CN211362249U

CN211362249U - High-voltage cable inspection robot

Info

Publication number: CN211362249U
Application number: CN201922209371.1U
Authority: CN
Inventors: 杨运高; 赵国旗
Original assignee: Guizhou University of Engineering Science
Current assignee: Guizhou University of Engineering Science
Priority date: 2019-12-11
Filing date: 2019-12-11
Publication date: 2020-08-28
Anticipated expiration: 2029-12-11

Abstract

The utility model discloses a high-voltage cable inspection robot, which comprises a robot base, a robot parent upper limb, a manipulator, a daughter lifting support, a daughter support and a claw, wherein the lower end of the robot base is provided with a trundle through a trundle support, two sides of the upper end of the robot parent upper limb are provided with wire traveling wheels with motors, and the front end of the claw support is fixed with a servo motor through a claw fixing seat; and the roller lead screw arranged in the bottom plate of the robot base is connected with the sub-body support through a screwed hinge. This robot is patrolled and examined to high-tension line cable, elevation structure application rack and pinion accomplishes the lift of whole mechanical gripper to accomplish the contact or the separation of the daughter of robot and high-voltage cable, thereby realize the function of whole robot strideing across the barrier, mechanical claw can assist the climbing when the robot climbing, application gripper grasps the high-voltage cable, then realizes the function of the daughter part of robot striding across the barrier.

Description

High-voltage cable inspection robot

Technical Field

The utility model relates to the technical field of robot, specifically be a high-tension line cable patrols and examines robot.

Background

The robot is patrolled and examined to high tension line cable uses on the fault detection of high tension line, it can accomplish operation and operation under special environment, present high tension transmission line tradition patrols and examines the mode has the high altitude to patrol and examine, land vehicle patrols and examines and the manual inspection formula is patrolled and examined etc. however, these are patrolled and examined the technique and are all had the defect, it is not influenced by weather or the influence of receiving the topography to patrol and examine, and certain danger still has during the operation, along with the development of science and technology, the robot has slowly replaced these traditional modes, the application robot is patrolled and examined not only by the influence of environment and weather, it is accurate to detect, certain danger has still.

SUMMERY OF THE UTILITY MODEL

The utility model provides a technical problem lie in overcoming the problem that the background art provided, provide a high-tension line cable patrols and examines robot.

In order to achieve the above object, the utility model provides a following technical scheme: a high-voltage cable inspection robot comprises a robot base, a robot parent upper limb, a manipulator, a daughter lifting support, a daughter support and a jaw, wherein the lower end of the robot base is provided with a trundle through a trundle support, the upper end of the robot base is provided with the robot parent upper limb through a connecting piece, two sides of the upper end of the robot parent upper limb are provided with wire traveling wheels with motors, the jaw support below the wire traveling wheels is provided with a servo motor, the front end of the servo motor is connected with the jaw, the jaw support is fixed on the robot parent upper limb, and the front end of the jaw support is fixed with the servo motor through a jaw fixing seat;

the robot base is characterized in that a roller lead screw is installed on a bottom plate at the lower end of the robot base and is connected with a driving motor through a connected planet wheel speed reducer, the planet wheel speed reducer is fixed to the side face of the bottom plate of the robot base through a fixing bolt, the roller lead screw installed inside the bottom plate of the robot base is connected with a sub-body support through a hinge of a screw joint, a sub-body lifting support installed on the sub-body support can lift, and mechanical arms are installed on two sides of the upper end of the sub-.

Preferably, two sets of roller screws with driving motors and planetary gear reducers are mounted on two sides of a bottom plate of the robot base, two sets of hinges mounted at the bottom of the sub-body support are in threaded connection with the two sets of roller screws mounted inside the robot base, and meanwhile two sides of the lower end of the sub-body support are in sliding connection with a base fixing slideway mounted on the bottom plate of the robot base.

Preferably, the robot base is of a square frame structure, the height of the robot base is greater than that of the sub-body support, and meanwhile, the upper limb of a robot parent body mounted at the upper end of the robot base is of a side L-shaped frame structure.

Preferably, robot parent upper limbs lower extreme is installed on the articulated seat of robot base upper end, and articulated seat side-mounting driving motor, and driving motor motion drives robot parent upper limbs around the inside swing of articulated seat.

Preferably, the framework of two sets of vertical slides of daughter support upper end installation and inside sliding connection daughter lifting support both sides, and the fixed vertically rack in daughter lifting support middle part, rack and gear engagement, and the gear is installed on the output shaft of lifting support driving motor front end to lifting support driving motor installs at daughter support top.

Preferably, two sets of manipulators are perpendicularly installed on both sides of the upper end of the sub-body support, a manipulator motor is installed at the lower end of each manipulator, and the clamping jaws connected through the servo motors on the clamping jaw support are nylon clamping jaws.

Preferably, the daughter support is the trapezoidal frame construction in side, and daughter lifting support is the square frame of both sides stand, and daughter lifting support and daughter support are steel tube welded simultaneously and form, and the daughter support slides around the side direction of robot base inside along the robot base.

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

1. the lifting structure utilizes a gear rack to complete the lifting of the whole mechanical paw, so that the contact or separation of the robot daughter and the high-voltage cable is completed, and the function of the whole robot for crossing the barrier is realized;

2. in order to ensure the stable work of the robot in the process of inspection, the stability of the robot on a cable is ensured by adopting a double-roller mode, the cable is fixed by using a nylon clamping jaw, and the clamping jaw made of nylon materials can meet the strength requirement and effectively isolate the high-voltage cable;

3. the mechanical claw can assist climbing when the robot climbs a slope, the mechanical claw is used for grabbing a high-voltage cable, then the roller lead screw is used for driving the limb part of the inspection robot to run to the other side of the barrier, and then the function of crossing the barrier of the sub body part of the robot is achieved.

Drawings

FIG. 1 is a schematic top view of the structure of the present invention;

FIG. 2 is a schematic front view of the structure of the present invention;

fig. 3 is a schematic side view of the structure of the present invention.

In the figure: 1. a drive motor; 2. a planet wheel reducer; 3. a roller screw; 4. a hinge; 5. a robot base; 6. a roller fixing bolt; 7. a wire-passing wheel; 8. the upper limb of the mother body of the robot; 9. a manipulator; 10. a motor base; 11. fixing the bolt; 12. a connecting member; 13. a caster wheel; 14. a caster bracket; 15. a sub-body lifting support; 16. a rack; 17. a gear; 18. a vertical slideway; 19. a manipulator motor; 20. a claw fixing seat; 21. a jaw support; 22. a base fixed slideway; 23. a sub-body support; 24. a servo motor; 25. a claw; 26. lifting support driving motor.

Detailed Description

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

Referring to fig. 1-3, the present invention provides a technical solution: a high-voltage cable inspection robot comprises a robot base 5, a robot parent upper limb 8, a manipulator 9, a child lifting support 15, a child support 23 and a jaw 25, wherein the lower end of the robot base 5 is provided with a caster 13 through a caster support 14, the upper end of the robot base 5 is provided with the robot parent upper limb 8 through a connecting piece 12, two sides of the upper end of the robot parent upper limb 8 are provided with wire traveling wheels 7 with motors, the jaw support 21 below the wire traveling wheels 7 is provided with a servo motor 24, the front end of the servo motor 24 is connected with the jaw 25, the jaw support 21 is fixed on the robot parent upper limb 8, and the front end of the jaw support 21 is fixed with the servo motor 24 through a jaw fixing seat 20; a roller screw 3 is installed on a bottom plate at the lower end of a robot base 5, the roller screw 3 is connected with a driving motor 1 through a connected planet wheel reducer 2, the planet wheel reducer 2 is fixed on the side face of the bottom plate of the robot base 5 through a fixing bolt 11, the roller screw 3 installed inside the bottom plate of the robot base 5 is connected with a sub-body support 23 through a screwed hinge 4, a sub-body lifting support 15 installed on the sub-body support 23 can lift, and manipulators 9 are installed on two sides of the upper end of the sub-body lifting support 15; the upper end of the upper limb 8 of the robot mother body is respectively provided with a wire moving wheel 7 which can slide freely and is driven by a motor, the motor connected with the rear end of the wire moving wheel 7 is a servo motor, the type of the servo motor can be selected, a claw support 21 for fixing a high-voltage cable is arranged below the wire moving wheel 7, the servo motor 24 operates to push the claw support 21 to open and close freely, the type of the servo motor 24 can be selected, the claw support 21 is an FN-N382 warp stopping claw or other types of claws, when the robot meets obstacles in the operation process, the claw support 21 can be opened automatically, the sub-body support 23 can slide in the robot base 5, the claw 25 is provided with a sub-body lifting support 15, the sub-body lifting support 15 uses a rack 16 and a gear 17 to complete the lifting of the whole manipulator 9, thereby completing the contact or separation of the manipulator 9 and the high-voltage cable, when an obstacle is encountered in the high-voltage cable robot operation engineering, the lifting bracket driving motor 26 operates to drive the gear 17 to rotate, and then the sub body lifting support 15 is pushed to lift in the sub body support 23, the gear 17 is used for driving the rack 16 to move, so that the manipulator 9 tightly grasps the high-voltage cable, the manipulator 9 can select a two-degree-of-freedom mechanical claw, the manipulator 9 can select and match with other types of mechanical claws for replacement, meanwhile, the whole parent body part of the robot begins to separate from the high-voltage cable robot, thereby realizing the function of the whole robot crossing obstacles, walking on the cable by adopting the wire-walking wheel 7, fixing the cable by the claws 25, assisting climbing when the robot climbs a slope by the robot base 5, grasping the high-voltage cable by the claws 25, then, the roller screw 3 is used for driving the limb part of the inspection robot to rotate towards the other side of the barrier, and then the function of crossing the barrier of the sub-body part of the robot is realized.

Two sets of roller screws 3 with a driving motor 1 and a planet gear reducer 2 are arranged on two sides of the bottom plate of a robot base 5, two sets of hinges 4 arranged at the bottom of a sub-body support 23 are in threaded connection with the two sets of roller screws 3 arranged in the robot base 5, two sides of the lower end of the sub-body support 23 are in sliding connection with a base fixing slideway 22 arranged on the bottom plate of the robot base 5, the robot base 5 is of a square frame structure, the height of the robot base 5 is greater than that of the sub-body support 23, a robot parent upper limb 8 arranged at the upper end of the robot base 5 is of a side L-shaped frame structure, the lower end of the robot parent upper limb 8 is arranged on a hinged seat at the upper end of the robot base 5, a driving motor is arranged on the side of the hinged seat, the driving motor moves to drive the robot parent upper limb 8 to swing around the inside the, and the driving motor is a servo motor, the driving motor is a HF-SP702 servo motor, the driving motor drives the robot parent upper limb 8 to rotate and adjust, the driving motor 1 runs and is provided with a driving motor 2 to rotate so as to drive the roller screw 3 to rotate, and further the sub body support 23 is pushed to slide in the robot base 5, so that the sub body support 23 runs to the other side of the barrier, and then the function of crossing the barrier of the sub body part of the robot is realized.

Two groups of vertical slideways 18 are arranged at the upper end of a sub-body support 23 and are connected with frames at two sides of the sub-body lifting support 15 in an internal sliding manner, a vertical rack 16 is fixed at the middle part of the sub-body lifting support 15, the rack 16 is meshed with a gear 17, the gear 17 is arranged on an output shaft at the front end of a lifting support driving motor 26, the lifting support driving motor 26 is arranged at the top part of the sub-body support 23, the lifting support driving motor 26 of a servo motor drives the gear 17 to rotate, so that the rack 16 is lifted, the lifted rack 16 drives the sub-body lifting support 15 to lift, the sub-body lifting support 15 vertically slides in the vertical slideways 18 on the sub-body support 23, two groups of mechanical arms 9 are vertically arranged at two sides at the upper end of the sub-body support 23, a mechanical arm motor 19 is arranged at, the jack catch that uses the nylon materials not only can satisfy the strength requirement, can also effectual isolated high-voltage cable, daughter support 23 is the trapezoidal frame construction in side, and daughter lifting support 15 is the square frame of both sides stand, and the inclined frame of daughter support 23 side can stretch out robot base 5, and daughter lifting support 15 and daughter support 23 are steel tube welded simultaneously and form, and daughter support 23 slides around robot base 5 is inside along robot base 5's side direction.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a robot is patrolled and examined to high-tension line cable, includes robot base (5), robot parent upper limbs (8), manipulator (9), daughter lifting support (15), daughter support (23) and jack catch (25), its characterized in that: the lower end of the robot base (5) is provided with a caster (13) through a caster support (14), the upper end of the robot base (5) is provided with a robot parent upper limb (8) through a connecting piece (12), two sides of the upper end of the robot parent upper limb (8) are provided with wire traveling wheels (7) with motors, a servo motor (24) is arranged on a jaw support (21) below the wire traveling wheels (7), the front end of the servo motor (24) is connected with a jaw (25), the jaw support (21) is fixed on the robot parent upper limb (8), and the front end of the jaw support (21) is fixed with the servo motor (24) through a jaw fixing seat (20);

install roller screw (3) on robot base (5) lower extreme bottom plate, and roller screw (3) are connected with driving motor (1) through planet wheel reduction gear (2) of connecting, and planet wheel reduction gear (2) are fixed in robot base (5) bottom plate side through fixing bolt (11), roller screw (3) of robot base (5) bottom plate internally mounted pass through spiro union hinge (4) and connect daughter support (23), and daughter lifting support (15) the liftable of installation on daughter support (23), and daughter lifting support (15) upper end both sides installation manipulator (9).

2. The high-voltage cable inspection robot according to claim 1, wherein: two sets of roller screw (3) that have driving motor (1) and planet wheel reduction gear (2) are installed to both sides on the bottom plate of robot base (5), and two sets of hinges (4) of daughter support (23) bottom installation and two sets of roller screw (3) spiro union of robot base (5) internally mounted, and the base fixed slide (22) sliding connection of installation on daughter support (23) lower extreme both sides and robot base (5) bottom plate simultaneously.

3. The high-voltage cable inspection robot according to claim 1, wherein: robot base (5) are square frame construction, and the height of robot base (5) is greater than the height of daughter support (23), and robot parent upper limbs (8) of robot base (5) upper end installation are the frame construction of side L type simultaneously.

4. The high-voltage cable inspection robot according to claim 1, wherein: the lower end of the upper limb (8) of the robot parent body is installed on a hinged seat at the upper end of the robot base (5), a driving motor is installed on the side face of the hinged seat, and the driving motor moves to drive the upper limb (8) of the robot parent body to swing around the inside of the hinged seat.

5. The high-voltage cable inspection robot according to claim 1, wherein: two sets of vertical slides (18) of daughter support (23) upper end installation and the frame of inside sliding connection daughter lifting support (15) both sides, and fixed vertically rack (16) in daughter lifting support (15) middle part, rack (16) and gear (17) meshing, and gear (17) install on the output shaft of lifting support driving motor (26) front end to lifting support driving motor (26) are installed at daughter support (23) top.

6. The high-voltage cable inspection robot according to claim 1, wherein: two sets of manipulators (9) are all installed perpendicularly to daughter support (23) upper end both sides, and manipulator motor (19) are installed to manipulator (9) lower extreme, and jack catch (25) of connecting through servo motor (24) on jack catch support (21) are the nylon jack catch simultaneously.

7. The high-voltage cable inspection robot according to claim 1, wherein: daughter support (23) are the trapezoidal frame construction in side, and daughter lifting support (15) are the square frame of both sides stand, and daughter lifting support (15) and daughter support (23) are steel tube welded simultaneously and form, and daughter support (23) slide around the side direction of robot base (5) inside along robot base (5).