopic rod axis of first servo motor a Line is vertical, and the output shaft of the first servo motor a is equipped with first support a, and the end of the first support a is equipped with the second servo Motor a, the output shaft axis of the second servo motor a is vertical with first support a axis, and the second servo motor a's is defeated Shaft is equipped with second support a, and the end of the second support a is equipped with third servo motor a, and the third servo motor a's is defeated Shaft axis is vertical with second support a axis, and the output shaft of the third servo motor a is equipped with U-shaped idler wheel a;Described second is sliding Dynamic component includes first servo motor b, and the first servo motor b is fixed on telescopic rod, the output shaft of first servo motor b Axis is vertical with flexible rod axis, and the output shaft of the first servo motor b is equipped with first support b, the end of the first support b Portion is equipped with the second servo motor b, and the output shaft axis of the second servo motor b is vertical with first support b axis, and described second The output shaft of servo motor b is equipped with second support b, and the upper end of second support b is equipped with the connection vertical with the second support b Bar, the connecting rod are equipped with U-shaped idler wheel b far from one end of second support b;First slide assemblies are power source component, the One slide assemblies are at least provided with two pairs and on the telescopic rod that is respectively provided at both sides, and second slide assemblies are at least provided with one It is right;Support frame as described above upper surface center is equipped with detection device, and support frame as described above lower end surface is equipped with control cabinet.
2. a kind of high-voltage line crusing robot according to claim 1, which is characterized in that in second slide assemblies Second support b upper end be equipped with third servo motor b, the output end and connecting rod of the third servo motor b is far from U-shaped One end of idler wheel b connects.
3. a kind of high-voltage line crusing robot according to claim 1, which is characterized in that support frame as described above lower end surface is set There are opposite first boss and second boss, the first boss and second boss are equipped with screw rod, and the control cabinet is equipped with The screw thread matched with screw rod, the control cabinet are placed in the middle part of screw rod.
4. a kind of high-voltage line crusing robot according to claim 3, which is characterized in that be equipped in the first boss Bearing, the second boss is interior to be equipped with the screw thread matched with screw rod bar, and described screw rod one end is placed in bearing, and the screw rod is another One end is connected with servo motor, and the servo motor is fixed in second boss.
5. a kind of high-voltage line crusing robot according to claim 1, which is characterized in that second slide assemblies are set It is distributed among the first slide assemblies, and between waiting.
6. a kind of high-voltage line crusing robot according to claim 1, which is characterized in that the length of the second support Greater than 50mm.
CN201820877988.3U 2018-06-07 2018-06-07 A kind of high-voltage line crusing robot Expired - Fee Related CN208571433U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201820877988.3U CN208571433U (en) 2018-06-07 2018-06-07 A kind of high-voltage line crusing robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201820877988.3U CN208571433U (en) 2018-06-07 2018-06-07 A kind of high-voltage line crusing robot

Publications (1)

Publication Number Publication Date
CN208571433U true CN208571433U (en) 2019-03-01

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108963854A (en) * 2018-06-07 2018-12-07 成都金甲虫科技有限公司 A kind of high-voltage line crusing robot
CN110474253A (en) * 2019-08-27 2019-11-19 芜湖裕优机械科技有限公司 A kind of electric inspection process robot of energy across obstacle
CN111224346A (en) * 2020-03-11 2020-06-02 山东科技大学 High tension transmission line inspection robot with multiple motion modes

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108963854A (en) * 2018-06-07 2018-12-07 成都金甲虫科技有限公司 A kind of high-voltage line crusing robot
CN110474253A (en) * 2019-08-27 2019-11-19 芜湖裕优机械科技有限公司 A kind of electric inspection process robot of energy across obstacle
CN111224346A (en) * 2020-03-11 2020-06-02 山东科技大学 High tension transmission line inspection robot with multiple motion modes

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Granted publication date: 20190301

Termination date: 20190607