CN209434760U - Along power transmission line crusing robot obstacle-surmounting travelling gear - Google Patents
Along power transmission line crusing robot obstacle-surmounting travelling gear Download PDFInfo
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- CN209434760U CN209434760U CN201920300227.6U CN201920300227U CN209434760U CN 209434760 U CN209434760 U CN 209434760U CN 201920300227 U CN201920300227 U CN 201920300227U CN 209434760 U CN209434760 U CN 209434760U
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- arm component
- gear
- power transmission
- transmission line
- crusing robot
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Abstract
The utility model discloses a kind of along power transmission line crusing robot obstacle-surmounting travelling gear.The utility model is a kind of along power transmission line crusing robot obstacle-surmounting travelling gear, comprising: running gear chassis；First arm component, first arm component are mounted on one end of the running gear chassis；First straight line driving device, the first straight line driving device drive first arm component to move along a straight line on one end of the running gear chassis；Second arm component, second arm component are mounted on the one end of the running gear chassis far from first arm component；Second straight line driving device, the second straight line driving device drive second arm component to move along a straight line on the one end of the running gear chassis far from first arm component；Third arm component.The utility model has the beneficial effects that the range of turning is big, and balance is good.
Description
Technical field
The utility model relates to along power transmission line inspection field, and in particular to a kind of to walk along power transmission line crusing robot obstacle detouring
Device.
Background technique
In order to guarantee that high voltage transmission line is safely and steadily run, it is necessary to periodically be overhauled to high voltage transmission line.High pressure is defeated
The inspection inspection of electric wire is very important to the safety of protection power grid, and high voltage transmission line is widely distributed, some areas geography ring
Border is complex, and for manual inspection mode due to large labor intensity, inspection precision is low, is no longer applicable in, therefore can only seek new
Routine inspection mode.
There are following technical problems for traditional technology:
Traditional technology developed it is many along power transmission line crusing robot obstacle-surmounting travelling gear, can be with straight line obstacle detouring.
CN106786170A- transmission line polling robot can carry out turning obstacle detouring.But CN106786170A- polling transmission line
Robot, since up-down mechanism is arranged on rotating mechanism, inertia is big when rotating mechanism being caused to rotate, unstable, and
Whole device turning is limited in scope.Moreover, the crusing robot straight line obstacle detouring center of gravity is in the geometric center of entire robot,
It causes unstable, is easily separated from power transmission line.Therefore need to increase counterweight balancing device, for example a kind of railway of CN103904583A- is led
Draw the counterweight balancing device in supply lines swing arm line walking mobile robot, still, increasing counterweight balancing device will increase along defeated
The weight and cost of electric wire crusing robot obstacle-surmounting travelling gear.
Utility model content
The technical problem to be solved by the present invention is to provide a kind of along power transmission line crusing robot obstacle-surmounting travelling gear, turns
Curved range is big, and balance is good.
In order to solve the above-mentioned technical problem, the utility model provides a kind of walk along power transmission line crusing robot obstacle detouring and fills
It sets, comprising:
Running gear chassis；
First arm component, first arm component are mounted on one end of the running gear chassis；
First straight line driving device, the first straight line driving device drive first arm component to fill in the walking
It moves along a straight line on one end of bottom set frame；
Second arm component, second arm component are mounted on the running gear chassis far from the first arm group
One end of part；
Second straight line driving device, the second straight line driving device drive second arm component to fill in the walking
Bottom set frame moves along a straight line on one end far from first arm component；
Third arm component, the third arm component are mounted on the running gear chassis, the third arm group
Part is between first arm component and second arm component；
Third driving device, the third driving device drive the third arm component on the running gear chassis
Do two-dimentional linear motion；And
Whether sensor, the sensor encounter when being used to detect along the walking of power transmission line crusing robot obstacle-surmounting travelling gear
Obstacle；
First arm component, the second arm component and third arm component include the lifting device of bottom, by institute
The arm stating the rotating device of lifting device lifting driving and being driven by rotating device rotation, when the rotating device rotates
Locating plane is parallel with the upper surface of the running gear chassis.
The utility model has the beneficial effects that
The range of turning is big, and balance is good.
The first straight line driving device and the second straight line driving device include dress in one of the embodiments,
Bottom set seat, two screw rodb bases, mobile motor, mobile screw rod, moving guide rail and mobile platform；The screw rodb base is located at described
The both ends at the both ends of device pedestal, the mobile screw rod are separately positioned in the screw rodb base, and the mobile motor is fixed on institute
It states on device pedestal, the mobile motor drives the mobile screw rod, and the mobile screw rod drives the mobile platform described
Moving guide rail sliding.
The lifting device includes lifting device support frame, lifting motor, lifting driving tooth in one of the embodiments,
Wheel, lifting driven gear, elevating screw and riser guide；The lifting device support frame is socketed on the riser guide, institute
It states and fixes the lifting motor on lifting device support frame, the lifting motor drives the driving gear, the driving gear
It is meshed with the driven gear, the driven gear is socketed on the elevating screw and the two is threadedly engaged, the lifting
Guide rail is four cylindrical body supports bars.
The rotating device includes rotating electric machine, rotation driving gear, rotary drive gear in one of the embodiments,
With rotating device support frame, the rotating electric machine drives the driving gear, and the rotation driving gear and the rotation are driven
Tooth is meshed, and the driven gear rotates on the rotating device support frame.
The arm in one of the embodiments, comprising:
Arm ontology；
One end of the arm ontology is arranged in walking wheel assembly, the walking wheel assembly, and the walking wheel assembly includes
Traveling wheel and the walking turbin generator for driving the traveling wheel；And
Wheel assembly is clamped, described one end for clamping wheel assembly and the close walking wheel assembly of the arm ontology being arranged in is described
Clamping wheel assembly includes two pinch wheels and the clamping turbin generator for driving described two pinch wheels；Described two pinch wheels distinguish position
In the two sides of the traveling wheel；When described two pinch wheels and the traveling wheel contact power transmission line, described two pinch wheels and institute
State the two sides that traveling wheel is located at the power transmission line.
Described two pinch wheels are respectively by a pinch wheels motor driven in one of the embodiments,.
Described two pinch wheels are symmetrical about the traveling wheel in one of the embodiments,.
The diameter of the traveling wheel is greater than the diameter of the pinch wheels in one of the embodiments,.
At least side of the traveling wheel is arranged in the sensor in one of the embodiments,.
The sensor is photoelectric sensor or contact sensor in one of the embodiments,.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the utility model along power transmission line crusing robot obstacle-surmounting travelling gear.
Fig. 2 is the structure of the utility model first straight line driving device along power transmission line crusing robot obstacle-surmounting travelling gear
Schematic diagram.
Fig. 3 is the knot of the utility model lifting device and rotating device along power transmission line crusing robot obstacle-surmounting travelling gear
Structure schematic diagram.
Fig. 4 is the structural schematic diagram of the utility model arm along power transmission line crusing robot obstacle-surmounting travelling gear.
Specific embodiment
The utility model is described in further detail in the following with reference to the drawings and specific embodiments, so that those skilled in the art
The utility model may be better understood and can be practiced, but illustrated embodiment is not as the restriction to the utility model.
It is refering to fig. 1, a kind of along power transmission line crusing robot obstacle-surmounting travelling gear, comprising:
Running gear chassis 100；
First arm component 200, first arm component are mounted on one end of the running gear chassis；
First straight line driving device 210, the first straight line driving device drive first arm component in the row
It moves along a straight line on one end of walking apparatus chassis；
Second arm component 300, second arm component are mounted on the running gear chassis far from described first-hand
One end of arm component；
Second straight line driving device 310, the second straight line driving device drive second arm component in the row
Walking apparatus chassis moves along a straight line on one end far from first arm component；
Third arm component 400, the third arm component are mounted on the running gear chassis, the third arm
Component is between first arm component and second arm component；
Third driving device 500, the third driving device drive the third arm component at the running gear bottom
Two-dimentional linear motion is done on frame；And
Whether sensor, the sensor encounter when being used to detect along the walking of power transmission line crusing robot obstacle-surmounting travelling gear
Obstacle (not shown)；
First arm component, the second arm component and third arm component include bottom lifting device 610,
By the rotating device 620 of lifting device lifting driving and by the arm 900 of rotating device rotation driving, the rotation
Device plane locating when rotating is parallel with the upper surface of the running gear chassis.
The utility model has the beneficial effects that
The range of turning is big, and balance is good.Specifically, for three arm components, since rotating device is arranged in institute
The top of lifting device is stated, inertia is small when rotating device rotates, to stablize.Meanwhile three arm components can walk
Device chassis moves in a straight line, and the range turned in this way improves (relative to CN106786170A- transmission line polling robot
Turning obstacle detouring can be carried out, while there is Y-axis to add R axis, the former only has R axis)；The application straight line obstacle detouring center of gravity is in entire machine
The geometric center of people, stabilization not readily disengage from power transmission line；Turn or turn obstacle detouring, third driving device due to can
Two dimension linear motion is made on the running gear chassis can play the role of changing the center of single unit system, that is, reach counterweight,
It does not need that counterweight balancing device in addition is arranged.
Referring to Fig.2, specifically, the first straight line driving device and the second straight line driving device include device bottom
211, two screw rodb bases 212 of seat, mobile motor 213, mobile screw rod 214, moving guide rail 215 and mobile platform 216；The silk
Pole socket is located at the both ends of described device pedestal, and the both ends of the mobile screw rod are separately positioned in the screw rodb base, described
Mobile motor is fixed on described device pedestal, and the mobile motor drives the mobile screw rod, and the mobile screw rod drives institute
Mobile platform is stated to slide in the moving guide rail.
Since the first straight line driving device of this side and the second straight line driving device are the prior art, therefore no longer
It repeats.
It is appreciated that the form of the first straight line driving device and the second straight line driving device can be very much, this
Application is with no restrictions.The two may be the same or different.
It is appreciated that the form of third driving device 500 has very much, since for the prior art, the application is no longer specifically situated between
It continues, also concrete form is limited, as long as the third arm component can be driven to do two on the running gear chassis
Dimension linear motion.
Refering to Fig. 3, the lifting device includes lifting device support frame 611, lifting motor in one of the embodiments,
612, driving gear 613, lifting driven gear 614, elevating screw 615 and riser guide 616 are gone up and down；The lifting device support
Frame is socketed on the riser guide, and the lifting motor, the lifting motor driving are fixed on the lifting device support frame
The driving gear, the driving gear are meshed with the driven gear, and the driven gear is socketed in the elevating screw
Upper and the two is threadedly engaged, and the riser guide is four cylindrical body supports bars.
Since the lifting device of this side is the prior art, so it will not be repeated.
It is appreciated that the form of the lifting device can be very much, the application is with no restrictions.
Refering to Fig. 3, the rotating device includes rotating electric machine 621, rotation driving gear in one of the embodiments,
622, rotary drive gear 623 and rotating device support frame 624, the rotating electric machine drive the driving gear, the rotation
Driving gear is meshed with the rotation driven tooth, and the driven gear rotates on the rotating device support frame.
Since the rotating device of this side is the prior art, so it will not be repeated.
It is appreciated that the form of the rotating device can be very much, the application is with no restrictions.
Refering to Fig. 4, the arm in one of the embodiments, comprising:
It include: arm ontology 910；One end of the arm ontology, institute is arranged in walking wheel assembly, the walking wheel assembly
Stating walking wheel assembly includes traveling wheel 921 and the walking turbin generator 922 for driving the traveling wheel；And wheel assembly is clamped, it is described
It clamps wheel assembly and the arm ontology is set close to one end of walking wheel assembly, the clamping wheel assembly includes two pinch wheels
931 and drive the clamping turbin generators 932 of described two pinch wheels；Described two pinch wheels are located at the two of the traveling wheel
Side；When described two pinch wheels and the traveling wheel contact power transmission line, described two pinch wheels and the traveling wheel are located at
The two sides of the power transmission line.
The utility model has the beneficial effects that
Big to the frictional force of power transmission line, climbing capacity is strong.Specifically, since two pinch wheels are arranged, and pinch wheels are distinguished
Positioned at the two sides of the traveling wheel；When described two pinch wheels and the traveling wheel contact power transmission line, described two pinch wheels and
The traveling wheel is located at the two sides of the power transmission line, and material is thus formed three point contacts, constitutes a triangle, increases
Add the frictional force of power transmission line big, climbing capacity is strong.(a kind of rail traction supply lines swing arm line walking of CN103904583A- moves
Mobile robot, CN106655006A- transmission line polling robot obstacle-surmounting travelling gear, CN106786170A- transmission line of electricity patrol
The structure setting up and down that the arm in the patents such as robot uses traveling wheel and contact roller is examined, due to traveling wheel and contact roller pair
Ground wire is simple single-contact, therefore arm is to power transmission line that friction is small, and ability is not all right when walking, is easy to fall off,
Climbing capacity is not also strong.)
Described two pinch wheels are simultaneously by a pinch wheels motor driven in one of the embodiments,.Specifically, described
Clamping wheel assembly includes clamping wheeling supporting frame, clamping turbin generator, worm screw, worm gear, clamp arm 933, rotary shaft and two pinch wheels；
Fix the clamping turbin generator on the clamping wheeling supporting frame, worm screw described in the pinch wheels motor driven, the worm screw is separate
Described one end for clamping turbin generator is arranged on the clamping wheeling supporting frame, worm gear described in the worm drive, the rotary shaft
It is arranged on the clamping wheeling supporting frame, one end of the clamp arm is connect by rotary shaft with the worm gear, is set on the other end
Set the pinch wheels.
It is the prior art, so it will not be repeated due to such mode.It is appreciated that can also be real using other modes
Existing described two pinch wheels are simultaneously by a pinch wheels motor driven, and the application is herein with no restrictions.
Described two pinch wheels are respectively by a pinch wheels motor driven in one of the embodiments,.
Described two pinch wheels are symmetrical about the traveling wheel in one of the embodiments,.
Described two pinch wheels are asymmetric about the traveling wheel in one of the embodiments,.
The diameter of the traveling wheel is greater than the diameter of the pinch wheels in one of the embodiments,.
It is appreciated that the concrete form of the application not limiting sensor, as long as the sensor can be used to detect along defeated
The obstacle that electric wire crusing robot obstacle-surmounting travelling gear encounters when walking.
Specifically, at least side of the traveling wheel is arranged in the sensor.Specifically, the sensor can be set
In the side or two sides of the traveling wheel.
Specifically, the sensor is photoelectric sensor or contact sensor.
Embodiment described above is only preferred embodiments for fully illustrating the utility model, the utility model
Protection scope it is without being limited thereto.Those skilled in the art made equivalent substitute or change on the basis of the utility model
It changes, both is within the protection scope of the present invention.The protection scope of the utility model is subject to claims.
Claims (10)
1. a kind of along power transmission line crusing robot obstacle-surmounting travelling gear characterized by comprising
Running gear chassis；
First arm component, first arm component are mounted on one end of the running gear chassis；
First straight line driving device, the first straight line driving device drive first arm component at the running gear bottom
It moves along a straight line on one end of frame；
Second arm component, second arm component are mounted on the running gear chassis far from first arm component
One end；
Second straight line driving device, the second straight line driving device drive second arm component at the running gear bottom
Frame moves along a straight line on one end far from first arm component；
Third arm component, the third arm component are mounted on the running gear chassis, third arm component position
Between first arm component and second arm component；
Third driving device, the third driving device drive the third arm component to do two on the running gear chassis
Dimension linear motion；And
Whether sensor, the sensor encounter barrier when being used to detect along the walking of power transmission line crusing robot obstacle-surmounting travelling gear
Hinder；
First arm component, the second arm component and third arm component include the lifting device of bottom, by the liter
The rotating device of falling unit lifting driving and the arm driven by rotating device rotation, the rotating device are locating when rotating
Plane it is parallel with the upper surface of the running gear chassis.
2. as described in claim 1 along power transmission line crusing robot obstacle-surmounting travelling gear, which is characterized in that the first straight line
Driving device and the second straight line driving device include device pedestal, two screw rodb bases, mobile motor, mobile screw rod, move
Dynamic guide rail and mobile platform；The screw rodb base is located at the both ends of described device pedestal, the both ends difference of the mobile screw rod
It is arranged in the screw rodb base, the mobile motor is fixed on described device pedestal, and the mobile motor drives the movement
Screw rod, the mobile screw rod drive the mobile platform to slide in the moving guide rail.
3. as described in claim 1 along power transmission line crusing robot obstacle-surmounting travelling gear, which is characterized in that the lifting device
Including lifting device support frame, lifting motor, lifting driving gear, lifting driven gear, elevating screw and riser guide；It is described
Lifting device support frame is socketed on the riser guide, and the lifting motor is fixed on the lifting device support frame, described
Lifting motor drives the driving gear, and the driving gear is meshed with the driven gear, and the driven gear is socketed in
On the elevating screw and the two is threadedly engaged, and the riser guide is four cylindrical body supports bars.
4. as described in claim 1 along power transmission line crusing robot obstacle-surmounting travelling gear, which is characterized in that the rotating device
The master is driven including rotating electric machine, rotation driving gear, rotary drive gear and rotating device support frame, the rotating electric machine
Moving gear, the rotation driving gear are meshed with the rotation driven tooth, and the driven gear is supported in the rotating device
It is rotated on frame.
5. as described in claim 1 along power transmission line crusing robot obstacle-surmounting travelling gear, which is characterized in that the arm, packet
It includes:
Arm ontology；
One end of the arm ontology is arranged in walking wheel assembly, the walking wheel assembly, and the walking wheel assembly includes walking
Take turns and drive the walking turbin generator of the traveling wheel；And
Wheel assembly is clamped, the arm ontology is arranged in close to one end of walking wheel assembly, the clamping in the wheel assembly that clamps
Wheel assembly includes two pinch wheels and the clamping turbin generator for driving described two pinch wheels；Described two pinch wheels are located at institute
State the two sides of traveling wheel；When described two pinch wheels and the traveling wheel contact power transmission line, described two pinch wheels and the row
Walk the two sides that wheel is located at the power transmission line.
6. as claimed in claim 5 along power transmission line crusing robot obstacle-surmounting travelling gear, which is characterized in that described two clampings
Wheel is respectively by a pinch wheels motor driven.
7. as claimed in claim 5 along power transmission line crusing robot obstacle-surmounting travelling gear, which is characterized in that described two clampings
It takes turns symmetrical about the traveling wheel.
8. as claimed in claim 5 along power transmission line crusing robot obstacle-surmounting travelling gear, which is characterized in that the traveling wheel
Diameter is greater than the diameter of the pinch wheels.
9. as claimed in claim 5 along power transmission line crusing robot obstacle-surmounting travelling gear, which is characterized in that the sensor is set
It sets in at least side of the traveling wheel.
10. as described in claim 1 along power transmission line crusing robot obstacle-surmounting travelling gear, which is characterized in that the sensor
It is photoelectric sensor or contact sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920300227.6U CN209434760U (en) | 2019-03-08 | 2019-03-08 | Along power transmission line crusing robot obstacle-surmounting travelling gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920300227.6U CN209434760U (en) | 2019-03-08 | 2019-03-08 | Along power transmission line crusing robot obstacle-surmounting travelling gear |
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| Publication Number | Publication Date |
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| CN209434760U true CN209434760U (en) | 2019-09-24 |
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| CN201920300227.6U Active CN209434760U (en) | 2019-03-08 | 2019-03-08 | Along power transmission line crusing robot obstacle-surmounting travelling gear |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109742683A (en) * | 2019-03-08 | 2019-05-10 | 江南大学 | Along power transmission line crusing robot obstacle-surmounting travelling gear |
| CN115056018A (en) * | 2022-06-27 | 2022-09-16 | 江苏振光电力设备制造有限公司 | Automatic unloader that goes up of numerical control drilling production line based on hoisting robot |
-
2019
- 2019-03-08 CN CN201920300227.6U patent/CN209434760U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109742683A (en) * | 2019-03-08 | 2019-05-10 | 江南大学 | Along power transmission line crusing robot obstacle-surmounting travelling gear |
| CN115056018A (en) * | 2022-06-27 | 2022-09-16 | 江苏振光电力设备制造有限公司 | Automatic unloader that goes up of numerical control drilling production line based on hoisting robot |
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