CN209271749U - A kind of cable spray robot that cable is visual - Google Patents

A kind of cable spray robot that cable is visual Download PDF

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Publication number
CN209271749U
CN209271749U CN201821762389.3U CN201821762389U CN209271749U CN 209271749 U CN209271749 U CN 209271749U CN 201821762389 U CN201821762389 U CN 201821762389U CN 209271749 U CN209271749 U CN 209271749U
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CN
China
Prior art keywords
cable
camera
bracket
transverse slat
spray robot
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Active
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CN201821762389.3U
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Chinese (zh)
Inventor
赖华敏
李夏
应家扬
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Zhejiang Guozi Robot Technology Co Ltd
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Zhejiang Guozi Robot Technology Co Ltd
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Abstract

The utility model discloses a kind of cable spray robots that cable is visual, belong to power industry aerial cable operating equipment field, including rack and the running gear for being connected to rack, rack is equipped with power supply mechanism, controller, spray head, storage tank and extruding device, running gear includes bracket, traveling wheel, movable motor and transmission mechanism, traveling wheel rotation is set on bracket, movable motor drives traveling wheel rotation to realize that cable spray robot is walked in cable uplink by transmission mechanism, the front end and/or rear end of running gear are equipped with camera, bracket is equipped with transverse slat, camera is set on transverse slat, camera is electrically connected to power supply mechanism and camera signals are connected to controller.Transverse slat is added on the bracket of running gear, camera is set on transverse slat, and the specific installation site of camera is rationally arranged, avoids causing to interfere to components such as running gear, spray head and extruding devices, guarantees that cable spray robot can integrally operate normally.

Description

A kind of cable spray robot that cable is visual
Technical field
Visual the utility model relates to power industry aerial cable operating equipment technical field more particularly to a kind of cable Cable spray robot.
Background technique
In order to realize the transmission and power supply of electric power, need to be laid with or set up cable, electric wire, aerial cable is to be set up in ground Above and use insulator that transmission pressure is fixed on to the transmission line of electricity for transmitting electric energy on the shaft tower for stand on ground.Aerial cable Have become the principal mode of power transmission, aerial cable power transmission mainly uses bare conductor form, especially distribution are naked to lead The height of line is lower, is easy to cause short circuit with contacts such as trees, buildings.With the fast development of power distribution network, scale is increasingly Expand, being continuously increased for trees is planted in power supply area, the influence of the factors such as serious burn into bird pest, route is using In artificial or natural failure can inevitably occur, such as increasingly by the destruction of external force, phase fault, broken string failure Frequently, enterprise's productive power and resident living power utility are directly affected, the reliability of power distribution network is made to face new difficulty.
With the development of power industry robot technology, more and more robots replace service personnel to be engaged in environment evil Bad, complex procedures work, application of the robot in terms of aerial cable are also more and more extensive.In order to improve the peace of power transmission Quan Xing, carrying out coatings spraying to aerial cable using robot is a kind of feasible engineering technology approach.Utilize robot Insulation spraying is carried out to aerial cable, can not only mitigate the labor intensity of worker, and can raising effect precision and operation effect Rate to raising grid automation level of operation, ensures that electric power netting safe running is of great significance.
The robot for being currently used for aerial cable spraying is generally all realized by the rotation of motor driven idler wheel in cable uplink It walks, still, since existing spray robot can not generally acquire the concrete condition of overhead transmission line and controllers are anti-to the ground Feedback, ground controller can not rationally manipulate spray robot according to the concrete condition of aerial cable.
Utility model content
In order to solve above-mentioned shortcoming and defect existing in the prior art, the utility model provides a kind of aerial cable can Depending on cable spray robot.
In order to achieve the above technical purposes, the visual cable spray robot of cable provided by the utility model, including machine Frame and the running gear for being connected to rack, rack are equipped with power supply mechanism, controller, spray head, storage tank and extruding device, walking Device includes bracket, traveling wheel, movable motor and transmission mechanism, and traveling wheel rotation is set on bracket, and movable motor passes through transmission Mechanism driving traveling wheel rotation realizes that cable spray robot is walked in cable uplink, the front end and/or rear end of the running gear Equipped with camera, bracket is equipped with transverse slat, and camera is set on transverse slat, and camera is electrically connected to power supply mechanism and camera signals It is connected to controller.
Preferably, the transverse slat and traveling wheel are respectively arranged on the two sides of bracket, and transverse slat is equipped with for avoiding driver The evacuation of structure is open.
Preferably, the transverse slat is fixed on bracket by screw, and transverse slat is equipped with flanging, flanging in the side towards bracket It is equipped with the fixation hole passed through for screw.
Preferably, it is equipped with and connects wires between the camera and power supply mechanism, data are equipped between camera and controller Line, transverse slat are equipped with multiple for the fixed line card connected wires with data line.
Preferably, it is equipped with and connects wires between the camera and power supply mechanism, data are equipped between camera and controller Line, transverse slat are equipped with multiple for fixed connect wires the first line card and multiple the second line cards for fixed data line.
Preferably, the rack or transverse slat are equipped with binding plate, are uniformly provided with multiple through-holes on binding plate.
Preferably, the binding plate is plastics binding plate.
Preferably, the running gear further includes for preventing the limit blend stop fallen from cable, limit blend stop connection It is set to the ipsilateral of bracket in bracket and with traveling wheel, traveling wheel is located between bracket and limit blend stop.
Preferably, the transmission mechanism is chain-drive mechanism or tape handler.
Preferably, the cable spray robot further includes the remote manipulator that can be wirelessly communicated with controller, long-range to grasp Make device equipped with display screen.
After adopting the above technical scheme, the utility model has the advantages that
1, the utility model provides cable spray robot, is changed to the specific structure of existing cable spray robot Into having added camera on running gear, can have been shot to overhead cable by the camera, by the picture of shooting Ground control personnel are fed back to by controller, cable spray is rationally manipulated according to the concrete condition of cable convenient for ground control personnel Apply robot.Transverse slat is added on the bracket of running gear, camera is set on transverse slat, and the specific installation position of camera is rationally arranged It sets, avoids that the components such as running gear, spray head and extruding device are caused to interfere, guarantee that cable spray robot integrally can be transported normally Row.
2, evacuation opening is opened up on transverse slat, effectively transverse slat is avoided to cause to do to the installation of transmission mechanism by evacuation opening It relates to, camera is reasonably added by transverse slat under the premise of not impacting to running gear original structure.
3, transverse slat is fixedly connected on bracket by screw, and the fixed structure between transverse slat and bracket is simple, convenient for assembling, and Bonding strength between transverse slat and bracket is well positioned to meet the installation requirement of camera.
4, multiple line cards are set on transverse slat, by line card to connecting wires and data line is effectively fixed, make route Orderly distribution, easy access avoid route winding mixed in together.
5, binding plate is set on rack or transverse slat, it can be fixed by the part of the part connected wires and data line by band On binding plate, the stability of route installation is further increased.Further, binding plate is plastics binding plate, is further avoided Safety accident caused by electric leakage.
6, when traveling wheel falls off from cable, running gear is made to hang over line by the combination of bracket and limit blend stop On cable, to realize the purpose for preventing cable spray robot from integrally falling from cable, cable caused by falling is avoided to spray The case where robot scraps or injures personnel by a crashing object improves the safety used.
7, display screen is set on remote manipulator, and the picture that camera shoots cable can utilize channel radio by controller Letter technology is sent to remote manipulator and shows on a display screen, and ground control personnel can check the tool of cable by display screen Body situation.
Detailed description of the invention
Fig. 1 is the schematic diagram of one cable spray robot of the utility model embodiment;
Fig. 2 is the schematic diagram of running gear in one cable spray robot of the utility model embodiment;
Fig. 3 is the schematic diagram one of camera and transverse slat in one cable spray robot of the utility model embodiment;
Fig. 4 is the schematic diagram two of camera and transverse slat in one cable spray robot of the utility model embodiment;
Fig. 5 is the partial schematic diagram of running gear in one cable spray robot of the utility model embodiment;
Fig. 6 is the part perspective view of the explosion of running gear in one cable spray robot of the utility model embodiment;
Fig. 7 is the schematic diagram one of rack section in one cable spray robot of the utility model embodiment;
Fig. 8 is the schematic diagram two of rack section in one cable spray robot of the utility model embodiment;
Fig. 9 is schematic diagram when two cable spray robot of the utility model embodiment uses;
Figure 10 is the partial schematic diagram of failure recyclable device in two cable spray robot of the utility model embodiment.
In figure, 100- running gear, 101- felt pad, 110- bracket, 111- crossbeam, 112- stabilizer blade, 113- handle, 120- Traveling wheel, 121- annular groove, 130- movable motor, 140- shaft, 150- falling-proof mechanism, 151- limit blend stop, and 151a- is perpendicular To limit blend stop, 151b- cross spacing blend stop, 151c- the vertical chute, 151d- outer cover, 152- support column, 152a- limit film, 161- driving wheel, 162- primary transmission wheel, 163- stage transmission wheel, 164- first grade transmission chain, 165- second grade transmission chain, 170- take the photograph As head, 180- transverse slat, 181- evacuation is open, 182- flanging, 190- line card, 200- rack, 210- fixed plate, 220- binding plate, 300- power supply mechanism, 400- spray head, 410- spray chamber, the second connector of 420-, 500- storage tank, the first connector of 510-, 610- material extrusion Motor, 620- material extrusion push top, 700- controller, 810- reel, 811- support shaft, 820- exhausting line, 830- recycle motor, 840- shaft coupling, 850- support frame, 860- supporting plate.
Specific embodiment
The utility model is described in further detail in the following with reference to the drawings and specific embodiments.It is to be appreciated that following The indicating positions such as "upper", "lower", "left", "right", " longitudinal direction ", " transverse direction ", "inner", "outside", "vertical", "horizontal", "top", "bottom" Or the word of positional relationship is based only upon orientation or positional relationship shown in the drawings, only for the purposes of describing the utility model and simplification Description, rather than device/element of indication or suggestion meaning must have a particular orientation or be constructed and be grasped with specific orientation Make, therefore should not be understood as limiting the present invention.
Embodiment one
As shown in Figures 1 to 4, the visual cable spray robot of the cable that the utility model embodiment one provides, including Rack 200 and the running gear 100 for being connected to rack, rack are equipped with power supply mechanism 300, controller 700, spray head 400, storing Tank 500 and extruding device, running gear include bracket 110, traveling wheel 120, movable motor 130 and transmission mechanism, walking rotation Dynamic to be set on bracket, movable motor drives traveling wheel rotation to realize cable spray robot in cable uplink by transmission mechanism It walks.The front-end and back-end of running gear are equipped with camera 170, and bracket is equipped with transverse slat 180, and camera is set on transverse slat, takes the photograph As head is electrically connected to power supply mechanism 300 and camera signals are connected to controller 700.
The rationally specific installation site of setting camera, avoids causing the components such as running gear, spray head and extruding device Interference guarantees that cable spray robot can integrally operate normally.Overhead cable can be shot by the camera, it will The picture of shooting feeds back to ground control personnel by controller, reasonable according to the concrete condition of cable convenient for ground control personnel Manipulate cable spray robot.
In the present embodiment, transverse slat 180 and traveling wheel 120 are respectively arranged on the two sides of bracket 110, and transverse slat 180 is equipped with and is used for Avoid the evacuation opening 181 of transmission mechanism.Transverse slat 180 is fixed on bracket 110 by screw, and transverse slat 180 is towards bracket 110 Side be equipped with flanging 182, flanging 182 is equipped with the fixation hole that passes through for screw.Due to camera 170 be further connected with for control Device 700 processed realizes the data line of signal connection and for realizing that is be electrically connected connects wires with power supply mechanism 300, the bottom of transverse slat 180 Portion is further fixed on multiple for the fixed line card 190 connected wires with data line.
In the present embodiment, since camera 170 is set on the bracket 110 of running gear 100 by transverse slat 180, with power supply Mechanism 300, the distance of controller 700 farther out, are connected wires and data line, the top of rack 200 are fixed in order to preferably fixed Binding plate 220 is uniformly provided with multiple through-holes on binding plate 220.In order to further avoid the leakage of cable current, binding plate 220 It is preferred that using plastics binding plate.
In order to realize long-range control of the ground control personnel to cable spray robot entirety, cable spray robot is also wrapped Include the remote manipulator that can be wirelessly communicated with controller 700.In the present embodiment, in order to enable ground control personnel's clear view line The concrete condition of cable, remote manipulator are equipped with display screen.
In conjunction with Fig. 5, Fig. 6, running gear 100 further includes preventing falling for preventing the falling-proof mechanism 150 fallen from cable Mechanism 150 is fallen on the bracket 110 and falling-proof mechanism 150 and traveling wheel 120 are located at the ipsilateral of bracket 110, traveling wheel 120 So that cable is between bracket 110 and falling-proof mechanism 150 between bracket 110 and falling-proof mechanism 150.
In order to which falling-proof mechanism is rationally arranged, falling-proof mechanism 150 includes limit blend stop 151 and support column 152, support column Be connected to bracket 110, limit blend stop 151 can vertical movable be connected to support column, traveling wheel 120 is located at limit 151 He of blend stop Between bracket 110.
In the present embodiment, limit blend stop 151 includes a two vertical spacing blend stop 151a and cross spacing blend stop 151b, In order to guarantee that bonding strength, support column 152 are equipped with two.Support column 152 is laterally installed perpendicular to bracket 110, support column 152 One end is fixed on bracket 110.Vertical spacing blend stop 151b is equipped with the vertical chute 151c passed through for support column, support column 152 are equipped with the limit film 152a for avoiding vertical spacing blend stop 151b from being detached from support column in one end far from bracket 110.Vertically Limit blend stop 151a by the cooperation of the vertical chute and support column 152 can vertical movable be sheathed on support column, the vertical chute The top end opening of 151c, the both ends of cross spacing blend stop 151b are respectively fixedly connected in the top of two vertical spacing blend stop 151a End, and the top of the vertical chute 151c is sealed.Cross spacing blend stop 151b forms a handle position, applies when easy to use Power.Aesthetically, limit blend stop 151 is additionally provided with the outer cover 151d with vertical spacing blend stop 151b cooperation.
In the present embodiment, bracket 110 includes crossbeam 111 and the stabilizer blade 112 for being fixed on crossbeam bottom, the top of crossbeam 111 It is fixed with the handle 113 of insulation, the both ends of handle 113 are fixedly connected on the both ends of crossbeam 111, and stabilizer blade 112 is substantially L-shaped, branch The bottom of crossbeam 111 is fixed on the top of foot 112.Shaft 140 for installing traveling wheel 120 is rotatably set to cross by bearing On beam 111, and the axial direction of shaft 140 and the length direction of crossbeam are vertically arranged.
In order to avoid the leakage of current of cable causes the electric component of cable spray robot impaired, traveling wheel 120 is preferred Using rubber tire, handle 113 uses plastic handles 113, and cross spacing blend stop 151b uses plastics cross spacing blend stop, support column 152 be the support column of insulation, and the circumferential direction of traveling wheel 120, which is equipped with, is caught in annular groove 121 for cable.
In order to guarantee stability of the running gear 100 when reversion is walked on cable, traveling wheel 120 is transversely equipped with side by side Three, correspondingly, transversely spacing side by side is equipped with three shafts 140 on crossbeam 111.In the present embodiment, the shaft 140 of two sides is set In on sustained height, intermediate shaft is arranged lower than the shaft of two sides, guarantees running gear 100 when cable uplink is walked at least Two traveling wheels 120 always with cable contact, to improve stability of the running gear when cable uplink is walked.
In order to keep the overall structure of running gear 100 more compact, support column 152 is set to two adjacent traveling wheels 120 Between, i.e. shaft 140 and support column 152 is arranged alternately along the length direction of crossbeam 111, rationally using between traveling wheel 120 Space is installed by falling-proof mechanism 150.
In the present embodiment, movable motor 130 is fixed on the side of one of stabilizer blade 112, due to movable motor 130 and row The transmission between wheel 120 is walked apart from farther out, transmission mechanism preferably uses chain-drive mechanism.In order to which transmission mechanism, chain is rationally arranged Transmission mechanism uses two-stage chain-drive mechanism.Fixing sleeve is equipped with driving wheel 161 on the motor shaft of movable motor 130, and intermediate turns It is spaced fixing sleeve on axis 140 to set there are three primary transmission wheel 162, each fixing sleeve is equipped with one two in two shafts 140 of two sides Grade driving wheel 163.Chain-drive mechanism further includes first grade transmission chain 164 and second grade transmission chain 165, and first grade transmission chain 164 is equipped with one It root and is sheathed on driving wheel 161 and one of primary transmission wheel 162, second grade transmission chain 165 is equipped with two and is sheathed on one On grade driving wheel 162 and stage transmission wheel 163.When movable motor 130 works, pass through driving wheel 161,164 and of first grade transmission chain The intermediate shaft 140 of the driving driving of primary transmission wheel 162 rotates, when intermediate shaft 140 rotates, by primary transmission wheel 162, Second grade transmission chain 165 and stage transmission wheel 163 drive the shaft 140 of two sides to rotate synchronously, and realize that movable motor 130 passes through transmission The purpose that mechanism drives three traveling wheels 120 to rotate simultaneously.
Pass through other structures of the leakage breakdown cable spray robot of running gear 100 to further avoid the electric current of cable Part is equipped with felt pad 101 between bracket 110 and rack 200.Since the bottom of stabilizer blade 112 is fixedly connected on rack 200, insulation Pad 101 is set between the bottom and rack 200 of stabilizer blade 112.
Storage tank 500 is detachably set in rack 200, and the front end of rack 200 is equipped with for storage tank 500 to be fixed on machine Fixed plate 210 on frame 200, fixed plate 210 are removably fixed in the front end of rack 200 by locking nut.
It is connected between storage tank 500 and spray head 400 by feed pipe, the front end of storage tank 500 is equipped with to be matched with feed pipe The first connector 510, spray head 400 be equipped with and matched second connector 420 of feed pipe.In the present embodiment, storage tank 500 is equipped with It two, correspondingly, feed pipe is equipped with two, is set on spray head 400 there are two the second connector 420, one end of feed pipe is detachably solid Surely it is sheathed on the first connector 510, the other end is detachably fixed and is sheathed on the second connector 420.
In order to make cable pass through spray head 400, spray head is equipped with spray chamber 410.For the ease of making cable pass through spray chamber 410, spray First 400 using seperated splicing structure, and spray head includes the hinged component of left and right two, is equipped with and is used between two components The locking nut of locking.In the present embodiment, spray head 400 is connected to the front end of bracket 110 by head cartridge, sets on head cartridge Have and be fixedly installed with the matched auxiliary wheel of cable, auxiliary wheel relative to spray head, and auxiliary wheel floats relative to head cartridge and is arranged.
In conjunction with Fig. 7, Fig. 8, extruding device includes material extrusion motor 610 and material extrusion push top 620, and material extrusion motor 610 is fixed on machine On frame 200, material extrusion push top 620 is arranged in a one-to-one correspondence with storage tank 500.Material extrusion motor 610 is squeezed by the driving of feed screw nut's structure Material push top 620.Material extrusion motor 610 work when by feed screw nut's structure drive material extrusion push top 620 move forward, material extrusion have a haircut to The coating in storage tank 500 is squeezed when preceding mobile makes coating along feed pipe to spray head 400, and coating is coated on from the ejection of spray head 400 The external of cable forms insulating layer.
In the present embodiment, power supply mechanism 300 uses battery, is used for movable motor 130, camera 170, material extrusion motor 610, the electrical components such as controller 700 are powered.In addition, movable motor 130, camera 170, material extrusion motor 610 are controlled In controller 700.
When work, cable spray robot is hung up entirely through running gear 100 on cable, cable is stuck in traveling wheel In annular groove 121 on 120.Before starting spraying, inspection first can be carried out to cable, when inspection, remote manipulator makes life It enables and is sent to controller 700 by wireless communication, controller is powered on movable motor 130 and camera 180, walking electricity Machine drives traveling wheel 120 to rotate by transmission mechanism, drives entirety to walk in cable uplink when traveling wheel rotates.Meanwhile camera 180 pairs of cables are shot, and send the picture of shooting to controller 700 by data line, and controller shoots camera Picture be sent to remote manipulator by wireless communication and show on a display screen, ground control personnel can pass through display screen The case where clear view cable.
After the completion of inspection, cable is sprayed, when spraying, material extrusion motor 610 is powered on, and is driven by feed screw nut 620 forward movement of material extrusion push top, material extrusion push top squeezes in storage tank 500 coating when moving forward make coating along feed pipe to spray First 400, coating sprays the external formation insulating layer for being coated on cable from spray head 400, realizes spraying purpose.
It is understood that camera 170 can also only be arranged one in the present embodiment, camera is set to running gear Front end can also be set to the rear end of running gear.
It is understood that the transverse slat 180 in the present embodiment preferably uses highstrenghtpiston's transverse slat.
It is understood that connecting wires for connecting in the present embodiment with camera 170 can separate fixation with data line, this When, it is arranged in the bottom of transverse slat 180 multiple for fixed connect wires the first line card and multiple the second lines for fixed data line Card.
It is understood that the transmission mechanism in the present embodiment between movable motor 130 and shaft 140 can also use band Transmission mechanism, tape handler use two-stage tape handler identical with above-mentioned chain-drive mechanism.
It is understood that the binding plate 220 in the present embodiment can also be fixed on the bottom of transverse slat 180.
It is understood that the communication in the present embodiment between controller 700 and remote manipulator can lead to Cross the existing communication such as 3G, 4G, WLAN, WiFi.
Embodiment two
As shown in Figure 9, Figure 10, improvement embodiment of the utility model embodiment two as above-described embodiment one, and it is upper The difference place for stating embodiment one is that the cable spray robot of the present embodiment further includes failure recyclable device, failure recycling Device includes reel 810 and exhausting line 820, and one end of exhausting line is connected to reel, the other end is connected to running gear 100.When there is traveling wheel and being detached from cable, the failures such as power supply mechanism not enough power supply, can by the failure recyclable device quickly, It is effective to withdraw cable spray robot.
In the present embodiment, the front-end and back-end of bracket 110 are equipped with pull ring, and one end of exhausting line is equipped with hook, exhausting line Running gear 100 is removably connected to by the cooperation of hook and pull ring.It is detached from walking in use in order to avoid linking up with Device, hook preferably use opening and closing hook.
Failure recyclable device further includes the recycling motor 830 for driving reel to rotate, and recycling motor is equipped with motor shaft, Reel 810 is sequentially connected by shaft coupling 840 in the motor shaft of recycling motor.
In order to install reel 810, failure recyclable device further includes support frame 850, and reel is pivotally mounted to support On frame.In the present embodiment, reel 810 is substantially H-shaped along axial section shape, and the both ends of reel are equipped with the branch of protrusion Axis 811 is supportted, wherein the support shaft of one end is sequentially connected by shaft coupling 840 in the motor shaft of recycling motor 830.Support frame 850 Section shape along reel axial direction is substantially concave, and the top of support frame is equipped with and the matched bearing of support shaft 811, reel 810 are pivotally mounted on support frame 850 by the cooperation of support shaft and bearing.
In the present embodiment, in order to improve the safety used, exhausting line 820 is the exhausting line of insulation, and reel 810 is exhausted The reel of edge.Further, exhausting line 820 can use the rope made of hemp, and reel 820 can use highstrenghtpiston's reel.
In use, hanging up cable spray robot after on cable entirely through running gear 100, make exhausting line 820 End by hook and pull ring mating connection in bracket 110.Cable spraying robot man-hour, 820 unwrapping wire of reel, keeps away Exempt to cause obstacle to the movement of cable spray robot.When the failure of cable spray robot needs to recycle, motor is recycled 830 work, recycling motor drive the rotation of reel 810 to realize take-up by shaft coupling 840, and when take-up, exhausting line 820 is with motivation Device people is integrally back to starting point.
The other structures of the present embodiment two are identical as the structure in above-described embodiment one, no longer repeat one by one herein.
It is understood that the recycling motor 830 in the present embodiment can be set to support frame by a L-shaped supporting plate 860 On 850.
It is understood that the present embodiment can also manually realize take-up purpose, at this point, in reel 810 One end setting protrusion handle, handle eccentric setting.When needing take-up, reel rotation is driven to realize take-up by handle Purpose.
In addition to above preferred embodiment, for the utility model there are also other embodiments, those skilled in the art can root It is made various changes and modifications according to the utility model, without departing from the spirit of the utility model, should belong to the utility model Range defined in claims.

Claims (10)

1. a kind of cable spray robot that cable is visual, including rack and the running gear for being connected to rack, rack is equipped with Power supply mechanism, controller, spray head, storage tank and extruding device, running gear include bracket, traveling wheel, movable motor and transmission Mechanism, traveling wheel rotation are set on bracket, and movable motor drives traveling wheel rotation to realize cable spraying robot by transmission mechanism People walks in cable uplink, which is characterized in that the front end and/or rear end of the running gear are equipped with camera, and bracket is equipped with cross Plate, camera are set on transverse slat, and camera is electrically connected to power supply mechanism and camera signals are connected to controller.
2. cable spray robot according to claim 1, which is characterized in that the transverse slat and traveling wheel are respectively arranged on branch The two sides of frame, and transverse slat is equipped with the evacuation for avoiding transmission mechanism and is open.
3. cable spray robot according to claim 1, which is characterized in that the transverse slat is fixed on bracket by screw On, transverse slat is equipped with flanging in the side towards bracket, and flanging is equipped with the fixation hole passed through for screw.
4. cable spray robot according to claim 1, which is characterized in that set between the camera and power supply mechanism It connects wires, data line is equipped between camera and controller, transverse slat is connected wires and data line equipped with multiple for fixation Line card.
5. cable spray robot according to claim 1, which is characterized in that set between the camera and power supply mechanism Connect wires, be equipped with data line between camera and controller, transverse slat be equipped with it is multiple for it is fixed connect wires the first line card and Multiple the second line cards for fixed data line.
6. cable spray robot according to claim 1, which is characterized in that the rack or transverse slat are equipped with binding Plate is uniformly provided with multiple through-holes on binding plate.
7. cable spray robot according to claim 6, which is characterized in that the binding plate is plastics binding plate.
8. cable spray robot according to claim 1, which is characterized in that the running gear further includes for preventing The limit blend stop fallen from cable, limit blend stop are connected to bracket and are set to the ipsilateral of bracket with traveling wheel, and traveling wheel is located at Between bracket and limit blend stop.
9. cable spray robot according to claim 1-8, which is characterized in that the transmission mechanism is chain biography Motivation structure or tape handler.
10. cable spray robot according to claim 1-8, which is characterized in that the cable spraying robot People further includes the remote manipulator that can be wirelessly communicated with controller, and remote manipulator is equipped with display screen.
CN201821762389.3U 2018-10-29 2018-10-29 A kind of cable spray robot that cable is visual Active CN209271749U (en)

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CN201821762389.3U CN209271749U (en) 2018-10-29 2018-10-29 A kind of cable spray robot that cable is visual

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Application Number Priority Date Filing Date Title
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110787935A (en) * 2019-12-09 2020-02-14 国网智能科技股份有限公司 Substation insulator RTV uniform spraying system and control method
CN111266253A (en) * 2020-03-12 2020-06-12 戴天智能科技(上海)有限公司 Automatic coating and spraying device for cables

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110787935A (en) * 2019-12-09 2020-02-14 国网智能科技股份有限公司 Substation insulator RTV uniform spraying system and control method
CN111266253A (en) * 2020-03-12 2020-06-12 戴天智能科技(上海)有限公司 Automatic coating and spraying device for cables

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