CN210882380U

CN210882380U - Insulator chain crawling device

Info

Publication number: CN210882380U
Application number: CN201920986669.0U
Authority: CN
Inventors: 俸波; 黄志都; 朱时阳; 田树军; 唐捷; 蒋圣超; 黄维; 王乐; 莫枝阅; 覃秀君
Original assignee: Electric Power Research Institute of Guangxi Power Grid Co Ltd
Current assignee: Electric Power Research Institute of Guangxi Power Grid Co Ltd
Priority date: 2019-06-28
Filing date: 2019-06-28
Publication date: 2020-06-30
Anticipated expiration: 2029-06-28

Abstract

The utility model discloses an insulator chain device of crawling, including last frame, the underframe and connect the coupling mechanism who connects frame and underframe, it is the same with the underframe structure to go up frame, it is respectively including first arc frame and second arc frame to go up frame and underframe, first arc frame and second arc frame are connected and fixed for the ring structure that has the breach through the frame mechanism that opens and shuts, it is equipped with a plurality of planetary gear trains respectively to go up frame and underframe, the circumference distribution of frame and underframe is followed respectively to planetary gear train, planetary gear train's axis is perpendicular and parallel with the tangential direction on the outer edge of insulator vase with the axis of the insulator chain of waiting to crawl. The utility model drives the planet wheel to move by the rotation of the planet carrier on the planet wheel system, and has wide adaptability to the external dimension of the insulator; and can realize quick and continuous crawling which is not easy to be blocked.

Description

Insulator chain crawling device

Technical Field

The utility model relates to a robot technical field that crawls especially relates to an insulator chain device of crawling.

Background

In the insulator string climbing device in the prior art, the creeping type walking mechanism can be mainly divided into a creeping type walking mechanism, a crawler type walking mechanism and a wheel-leg type walking mechanism according to the moving mode of a robot, wherein the creeping type walking mechanism climbs along a suspension insulator string by utilizing the principle of bionics, the mechanism has stable and reliable motion, but the gait control is complex; the crawler-type traveling mechanism mainly depends on a crawler to crawl along the surface of an insulator in a rolling mode, has strong bearing capacity and strong surface adaptability, is widely applied to various obstacle-surmounting robots, and is complex in structure and heavy in size; the wheel leg type walking mechanism is a mechanism which utilizes a plurality of groups of wheel legs to alternately contact with insulator porcelain skirts to realize the movement along a suspension insulator string, has simple mechanism principle, continuous movement and light volume, but has slight defects in the aspects of adaptability, movement stability, bearing capacity and the like of different insulator strings.

SUMMERY OF THE UTILITY MODEL

Not enough more than to, the utility model provides a strong, the quick insulator chain device of crawling of adaptability.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

the insulator string crawling device comprises an upper frame, a lower frame and a connecting mechanism for connecting the upper frame and the lower frame, wherein the upper frame and the lower frame are identical in structure, the upper frame and the lower frame respectively comprise a first arc-shaped frame and a second arc-shaped frame, the first arc-shaped frame and the second arc-shaped frame are connected through a frame opening and closing mechanism and are fixed into a circular ring structure with a notch, the upper frame and the lower frame are respectively provided with a plurality of planetary gear trains, the planetary gear trains are respectively distributed along the circumferential directions of the upper frame and the lower frame, and the axis of each planetary gear train is perpendicular to the axis of an insulator string to be crawled and is parallel to the tangential direction of the outer edge of an insulator porcelain bottle.

Furthermore, the planetary gear train comprises a planet carrier, a sun gear, planet gears and a planet carrier driving mechanism, wherein the sun gear is fixedly installed on the first arc-shaped frame or the second arc-shaped frame, the planet carrier is rotatably arranged on the first arc-shaped frame or the second arc-shaped frame and driven by the planet carrier driving mechanism to rotate, the planet gears are multiple, and the planet gears are rotatably arranged on the planet carrier and meshed with the sun gear.

Furthermore, the planetary gear train also comprises a crawling wheel which is coaxially arranged on the side surface of the planetary gear.

Furthermore, the periphery of the crawling wheel is provided with a friction part for increasing friction force.

Furthermore, the friction part is a concave or convex pattern arranged on the periphery of the crawling wheel, or a rubber sleeve wrapped on the periphery of the crawling wheel, or a convex tooth.

Further, the connecting mechanism is a rod.

Furthermore, the frame opening and closing mechanism comprises a first driving motor fixedly arranged on one of the first arc-shaped frame and the second arc-shaped frame, and an output shaft of the first driving motor is connected with the other one of the first arc-shaped frame and the second arc-shaped frame and is driven by the first driving motor to rotate.

Compared with the prior art, the beneficial effects of the utility model are that:

1. the planetary gear train of the utility model is pressed on the porcelain insulator, and then the planetary gear is driven to move by the rotation motion of the planetary gear train, so that the adaptability to the external dimension of the insulator is wide; because the mechanism adopts the surrounding design, the mechanism can adapt to insulator strings of different types such as horizontal type, I type, V type and Y type, and the like, namely the utility model has strong adaptability to insulators of different types;

2. the utility model realizes the crawling motion on the insulator chain by the revolution and the rotation of the planet carrier on the planetary gear train when the planetary gear train rotates to drive the revolution and the rotation of the planet gear and the crawling wheel, so that the linear speed of the outer edge of the planet gear is the sum of the revolution speed and the rotation speed, thereby realizing the high-speed movement;

3. the planetary gear train of the utility model can continuously and rapidly rotate all the time, thereby leading the mechanism to continuously and rapidly crawl;

4. the utility model discloses a planet wheel mechanism has good obstacle-crossing ability, can adapt to the irregular characteristic on insulator surface, and difficult card is dead.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below.

Fig. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the connection of a first curved frame and a second curved frame

FIG. 3 is a simplified schematic side view of the planetary gear train (with the planet carrier drive mechanism not shown);

fig. 4 is a schematic structural diagram of the planetary gear train (in which the crawler wheels are not shown).

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the embodiments described are only some embodiments of the invention, and not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

Referring to fig. 1 to 4, a preferred embodiment of the present invention provides an insulator string crawling device, which includes an upper frame 1, a lower frame 2, and a connecting mechanism 3 connecting the upper frame 1 and the lower frame 2, wherein the connecting mechanism 3 is a rod, and the upper frame 1 and the lower frame 2 are fixed by four rods. The upper frame 1 and the lower frame 2 have the same structure, the upper frame 1 and the lower frame 2 respectively include a first arc-shaped frame 51 and a second arc-shaped frame 52, and the first arc-shaped frame 51 and the second arc-shaped frame 52 are connected and fixed to a circular ring structure with a notch through a frame opening and closing mechanism 53. In the preferred embodiment, referring to fig. 2, the frame opening and closing mechanism 53 mainly includes a first driving motor 531, a first arc frame 51 and a second arc frame 52 are stacked at a connection position, the first driving motor 531 is fixedly disposed on the second arc frame 52, an output shaft of the first driving motor 531 passes through a through hole on the second arc frame 52 and is fixed with the first arc frame 51, the fixing manner is that a key slot is disposed on a side surface of the output shaft of the first driving motor 531, a fixing key 532 is fixedly disposed in the key slot, the first arc frame 51 is also disposed with a key slot at a position corresponding to the fixing key 532, a gland 533 is fixedly disposed on an end surface of the output shaft of the first driving motor 531, specifically, a screw hole is disposed on an end surface of the output shaft of the first driving motor 531, the screw hole 533 is also disposed on the gland 533, the gland 533 is pressed against the end surface of the output shaft of the first driving motor 531 by a pressing bolt 534, at this time, under the action of the pressing cover 533, the first arc frame 51 cannot be separated along the axial direction of the output shaft of the first driving motor 531, and when the first driving motor 531 operates, the first arc frame 51 rotates together with the output shaft of the first driving motor 531, and the first driving motor 531 is controlled, so that the rotation direction of the first arc frame 51 can be realized, and the first arc frame 51 and the second arc frame 52 can be opened, closed and fixed. The upper frame 1 and the lower frame 2 are respectively provided with four planetary gear trains 4, the planetary gear trains 4 are respectively distributed along the circumferential directions of the upper frame 1 and the lower frame 2, and the axis of the planetary gear train 4 is vertical to the axis of the insulator string to be crawled and is parallel to the tangential direction of the outer edge of the insulator porcelain bottle.

Referring to fig. 3 and 4, the planetary gear train 4 includes a planetary carrier 41, a sun gear 42, a planetary gear 43, and a planetary carrier driving mechanism, the sun gear 42 is fixedly mounted on the first arc frame 51 or the second arc frame 52, the planetary carrier 41 is rotatably mounted on the first arc frame 51 or the second arc frame 52 and is driven by the planetary carrier driving mechanism to rotate, in the preferred embodiment, specifically, a ring gear 48 is fixedly mounted on a side surface of the planetary carrier 41, the planetary carrier driving mechanism includes a second driving motor 44, the second driving motor 44 is mounted on the first arc frame 51 through a mounting plate 46, a driving gear 47 is fixedly mounted on an output shaft of the second driving motor 44, the driving gear 47 is engaged with the ring gear 48, and under the driving of the second driving motor 44, the driving gear 47 rotates to drive the ring gear 48 to rotate, so as to drive the planetary carrier 41 to rotate. Four planetary gears 43 in each planetary gear train are rotatably arranged on the planetary carrier 41 and meshed with the sun gear 42, and the four planetary gears 43 are uniformly distributed in the circumferential direction of the sun gear 42. When the carrier 41 rotates, the drive planetary gear 43 revolves and rotates around the sun gear 42. In the preferred embodiment, the planetary gear train 4 further includes a crawling wheel 45, the crawling wheel 45 is coaxially disposed on the side of the planetary gear 43, and when the planetary gear 43 rotates, the crawling wheel 45 rotates together. The periphery of the crawling wheel 45 is provided with a friction part for increasing friction force, and the friction part is a concave or convex pattern arranged on the periphery of the crawling wheel 45, or a rubber sleeve wrapped on the periphery of the crawling wheel 45, or a convex tooth. In the preferred embodiment, the friction member is a raised pattern provided on the outer periphery of the crawler wheel 45.

During implementation, the gap between the first arc-shaped frame 51 and the second arc-shaped frame 52 is opened through the frame opening and closing mechanism 53, so that the insulator string to be crawled is located in the upper frame 1 and the lower frame 2, then the first arc-shaped frame 51 and the second arc-shaped frame 52 are mutually closed through the frame opening and closing mechanism 53, the crawling wheel 45 is abutted to the outer edge of the insulator porcelain bottle, at the moment, the planet frame driving mechanism is started to drive the planet frame 41 to rotate, the planet frame 41 rotates to drive the planet wheel 43 to perform revolution and rotation, then the crawling wheel 45 on the planet wheel 43 also performs revolution and rotation together, and in the process of revolution and rotation of the crawling wheel 45, the movement of the insulator string crawling device on the insulator string can be realized. It is worth noting that when the crawling wheel 45 is not arranged, the planet wheel 43 directly abuts against the outer edge of the insulator porcelain bottle, and the insulator string crawling device moves on the insulator string by means of revolution and rotation of the planet wheel 43 under the driving action of the planet carrier driving mechanism.

The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention should be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. The utility model provides an insulator chain crawls device which characterized in that: comprises an upper frame (1), a lower frame (2) and a connecting mechanism (3) for connecting the upper frame (1) and the lower frame (2), the upper frame (1) and the lower frame (2) have the same structure, the upper frame (1) and the lower frame (2) respectively comprise a first arc-shaped frame (51) and a second arc-shaped frame (52), the first arc-shaped frame (51) and the second arc-shaped frame (52) are connected and fixed into a ring structure with a gap through a frame opening and closing mechanism (53), the upper frame (1) and the lower frame (2) are respectively provided with a plurality of planetary gear trains (4), the planetary gear trains (4) are respectively distributed along the circumferential direction of the upper frame (1) and the lower frame (2), the axis of the planetary gear train (4) is perpendicular to the axis of the insulator string to be crawled and is parallel to the tangential direction of the outer edge of the insulator porcelain bottle.

2. The insulator string crawling device according to claim 1, wherein: the planetary gear train (4) comprises a planetary carrier (41), a sun gear (42), planetary gears (43) and a planetary carrier driving mechanism, wherein the sun gear (42) is fixedly installed on the first arc-shaped frame (51) or the second arc-shaped frame (52), the planetary carrier (41) is rotatably arranged on the first arc-shaped frame (51) or the second arc-shaped frame (52) and driven by the planetary carrier driving mechanism to rotate, the planetary gears (43) are multiple and rotatably arranged on the planetary carrier (41) and meshed with the sun gear (42).

3. The insulator string crawling device according to claim 2, wherein: the planetary gear train (4) further comprises a crawling wheel (45), and the crawling wheel (45) is coaxially arranged on the side face of the planetary gear (43).

4. The insulator string crawling device according to claim 3, wherein: and friction parts for increasing friction force are arranged on the periphery of the crawling wheel (45).

5. The insulator string crawling device according to claim 4, wherein: the friction part is a concave or convex pattern arranged on the periphery of the crawling wheel (45), or a rubber sleeve wrapped on the periphery of the crawling wheel (45), or a convex tooth.

6. The insulator string crawling device according to claim 1, wherein: the connecting mechanism (3) is a rod piece.

7. The insulator string crawling device according to claim 1, wherein: the frame opening and closing mechanism (53) comprises a first driving motor (531) fixedly arranged on one of the first arc-shaped frame (51) and the second arc-shaped frame (52), and an output shaft of the first driving motor (531) is connected with the other one of the first arc-shaped frame (51) and the second arc-shaped frame (52) and is driven to rotate by the first driving motor (531).