CN211374942U - Insulator chain creeping mechanism - Google Patents
Insulator chain creeping mechanism Download PDFInfo
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- CN211374942U CN211374942U CN201921788474.1U CN201921788474U CN211374942U CN 211374942 U CN211374942 U CN 211374942U CN 201921788474 U CN201921788474 U CN 201921788474U CN 211374942 U CN211374942 U CN 211374942U
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Abstract
The utility model discloses an insulator chain mechanism of crawling mainly solves the current poor problem of insulator chain mechanism of crawling obstacle crossing ability, including preceding clamping device, preceding joint, forearm, well joint, postbrachium, back joint and back clamping device, preceding clamping device rotates with the forearm through preceding joint to be connected, and back clamping device rotates with the postbrachium through the postjoint to be connected, and forearm and postbrachium rotate through well joint to be connected. The utility model discloses an insulator chain mechanism of crawling, preceding clamping device and back clamping device for the centre gripping on insulator chain are installed respectively at both ends, clamping device accomplishes the fixed of mechanism of crawling on insulator chain with back clamping device before utilizing, through preceding joint, the forearm, well joint, the postbrachium, the rotational motion of postjoint etc., make preceding clamping device and back clamping device centre gripping insulator chain in turn realize the mechanism of crawling along the removal of insulator chain direction, this mode possesses stronger barrier removal ability more, can satisfy the insulator chain detection of different topography in different positions.
Description
Technical Field
The utility model relates to an electric power check out test set technical field especially relates to an insulator chain mechanism of crawling.
Background
The insulator is mainly used for fixing and supporting the overhead conductor, so that good insulation is formed between the current-carrying conductor and the ground. The insulator is subjected to electromechanical load, particles deposited on the surface and corrosion under severe meteorological conditions for a long time in the operation process, the electromechanical performance of the insulator is easy to degrade, and pollution and lightning flashover can occur in the operation process to cause power failure accidents. At the present stage, the insulator string maintenance is mainly detected by professional technicians of the power company on the tower. Because manual maintenance needs the power failure operation, influences power supply reliability, when carrying out the operation, has intensity of labour big, dangerous scheduling problem simultaneously.
As an advanced technical means, the insulator string electrified automatic detection device can replace manpower to carry out insulator string detection tasks. In order to complete all-dimensional detection of the insulator string, an insulator string crawling mechanism needs to be provided, and the insulator crawling mechanism is used for carrying a working tool to complete detection of the insulator. However, the obstacle-crossing capability of the existing insulator string crawling mechanism is not feasible, and the insulator string crawling mechanism can only crawl under the condition of no obstacle or relatively small obstacle.
SUMMERY OF THE UTILITY MODEL
Not enough more than to, the utility model provides an insulator chain crawls mechanism possesses stronger obstacle removal ability more.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
the utility model provides an insulator chain mechanism of crawling, includes preceding clamping device, preceding joint, forearm, well joint, postbrachium, postarticular and back clamping device, preceding clamping device passes through preceding joint with the forearm rotates to be connected, back clamping device passes through the postarticular with the postbrachium rotates to be connected, forearm and postbrachium pass through well joint rotates to be connected.
Further, preceding clamping device is unanimous with back clamping device structure, preceding clamping device and back clamping device rotate respectively including left anchor clamps, right anchor clamps, left gear arm, right gear arm, drive rack, carrier, flexible electric jar and centre gripping connecting piece, left side gear arm and right gear arm are installed respectively on the carrier, flexible electric jar fixed mounting be in carrier is last, the drive rack is established the front end of flexible electric jar and by linear motion around the flexible electric jar drive, the front end of drive rack with the gear of left gear arm and right gear arm meshes mutually, the centre gripping connecting piece is fixed to be established the rear end of flexible electric jar, left side anchor clamps are established on the left gear arm, right side anchor clamps are established on the right gear arm.
Further, the left clamp and the right clamp are respectively provided with an arc-shaped opening, and the openings of the left clamp and the right clamp are arranged oppositely.
Further, the left gear arm and the right gear arm are of step-shaped structures, the heights of the end portions of the step-shaped structures are lower than the height of the middle portion of the step-shaped structures, the left clamp and the right clamp are respectively connected with the end portions of the left gear arm and the right gear arm in a rotating mode, and the rotating angles of the left clamp and the right clamp are 3-10 degrees under the limit of the steps of the left gear arm and the right gear arm.
Compared with the prior art, the beneficial effects of the utility model are that:
1. the utility model discloses an insulator chain creeping mechanism, front clamping device and back clamping device for centre gripping on insulator chain are installed respectively to both ends, utilize front clamping device and back clamping device to accomplish the fixing of creeping mechanism on insulator chain, through the rotary motion of front joint, forearm, well joint, postbrachium, back joint etc. make front clamping device and back clamping device grip insulator chain alternately and realize creeping the movement of mechanism along insulator chain direction, this mode possesses stronger obstacle-crossing mobility, can satisfy the insulator chain detection of different positions different topography;
2. the multi-degree-of-freedom mechanical arm mechanism formed by the front joint, the front arm, the middle joint, the rear arm, the rear joint and the like has wide operation range and flexible mechanism;
3. the insulator string is suitable for insulator strings with different inclination angles such as horizontal and vertical angles, and the application range is wide;
4. the front clamping device and the rear clamping device are clamped by a rack-and-pinion type driving mode, and the clamping device is compact in structure and high in clamping capacity.
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 view of the present invention;
FIG. 2 is a schematic view of a front clamping device and a rear clamping device;
FIG. 3 is a schematic diagram of an initial state of a one-time crawling cycle of the crawling mechanism in one example;
FIG. 4 is a schematic illustration of an exemplary crawling mechanism during an initial crawling cycle;
FIG. 5 is a schematic diagram of the completion of a crawl at the beginning of a crawl cycle of the crawling mechanism in one example.
Wherein the labels shown in the figures are: 1-a front clamping device; 2-anterior joint; 3-forearm; 4-the middle joint; 5-rear arm; 6-posterior joint; 7-a rear clamping device; 8-a steel cap; 9-an insulator sheet; 10-left clamp; 11-right clamp; 12-left gear arm; 13-right gear arm; 14-a drive rack; 15-gear carrier; 16-a telescopic electric cylinder; 17-clamping the connection.
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, a preferred embodiment of the present invention provides an insulator string crawling mechanism, which mainly includes a front clamping device 1, a front joint 2, a front arm 3, a middle joint 4, a rear arm 5, a rear joint 6 and a rear clamping device 7, wherein the front clamping device 1 is rotatably connected to the front arm 3 through the front joint 2, the rear clamping device 7 is rotatably connected to the rear arm 5 through the rear joint 6, and the front arm 3 and the rear arm 5 are rotatably connected through the middle joint 4. The front joint 2, the middle joint 4 and the rear joint 6 adopt a common robot joint structure, and can realize the rotation of two connected components for a kinematic pair capable of providing motion and power. The robot joint structure mainly comprises components such as a servo motor, an encoder, a speed reducer and the like in a mechanical structure, and can provide rotary motion of the front and rear components of the joint around the axis of the joint through a certain structural design. The multi-degree-of-freedom mechanical arm mechanism formed by the front joint 2, the front arm 3, the middle joint 4, the rear arm 5, the rear joint 6 and the like has wide operation range and flexible mechanism. The front clamping device 1 is arranged on the front joint 2 and used for clamping the insulator string and can rotate under the action of the front joint 2. The rear clamping device 7 is arranged on the rear joint 6 and used for clamping the insulator string and can rotate under the action of the rear joint 6.
Referring to fig. 2, in a preferred embodiment, the front clamping device 1 and the rear clamping device 7 have the same structure, the front clamping device 1 and the rear clamping device 7 respectively comprise a left clamp 10, a right clamp 11, a left gear arm 12, a right gear arm 13, a driving rack 14, a gear rack 15, a telescopic electric cylinder 16 and a clamping connecting piece 17, the left gear arm 12 and the right gear arm 13 are respectively rotatably mounted on the gear rack 15, specifically, the centers of the gears of the left gear arm 12 and the right gear arm 13 are rotatably connected with the gear rack 15, the telescopic electric cylinder 16 is fixedly mounted on the gear rack 15, the driving rack 14 is arranged at the front end of the telescopic electric cylinder 16 and is driven by the telescopic electric cylinder 16 to move linearly back and forth, the driving rack 14 is a double-sided rack, the front end of the driving rack 14 is engaged with the gears of the left gear arm 12 and the right gear arm 13, the clamping connecting piece 17 is fixedly arranged at the rear end of the telescopic electric cylinder 16, the clamping connecting piece 17 is connected with the front joint, the left clamp 10 is provided on a left gear arm 12 and the right clamp 11 is provided on a right gear arm 13.
In implementation, referring to fig. 2, the telescopic electric cylinder 16 drives the driving rack 14 to move forward (away from one side of the telescopic electric cylinder 16), under the action of the driving rack 14, the left gear arm 12 and the right gear arm 13 rotate and drive the left clamp 10 and the right clamp 11 to move in the direction away from each other, that is, the left clamp 10 and the right clamp 11 are loosened, and at this time, if the left clamp 10 and the right clamp 11 clamp the steel cap of the insulator string before loosening, the front clamping device 1 or the rear clamping device 7 releases the clamping of the steel cap of the insulator string; when the telescopic electric cylinder 16 drives the driving rack 14 to move backwards, under the action of the driving rack 14, the left gear arm 12 and the right gear arm 13 rotate and drive the left clamp 10 and the right clamp 11 to move towards the directions close to each other, that is, the left clamp 10 and the right clamp 11 are clamped tightly, so as to clamp the steel cap of the insulator string, and then the front clamping device 1 or the rear clamping device 7 clamps the steel cap. The front clamping device 1 and the rear clamping device 7 adopt a rack and pinion type driving mode to realize clamping, and have compact structure and strong clamping capacity.
In a preferred embodiment, the left jig 10 and the right jig 11 have circular-arc-shaped openings, respectively, and the openings of the left jig 10 and the right jig 11 are disposed to face each other. The arc-shaped opening is matched with the steel cap of the insulator string, and the insulator string clamping fixture is more suitable for clamping the insulator string to achieve stable clamping.
The left gear arm 12 and the right gear arm 13 are step-shaped structures with the end parts lower than the middle part, the left clamp 10 and the right clamp 11 are respectively connected with the end parts of the left gear arm 12 and the right gear arm 13 in a rotating manner, and the rotating angles of the left clamp 10 and the right clamp 11 are 3-10 degrees under the limitation of the steps of the left gear arm 12 and the right gear arm 13. Specifically, the front ends of the left gear arm 12 and the right gear arm 13 are provided with step structures, the parts of the left clamp 10 and the right clamp 11 connected with the left clamp are provided with notches, the left clamp and the right clamp are rotatably connected in a pin shaft matching mode at the ends of the notches, and the convex edges of the steps have a limiting effect on the parts of the left clamp 10 and the right clamp 11 connected with the left clamp and the right clamp, so that the left clamp 10 and the right clamp 11 can rotate at an angle of 3-10 degrees. Through the setting, when the left clamp 10 and the right clamp 11 clamp the steel cap, the left clamp 10 and the right clamp 11 can have a small adjustment to adapt to the condition that the steel cap is not aligned and is difficult to clamp. The setting improves the probability of clamping the steel caps by the openings of the left clamp 10 and the right clamp 11, and reduces the probability that the openings of the left clamp 10 and the right clamp 11 cannot be aligned with the steel caps and clamp the steel caps.
The openings of the left clamp 10 and the right clamp 11 are provided with anti-slip rubber or knurling to realize more stable clamping. In the preferred embodiment, the openings of the left clamp 10 and the right clamp 11 are provided with anti-slip rubber, so that the steel caps are not easily damaged on the premise of realizing more stable clamping.
Referring to fig. 3 to 5, an exemplary crawling process of the insulator string crawling mechanism of the present invention is as follows: firstly, a clamping device 7 clamps and fixes a steel cap 8 of an insulator piece 9, a front clamping device 1 loosens the steel cap 8, a front joint 2 drives the front clamping device 1 to rotate, a middle joint 4 drives a front arm 3 to rotate, a rear joint 6 drives a rear arm 5 to rotate, and three joints simultaneously operate to drive the front clamping device 1 to turn backwards until the front clamping device 1 contacts the steel cap 8 at the position of the insulator piece on the rear side; then the front clamping device 1 clamps the steel cap 8 to complete the fixation of the front clamping device 1 and the insulator string; in the same way, the rear clamping device 7 loosens the steel cap 8, the front joint 2, the middle joint 4 and the rear joint 6 drive the rear clamping device 7 to overturn, backward crawling of the rear clamping device 7 is completed, and crawling of one period is completed at the moment. The climbing mechanism finishes the climbing task through the alternate clamping of the front clamping device 1 and the rear clamping device 7, and the mode has strong obstacle-crossing moving capacity and can meet the insulator string detection of different positions and different terrains.
Similarly, the insulator crawling mechanism crawls upward, downward, forward and backward in a similar manner to the above example, and will not be described again. The utility model discloses an insulator chain mechanism of crawling is applicable to different inclination's such as level, perpendicular insulator chain, and the range of application is wide.
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 (4)
1. The utility model provides an insulator chain mechanism of crawling, includes preceding clamping device (1), preceding joint (2), forearm (3), well joint (4), postbrachium (5), back joint (6) and back clamping device (7), its characterized in that: preceding clamping device (1) pass through preceding joint (2) with forearm (3) rotate to be connected, back clamping device (7) pass through back joint (6) with postbrachium (5) rotate to be connected, forearm (3) and postbrachium (5) pass through well joint (4) rotate to be connected.
2. The insulator string crawling mechanism of claim 1, wherein: the front clamping device (1) and the rear clamping device (7) are consistent in structure, the front clamping device (1) and the rear clamping device (7) respectively comprise a left clamp (10), a right clamp (11), a left gear arm (12), a right gear arm (13), a driving rack (14), a gear carrier (15), a telescopic electric cylinder (16) and a clamping connecting piece (17), the left gear arm (12) and the right gear arm (13) are respectively rotatably mounted on the gear carrier (15), the telescopic electric cylinder (16) is fixedly mounted on the gear carrier (15), the driving rack (14) is arranged at the front end of the telescopic electric cylinder (16) and driven by the telescopic electric cylinder (16) to move forwards and backwards in a linear mode, the front end of the driving rack (14) is meshed with gears of the left gear arm (12) and the right gear arm (13), and the clamping connecting piece (17) is fixedly arranged at the rear end of the telescopic electric cylinder (16), the left clamp (10) is arranged on the left gear arm (12), and the right clamp (11) is arranged on the right gear arm (13).
3. The insulator string crawling mechanism of claim 2, wherein: the left clamp (10) and the right clamp (11) are respectively provided with an arc-shaped opening, and the openings of the left clamp (10) and the right clamp (11) are oppositely arranged.
4. The insulator string crawling mechanism of claim 3, wherein: the left gear arm (12) and the right gear arm (13) are of stepped structures with end portions lower than the middle portion, the left clamp (10) and the right clamp (11) are respectively connected with the end portions of the left gear arm (12) and the right gear arm (13) in a rotating mode, and the left clamp (10) and the right clamp (11) are limited by the steps of the left gear arm (12) and the right gear arm (13) to rotate by an angle of 3-10 degrees.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921788474.1U CN211374942U (en) | 2019-10-23 | 2019-10-23 | Insulator chain creeping mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921788474.1U CN211374942U (en) | 2019-10-23 | 2019-10-23 | Insulator chain creeping mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN211374942U true CN211374942U (en) | 2020-08-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921788474.1U Active CN211374942U (en) | 2019-10-23 | 2019-10-23 | Insulator chain creeping mechanism |
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| CN (1) | CN211374942U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110979495A (en) * | 2019-10-23 | 2020-04-10 | 广西电网有限责任公司电力科学研究院 | Insulator chain creeping mechanism |
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2019
- 2019-10-23 CN CN201921788474.1U patent/CN211374942U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110979495A (en) * | 2019-10-23 | 2020-04-10 | 广西电网有限责任公司电力科学研究院 | Insulator chain creeping mechanism |
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