CN210256113U

CN210256113U - Inspection robot and anti-falling structure thereof

Info

Publication number: CN210256113U
Application number: CN201920725562.0U
Authority: CN
Inventors: 曲烽瑞; 孙启林
Original assignee: Guangzhou Sui Neng Tong Integrated Energy Co ltd
Current assignee: China Southern Power Grid Big Data Service Co ltd; Guangzhou Suinengtong Energy Technology Co ltd
Priority date: 2019-05-20
Filing date: 2019-05-20
Publication date: 2020-04-07
Anticipated expiration: 2029-05-20

Abstract

The utility model relates to an inspection robot and anti-falling structure thereof, inspection robot include the anti-falling structure of inspection robot, and inspection robot's anti-falling structure includes flying piece, walking wheel and anti-falling piece. The walking wheel comprises a wheel shaft, a first side wheel cover and a second side wheel cover, the wheel shaft is rotatably arranged on the suspension part, the first side wheel cover and the second side wheel cover are arranged on the wheel shaft at intervals, the first side wheel cover and the second side wheel cover protrude out of the wheel shaft along the radial direction of the wheel shaft, and a part of the first side wheel cover protruding out of the wheel shaft, a part of the second side wheel cover protruding out of the wheel shaft and the outer periphery of the wheel shaft form a containing groove in a surrounding mode. The anti-falling part is arranged on the suspension part and comprises a blocking arm, the blocking arm is located below the walking wheel, and the blocking arm can move relative to the accommodating groove to block or expose the notch of the accommodating groove. The inspection robot and the anti-falling structure thereof can prevent the inspection robot from falling off from the track.

Description

Inspection robot and anti-falling structure thereof

Technical Field

The utility model relates to an overhead line patrols and examines technical field, especially relates to a patrol and examine robot and anti falling structure thereof.

Background

In order to find the hidden trouble of the overhead line in time, the overhead line needs to be regularly checked to avoid power failure caused by line faults. The inspection robot is a common overhead line inspection device and has the characteristics of strong environmental adaptability, no inspection blind area, short inspection period, low inspection cost and the like. Overhead lines are usually arranged on a tower, and in the inspection process, a track needs to be built near a cross arm of the tower, so that the inspection robot can conveniently cross the tower along the track to continue inspection operation. In the conventional art, there is a problem that the inspection robot easily drops from the rail.

SUMMERY OF THE UTILITY MODEL

In view of the above, it is necessary to provide an inspection robot and a drop prevention structure thereof, aiming to prevent the inspection robot from dropping from a rail.

An anti-drop structure of a patrol robot, comprising:

a suspension member;

the travelling wheel comprises a wheel shaft, a first side wheel cover and a second side wheel cover, the wheel shaft is rotatably arranged on the suspension part, the first side wheel cover and the second side wheel cover are arranged on the wheel shaft at intervals, the first side wheel cover and the second side wheel cover protrude out of the wheel shaft along the radial direction of the wheel shaft, and a part of the first side wheel cover protruding out of the wheel shaft, a part of the second side wheel cover protruding out of the wheel shaft and the outer periphery of the wheel shaft form an accommodating groove in a surrounding mode; and

the anti-falling part is arranged on the suspension part and comprises a blocking arm, the blocking arm is located below the travelling wheel and can move relative to the accommodating groove to block or expose the notch of the accommodating groove.

The anti-falling structure of the inspection robot at least has the following advantages:

during the use, make the barrier arm for the holding tank activity to expose the notch of holding tank, thereby set up the walking wheel on the track via the notch of the holding tank that exposes. After the walking wheel set up on the track, the track is located the holding tank, specifically, the track is located the below of shaft, and is located between first side wheel cover and the second side wheel cover. Make and block the arm and move about for the holding tank to block the notch of holding tank, prevent that the walking wheel from breaking away from the track and leading to patrolling and examining the robot and dropping from the track via the notch of holding tank. When the blocking arm blocks the notch of the accommodating groove, the blocking arm is positioned below the track, so that the walking wheel is prevented from being separated from the track in the walking process. When the robot walks, the wheel shaft rotates relative to the suspension part to enable the walking wheel to move along the track, and the anti-tripping part and the walking wheel are arranged on the suspension part, so that the anti-tripping part moves along the track along with the walking wheel, and the inspection robot is prevented from falling off from the track in the walking process.

The technical solution is further explained below:

in one embodiment, the blocking arm is movable relative to the receiving groove in a rotational or translational manner.

In one embodiment, when the blocking arm moves relative to the accommodating groove in a rotating manner, the anti-falling part further comprises a rotating shaft arranged on the suspension part, one end of the blocking arm is rotatably arranged on the rotating shaft, the second side wheel cover is positioned between the first side wheel cover and the suspension part, and the distance from the other end of the blocking arm to the second side wheel cover changes during the rotation of the blocking arm.

In one embodiment, the first side wheel cover is spaced from the blocking arm, and the second side wheel cover is spaced from the blocking arm.

In one embodiment, the anti-falling structure of the inspection robot further comprises a buffer layer, and the buffer layer is arranged on one side, close to the travelling wheels, of the blocking arm; or

Patrol and examine anti-falling structure of robot still includes the buffer layer, the buffer layer set up in first side wheel cap with on the outer peripheral edges of second side wheel cap.

In one embodiment, the anti-falling piece further comprises a connecting arm, the connecting arm is arranged on the rotating shaft, and the connecting arm is fixed on the hanging piece.

In one embodiment, the drop prevention member is a hydraulic hinge.

In one embodiment, the hanging part is a hollow tube, a jack is arranged on the hanging part, and the connecting arm is inserted into the hanging part through the jack.

In one embodiment, the anti-dropping structure of the inspection robot further comprises a fixing plate, the fixing plate is arranged in the hanging part, and the connecting arm is fixed on the fixing plate.

The utility model provides an inspection robot, includes as above-mentioned inspection robot's anti falling structure.

The inspection robot at least has the following advantages:

because the inspection robot comprises the anti-falling structure of the inspection robot, the anti-falling structure of the inspection robot has the technical effect that the inspection robot is not easy to fall off the rail.

Drawings

Fig. 1 is a schematic structural diagram of an anti-drop structure of an inspection robot in one embodiment;

fig. 2 is a partial schematic view of an anti-drop structure of the inspection robot shown in fig. 1;

fig. 3 is a schematic structural diagram of an anti-drop structure of the inspection robot in another embodiment.

Description of reference numerals:

10. the anti-falling structure comprises 20 an object to be accommodated, 100 a suspension part, 110 a strip-shaped groove, 200 a travelling wheel, 210, an axle, 220, a first side wheel cover, 230, a second side wheel cover, 240, an accommodating groove, 300 an anti-falling part, 310, a blocking arm, 320, a connecting arm, 400 and a fixing plate.

Detailed Description

In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention can be embodied in many different forms other than those specifically described herein, and it will be apparent to those skilled in the art that similar modifications can be made without departing from the spirit and scope of the invention, and it is therefore not to be limited to the specific embodiments disclosed below.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "parallel," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

Referring to fig. 1, an inspection robot in an embodiment is used in an overhead line inspection operation, and has at least a characteristic of being not easily dropped from a rail. Specifically, the inspection robot includes an anti-drop structure (hereinafter referred to as an anti-drop structure 10) of the inspection robot and a robot body, and the robot body is disposed on the anti-drop structure 10.

In an embodiment, the anti-falling structure 10 includes a suspension member 100, a traveling wheel 200 and an anti-falling member 300, the traveling wheel 200 and the anti-falling member 300 are both disposed on the suspension member 100, and the traveling wheel 200 is located above the anti-falling member 300. The suspension part 100 is arranged on the robot body, and during inspection, the walking wheel 200 walks along the overhead line to drive the robot body to move along the overhead line.

The suspension member 100 mainly serves as a link to connect the traveling wheel 200, the falling prevention member 300 and the robot body as a whole. The suspension member 100 may be a hollow rod, which is light and easy to obtain. Both ends of the hanging member 100 can be penetrated, so that the hanging member 100 is tubular, and the structure is simple and easy to manufacture. In the present embodiment, the suspension member 100 is a rectangular tube, and the road wheel 200 and the anti-falling member 300 are both on the same side of the rectangular tube. Of course, in other embodiments, the shape of the suspension member 100 may be flexibly configured, such as in a solid plate shape.

The road wheel 200 includes an axle 210, a first side wheel cover 220 and a second side wheel cover 230, the axle 210 is rotatably disposed on the suspension member 100, the first side wheel cover 220 and the second side wheel cover 230 are disposed on the axle 210 at intervals, the first side wheel cover 220 and the second side wheel cover 230 protrude from the axle 210 along a radial direction of the axle 210, and a portion of the first side wheel cover 220 protruding from the axle 210, a portion of the second side wheel cover 230 protruding from the axle 210 and an outer periphery of the axle 210 define a receiving groove 240. In this embodiment, the second side wheel cover 230 is located between the first side wheel cover 220 and the suspension member 100, and the receiving groove 240 is an annular groove.

The accommodating groove 240 is used for accommodating the accommodated object 20, and since the first side wheel cover 220 and the second side wheel cover 230 are arranged at intervals, the first side wheel cover 220 and the second side wheel cover 230 can be respectively positioned at two opposite sides of the accommodated object 20, so that the stability of the walking wheel 200 on the accommodated object 20 is increased, and the walking wheel 200 is prevented from being separated from the accommodated object to a certain extent. When the road wheel 200 is located on an overhead wire, the accommodated object 20 is an overhead wire, and when the road wheel 200 is located on a track, the accommodated object 20 is a track. When the inspection robot walks, the driving wheel shaft 210, the first side wheel cover 220 and the second side wheel cover 230 rotate along with the driving wheel shaft 210 relative to the accommodated object 20, so that the inspection robot moves relative to the accommodated object 20.

Referring to fig. 2, the anti-drop device 300 is disposed on the suspension member 100, and the anti-drop device 300 includes a blocking arm 310, the blocking arm 310 is disposed below the walking wheel 200, and the blocking arm 310 can move relative to the receiving groove 240 to block or expose the notch of the receiving groove 240. Taking the accommodated object 20 as a rail as an example, in use, the blocking arm 310 is moved relative to the accommodating groove 240 to expose the notch of the accommodating groove 240, so that the traveling wheel 200 is disposed on the rail through the exposed notch of the accommodating groove 240. Make barrier arm 310 move about for holding tank 240 to block the notch of holding tank 240, prevent that walking wheel 200 from breaking away from the track and leading to patrolling and examining robot and falling from the track via the notch of holding tank 240. It will be appreciated that the axle 210 and the blocking arm 310 are located on opposite sides of the track, respectively, when the blocking arm 310 blocks the notch of the receiving groove 240.

In the present embodiment, the blocking arm 310 has a plate shape, and the blocking arm 310 is located right below the wheel axle 210. When the blocking arm 310 exposes the notch of the receiving groove 240, the blocking arm 310 may be out-of-plane perpendicular to the axle 210, and a surface of the blocking arm 310 may be attached to the hanger 100, so as to dispose the road wheel 200 on the accommodated object 20 via the notch of the receiving groove 240. When the blocking arm 310 blocks the notch of the receiving groove 240, the blocking arm 310 may be parallel to the axle 210, and an end of the blocking arm 310 away from the suspension member 100 may protrude out of the first side wheel cover 220 along a length direction of the axle 210 to block the notch of the receiving groove 240, so as to prevent the road wheel 200 from being separated from the track via the notch of the receiving groove 240 to cause the inspection robot to fall off the track.

In yet another embodiment, the blocking arm 310 has a rod shape, and the blocking arm 310 is located at the lower left, lower right, or directly below the wheel axle 210. When the blocking arm 310 exposes the notch of the receiving groove 240, an orthographic projection of the blocking arm 310 on the horizontal plane is distributed at an angle to an orthographic projection of the axle 210 on the horizontal plane, one end of the blocking arm 310 away from the suspension member 100 is located between the first side wheel cover 220 and the second side wheel cover 230, and a distance from one end of the blocking arm 310 away from the suspension member 100 to the first side wheel cover 220 is greater than a width of the received object 20, so that the road wheel 200 is disposed on the received object 20 through the notch of the receiving groove 240. When the blocking arm 310 blocks the notch of the accommodating groove 240, an orthographic projection of the blocking arm 310 on the horizontal plane and an orthographic projection of the axle 210 on the horizontal plane are distributed at an angle, one end of the blocking arm 310, which is far away from the hanger 100, is located between the first side wheel cover 220 and the second side wheel cover 230, and the distance from one end of the blocking arm 310, which is far away from the hanger 100, to the first side wheel cover 220 is smaller than the width of the accommodated object 20, so as to block the notch of the accommodating groove 240, and prevent the walking wheel 200 from being separated from the accommodated object 20 through the notch of the accommodating groove 240, so that the inspection robot falls. Taking the object 20 as an overhead wire as an example, the width of the object 20 is the wire diameter of the overhead wire.

It is understood that the blocking arm 310 exposes the notch of the receiving groove 240, and may be completely exposed or partially exposed, as long as the road wheel 200 can be disposed on the accommodated object 20 via the notch of the receiving groove 240. The blocking arm 310 blocks the notch of the receiving groove 240 without completely blocking the entire notch of the receiving groove 240, as long as it blocks a portion of the notch so that the traveling wheel 200 cannot be separated from the accommodated substance 20 via the notch of the receiving groove 240.

Further, the movement of the blocking arm 310 relative to the receiving groove 240 may be rotation or translation, and the movement of the blocking arm 310 relative to the receiving groove 240 may be flexibly selected according to the actual situation of the object 20. When the blocking arm 310 moves relative to the receiving groove 240 in a rotating manner, the distance between the blocking arm 310 and the walking wheel 200 in the height direction can be maintained constant, and the accommodated object 20 with small variation in the cross-sectional dimension can be accommodated. When the blocking arm 310 moves in a translational manner with respect to the receiving groove 240, the distance between the blocking arm 310 and the traveling wheel 200 in the height direction is adjustable to accommodate the accommodated object 20 having a large variation in cross-sectional dimension.

In this embodiment, the blocking arm 310 is movable relative to the receiving groove 240 in a rotating manner, the anti-dropping member 300 further includes a rotating shaft disposed on the suspension member 100, one end of the blocking arm 310 is rotatably disposed on the rotating shaft, and during the rotation of the blocking arm 310, the distance from the other end of the blocking arm 310 to the second side wheel cover 230 changes. When the end of the blocking arm 310 rotates to the position between the first side wheel cover 220 and the second side wheel cover 230 and the distance from the end of the blocking arm 310 to the second side wheel cover 230 is small, the notch of the receiving groove 240 is exposed, and the traveling wheel 200 can be disposed on the object 20 through the distance between the end of the blocking arm 310 and the first side wheel cover 220. When the end of the blocking arm 310 rotates to the position between the first side wheel cover 220 and the second side wheel cover 230 and the distance from the end of the blocking arm 310 to the second side wheel cover 230 is large, the notch of the receiving groove 240 is blocked to prevent the road wheel 200 from being separated from the accommodated object 20 to cause the inspection robot to fall off the track. In the height direction, the space occupied by the anti-falling structure 10 is relatively small, and the size of the inspection robot can be effectively reduced.

In this embodiment, the length direction of the blocking arm 310 is in the radial direction of the rotating shaft, and in the inspection process, the length direction of the blocking arm 310 is in the same direction as the length direction of the wheel shaft 210, so that the length of the blocking arm 310 can be effectively shortened. Of course, in other embodiments, the length direction of the blocking arm 310 may be adjusted according to the actual situation.

Referring to fig. 1 and 3, in another embodiment, the blocking arm 310 moves in a translational manner relative to the receiving groove 240, and the anti-falling member 300 further includes a driving element, the blocking arm 310 is disposed on the driving element, and the driving element is used for driving the blocking arm 310 to reciprocate. During the use, drive assembly drive blocks arm 310 and moves down, makes and blocks and produces great interval between arm 310 and the walking wheel 200 to expose the notch of holding tank 240, thereby set up walking wheel 200 on the track. The driving assembly drives the blocking arm 310 to move upwards, so that a smaller space is generated between the blocking arm 310 and the walking wheel 200 or the blocking arm 310 abuts against the walking wheel 200, so as to block the notch of the accommodating groove 240 and prevent the walking wheel 200 from being separated from the accommodated object 20 through the notch of the accommodating groove 240.

Alternatively, the driving assembly may be a worm gear, a cylinder, a lead screw nut pair, or the like. The driving assembly may be disposed on a surface of the suspension 100. Alternatively, the driving component may be disposed on an inner wall of the suspension member 100 and located inside the suspension member 100. In another embodiment, the suspension member 100 is provided with a strip-shaped groove 110, the driving assembly is located in the suspension member 100, one end of the blocking arm 310 away from the driving assembly extends out of the suspension member 100 through the strip-shaped groove 110, and under the action of the driving assembly, the blocking arm 310 can translate along the length direction of the strip-shaped groove 110.

Further, there is a space between the first side wheel cover 220 and the blocking arm 310, and a space between the second side wheel cover 230 and the blocking arm 310. During walking, the walking wheel 200 may jump relative to the accommodated substance 20, and the space between the first side wheel cover 220 and the barrier arm 310 and the space between the second side wheel cover 230 and the barrier arm 310 may reserve a space for the jumping of the walking wheel 200, thereby preventing the walking wheel 200 or the accommodated substance 20 from being damaged. It is understood that the spacing is not excessively large to avoid the road wheels 200 from being separated from the accommodated substance 20 via the spacing.

The anti-drop structure 10 further includes a buffer layer disposed on one side of the blocking arm 310 near the road wheel 200. Alternatively, the cushioning layer is disposed on the outer peripheries of the first side wheel cover 220 and the second side wheel cover 230. The existence of the buffer layer can play a role in buffering the jumping of the walking wheel 200, and the walking wheel 200 or the accommodated substance 20 is prevented from being damaged due to the jumping to a certain extent. Of course, in other embodiments, the buffer layer may be omitted.

Referring to fig. 1 and 2, the anti-falling device 300 further includes a connecting arm 320, the connecting arm 320 is disposed on the rotating shaft, and the connecting arm 320 is fixed on the suspension member 100. The presence of the connecting arm 320 may facilitate a more secure positioning of the rotating shaft on the hanger 100. In this embodiment, the connecting arm 320 is located within the hanger 100. Of course, in other embodiments, the connecting arm 320 may be omitted. Alternatively, connecting arm 320 may be fixed on an outer surface of hanger 100.

In this embodiment, the anti-falling member 300 is a hydraulic hinge, which is convenient for obtaining materials, the blocking arm 310 can rotate for multiple times, and the blocking arm 310 can rotate automatically to block the notch of the accommodating groove 240 after the traveling wheel 200 is disposed on the accommodated object 20. Of course, in other embodiments, the structure of the anti-drop member 300 may be flexibly configured, and the blocking arm 310 may be manually rotated. The blocking arm 310 can be automatically rotated after the walking wheel 200 is mounted on the object 20 by adding an elastic member.

Specifically, the suspension member 100 is provided with a socket, and the connecting arm 320 is inserted into the suspension member 100, so that the connecting portion can be conveniently disposed on the suspension member 100, and the stability of the anti-drop device 300 disposed on the suspension member 100 can be increased. The drop-preventing structure 10 further includes a fixing plate 400, the fixing plate 400 is disposed in the suspension member 100, and the connecting arm 320 is fixed to the fixing plate 400 to further increase the disposition stability of the drop-preventing member 300 on the suspension member 100. In this embodiment, the connecting arm 320 is located above the fixing plate 400, and the fixing plate 400 can prevent the connecting arm 320 from sinking.

The robot body is mainly used for finishing inspection operation. The robot body can include the camera to shoot the condition on overhead line and the shaft tower for the operation personnel, be convenient for the operation personnel in time discover the potential safety hazard. And/or the robot body may comprise a cutter for cutting branches near the overhead line or ice cubes hanging on the overhead line, etc. It can be understood that the robot body can be flexibly designed according to different patrol operations.

The inspection robot and the anti-falling structure 10 thereof in the embodiment have at least the following advantages:

taking the object 20 as a rail, the robot body is set on the hanger 100 before use. The inspection robot is made to approach the track, the blocking arm 310 is pulled, the blocking arm 310 is made to rotate relative to the accommodating groove 240, and the end away from the suspension member 100 is close to the second side wheel cover 230 to expose the notch of the accommodating groove 240, so that the traveling wheel 200 is disposed on the track via the exposed notch of the accommodating groove 240. When the walking wheel 200 is arranged on the track, the blocking arm 310 rotates reversely, and the end far away from the suspension part 100 is far away from the second side wheel cover 230, so as to block the notch of the accommodating groove 240, and prevent the walking wheel 200 from being separated from the track via the notch of the accommodating groove 240, so that the inspection robot falls off from the track. During the walking, the track is located the space that walking wheel 200 and anti-falling piece 300 enclose, and anti-falling piece 300 can prevent effectively that walking wheel 200 from breaking away from the track to prevent to patrol and examine the robot and drop.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. The utility model provides an inspection robot's anti falling structure which characterized in that includes:

a suspension member;

2. The inspection robot anti-drop structure according to claim 1, wherein the blocking arm is movable relative to the receiving slot in a rotational or translational manner.

3. The inspection robot as claimed in claim 2, wherein the drop preventing member further includes a rotation shaft provided to a suspension member when the blocking arm is movable with respect to the accommodating groove in a rotational manner, one end of the blocking arm is rotatably provided to the rotation shaft, the second side wheel cover is positioned between the first side wheel cover and the suspension member, and a distance from the other end of the blocking arm to the second side wheel cover is changed during the rotation of the blocking arm.

4. The inspection robot anti-drop structure according to claim 3, wherein a gap exists between the first side wheel cover and the blocking arm, and a gap exists between the second side wheel cover and the blocking arm.

5. The inspection robot anti-drop structure according to claim 4, further comprising a buffer layer disposed on a side of the barrier arm adjacent to the road wheels; or

Still include the buffer layer, the buffer layer set up in first side wheel cap with on the outer peripheral edges of second side wheel cap.

6. The inspection robot anti-drop structure according to claim 3, wherein the anti-drop member further includes a connecting arm disposed on the rotating shaft, the connecting arm being fixed to the hanging member.

7. The inspection robot anti-drop structure according to claim 6, wherein the anti-drop members are hydraulic hinges.

8. The inspection robot as claimed in claim 6, wherein the hanger is a hollow tube having a socket formed therein, and the connecting arm is inserted into the hanger through the socket.

9. The inspection robot anti-drop structure according to claim 8, further comprising a fixing plate disposed in the suspension member, the connecting arm being fixed to the fixing plate.

10. An inspection robot, characterized by comprising the drop prevention structure of the inspection robot according to any one of claims 1 to 9.