CN209313302U - A kind of claw Bao Xian mechanism of ultra-high-tension power transmission line inspection robot - Google Patents
A kind of claw Bao Xian mechanism of ultra-high-tension power transmission line inspection robot Download PDFInfo
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- CN209313302U CN209313302U CN201920253077.8U CN201920253077U CN209313302U CN 209313302 U CN209313302 U CN 209313302U CN 201920253077 U CN201920253077 U CN 201920253077U CN 209313302 U CN209313302 U CN 209313302U
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Abstract
The utility model discloses a kind of claw Bao Xian mechanisms of ultra-high-tension power transmission line inspection robot, it includes fixed frame, hub motor is provided in the middle part of fixed frame, the output shaft of hub motor is connect with capstan drive, the lower part of fixed frame is symmetrically arranged with support wheel, it is respectively arranged with position-limited wheel and position-limited claw on the two sides outer wall of fixed frame, is provided with electric current electricity getting device on the front outer wall of fixed frame.The utility model is able to solve claw Bao Xian mechanism in the prior art and is difficult to efficiently accomplish the problem of being detached from the movements such as electric wire, crawl electric wire, locking electric wire, and structure is simple, high-efficient, highly reliable.
Description
Technical field
The utility model relates to a kind of electric power correlation machine people's technical fields, and in particular to a kind of ultra-high-tension power transmission line line walking
The claw Bao Xian mechanism of robot.
Background technique
Currently, being the major way of long range transmission & distribution electric power, power circuit using high pressure and super-pressure overhead power line
It is the important component of electric system.Route will not only bear normal mechanical load due to being chronically exposed in natural environment
With the internal pressure of electric load, the extraneous infringement such as filth, lightning stroke, high wind, landslide, depression and bird pest is also suffered.It is above-mentioned because
Element can cause bigger damage to power line, so power line needs often to carry out inspection, have to if any power line damage
It is replaced in time.In order to realize that the autonomous inspection of power line, the research about inspection robot are now increasing；But
Existing inspection robot advances along can only guaranteeing mostly, when encountering obstacle and needing to cross over, it is difficult to required for complete obstacle detouring
Operation.
The realization of obstacle crossing function, the main claw Bao Xian mechanism for needing inspection robot can reliably complete to be detached from electricity
The a series of actions such as line, crawl electric wire, locking electric wire, but existing claw Bao Xian mechanism is difficult to efficiently accomplish these movements, usually
Grasping movement is easy the presence of effectively grabbing electric wire, and locking movement then has friction deficiency, not can guarantee entire machine
The position of device people is fixed.
Utility model content
The utility model is directed to above-mentioned deficiency in the prior art, provides one kind and is able to solve claw armful in the prior art
Line mechanism is difficult to efficiently accomplish the ultra-high-tension power transmission line line walking machine for the problem of being detached from the movements such as electric wire, crawl electric wire, locking electric wire
The claw Bao Xian mechanism of device people.
In order to solve the above technical problems, the utility model uses following technical proposal:
Provide a kind of claw Bao Xian mechanism of ultra-high-tension power transmission line inspection robot comprising fixed frame, in fixed frame
Portion is provided with hub motor, and the output shaft of hub motor is connect with capstan drive, and the lower part of fixed frame is symmetrically arranged with support
It takes turns, is respectively arranged with position-limited wheel and position-limited claw on the two sides outer wall of fixed frame, is provided with electric current on the front outer wall of fixed frame and takes
Electric installation.
In above-mentioned technical proposal, it is preferred that driving wheel is flexibly connected by connecting flange with fixed frame.
In above-mentioned technical proposal, it is preferred that be hinged with limit spindle motor, the limit of two sides on the side outer wall of fixed frame
Spindle motor passes through connecting screw and position-limited claw respectively and position-limited wheel is sequentially connected.
In above-mentioned technical proposal, it is preferred that limit spindle motor and lead screw bracket are sequentially connected, lead screw bracket and fixed frame
Side wall be flexibly connected.
In above-mentioned technical proposal, it is preferred that the upper and lower part of lead screw bracket passes through pendulum spring respectively and fixed frame connects
It connects.
In above-mentioned technical proposal, it is preferred that the upper and lower part of lead screw bracket passes through pendulum spring respectively and fixed frame connects
It connects.
In above-mentioned technical proposal, it is preferred that the output end for limiting spindle motor is connect by shaft coupling with connecting screw.
In above-mentioned technical proposal, it is preferred that the output end for limiting spindle motor is connect by shaft coupling with connecting screw.
In above-mentioned technical proposal, it is preferred that connecting screw is arranged with feed screw nut, the feed screw nut of two sides respectively with limit
Pawl and limit wheel end are hinged.
In above-mentioned technical proposal, it is preferred that support wheel is connected by the side wall of support spring and fixed frame.
In above-mentioned technical proposal, it is preferred that the external quadrangle of fixed frame is respectively arranged with cabinet connection cornual plate.
The main beneficial effect of the claw Bao Xian mechanism of above-mentioned ultra-high-tension power transmission line inspection robot provided by the utility model
Fruit is:
The utility model is by being arranged driving wheel in claw Bao Xian mechanism, so as to directly grind most of electric wire barriers
Hinder and improves obstacle detouring efficiency；By the way that support wheel is arranged on fixed frame, is cooperated using support wheel and driving wheel, play support jointly
The effect of claw Bao Xian mechanism；By the way that hub motor is arranged, to drive claw Bao Xian mechanism moving along electric wire；It is limited by setting
Position pawl cooperates position-limited claw and support wheel, driving wheel, constitutes jaw clamping structure, realize from upper and lower both direction to electric wire
Locking operation.
By the way that position-limited wheel is arranged, cooperate position-limited wheel and support wheel, driving wheel, to guarantee to clamp the reliable of electric wire operation
Property, while when so that the claw Bao Xian mechanism is done relative motion again effectively；By the way that electric current electricity getting device is arranged, due to electric current
The internal diameter of electricity getting device is greater than the diameter of wire, can effectively improve the range that can grab electric wire, and pass through position-limited wheel and support wheel, master
Driving wheel cooperation, is located at electric wire in the clamping range of electric current electricity getting device, then grabbed, when crawl electric wire is effectively ensured
Reliability.
The thickness of practical electric wire changes significantly under line walking state, by and support wheel both ends setting support bullet
Spring allows to preferably cooperate with electric wire, provides clamping force, so that big-elevation electric wire is climbed by robot using suspended structure.
By the way that the mechanisms such as lead screw bracket and pendulum spring are arranged, are adjusted and limited by screw-driven using limit spindle motor
The movement of pawl and position-limited wheel improves claw and embraces the stability of line mechanism action and reliable to guarantee that it transmits sufficiently large torque
Property.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model claw Bao Xian mechanism.
Fig. 2 is the structural schematic diagram of another angle of the utility model claw Bao Xian mechanism.
Wherein, 1, claw Bao Xian mechanism, 11, fixed frame, 111, cabinet connection cornual plate, 112, connecting flange, 12, active
Wheel, 13, hub motor, 14, support wheel, 141, support spring, 15, electric current electricity getting device, 16, position-limited claw, 161, limit lead screw
Motor, 162, position-limited wheel, 163, pendulum spring, 164, lead screw bracket, 165, feed screw nut, 166, connecting screw, 167, shaft coupling
Device, 168, spindle motor seat.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawing:
As shown in Figure 1, its structural schematic diagram for the claw Bao Xian mechanism of ultra-high-tension power transmission line inspection robot.
The claw Bao Xian mechanism of the ultra-high-tension power transmission line inspection robot of the utility model includes fixed frame 11, fixed frame 11
On be respectively arranged with driving wheel 12, position-limited wheel 162 and position-limited claw 16, the wheel axis connection with driving wheel 12 is provided on fixed frame 11
Hub motor 13, to drive the rotation of driving wheel 12；The outside of fixed frame 11 is provided with electric current electricity getting device 15；Electric current takes electricity
Device 15 is set on the front outer wall of fixed frame 11.
Preferably, driving wheel 12 and position-limited wheel 162 are interior concave wheel, to increase the contact area with electric wire, improve pawl
The frictional force of Bu Bao line mechanism, to prevent from skidding during the motion.
Specifically, driving wheel 12 is flexibly connected by connecting flange 112 with fixed frame 11, to facilitate its movement；Fixed frame
There are two support wheels 14 for 11 lower parallel setting；Preferably, the both ends of 14 central axis of support wheel by support spring 141 and are consolidated
Determine the connection of 11 lower part of frame.
Support spring 141 is set by the way that support wheel 14 is arranged on fixed frame 11, and at 14 both ends of support wheel, utilizes suspension
Structure allows to preferably cooperate with electric wire, provides clamping force, so that big-elevation electric wire is climbed by robot.
Preferably, as shown in Fig. 2, the upper and lower part of the lead screw bracket 164 cooperated with position-limited wheel 162 passes through suspension respectively
Spring 163 is connect with fixed frame 11.By the lead screw bracket 164 that cooperates position-limited wheel 162 be arranged pendulum spring 163 with fixation
Frame 11 cooperates, to enable position-limited wheel 162 according to the thickness of the different thicknesses of electric wire fine tuning clamping；Simultaneously when thickness occurs in electric wire
When different variation, by the activity of pendulum spring 163, the duration that position-limited wheel 162 holds electric wire tightly can guarantee, to improve
Its reliability.
The lower part of limit spindle motor 161 is provided with spindle motor seat 168, and spindle motor seat 168 and lead screw bracket 164 are cut with scissors
It connects；The output end of limit spindle motor 161 is connect by shaft coupling 167 with connecting screw 166；It is arranged on connecting screw 166
The feed screw nut 165 of feed screw nut 165, two sides is hinged with the end of position-limited claw 16 and position-limited wheel 162 respectively.
It is worked by limit spindle motor 161, under lever principle effect, pushes feed screw nut 165 along connecting screw 166
It moves up and down, makes position-limited claw 16 and position-limited wheel 162 around opposite with the interconnecting piece of position-limited claw 16 and position-limited wheel 162 turn of fixed frame 11
It is dynamic, to realize the movement for embracing line and release, exports relative to ordinary motor, by structures such as threads of lead screw, can effectively mention
The torque of its output is risen, guarantees the reliability of the movements such as clamping, holding.
Optionally, the external quadrangle of fixed frame 11 is respectively arranged with cabinet connection cornual plate 111, to guarantee 11 structure of fixed frame
Stability.
Here is the working principle of claw Bao Xian provided by the utility model mechanism:
In actual operation, inspection robot is typically provided with two claw Bao Xian mechanisms 1, and front and back is symmetrically set
It sets.Inspection robot is likely encountered three kinds of operating conditions: first is that accessible normal walking；Second is that there is obstacle in front, such as stockbridge damper, strain insulator
When the small-scale obstacles such as folder, obstacle detouring is not rolled offline；Third is that there is obstacle in front, such as when wire jumper can not roll obstacle, obstacle detouring end from
Line obstacle detouring.
For accessible normal walking: claw Bao Xian mechanism 1 is in normal operating conditions.13 actuation of hub motor at this time
Entire mechanism is driven to advance, the rotation of limit spindle motor 161 of claw Bao Xian mechanism 1 makes position-limited wheel 162 will be electric with driving wheel 12
Wire clamp is lived, and claw Bao Xian mechanism 1 makes support wheel 14, position-limited wheel 162 and driving wheel 12 tightly be adjacent to electric wire simultaneously under the effect of gravity
Frictional force is provided, position-limited claw 16 is in releasing orientation at this time, to make inspection robot normal walking.
There is obstacle for front, such as when stockbridge damper, strain insulator folder the small-scale obstacle, is not rolled obstacle detouring offline: needed
Claw Bao Xian mechanism 1 carries out crawl electric wire and the movement for being detached from electric wire.
The obstacle detouring the to be carried out movement of claw Bao Xian mechanism 1 specifically: when inspection robot identification front has and can roll
When obstacle, claw Bao Xian mechanism 1 carries out unclamping then movement that crawl was directly ground.The limit rotation of spindle motor 161 makes
Position-limited wheel 162 and position-limited claw 16 unclamp, and the steering engine rotation of electric current electricity getting device 15 drives two valve magnetic cores to open, to be detached from electricity
The hub motor 13 of line, claw Bao Xian mechanism 1 drives driving wheel 12, and claw Bao Xian mechanism 1 is driven to grind obstacle.
Meanwhile one of claw Bao Xian mechanism 1 on inspection robot being needed to be clamped electric wire operation, generally exist
The claw Bao Xian mechanism 1 of rear side.Two limit spindle motor 161 rotations make position-limited wheel 162 and position-limited claw 16 clamp electric wire to tie up
Mechanism stable is held, that is, is clamped electric wire movement.It is pressed through by 1 horizontal movement of claw Bao Xian mechanism that is rotatably assorted of hub motor 13
Electric wire.
There is obstacle for front, such as when wire jumper can not roll obstacle, the offline obstacle detouring in obstacle detouring end: needs claw Bao Xian mechanism
1 carries out the movement for being detached from electric wire and locking electric wire.
It is the movement for being detached from electric wire first.When front, which has, to roll obstacle, the claw of front side is embraced on inspection robot
The limit spindle motor 161 of line mechanism 1 drives position-limited wheel 162 and position-limited claw 16 to open, the steering engine rotation of electric current electricity getting device 15
It drives two valve magnetic cores to open, while the limit spindle motor 161 of rear side claw Bao Xian mechanism 1 rotates, makes position-limited wheel 162 and limit
Pawl 16 clamps electric wire, to maintain mechanism stable；By the motor driven on inspection robot, make front side claw Bao Xian mechanism 1 from
Electric wire is opened, to surmount obstacles.
After front side claw Bao Xian mechanism 1 surmounts obstacles, that is, front side claw Bao Xian mechanism 1 is needed to carry out the dynamic of locking electric wire
Make.Driving wheel 12 hooks electric wire, and the limit spindle motor 161 of front side claw Bao Xian mechanism 1 drives position-limited wheel 162 and position-limited claw 16
Inwardly rotation locking electric wire, so that the claw Bao Xian mechanism 1 of rear side be facilitated to be moved；The more line of rear side claw Bao Xian mechanism 1
Mode is identical with 1 forearm cross-line of front side claw Bao Xian mechanism.
Specific embodiment of the present utility model is described above, in order to facilitate understanding by those skilled in the art
The utility model, it should be apparent that the utility model is not limited to the range of specific embodiment, to the common skill of the art
For art personnel, if various change the attached claims limit and determine the utility model spirit and scope in,
These variations are it will be apparent that all utilize the innovation and creation of the utility model design in the column of protection.
Claims (10)
1. a kind of claw Bao Xian mechanism of ultra-high-tension power transmission line inspection robot, which is characterized in that described including fixed frame (11)
It is provided with hub motor (13) in the middle part of fixed frame (11), the output shaft of the hub motor (13) and driving wheel (12) transmission connect
It connects, the lower part of fixed frame (11) is symmetrically arranged with support wheel (14), is respectively arranged with limit on the two sides outer wall of fixed frame (11)
It takes turns (162) and position-limited claw (16), is provided with electric current electricity getting device (15) on the front outer wall of fixed frame (11).
2. the claw Bao Xian mechanism of ultra-high-tension power transmission line inspection robot according to claim 1, which is characterized in that described
Driving wheel (12) is flexibly connected by connecting flange (112) with fixed frame (11).
3. the claw Bao Xian mechanism of ultra-high-tension power transmission line inspection robot according to claim 1, which is characterized in that described
Limit spindle motor (161) is hinged on the side outer wall of fixed frame (11), the limit spindle motor (161) of two sides passes through respectively
Connecting screw (166) and position-limited claw (16) and position-limited wheel (162) are sequentially connected.
4. the claw Bao Xian mechanism of ultra-high-tension power transmission line inspection robot according to claim 3, which is characterized in that described
It limits spindle motor (161) and lead screw bracket (164) to be sequentially connected, the side wall of the lead screw bracket (164) and fixed frame (11)
It is flexibly connected.
5. the claw Bao Xian mechanism of ultra-high-tension power transmission line inspection robot according to claim 4, which is characterized in that described
The upper and lower part of lead screw bracket (164) passes through pendulum spring (163) respectively and connect with fixed frame (11).
6. the claw Bao Xian mechanism of ultra-high-tension power transmission line inspection robot according to claim 4, which is characterized in that described
The lower part of limit spindle motor (161) is provided with spindle motor seat (168), the spindle motor seat (168) and lead screw bracket
(164) hinged.
7. the claw Bao Xian mechanism of ultra-high-tension power transmission line inspection robot according to claim 3, which is characterized in that described
The output end of limit spindle motor (161) is connect by shaft coupling (167) with connecting screw (166).
8. the claw Bao Xian mechanism of ultra-high-tension power transmission line inspection robot according to claim 7, which is characterized in that described
Be arranged on connecting screw (166) feed screw nut (165), the feed screw nut (165) of two sides respectively with position-limited claw (16) and limit
The end for taking turns (162) is hinged.
9. the claw Bao Xian mechanism of ultra-high-tension power transmission line inspection robot according to claim 1, which is characterized in that described
Support wheel (14) is connect by support spring (141) with the side wall of fixed frame (11).
10. the claw Bao Xian mechanism of ultra-high-tension power transmission line inspection robot according to claim 1, which is characterized in that institute
The external quadrangle for stating fixed frame (11) is respectively arranged with cabinet connection cornual plate (111).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920253077.8U CN209313302U (en) | 2019-02-28 | 2019-02-28 | A kind of claw Bao Xian mechanism of ultra-high-tension power transmission line inspection robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920253077.8U CN209313302U (en) | 2019-02-28 | 2019-02-28 | A kind of claw Bao Xian mechanism of ultra-high-tension power transmission line inspection robot |
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| CN209313302U true CN209313302U (en) | 2019-08-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201920253077.8U Active CN209313302U (en) | 2019-02-28 | 2019-02-28 | A kind of claw Bao Xian mechanism of ultra-high-tension power transmission line inspection robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109698476A (en) * | 2019-02-28 | 2019-04-30 | 西南交通大学 | A kind of claw Bao Xian mechanism of ultra-high-tension power transmission line inspection robot |
| CN112448313A (en) * | 2020-11-17 | 2021-03-05 | 贵州电网有限责任公司 | Walking claw of high-voltage transmission and guide line inspection robot |
-
2019
- 2019-02-28 CN CN201920253077.8U patent/CN209313302U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109698476A (en) * | 2019-02-28 | 2019-04-30 | 西南交通大学 | A kind of claw Bao Xian mechanism of ultra-high-tension power transmission line inspection robot |
| CN109698476B (en) * | 2019-02-28 | 2023-12-01 | 西南交通大学 | Claw part wire holding mechanism of high-voltage transmission line inspection robot |
| CN112448313A (en) * | 2020-11-17 | 2021-03-05 | 贵州电网有限责任公司 | Walking claw of high-voltage transmission and guide line inspection robot |
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