CN210182916U - Inspection robot based on planetary gear mechanism - Google Patents
Inspection robot based on planetary gear mechanism Download PDFInfo
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- CN210182916U CN210182916U CN201921387524.5U CN201921387524U CN210182916U CN 210182916 U CN210182916 U CN 210182916U CN 201921387524 U CN201921387524 U CN 201921387524U CN 210182916 U CN210182916 U CN 210182916U
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- operating arm
- planetary gear
- motor
- connecting piece
- gear mechanism
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Abstract
The utility model discloses a patrol line robot based on planetary gear mechanism uses and has the tooth inner ring and have the tooth outer loop to install on central fixed disk with one heart, through turning to its rotation of the epaxial gear control of motor rotation. When the front operating arm needs to cross the obstacle, the front operating arm rotates to avoid the obstacle and advances to cross the obstacle, and then the steering motor rotates back again and tightens the cable. Meanwhile, the rear operating arm loosens the cable and rotates to avoid the obstacle, after the whole body crosses the obstacle, the rear operating arm rotates back to the original position again and clamps the cable, and the whole obstacle crossing action is completed. The utility model discloses simple structure, the action is carried out effectively, and practical self-powered device supplies power for this equipment simultaneously, has improved the efficiency of patrolling the obstacle more and patrolling the line of line robot greatly.
Description
Technical Field
The utility model relates to a power transmission line inspection robot especially relates to an inspection robot based on planetary gear mechanism.
Background
The high-voltage and ultrahigh-voltage overhead power lines are used as the main mode for long-distance power transmission and distribution, and the safe operation of the high-voltage and ultrahigh-voltage lines is the guarantee of long-distance power transmission. However, when the overhead transmission line is exposed in the field for a long time, due to the influence of continuous mechanical tension, wind and sun exposure and material aging, damages such as strand breakage, abrasion and corrosion often occur, and if the overhead transmission line is not repaired and replaced in time, the original tiny damages and defects may be enlarged, and finally serious accidents are caused, large-area power failure is caused, so that great economic loss and serious social influence are brought, and therefore, the transmission line must be regularly inspected.
Typical obstacles on a 110KV transmission line are spacers, vibration dampers, suspension clamps, etc. Generally, a straight line tower is arranged at every 500m or so, and a spacer is arranged at every 50m, so that the problem of crossing an obstacle is inevitable in inspection work. In addition, line faults such as jumper wires and the like also exist at the tension tower, so that the high-voltage line inspection robot is required to have a strong obstacle crossing function. In the case of ensuring safe and stable operation, the robot also needs to cross the obstacles as soon as possible to improve the inspection efficiency.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is: the utility model provides a patrol line robot based on planetary gear mechanism to solve current patrol line robot unstable and the inefficiency problem when surmounting the obstacle.
The technical scheme of the utility model is that:
a line inspection robot based on a planetary gear mechanism comprises a box body, wherein the top of the box body is fixedly provided with the planetary gear mechanism; the planetary gear mechanism is provided with a traveling clamping device and a self-power-taking device.
The planetary gear mechanism comprises a steering motor, a central fixed disc, a rear operating arm connecting piece, a front operating arm connecting piece, a toothed inner ring and a toothed outer ring; the central fixed disk is fixedly arranged at the top of the box body; the toothed inner ring is positioned between the central fixed disk and the toothed outer ring; the steering motor is arranged at the bottom of the central fixed disk; a rotating shaft of the steering motor is meshed with the gears of the inner ring with teeth and the outer ring with teeth; one end of the rear operating arm connecting piece is hinged on the power taking device, and the other end of the rear operating arm connecting piece is fixedly arranged on the inner ring with teeth; one end of the front operating arm connecting piece is hinged on the power taking device, and the other end of the front operating arm connecting piece is fixedly arranged on the toothed outer ring.
The walking clamping device comprises a front operating arm, a rear operating arm and a walking wheel mechanism; the end of the front operating arm connecting piece close to the toothed outer ring is hinged with a front operating arm; the other end of the front operating arm is fixedly provided with a traveling wheel mechanism; the end of the rear operating arm connecting piece close to the toothed inner ring is hinged with a rear operating arm; the other end of the rear operating arm is fixedly provided with a traveling wheel mechanism.
The walking clamping device also comprises a walking wheel mechanism hub motor and a rudder disc; the end heads of the front operating arm and the rear operating arm are fixedly provided with hub motors; the steering wheel is fixedly arranged on a rotating shaft of the hub motor; the walking wheel mechanism comprises a bracket and walking wheels arranged at the two ends of the bracket; two ends of the rudder disk are respectively provided with a group of traveling wheel mechanisms.
The hinge joint of the front operating arm and the front operating arm connecting piece is fixedly provided with a front operating arm stabilizing motor, and the rotating shaft of the front operating arm stabilizing motor is fixedly connected with the front operating arm.
The hinge joint of the rear operating arm and the rear operating arm connecting piece is fixedly provided with a rear operating arm stabilizing motor, and the rotating shaft of the rear operating arm stabilizing motor is fixedly connected with the rear operating arm.
Two travelling wheel mechanisms on the same operating arm are parallel to the cable when being installed.
The self-power-taking device comprises a telescopic rod, a power-taking ring and a fixing frame; one end of the telescopic rod penetrates through the preformed holes on the front operating arm connecting piece and the rear operating arm connecting piece and then is fixedly arranged on the central fixed disk, and the other end of the telescopic rod is fixedly provided with a fixed frame; the fixed frame is provided with a power taking ring.
The self-power-taking device also comprises a motor and a gear, and the motor is arranged on the fixed frame; the electricity taking ring is composed of two semicircular structures, and the bottom of the electricity taking ring is fixedly connected with the gear; the teeth of the gear are meshed with the gear on the rotating shaft of the motor.
The utility model discloses beneficial effect:
the utility model discloses a patrol line robot based on planetary gear mechanism uses planetary gear mechanism as the steering mechanism who hinders more, and running wheel mechanism is as the elasticity structure of cable, and simple structure is practical. When the inspection robot crosses the obstacle, the whole action amplitude is smaller, the obstacle crossing function of the inspection robot can be quickly realized, and the obstacle crossing efficiency is improved. Practical self-powered device simultaneously satisfies the required electric quantity of patrolling line robot daily work, need not frequently change the battery again and charge, has improved patrolling line robot's work efficiency greatly.
Drawings
Fig. 1 is a schematic structural view of the present invention;
fig. 2 is a schematic structural view of the planetary gear mechanism of the present invention;
fig. 3 is a schematic structural view of the travelling wheel mechanism of the present invention;
fig. 4 is a schematic structural diagram of the self-powered device of the present invention.
Detailed Description
As shown in fig. 1: a line patrol robot based on a planetary gear mechanism comprises a box body 1, wherein the top of the box body 1 is fixedly provided with the planetary gear mechanism; the planetary gear mechanism is provided with a traveling clamping device and a self-power-taking device.
The central fixed disk 3 is fixedly arranged on the top of the box body 1 by adopting bolts; the centers of the center fixed disk 3, the toothed inner ring 15 and the toothed outer ring 16 are provided with openings, the aperture is equal to the outer diameter of the telescopic rod 12, and the matching relationship is clearance fit so as to ensure that no clamping stagnation is generated during rotation.
As shown in fig. 2: the toothed inner ring 15 is positioned between the central fixed disk 3 and the toothed outer ring; the steering motor 2 is arranged at the bottom of the central fixed disc 3; the rotating shaft of the steering motor 2 is a gear type, the tooth pitch of the gear is the same as the gear of the inner ring 15 with teeth and the gear of the outer ring 16 with teeth, the rotating shaft of the steering motor 2 is meshed with the gear of the inner ring 15 with teeth and the gear of the outer ring 16 with teeth;
one end of the front operating arm connecting piece 18 and one end of the rear operating arm connecting piece 14 are provided with holes with the same outer diameter as the operating rod 12; one end of the rear operating arm connecting piece 14 is connected to the power taking device in a sleeved mode, and the other end of the rear operating arm connecting piece is fixedly installed on the inner ring 15 with teeth; one end of the front operating arm connecting piece 18 is sleeved on the power taking device, and the other end is welded on the toothed outer ring 16.
The end head at the outer side of the front operating arm connecting piece 18 is hinged with a front operating arm 5; the other end of the front operating arm 5 is fixedly provided with a travelling wheel mechanism 10; the end of the outer side of the rear operating arm connecting piece 14 is hinged with a rear operating arm 11; the other end of the rear operating arm 11 is fixedly provided with a travelling wheel mechanism 10.
The end heads of the front operating arm 5 and the rear operating arm 11 are fixedly provided with hub motors 7; as shown in fig. 3: the steering wheel 6 is a strip steel structure, the design length of the steering wheel is greater than the sum of the diameter of the wheel and the diameter of the cable, and the central point is fixedly arranged on a rotating shaft of the hub motor 7; the walking wheel mechanism 10 comprises a bracket and walking wheels arranged at two ends of the bracket; two ends of the rudder disk 6 are respectively provided with a group of travelling wheel mechanisms 10. The travelling wheel mechanism (10) on the front operating arm 5 and the travelling wheel mechanism on the rear operating arm 11 are the same component.
The hinged part of the front operating arm 5 and the front operating arm connecting piece 18 is fixedly provided with a front operating arm stabilizing motor 4, and the rotating shaft of the front operating arm stabilizing motor 4 is fixedly connected with the front operating arm 5. When the rear operating arm 11 loosens the cable, the angle between the front operating arm 5 and the box body 1 is adjusted to be smaller, and the center of gravity is ensured to be stable.
A rear operating arm stabilizing motor 13 is fixedly mounted at the hinged position of the rear operating arm 11 and the rear operating arm connecting piece 14, and a rotating shaft of the rear operating arm stabilizing motor 13 is fixedly connected with the rear operating arm 11. After the front operating arm 5 loosens the cable, the angle between the rear operating arm 11 and the box body 1 is adjusted, so that the angle is reduced, and the stability of the center of gravity is ensured.
The self-powered device comprises a telescopic rod 12, a power-taking ring 9 and a fixing frame 8; one end of the telescopic rod 12 passes through the preformed holes on the front operating arm connecting piece 18 and the rear operating arm connecting piece 14 and then is fixedly arranged on the central fixed disk 3, and the other end is fixedly provided with a fixed frame 8; the fixed frame 8 is provided with a power taking ring 9. The self-powered device is used for connecting the power-taking ring on the cable when the inspection robot works, so that on one hand, the power can be taken from the cable for self use, and on the other hand, the whole device is stabilized.
As shown in fig. 4: the self-power-taking device also comprises a motor and a gear, and the motor is arranged on the fixed frame 8; the electricity taking device 9 is composed of two semicircular structures, and the bottom of the electricity taking device is fixedly connected with the central point of the gear; the outer teeth of the two gears are meshed with the gear on the rotating shaft of the motor. When the motor rotates forwards, the motor on the rotating shaft drives one gear to rotate and simultaneously drives the other gear to rotate, and the electricity taking ring 9 is used for collecting a cage and clamping a cable.
An obstacle crossing method of an inspection robot based on a planetary gear mechanism mainly comprises the following steps:
step 1, when an obstacle is encountered, a hub motor 7 on a front operating arm 5 rotates reversely, a rudder disk 6 is driven to rotate at the same time, and a travelling wheel structure 10 loosens a cable;
step 5, the walking wheel mechanism 10 on the rear operating arm 11 continues to move forwards, and the front operating arm 5 and the self-powered device cross one side of the obstacle;
and step 10, moving the telescopic rod 12 upwards, after the cable is lapped on the power taking ring 9, rotating the motor on the power taking device forwards, and tightly grasping the cable by the power taking ring 9.
The maximum escape position of the front operating arm 5 or the rear operating arm 11 is a position when the steering motor 2 is rotated by 90 degrees, and therefore the rotation angle of the steering motor 2 is set to 90 degrees to ensure that contact with an obstacle can be avoided to the maximum extent.
Claims (8)
1. The utility model provides a patrol line robot based on planetary gear mechanism, it includes box (1), its characterized in that: a planetary gear mechanism is fixedly arranged at the top of the box body (1); the planetary gear mechanism is provided with a traveling clamping device and a self-power-taking device.
2. The inspection robot based on the planetary gear mechanism according to claim 1, characterized in that: the planetary gear mechanism comprises a steering motor (2), a central fixed disc (3), a rear operating arm connecting piece (14), a front operating arm connecting piece (18), a toothed inner ring (15) and a toothed outer ring (16); the central fixed disc (3) is fixedly arranged at the top of the box body (1); the inner toothed ring (15) is positioned between the central fixed disk (3) and the outer toothed ring (16); the steering motor (2) is arranged at the bottom of the central fixed disc (3); the rotating shaft of the steering motor (2) is meshed with the gear of the inner ring (15) with teeth and the gear of the outer ring (16) with teeth; one end of a rear operating arm connecting piece (14) is sleeved on the power taking device, and the other end is fixedly arranged on the inner ring (15) with teeth; one end of the front operating arm connecting piece (18) is sleeved on the power taking device, and the other end is fixedly arranged on the toothed outer ring (16).
3. The inspection robot based on the planetary gear mechanism according to claim 1, characterized in that: the walking clamping device comprises a front operating arm (5), a rear operating arm (11) and a walking wheel mechanism (10); a front operating arm (5) is hinged on the outer end head of the front operating arm connecting piece (18); the other end of the front operating arm (5) is fixedly provided with a traveling wheel mechanism (10); a rear operating arm (11) is hinged on the outer end head of the rear operating arm connecting piece (14); the other end of the rear operating arm (11) is fixedly provided with a traveling wheel mechanism (10).
4. The inspection robot based on the planetary gear mechanism according to claim 3, characterized in that: the walking clamping device also comprises a walking wheel mechanism (10), a hub motor (7) and a steering wheel (6); the end heads of the front operating arm (5) and the rear operating arm (11) are fixedly provided with hub motors (7); the rudder disc (6) is fixedly arranged on a rotating shaft of the hub motor (7); the walking wheel mechanism (10) comprises a bracket and walking wheels arranged at two ends of the bracket; two ends of the rudder disk (6) are respectively provided with a group of traveling wheel mechanisms (10).
5. The inspection robot based on the planetary gear mechanism according to claim 3, characterized in that: the hinged part of the front operating arm (5) and the front operating arm connecting piece (18) is fixedly provided with a front operating arm stabilizing motor (4), and the rotating shaft of the front operating arm stabilizing motor (4) is fixedly connected with the front operating arm (5).
6. The inspection robot based on the planetary gear mechanism according to claim 3, characterized in that: a rear operating arm stabilizing motor (13) is fixedly arranged at the hinged part of the rear operating arm (11) and the rear operating arm connecting piece (14), and a rotating shaft of the rear operating arm stabilizing motor (13) is fixedly arranged with the rear operating arm (11).
7. The inspection robot based on the planetary gear mechanism according to claim 1, characterized in that: the self-powered device comprises a telescopic rod (12), a power-taking ring (9) and a fixed frame (8); one end of the telescopic rod (12) passes through the preformed holes on the front operating arm connecting piece (18) and the rear operating arm connecting piece (14) and then is fixedly arranged on the central fixed disk (3), and the other end is fixedly provided with a fixed frame (8); the fixed frame (8) is provided with a power taking ring (9).
8. The inspection robot based on the planetary gear mechanism according to claim 7, characterized in that: the self-powered device also comprises a motor and a gear, and the motor is arranged on the fixed frame (8); the electricity taking ring (9) is composed of two semicircular structures, and the bottom of the electricity taking ring is fixedly connected with the gear; the teeth of the gear are meshed with the gear on the rotating shaft of the motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921387524.5U CN210182916U (en) | 2019-08-26 | 2019-08-26 | Inspection robot based on planetary gear mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921387524.5U CN210182916U (en) | 2019-08-26 | 2019-08-26 | Inspection robot based on planetary gear mechanism |
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| CN210182916U true CN210182916U (en) | 2020-03-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201921387524.5U Active CN210182916U (en) | 2019-08-26 | 2019-08-26 | Inspection robot based on planetary gear mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110416919A (en) * | 2019-08-26 | 2019-11-05 | 贵州电网有限责任公司 | A kind of inspection robot and obstacle-detouring method based on planetary gear mechanism |
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2019
- 2019-08-26 CN CN201921387524.5U patent/CN210182916U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110416919A (en) * | 2019-08-26 | 2019-11-05 | 贵州电网有限责任公司 | A kind of inspection robot and obstacle-detouring method based on planetary gear mechanism |
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