CN209504096U - Power distribution network cable passage double-swing arm crusing robot - Google Patents
Power distribution network cable passage double-swing arm crusing robot Download PDFInfo
- Publication number
- CN209504096U CN209504096U CN201822206885.7U CN201822206885U CN209504096U CN 209504096 U CN209504096 U CN 209504096U CN 201822206885 U CN201822206885 U CN 201822206885U CN 209504096 U CN209504096 U CN 209504096U
- Authority
- CN
- China
- Prior art keywords
- swing arm
- wheel
- distribution network
- cable passage
- power distribution
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to a kind of power distribution network cable passage double-swing arm crusing robots, including walking mechanism, the first swing arm, the second swing arm, holder and camera.First swing arm is swingably set in walking mechanism, and the second swing arm is swingably set in walking mechanism, and the second swing arm is located at the opposite sides of walking mechanism with the first swing arm.Holder includes the pedestal being set in walking mechanism and the stage body that is rotatablely arranged on pedestal, and camera is rotatablely arranged on stage body, and camera can be relative to walking mechanism Three dimensional rotation.Power distribution network cable passage double-swing arm crusing robot may span across barrier, convenient for longer distance of advancing in cable passage, thus the longer cable of inspection.The camera of power distribution network cable passage double-swing arm crusing robot can realize Three dimensional rotation, and shooting direction is wider, convenient for shooting all angles of cable, consequently facilitating patrol officer has found security risk, in favor of the completion of cable patrol task.
Description
Technical field
The utility model relates to cable inspection technical fields, patrol more particularly to a kind of power distribution network cable passage double-swing arm
Examine robot.
Background technique
In distribution transportation art, the cable for transmission of electricity is usually laid in cable passage, to prevent cable because long-term
It is exposed to be damaged outside.Cable passage is usually located under earth's surface, and the narrow space in cable passage and situation complexity are not easy to
Patrol officer enters, therefore cable patrol task need to be usually completed by crusing robot.Crusing robot includes vehicle with walking machine
Structure and the camera being set in walking mechanism, for walking mechanism for carrying camera traveling, camera is logical for shooting cable
Scene in road.In the conventional technology, the ability of the across obstacle of crusing robot is poor, and big multi-cam can only be shot
Scene immediately ahead of travel path is unfavorable for the completion of cable patrol task.
Utility model content
Based on this, it is necessary to be directed to upper problem, provide a kind of ability of across obstacle preferably and shooting direction is wider
Power distribution network cable passage double-swing arm crusing robot, in favor of the completion of cable patrol task.
A kind of power distribution network cable passage double-swing arm crusing robot, comprising:
Walking mechanism；
First swing arm is swingably set in the walking mechanism；
Second swing arm is swingably set in the walking mechanism, and second swing arm and first swing arm are distinguished
Positioned at the opposite sides of the walking mechanism；
Holder, including the pedestal being set in the walking mechanism and the stage body being rotatablely arranged on the pedestal；
And
Camera is rotatablely arranged on the stage body, and the camera can be relative to the walking mechanism three
Dimension rotation.
Above-mentioned power distribution network cable passage double-swing arm crusing robot has at least the following advantages:
When encountering barrier, swing the first swing arm and the second swing arm to ride on barrier, then make the first swing arm with
Second swing arm continues to swing, and the center of gravity of walking mechanism is raised, thus auxiliary propelling machine across obstacle.First swing arm with
Second swing arm exists simultaneously the stability that can increase power distribution network cable passage double-swing arm crusing robot in across obstacle,
To prevent power distribution network cable passage double-swing arm crusing robot from turning on one's side to a certain extent.
When shooting, stage body can be made relative to base rotation, in order to the scape of different directions on camera shooting sustained height
As.Camera can be made to rotate relative to stage body, in order to the scene of camera shooting different height.Stage body can be made relative to pedestal
Rotation, and rotate camera relative to stage body, so that camera is with respect to walking mechanism Three dimensional rotation, to make camera three
Shooting direction in dimension space is wider.
Above-mentioned power distribution network cable passage double-swing arm crusing robot may span across barrier, double convenient for power distribution network cable passage
Swing arm crusing robot can advance longer distance in cable passage, thus the longer cable of inspection, so that cable patrols
The completion of inspection task.The camera of above-mentioned power distribution network cable passage double-swing arm crusing robot can realize Three dimensional rotation, shooting
Direction is wider, convenient for shooting all angles of cable, consequently facilitating patrol officer has found security risk, so that cable inspection is appointed
The completion of business.
Technical solution is illustrated further below:
The power distribution network cable passage double-swing arm crusing robot further includes wearing simultaneously in one of the embodiments,
First rotating shaft in the pedestal and the stage body, the gear ring being set on the pedestal, the transmission engaged with the gear ring
Gear, the driving gear engaged with the transmission gear and it is set to first motor on the stage body, the first motor is used for
The driving gear is driven to rotate, to drive the transmission gear to rotate around the first rotating shaft.
The power distribution network cable passage double-swing arm crusing robot further includes being arranged in institute in one of the embodiments,
The second shaft on stage body, the worm gear of the one end for being set to second shaft, the driving assembly that is set on the stage body are stated,
The camera is set in second shaft, and the driving component is for driving the worm gear to rotate, so that the camera shooting
Head is rotated relative to the stage body.
The driving component includes worm screw, driven pulley, driving pulley, transmission belt and in one of the embodiments,
Two motors, one end of the worm screw is engaged with the worm gear, the driven pulley is set to the other end of the worm screw, the biography
Dynamic band is sheathed on the driving pulley and the driven pulley, and second motor is for driving the driving pulley to rotate.
The walking mechanism includes that front component, wheel assembly, traveling crawler and walking are dynamic in one of the embodiments,
Power source, the traveling crawler are sheathed on the front component and the wheel assembly, and the walking power source is for driving institute
Wheel assembly rotation is stated, to drive the front component to rotate by the transmission of the traveling crawler.
The front component includes the first front-wheel and the second front-wheel that interval is oppositely arranged in one of the embodiments,
The wheel assembly includes the first rear-wheel and the second rear-wheel that are oppositely arranged of interval, and the traveling crawler includes being sheathed on described the
The first traveling crawler on one front-wheel and first rear-wheel and be sheathed on second front-wheel and second rear-wheel the
Two traveling crawlers, the walking power source include the first row walking power source for driving first rear wheel and for driving
Move the second walking power source of second rear wheel.
The power distribution network cable passage double-swing arm crusing robot further includes two swing arms in one of the embodiments,
Axis and the two swing arm power sources for being respectively used to two arm shafts of driving and being set in the walking mechanism, described first
It is offered on front-wheel and second front-wheel and wears axis hole, wherein an arm shaft is arranged in the institute on first front-wheel
State and wear in axis hole, another arm shaft be arranged on second front-wheel it is described wear in axis hole, first swing arm and
Second swing arm is respectively arranged on two one end of the arm shaft far from the walking mechanism.
First swing arm includes the first swing arm front-wheel, the first swing arm rear-wheel and is sheathed in one of the embodiments,
The first swing arm crawler belt on the first swing arm front-wheel and the first swing arm rear-wheel, the first swing arm rear-wheel are disposed therein
On a piece arm shaft, before second swing arm includes the second swing arm front-wheel, the second swing arm rear-wheel and is sheathed on second swing arm
Wheel is set on another arm shaft with the second swing arm crawler belt on the second swing arm rear-wheel, the second swing arm rear-wheel.
The power distribution network cable passage double-swing arm crusing robot further includes communication mould in one of the embodiments,
Block, the communication module are electrically connected with the camera, and the communication module being capable of outwardly equipment transmission data.
The power distribution network cable passage double-swing arm crusing robot further includes shield in one of the embodiments,
The shield is set in the walking mechanism, and the shield covers on the holder and the camera.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of power distribution network cable passage double-swing arm crusing robot in an embodiment；
Fig. 2 is a partial schematic diagram of power distribution network cable passage double-swing arm crusing robot shown in Fig. 1, and in vertical view
Under visual angle；
Fig. 3 is another partial schematic diagram of power distribution network cable passage double-swing arm crusing robot shown in Fig. 1；
Fig. 4 is the another partial schematic diagram of power distribution network cable passage double-swing arm crusing robot shown in Fig. 1；
Fig. 5 is another partial schematic diagram of power distribution network cable passage double-swing arm crusing robot shown in Fig. 1.
Description of symbols:
10, power distribution network cable passage double-swing arm crusing robot, 100, walking mechanism, the 111, first front-wheel, 112,
Two front-wheels, the 121, first rear-wheel, the 122, second rear-wheel, the 131, first traveling crawler, the 132, second traveling crawler, 141, the first row
Walking power source, the 142, second walking power source, the 151, first retarder, the 152, first transmission shaft, the 153, second retarder, 154,
Second driving shaft, 161, lower casing, 162, upper casing, 170, battery, the 210, first swing arm, the 211, first swing arm front-wheel, 212, first
Swing arm rear-wheel, the 213, first swing arm crawler belt, the 220, second swing arm, the 221, second swing arm front-wheel, the 222, second swing arm rear-wheel, 223,
Second swing arm crawler belt, 230, arm shaft, 240, swing arm power source, 250, swing arm retarder, 300, holder, 310, pedestal, 320,
Stage body, 331, first rotating shaft, 332, gear ring, 333, transmission gear, 334, driving gear, 335, first motor, 340, worm gear,
350, driving assembly, 351, worm screw, 352, transmission belt, the 353, second motor, 400, camera, 500, communication module, 600, anti-
Shield.
Specific embodiment
To keep the above objects, features, and advantages of the utility model more obvious and easy to understand, with reference to the accompanying drawing to this
The specific embodiment of utility model is described in detail.Many details are explained in the following description in order to abundant
Understand the utility model.But the utility model can be implemented with being much different from other way described herein, this field
Technical staff can do similar improvement without prejudice to the utility model connotation, therefore the utility model is not by following public affairs
The limitation for the specific implementation opened.
It should be noted that it can directly on the other element when element is referred to as " being set to " another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to
To another element or it may be simultaneously present centering elements.Term as used herein " vertical ", "front", "rear" and similar
Statement for illustrative purposes only, be not meant to be the only embodiment.
Unless otherwise defined, all technical and scientific terms used herein are led with the technology for belonging to the utility model
The normally understood meaning of the technical staff in domain is identical.Terminology used in the description of the utility model herein only be
The purpose of description specific embodiment, it is not intended that in limitation the utility model.Each technical characteristic of embodiment described above
It can be combined arbitrarily, for simplicity of description, not to all possible combination of each technical characteristic in above-described embodiment
It is all described, as long as being all considered to be the model of this specification record however, there is no contradiction in the combination of these technical features
It encloses.
Referring to Fig. 1, the power distribution network cable passage double-swing arm crusing robot 10 in an embodiment, it can be in cable passage
Interior walking, and the cable in cable passage can be shot, in order to which patrol officer has found security risk existing for cable.Specifically,
Power distribution network cable passage double-swing arm crusing robot 10 includes walking mechanism 100, the first swing arm 210, the second swing arm 220, cloud
Platform 300 and camera 400, the first swing arm 210, the second swing arm 220 and holder 300 are all set in walking mechanism 100, camera
400 are set on holder 300.The power distribution network cable passage double-swing arm crusing robot 10 have across obstacle ability compared with
Good and wider shooting direction feature.
First swing arm 210 is swingably set in walking mechanism 100, and the second swing arm 220 is swingably set to walking
In mechanism 100, the second swing arm 220 and the first swing arm 210 are located at the opposite sides of walking mechanism 100.Holder 300 includes setting
The pedestal 310 being placed in walking mechanism 100 and the stage body 320 being rotatablely arranged on pedestal 310, camera 400 can be rotated
Ground is set on stage body 320, and camera 400 can be relative to 100 Three dimensional rotation of walking mechanism.
When encountering barrier, swings the first swing arm 210 and the second swing arm 220 to ride on barrier, make the first swing arm
210 continue to swing with the second swing arm 220, and the center of gravity of walking mechanism 100 is raised, so that auxiliary propelling machine 100 crosses over barrier
Hinder object.First swing arm 210 and the second swing arm 220, which exist simultaneously, can increase power distribution network cable passage double-swing arm crusing robot 10
Stability in across obstacle, to prevent 10 side of power distribution network cable passage double-swing arm crusing robot to a certain extent
It turns over.
When shooting, stage body 320 can be made to rotate relative to pedestal 310, in order to which camera 400 shoots difference on sustained height
The scene in direction.Camera 400 can be made to rotate relative to stage body 320, in order to which camera 400 shoots the scene of different height.
Stage body 320 can be made to rotate relative to pedestal 310, and rotate camera 400 relative to stage body 320, so that camera 400 is opposite
In 100 Three dimensional rotation of walking mechanism, to keep the shooting direction of camera 400 in three-dimensional space wider.
Above-mentioned power distribution network cable passage double-swing arm crusing robot 10 may span across barrier, be convenient for power distribution network cable passage
Double-swing arm crusing robot 10 can advance longer distance in cable passage, thus the longer cable of inspection, in favor of electricity
The completion of cable patrol task.The camera 400 of above-mentioned power distribution network cable passage double-swing arm crusing robot 10 can realize three-dimensional
Rotation, shooting direction is wider, convenient for shooting all angles of cable, consequently facilitating patrol officer has found security risk, in favor of
The completion of cable patrol task.
In the present embodiment, walking mechanism 100 includes front component, wheel assembly, traveling crawler and walking power source, row
It walks crawler belt to be sheathed on front component and wheel assembly, walking power source is for driving wheel assembly to rotate, to carry out by walking
The transmission of band drives front component rotation.Certainly, in other embodiments, walking mechanism 100 can for wheel type traveling mechanism or
Person's polypody walking mechanism etc..
When walking, to drive wheel assembly to rotate, the wheel assembly of rotation drives traveling crawler to turn for walking power source movement
Dynamic, front component rotates under the transmission effect of traveling crawler, to realize power distribution network cable passage double-swing arm crusing robot
10 walking.Due to often will appear the road surface with rubble or sludge in cable passage, the presence of traveling crawler is relative to wheel
Formula walking mechanism has stronger adaptability to complicated road surface, in favor of the completion of cable patrol task.The presence of traveling crawler
Relative to polypody walking mechanism, cost is relatively low and manufacture difficulty is lower.
For crawler type walking mechanism in this present embodiment, the ability of across obstacle and the size of traveling crawler
It is positively correlated, generally requires the ability that larger-size traveling crawler could have preferable across obstacle.But cable passage
Interior narrow space and situation is complicated, is not suitable for larger-size traveling crawler.First swing arm 210 and the second swing arm 220 are deposited
Being conducive to make to match being promoted under the premise of guaranteeing that power distribution network cable passage double-swing arm crusing robot 10 has smaller size smaller
The ability of 10 across obstacle of power grid cables channel double-swing arm crusing robot makes power distribution network cable passage double-swing arm inspection
Robot 10 can flexibly move in cable passage.
Please refer to figs. 2 and 3 together, and further, front component includes the first front-wheel 111 for being oppositely arranged of interval and the
Two front-wheels 112, wheel assembly include the first rear-wheel 121 and the second rear-wheel 122 that interval is oppositely arranged, and traveling crawler includes being arranged
In the first traveling crawler 131 on the first front-wheel 111 and the first rear-wheel 121 and it is sheathed on the second front-wheel 112 and the second rear-wheel 122
On the second traveling crawler 132, walking power source include for drive the first rear-wheel 121 rotation the first row walking power source 141
And the second walking power source 142 for driving the second rear-wheel 122 to rotate.
In the present embodiment, the first row walking power source 141 and the second walking power source 142 are motor.The first row is walked about
It is advantageous to realize power distribution network cable passage double-swing arm crusing robot when power source 141 and the second walking power source 142 rotate synchronously
10 straight line is advanced.When the asynchronous rotary of the first row walking power source 141 and the second walking power source 142, it is advantageously implemented distribution
The turning of net cable passage double-swing arm crusing robot 10.Certainly, in other embodiments, the second walking power can be saved
Source 142 drives the first rear-wheel 121 and the second rear-wheel 122 to rotate simultaneously using the first row walking power source 141.
Specifically, walking mechanism 100 further includes the first retarder 151, the first transmission shaft 152, the second retarder 153 and
Two transmission shafts 154.First retarder 151 connects the first row walking power source 141 and the first transmission shaft 152, the setting of the first rear-wheel 121
In on the first transmission shaft 152 and the first rear-wheel 121 is rotated with the rotation of the first transmission shaft 152.Second retarder 153 connection the
Two walking power sources 142 and second driving shaft 154, the second rear-wheel 122 is set on second driving shaft 154 and the second rear-wheel 122
It is rotated with the rotation of second driving shaft 154.
Walking mechanism 100 further includes lower casing 161, upper casing 162 and battery 170, and lower casing 161 removably connects with upper casing 162
It connects, battery 170 is located in the space that lower casing 161 and upper casing 162 surround, the first row walking power source 141 and the second walking power source
142 are electrically connected with battery 170.When assembling, first by the first row walking power source 141, the first retarder 151, second walking power
The elements such as source 142, the second retarder 153 and battery 170 are set in lower casing 161, are then connected by upper casing 162 and lower casing 161
It connects, to play a protective role to the element between upper casing 162 and lower casing 161.In the present embodiment, battery 170 uses mould
Blockization design, can quick-replaceable, the modular battery 170 of replacement can be passed through and realize Infinite Time continuation of the journey.
Power distribution network cable passage double-swing arm crusing robot 10 further includes two arm shafts 230 and is respectively used to driving two
Root arm shaft 230 and two swing arm power sources 240 being set in walking mechanism 100, the first front-wheel 111 and the second front-wheel 112
On offer and wear axis hole, wherein an arm shaft 230 is arranged in wearing in axis hole on the first front-wheel 111, another arm shaft
230 are arranged in wearing in axis hole on the second front-wheel 112, and the first swing arm 210 and the second swing arm 220 are respectively arranged at two arm shafts
On 230 one end far from walking mechanism 100.In the present embodiment, power distribution network cable passage double-swing arm crusing robot 10 is gone back
Including swing arm retarder 250, swing arm power source 240 is connected by swing arm retarder 250 with arm shaft 230, swing arm power source
240 and swing arm retarder 250 be all set on lower casing 161.
When encountering barrier, swing arm power source 240 drives arm shaft 230 to rotate, so that the first swing arm 210 and/or second
Swing arm 220 is swung.The presence of two swing arm power sources 240 can make the swing of the first swing arm 210 mutual with the swing of the second swing arm 220
It does not influence.In the present embodiment, two swing arm power sources 240 are motor, and the axis hole of wearing on the first front-wheel 111 is opened in first
At the center of rotation of front-wheel 111, the axis hole of wearing on the second front-wheel 112 is opened at the center of rotation of the second front-wheel 112, and manufacture is held
Easy and arm shaft 230 rotation does not influence the swing of the first front-wheel 111 and/or the second rear-wheel 122.
Further, the first swing arm 210 includes the first swing arm front-wheel 211, the first swing arm rear-wheel 212 and is sheathed on the first pendulum
The first swing arm crawler belt 213 on arm front-wheel 211 and the first swing arm rear-wheel 212, the first swing arm rear-wheel 212 are disposed therein a pendulum
On arm axle 230.Second swing arm 220 is including the second swing arm front-wheel 221, the second swing arm rear-wheel 222 and is sheathed on the second swing arm front-wheel
221 and second the second swing arm crawler belt 223 on swing arm rear-wheel 222, the second swing arm rear-wheel 222 be set to another arm shaft 230
On.
The presence of first swing arm crawler belt 213 and the second swing arm crawler belt 223 can promote power distribution network cable passage double-swing arm and patrol
Examine the ability of 10 across obstacle of robot.When encountering barrier, the first swing arm 210 and the second swing arm 220 are swung, so that first
Swing arm crawler belt 213 and the second swing arm crawler belt 223 ride on barrier, the first swing arm crawler belt 213 with 223 turns of the second swing arm crawler belt
It is dynamic, to assist 100 across obstacle of walking mechanism.
The presence of first swing arm crawler belt 213 and the second swing arm crawler belt 223 can patrol convenient for power distribution network cable passage double-swing arm
It examines robot 10 and crosses over gully.When encountering gully, the first swing arm 210 and the second swing arm 220 are swung, so that the first swing arm crawler belt
213 and second swing arm crawler belt 223 ride on the gully wall on gully both sides, the first swing arm crawler belt 213 with 223 turns of the second swing arm crawler belt
It is dynamic, to assist walking mechanism 100 across gully.
Referring to Fig. 4, power distribution network cable passage double-swing arm crusing robot 10 further include be arranged in simultaneously pedestal 310 and
First rotating shaft 331 in stage body 320, the gear ring 332 being set on pedestal 310, the transmission gear 333 engaged with gear ring 332, with
The driving gear 334 and be set to first motor 335 on stage body 320 that transmission gear 333 engages, first motor 335 is for driving
Driving gear 334 rotates, and is rotated with band nutating gear 333 around first rotating shaft 331.
In the present embodiment, gear ring 332 is ring gear, and structure is more compact.When shooting, the driving of first motor 335 is actively
Gear 334 rotates, and the driving gear 334 of rotation is rotated with nutating gear 333, since transmission gear 333 and gear ring 332 are nibbled
It closes, therefore can be rotated around first rotating shaft 331 while 333 own rotation of transmission gear, to make stage body 320 relative to pedestal
310 rotations, in order to which the camera 400 being set on stage body 320 shoots the scene of different directions on sustained height.Stage body 320
The slewing area rotated relative to pedestal 310 can be 0 to 360 degree.Certainly, in other embodiments, gear ring 332 can also be external tooth
Circle.Stage body 320 can also be adjusted flexibly relative to the slewing area that pedestal 310 rotates, such as 0 to 180 degree.
Please refer to fig. 5, power distribution network cable passage double-swing arm crusing robot 10 further includes being arranged on stage body 320
The second shaft, the worm gear 340 of one end for being set to the second shaft, the driving assembly 350 that is set on stage body 320, camera
400 are set in the second shaft, and driving assembly 350 is for driving worm gear 340 to rotate, so that camera 400 is relative to stage body 320
Rotation.When shooting, driving assembly 350 drives worm gear 340 to rotate, and the worm gear 340 of rotation drives the rotation of the second shaft, so that setting
It is rotated in the camera 400 in the second shaft relative to stage body 320, in order to which camera 400 shoots the scene of different height.
In the present embodiment, first rotating shaft 331 and the extended line of the second shaft are mutually perpendicular to, and manufacture is easy.Camera 400
Slewing area relative to stage body 320 is 0 to 180 degree.Certainly, in other embodiments, stage body 320 is relative to pedestal 310
Rotary centerline can intersect with camera 400 relative to the rotary centerline of stage body 320 or antarafacial intersection, in order to realize camera shooting
First 400 Three dimensional rotation.Camera 400 can be adjusted flexibly relative to the slewing area of stage body 320, such as 0 to 90 degree.
Further, driving assembly 350 includes worm screw 351, driven pulley, driving pulley, transmission belt 352 and the second motor
353, one end of worm screw 351 is engaged with worm gear 340, driven pulley is set to the other end of worm screw 351, and transmission belt 352 is sheathed on
On driving pulley and driven pulley, the second motor 353 is for driving driving pulley to rotate.When shooting, the second motor 353 driving master
The driving pulley of movable belt pulley rotation, rotation drives transmission belt 352 to rotate, and the transmission belt 352 of rotation drives driven pulley rotation, turns
Dynamic driven pulley drives worm screw 351 to rotate, and the worm screw 351 of rotation drives worm gear 340 to rotate.
Drive the rotation of worm gear 340 that would generally generate biggish vibration using worm screw 351, it may be to the shooting of camera 400
Generate certain influence.The effect of synchronous belt can play damping effect, and camera 400 is made to be in more stable state, and guarantee is clapped
Take the photograph the quality of picture.Certainly, in other embodiments, synchronous belt can be saved, using shaft coupling connecting worm 351 and the second electricity
The modes such as the mode of machine 353 realize the rotation of worm screw 351.
Referring to Fig. 1, power distribution network cable passage double-swing arm crusing robot 10 further includes communication module 500, is led to
Letter module 500 is electrically connected with camera 400, and communication module 500 being capable of outwardly equipment transmission data.When inspection, communication is utilized
Module 500 by picture transmission captured by camera 400 to external device (such as mobile phone or dedicated controlling terminal), in order to
Patrol officer can recognize the case where cable being laid in cable passage.
Optionally, communication module 500 is any in bluetooth module, WiFi module, 4G module, 5G module or GPRS module
One kind, can be wirelessly communicated with being realized with external device, consequently facilitating in time extremely by picture transmission captured by camera 400
External device finds in time convenient for patrol officer and solves security risk.
Power distribution network cable passage double-swing arm crusing robot 10 further includes shield 600, and shield 600 is set to walking
In mechanism 100, and shield 600 covers on holder 300 and camera 400.Shield 600 can play protection holder 300 and
The effect of camera 400 breaks holder during the traveling for preventing power distribution network cable passage double-swing arm crusing robot 10
300 and camera 400.
In the present embodiment, shield 600 is metal net mask, and metal net mask includes the more wires being interspersed, gold
Belong to silk and avoid the turned position on different height of camera 400, is blocked to avoid to the scenery that is taken.Certainly, in other realities
It applies in example, the material of shield 600 can be the transparent materials such as PC material, block to avoid to the scenery that is taken.
Referring to Figure 2 together to Fig. 5, power distribution network cable passage double-swing arm crusing robot 10 further includes controller (figure
Do not show), first motor 335, driving assembly 350, walking power source and swing arm power source 240 are electrically connected with the controller, so that
The working condition for each element being electrically connected with the controller is harmonious.Power distribution network cable passage double-swing arm crusing robot 10
It further include angular transducer (not shown), angular transducer is set on arm shaft 230, and angular transducer is electrically connected with controller
It connects, angular transducer is used to the rotational angle of arm shaft 230 feeding back to controller, in order to which controller controls the first swing arm
210 and/or second swing arm 220 swing angle.In the present embodiment, controller is logical by communication module 500 and external device
Letter connection.
The specific working principle is as follows for power distribution network cable passage double-swing arm crusing robot 10 in the present embodiment:
When straight trip, the first row walking power source 141 drives the rotation of the first rear-wheel 121, the second walking power source 142 driving second
Rear-wheel 122 rotates synchronously, and the first rear-wheel 121 drives the rotation of the first front-wheel 111, the second rear-wheel 122 by the first traveling crawler 131
The rotation of the second front-wheel 112 is driven by the second traveling crawler 132, to realize power distribution network cable passage double-swing arm crusing robot
10 straight trip.
When turning, the first row walking power source 141 drives the rotation of the first rear-wheel 121, the second walking power source 142 driving second
122 asynchronous rotary of rear-wheel is matched so that the first traveling crawler 131 is different from the velocity of rotation of the second traveling crawler 132 to realize
The turning of power grid cables channel double-swing arm crusing robot 10.
When encountering barrier, swings the first swing arm 210 and the second swing arm 220 to ride on barrier, make the first swing arm
210 continue to swing with the second swing arm 220, and the center of gravity of walking mechanism 100 is raised, so that auxiliary propelling machine 100 crosses over barrier
Hinder object.
When shooting, stage body 320 is rotated relative to pedestal 310, in order to which camera 400 shoots different directions on sustained height
Scene can make stage body 320 relative to pedestal 310 rotate, in order to camera 400 shoot sustained height on different directions scape
As.Camera 400 can be made to rotate relative to stage body 320, in order to which camera 400 shoots the scene of different height.
The small volume of power distribution network cable passage double-swing arm crusing robot 10, and may span across barrier, it is convenient for distribution
Net cable passage double-swing arm crusing robot 10 is advanced longer distance in cable passage, thus the longer cable of inspection,
In favor of the completion of cable patrol task.The camera 400 of power distribution network cable passage double-swing arm crusing robot 10 can be realized
Three dimensional rotation, shooting direction is wider, convenient for shooting all angles of cable, consequently facilitating patrol officer has found security risk, with
Conducive to the completion of cable patrol task.
Above-described embodiments merely represent several embodiments of the utility model, the description thereof is more specific and detailed,
But it cannot be understood as the limitations to utility model patent range.It should be pointed out that for the common skill of this field
For art personnel, without departing from the concept of the premise utility, various modifications and improvements can be made, these are belonged to
The protection scope of the utility model.Therefore, the scope of protection shall be subject to the appended claims for the utility model patent.
Claims (10)
1. a kind of power distribution network cable passage double-swing arm crusing robot characterized by comprising
Walking mechanism；
First swing arm is swingably set in the walking mechanism；
Second swing arm is swingably set in the walking mechanism, and second swing arm is located at first swing arm
The opposite sides of the walking mechanism；
Holder, including the pedestal being set in the walking mechanism and the stage body being rotatablely arranged on the pedestal；And
Camera is rotatablely arranged on the stage body, and the camera can turn relative to the walking mechanism three-dimensional
It is dynamic.
2. power distribution network cable passage double-swing arm crusing robot according to claim 1, which is characterized in that further include same
When be arranged in the pedestal and first rotating shaft in the stage body, the gear ring that is set on the pedestal, engage with the gear ring
Transmission gear, the driving gear that engages with the transmission gear and be set to first motor on the stage body, first electricity
Machine is for driving the driving gear to rotate, to drive the transmission gear to rotate around the first rotating shaft.
3. power distribution network cable passage double-swing arm crusing robot according to claim 1, which is characterized in that further include wearing
The second shaft on the stage body, the worm gear of one end for being set to second shaft, the drive that is set on the stage body
Dynamic component, the camera are set in second shaft, and the driving component is for driving the worm gear to rotate, so that institute
Camera is stated to rotate relative to the stage body.
4. power distribution network cable passage double-swing arm crusing robot according to claim 3, which is characterized in that the driving
Component includes worm screw, driven pulley, driving pulley, transmission belt and the second motor, one end of the worm screw engages with the worm gear,
The driven pulley is set to the other end of the worm screw, and the transmission belt is sheathed on the driving pulley and the driven pulley
On, second motor is for driving the driving pulley to rotate.
5. power distribution network cable passage double-swing arm crusing robot according to claim 1, which is characterized in that the walking
Mechanism includes that front component, wheel assembly, traveling crawler and walking power source, the traveling crawler are sheathed on the front component
On the wheel assembly, the walking power source is for driving the wheel assembly to rotate, to pass through the traveling crawler
Transmission drives the front component rotation.
6. power distribution network cable passage double-swing arm crusing robot according to claim 5, which is characterized in that the front-wheel
Component includes the first front-wheel and the second front-wheel that interval is oppositely arranged, and the wheel assembly includes after being spaced first be oppositely arranged
Wheel and the second rear-wheel, the traveling crawler include the first traveling crawler being sheathed on first front-wheel and first rear-wheel
And it is sheathed on the second traveling crawler on second front-wheel and second rear-wheel, the walking power source includes for driving
The first row walking power source of first rear wheel and for drive second rear wheel second walk power source.
7. power distribution network cable passage double-swing arm crusing robot according to claim 6, which is characterized in that further include two
Root arm shaft and the two swing arm power sources for being respectively used to two arm shafts of driving and being set in the walking mechanism, institute
It states to offer on the first front-wheel and second front-wheel and wears axis hole, wherein an arm shaft is arranged in first front-wheel
On it is described wear in axis hole, another arm shaft be arranged on second front-wheel it is described wear in axis hole, described first
Swing arm and second swing arm are respectively arranged on two one end of the arm shaft far from the walking mechanism.
8. power distribution network cable passage double-swing arm crusing robot according to claim 7, which is characterized in that described first
Swing arm includes the first swing arm front-wheel, the first swing arm rear-wheel and is sheathed on the first swing arm front-wheel and the first swing arm rear-wheel
The first swing arm crawler belt, the first swing arm rear-wheel is disposed therein on an arm shaft, and second swing arm includes the second pendulum
Arm front-wheel, the second swing arm rear-wheel and the second swing arm being sheathed on the second swing arm front-wheel and the second swing arm rear-wheel are carried out
Band, the second swing arm rear-wheel are set on another arm shaft.
9. power distribution network cable passage double-swing arm crusing robot according to any one of claims 1 to 8, feature exist
In, further include communication module, the communication module is electrically connected with the camera, the communication module can outwardly equipment pass
Transmission of data.
10. power distribution network cable passage double-swing arm crusing robot according to any one of claims 1 to 8, feature exist
In further including shield, the shield is set in the walking mechanism, and the shield covers at the holder and institute
It states on camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822206885.7U CN209504096U (en) | 2018-12-26 | 2018-12-26 | Power distribution network cable passage double-swing arm crusing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822206885.7U CN209504096U (en) | 2018-12-26 | 2018-12-26 | Power distribution network cable passage double-swing arm crusing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209504096U true CN209504096U (en) | 2019-10-18 |
Family
ID=68197395
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822206885.7U Active CN209504096U (en) | 2018-12-26 | 2018-12-26 | Power distribution network cable passage double-swing arm crusing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209504096U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111230893A (en) * | 2020-01-13 | 2020-06-05 | 北京理工大学 | Swing arm type walking robot |
| CN112975922A (en) * | 2021-02-08 | 2021-06-18 | 浙江百世技术有限公司 | Inspection robot based on thing networking |
| CN116697190A (en) * | 2023-08-08 | 2023-09-05 | 国网安徽省电力有限公司电力科学研究院 | Robot and inspection method suitable for synchronous inspection of long branch pipeline and main pipeline |
-
2018
- 2018-12-26 CN CN201822206885.7U patent/CN209504096U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111230893A (en) * | 2020-01-13 | 2020-06-05 | 北京理工大学 | Swing arm type walking robot |
| CN112975922A (en) * | 2021-02-08 | 2021-06-18 | 浙江百世技术有限公司 | Inspection robot based on thing networking |
| CN116697190A (en) * | 2023-08-08 | 2023-09-05 | 国网安徽省电力有限公司电力科学研究院 | Robot and inspection method suitable for synchronous inspection of long branch pipeline and main pipeline |
| CN116697190B (en) * | 2023-08-08 | 2023-10-31 | 国网安徽省电力有限公司电力科学研究院 | Robot and inspection method suitable for synchronous inspection of long branch pipeline and main pipeline |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN209504096U (en) | Power distribution network cable passage double-swing arm crusing robot | |
| CN205345098U (en) | Robot is exploded to planet wheel -track belt row | |
| CN103672293B (en) | The amphibious working pipe pipeline robot of a kind of multi-dimensions test | |
| CN107717941A (en) | A kind of geared cable ditch inspection operation Multifunctional mobile robot | |
| CN107176218A (en) | Full landform crusing robot | |
| CN104875798B (en) | Transformer station's wheel carries out compound switchable type mobile robot | |
| CN103252768A (en) | Robot capable of fetching and placing article in narrow pipeline | |
| WO2020133546A1 (en) | Reconfigurable joint track composite mobile robot | |
| CN103448063A (en) | Humanoid explosive-handling robot | |
| CN205085966U (en) | From reconsitution modularization movable robot system modular unit | |
| CN206552137U (en) | The switchable type wheel of electromagnetic clutch control carries out composite mobile robot | |
| CN104828164A (en) | Four-section wheel-track combined intelligent obstacle-crossing robot | |
| CN111496759A (en) | Anti-collision obstacle-crossing line inspection robot based on remote control system | |
| CN208557467U (en) | A kind of geared cable ditch inspection operation Multifunctional mobile robot | |
| CN207089475U (en) | Full landform crusing robot | |
| CN209351486U (en) | A kind of chassis structure of cable tunnel inspection robot | |
| CN210270618U (en) | Crawler-type inspection robot | |
| CN206085072U (en) | Security robot with graphic information processing | |
| CN205968985U (en) | Portable investigation robot based on intelligent Mobile Terminal control | |
| WO2018035746A1 (en) | Triangular crawler wheel robot | |
| CN106891348A (en) | Night watching robot | |
| CN206925845U (en) | A kind of service robot of centre of gravity, high kinetic stability | |
| CN209769526U (en) | Wheel-shaped food delivery unmanned vehicle | |
| WO2018035745A1 (en) | Triangular crawler wheel robot | |
| CN107160360A (en) | A kind of service robot of centre of gravity, high kinetic stability |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20201019 Address after: 510620 Tianhe District, Guangzhou, Tianhe South Road, No. two, No. 2, No. Patentee after: Guangzhou Power Supply Bureau of Guangdong Power Grid Co.,Ltd. Address before: 510620 Tianhe District, Guangzhou, Tianhe South Road, No. two, No. 2, No. Patentee before: GUANGZHOU POWER SUPPLY Co.,Ltd. |
|
| TR01 | Transfer of patent right |