CN211055267U - Horizontal insulator running gear - Google Patents

Abstract

The utility model discloses a horizontal insulator running gear, including a plurality of arc frames, it is a plurality of arc frame end to end and form an open loop structure, two be provided with the frame motor between the arc frame in order to realize two rotation between the arc frame is connected, every the inboard of arc frame is equipped with walking wheel and drive walking wheel pivoted driving motor. The utility model provides a horizontal insulator running gear through a plurality of arc frame and frame motor, makes a plurality of walking wheels press on insulator chain surface reliably, even the insulator size differs, does not influence the walking wheel and compress tightly and walk on the insulator yet, and driving motor driven walking wheel rotates and provides traction force for the walking, has that the speed of crawling is fast, adaptability is good and the steady advantage of process of crawling.

Description

Horizontal insulator running gear

Technical Field

The utility model relates to an electric power check out test set technical field especially relates to a horizontal insulator running gear.

Background

Scientific research institutions and companies at home and abroad have developed various insulator crawling robots which can be divided into various forms according to the principle, wherein a crawling type walking mechanism crawls along a suspension insulator string by using the principle of bionics, and the mechanism is stable and reliable in 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

To above not enough, the utility model provides a horizontal insulator running gear can pass through simple mode to realize the walking on horizontal insulator.

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

the utility model provides a horizontal insulator running gear, is including a plurality of arc frame, a plurality of arc frame end to end and form an open loop structure, two be provided with the frame motor between the arc frame in order to realize two rotation between the arc frame is connected, every the inboard of arc frame is equipped with walking wheel and drive walking wheel pivoted driving motor.

Further, the number of the arc-shaped frames is 3-5.

Further, the radii of the arc frames are equal.

Furthermore, when a plurality of arc-shaped frames form a circle, the plurality of walking wheels are simultaneously positioned on the same circle, and the wheel shafts of the walking wheels are perpendicular to the radial direction of the arc-shaped frame where the walking wheels are positioned.

Furthermore, a nacelle is hung on one of the arc-shaped frames.

Further, the nacelle is hung on the arc-shaped frame in a rotating connection mode.

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

1. the utility model provides a horizontal insulator running gear, through a plurality of arc frames and frame motor, make a plurality of walking wheels press on insulator chain surface reliably, even the insulator size is different, do not influence the walking wheel and compress tightly and walk on the insulator, the rotation of driving motor drive walking wheel provides traction force for walking, have creep speed fast, adaptability is good and the advantage that the process of crawling is more steady;

2. the utility model has simple structure, is beneficial to realizing light weight, can be realized in a smaller weight range, and is convenient for workers to carry about when climbing the tower;

3. the utility model has strong automatic adjusting capability, the arc frames are adjusted by independent frame motors, each walking wheel is driven by an independent driving motor, and when special obstacles or uncoordinated movement is met, the coordination of the movement can be realized by adjusting each motor;

4. the utility model discloses difficult card is dead when walking on the insulator cluster, and each walking wheel is independent control respectively, skids the motion and can not follow other walking wheels when certain walking wheel, and the accessible adjusts the walking wheel that skids and makes and compress tightly on the insulator cluster surface again to avoid the card 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 one form of the present invention;

fig. 2 is a schematic structural view of another embodiment of the present invention.

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 and 2, the preferred embodiment of the present invention provides a horizontal insulator traveling mechanism, which comprises a plurality of arc frames 2, wherein the arc frames 2 are connected end to end and form an open loop structure, a frame motor 3 is arranged between the two arc frames 2 to realize the rotation connection between the two arc frames 2, and a traveling wheel 4 and a driving motor 5 for driving the traveling wheel 4 to rotate are arranged inside each arc frame 2.

With continued reference to fig. 1 and 2, in the preferred embodiment, the number of the arc frames 2 is 3, and an open loop structure is formed between the 3 arc frames 2. Be equipped with a frame motor 3 between two arc frame 2, it is concrete, the tip of one of them arc frame 2 is U type structure, the tip of another arc frame 2 is located U type structure, the fixed outside that sets up at arc frame 2's U type structure of frame motor 3, its output shaft stretch into in the U type structure and with another arc frame 2's tip fixed connection, so that when frame motor 3 operates, can drive another arc frame 2 and rotate, so as to realize the angular adjustment between two arc frame 2, and arc frame 2 pivoted plane is parallel with arc frame 2's radial place plane. Realize the rotation between two arc frames 2 through setting up frame motor 3 and connect, the angle between each adjustable arc frame on the one hand to adjust the size that opens and shuts of the ring-opening structure of whole arc frame 2 formation, thereby adapt to the insulator chain of equidimension, type not, adaptability is good.

In a preferred embodiment, the radii of the arc frames 2 are equal, so that the arc frames 2 can be located on the same circumference to achieve good compression of the insulator string, avoid slipping, and have the advantages of strong compression force, uniform compression force and the like.

When a plurality of arc frames 2 form a circumference (mean to be located same circumference), a plurality of walking wheels 4 are located a circumference simultaneously, and the shaft of walking wheel 4 all is perpendicular mutually with the radial of its arc frame 2 that is located. In the preferred embodiment, the number of the arc-shaped frames 2 is 3, so that the number of the walking wheels 4 and the driving motors 5 thereof is 3 respectively, i.e. each arc-shaped frame 2 is provided with one walking wheel 4 and one driving motor 5. Driving motor 5 fixed mounting is on arc frame 2, and walking wheel 4 is installed on driving motor 5's output shaft, and driving motor 5 drives walking wheel 4 and rotates when moving. When a plurality of arc frame 2 formed a circumference, a plurality of walking wheels 4 were located a circumference simultaneously, and the shaft of walking wheel 4 all was rather than the arc frame 2 radial looks perpendicular at place to do benefit to each walking wheel 4 and compress tightly on the insulator, both provided good packing force, also be convenient for realize quick, steady walking.

In some preferred embodiments, can set up the one deck skid resistant course on the periphery of walking wheel 4, the skid resistant course can be preferably made using rubber materials, and the skid resistant course has certain plasticity and toughness, and has great frictional force when contacting with the insulator, consequently, when setting up the skid resistant course, can adapt to the insulator that has size difference better on the one hand, and on the other hand can further deepen the anti-skidding effect, guarantees going on smoothly of crawling.

In some preferred embodiments, the walking mechanism mainly comprises an arc-shaped frame 2, a driving motor 5, walking wheels 4 and a frame motor 3, so that the walking mechanism is simple in structure, is beneficial to realizing light weight, can be realized in a smaller weight range, and is convenient for workers to carry about when climbing the tower.

In the preferred embodiment, a nacelle 1 is suspended from one of the arc-shaped frames 2.

Some electrical equipment have among the running gear, like each motor, generally can be equipped with corresponding controller, battery etc. and general running gear can integrate some detection function, if supporting have image detection, infrared detection etc. can be supporting to have some cameras etc. this moment. In the preferred embodiment, a pod 1 is provided, the pod 1 being used to house these components. The nacelle 1 is suspended on the curved frame 2 by means of a rotating connection and, in order to achieve a smooth walking, the nacelle 1 is generally positioned at the bottom of the walking mechanism in practice.

During implementation, the arc-shaped frames 2 are opened through the frame motor 3 (as shown in fig. 2), the traveling mechanism is sleeved on the periphery of the insulator string, then the arc-shaped frames 2 are driven to rotate and fold through the frame motor 3 (as shown in fig. 1) until the traveling wheels 4 abut against insulators on the insulator string, after the completion, the driving motors 5 are started, and the driving motors 5 drive the traveling wheels 4 to rotate, so that the traveling on the insulator string is realized. The utility model provides a horizontal insulator running gear through a plurality of arc frame 2 and frame motor 3, makes a plurality of walking wheels 4 press on insulator chain surface reliably, even the insulator size differentiates, does not influence 4 compresses tightly and the walking of walking wheel on the insulator yet, and driving motor 5 takes turns 4 to rotate and provides traction force for the walking, and it is fast to have the speed of crawling, adaptability is good and the process of crawling is more steady. The utility model discloses automatic regulating capacity is strong, is adjusted by independent frame motor 3 between the arc frame 2, and every walking wheel 4 is driven by independent driving motor 5, when meetting special obstacle or motion uncoordinated, the accessible realizes the coordination of motion to the adjustment of each motor. The walking mechanism is not easy to block when walking on the insulator string, each walking wheel 4 is independently controlled, when a certain walking wheel 4 slips and moves and cannot follow other walking wheels 4, the slipping walking wheel 4 can be adjusted by the aid of the walking mechanism to be compressed on the surface of the insulator string again, and accordingly blocking is avoided.

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 (5)

1. The utility model provides a horizontal insulator running gear which characterized in that: including a plurality of arc frame, it is a plurality of arc frame end to end and form an open loop structure, two be provided with the frame motor between the arc frame in order to realize two rotation between the arc frame is connected, every the inboard of arc frame is equipped with walking wheel and drive walking wheel pivoted driving motor.

2. The horizontal insulator traveling mechanism according to claim 1, characterized in that: the number of the arc-shaped frames is 3-5.

3. The horizontal insulator traveling mechanism according to claim 1, characterized in that: the radii of the arc-shaped frames are equal.

4. The horizontal insulator traveling mechanism according to claim 3, characterized in that: when a plurality of arc-shaped frames form a circle, the plurality of walking wheels are simultaneously positioned on the same circle, and the wheel shafts of the walking wheels are vertical to the radial direction of the arc-shaped frame where the walking wheels are positioned.

5. The horizontal insulator traveling mechanism according to claim 1, characterized in that: one of the arc-shaped frames is hung with a nacelle.

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