CN211590140U - Guide tracked inspection robot - Google Patents
Guide tracked inspection robot Download PDFInfo
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- CN211590140U CN211590140U CN202020047390.9U CN202020047390U CN211590140U CN 211590140 U CN211590140 U CN 211590140U CN 202020047390 U CN202020047390 U CN 202020047390U CN 211590140 U CN211590140 U CN 211590140U
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Abstract
The utility model discloses a guide tracked inspection robot belongs to the electric wire and patrols and examines robot technical field. A guide tracked inspection robot, comprising: the first bracket, the first connecting arm and the second connecting arm; the first support is provided with a screw rod, a guide rail and a screw rod motor; the screw rod comprises a right-handed thread section and a left-handed thread section; the length of the first connecting arm is smaller than that of the second connecting arm, and the first connecting arm and the second connecting arm respectively comprise a claw part, a vertical supporting rod, a horizontal rotating assembly, an installation part, a vertical rotating assembly and a sliding part which are sequentially connected; the sliding parts of the first connecting arm and the second connecting arm are in sliding connection with the guide rail and are matched with the right-handed thread section and the left-handed thread section respectively. The utility model discloses a guide rail on the support can make the claw break away from the electric wire and go round and leave various obstacles, and the axis of guide rail and the axis of electric wire distance on the horizontal direction can not change to the direction is accurate, and the removal mode of each claw is simple, reduces and hinders the operation degree of difficulty more.
Description
Technical Field
The utility model relates to a wire patrols and examines robot technical field, concretely relates to guide tracked inspection robot.
Background
The extra-high voltage transmission line is responsible for power transmission in China, and the safe and reliable operation of the extra-high voltage transmission line is directly related to the stable development of national economy. At present, high-voltage and ultrahigh-voltage overhead power lines are the main way for long-distance power transmission and distribution, and the power lines are important components of a power system. The circuit is exposed in the natural environment for a long time, and not only needs to bear the internal pressure of normal mechanical load and power load, but also needs to bear external infringement such as pollution, lightning stroke, strong wind, landslide, subsidence, bird damage and the like. The above factors can cause great damage to the power line, so the power line needs to be inspected frequently, and the power line must be replaced in time if damaged. At present, the existing wire inspection robot can only span small obstacles and cannot span large obstacles.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a guide tracked inspection robot to solve current electric wire and patrol and examine the robot and can only stride across small-size obstacle, can not stride across the problem of large-scale obstacle.
The utility model provides an above-mentioned technical problem's technical scheme as follows:
a guide tracked inspection robot, comprising: the first bracket, the first connecting arm and the second connecting arm are both vertically arranged;
the first support is provided with a screw rod, a guide rail and a screw rod motor; the screw rod is obliquely arranged and is parallel to the guide rail, the screw rod comprises a right-handed thread section and a left-handed thread section, and the screw rod is connected with a screw rod motor;
the length of the first connecting arm is smaller than that of the second connecting arm, and the first connecting arm and the second connecting arm respectively comprise a claw part, a vertical supporting rod, a horizontal rotating assembly, an installation part, a vertical rotating assembly and a sliding part which are sequentially connected; the sliding parts of the first connecting arm and the second connecting arm are both in sliding connection with the guide rail, and the sliding parts of the first connecting arm and the second connecting arm are respectively matched with the right-handed thread section and the left-handed thread section.
The utility model discloses a guide tracked inspection robot removes through the guide rail on the first support, can make the claw break away from the electric wire and shunt away from various obstacles, realizes strideing across the obstacle through the direction of guide rail, and the axis of guide rail and the axis of electric wire distance on the horizontal direction can not change to the direction is accurate, and the moving means of each claw is simple, reduces and hinders the operation degree of difficulty more, can stride across the obstacle of various sizes.
The obstacle crossing process of the guide rail type line inspection robot is as follows: the claw portion in the first connecting arm is a claw portion positioned at the front, and the claw portion in the second connecting arm is a claw portion positioned at the rear. The front claw part is released from the electric wire, the rear claw part is tightly held with the electric wire, when the screw motor works, because the right-handed thread section and the left-handed thread section are arranged on the first bracket, the first bracket moves forwards relative to the claw part positioned at the back, and the claw part positioned at the front moves forwards relative to the first bracket, since the first bracket is in a tilted state, the front claw portion is displaced obliquely upward relative to the first bracket so as to be separated from the electric wire, driven by each horizontal rotating piece and each vertical rotating assembly, the front claw part is positioned to cross the obstacle from the lower part of the obstacle, in the obstacle crossing process, the distance between the axis of the guide rail and the axis of the electric wire in the horizontal direction cannot be changed, so that the moving mode of the claw part positioned in the front is simple, the obstacle crossing operation difficulty is reduced, therefore, obstacle crossing of the claw part at the front position is realized, and the obstacle crossing process of the claw part at the rear position is consistent with the obstacle crossing process of the claw part at the front position.
Further, above-mentioned horizontal rotation subassembly all includes interconnect's horizontal rolling disc and horizontal rotation motor, horizontal rolling disc with the installation component rotates and is connected, and horizontal rolling disc still is connected with vertical support rod's bottom.
The utility model discloses a level rotates the motor and can drive corresponding claw through corresponding horizontal rolling disc and vertical support pole and rotate, makes the claw bypass the electric wire, the claw downstream of being convenient for.
Further, the vertical rotation assembly includes a vertical rotation shaft and a vertical rotation motor connected to each other, the vertical rotation shaft being connected to the mounting part and the sliding part.
The utility model discloses a vertical rotation axis can drive first support and treat the claw of crossing the obstacle downwards rotatory, makes the claw of treating crossing the obstacle remove the below of obstacle, is convenient for cross the obstacle from the below of obstacle.
Furthermore, the top end of the vertical support rod is connected with the claw part through a posture adjusting component; the posture adjusting component comprises a posture adjusting rotating shaft and a posture adjusting motor which are connected with each other; the posture adjusting rotating shaft is connected with the claw part and the top end of the vertical supporting rod.
The utility model discloses a money transfer subassembly can guarantee that the claw keeps in vertical position, is convenient for hold tightly with the electric wire after hindering more.
Further, the claw part comprises a second bracket, a supporting component and a fastening component; the supporting assembly comprises a supporting wheel connected with the second support, and a supporting groove is formed in the supporting wheel along the circumferential direction; the fastening assembly comprises a sliding assembly, a rotating assembly, a fastening wheel mounting frame and at least one fastening wheel; the sliding assembly is connected with the second bracket; the rotating assembly is respectively connected with the sliding assembly and the fastening wheel mounting frame; the fastening wheel rotates with the fastening wheel mounting bracket to be connected and the axis of fastening wheel is parallel with the axis of supporting wheel, and the fastening wheel is equipped with the fastening groove along circumference, and the fastening groove sets up with supporting the groove relatively.
The utility model discloses the support groove on the supporting wheel is used for placing the electric wire, the fastening wheel can contact with the electric wire under sliding assembly and rotating assembly's drive, fastening groove extrusion electric wire makes electric wire and supporting wheel can closely cooperate, realize holding tightly the operation, because sliding assembly has the lifting action to the fastening wheel, the promotion of fastening wheel can increase the effort between electric wire and supporting wheel and the fastening wheel, thereby can satisfy the change of electric wire thick line, and simultaneously, because the limiting displacement who supports groove and fastening groove, make being connected between each claw and the electric wire reliable.
The rotating assembly can drive the fastening wheel and the fastening wheel mounting frame to rotate, the fastening wheel is located below the supporting wheel, the sliding assembly can lift the fastening wheel, the fastening wheel is in contact with the electric wire, and therefore the holding operation between the electric wire and the fastening wheel and the supporting wheel is achieved.
Because the reverse work of the sliding assembly can separate the fastening wheel from the electric wire, the reverse work of the rotating assembly can enable the fastening wheel to be far away from the supporting wheel, so that the restraint of the fastening wheel to the lower part of the electric wire can be relieved, and then all the claw parts can be lifted through the vertical rotating assembly, the wire-off function is realized, and the obstacle-crossing function is realized.
Furthermore, the supporting assembly further comprises a spring suspension, and the supporting wheel is connected with the second bracket through the spring suspension.
The utility model discloses a slip subassembly is at the during operation, can the lifting fastening wheel, and the fastening wheel passes through electric wire extrusion supporting wheel, and the power that the supporting wheel received can be used in the spring suspension, and the reaction force that the lifting power and the spring that hang through slip subassembly can make and have bigger effort between supporting wheel and fastening wheel and the electric wire, and supporting wheel and fastening wheel can provide sufficient clamp force when the electric wire is matched with, are favorable to the robot to scramble the electric wire of big angle of elevation.
Furthermore, the supporting wheel is connected with a supporting wheel motor, and the supporting wheel motor is installed on the spring suspension.
The utility model discloses a supporting wheel motor is used for driving the walking of supporting wheel on the electric wire, accomplishes normal walking function.
Furthermore, the supporting assembly further comprises a brake part, the brake part and the fastening wheel are located on two corresponding sides of the supporting wheel, one end of the brake part is connected with the second support, and the other end of the brake part is located in the supporting groove and is arranged at intervals with the groove wall of the supporting groove.
When the robot is in the completion of advancing, sliding part drives fastening wheel and supporting wheel and continues to promote, and the spring suspension is further compressed this moment, and the supporting wheel promotes the back, can contact and press close to with the brake part, makes the supporting wheel can not rotate through the frictional force between support groove and the brake part, realizes locking function.
Further, the sliding assembly comprises a lead screw motor, a lead screw and a sliding mounting rack; the screw motor is arranged on the second bracket; the screw rod is respectively connected with the screw rod motor and the sliding mounting rack; the sliding mounting frame is connected with the second support in a sliding mode.
The utility model discloses a slip subassembly passes through lead screw motor and drives the lead screw and rotate the promotion that realizes parts such as runner assembly, tight pulley, supporting wheel, and the lead screw has steady motion, stable performance when the motion, and the tight pulley can realize steady contact with the supporting wheel.
Further, the rotating assembly comprises a steering engine and a connecting rod mechanism; the steering engine is connected with the sliding mounting frame, and the connecting rod mechanism is respectively connected with the steering engine and the fastening wheel mounting frame; the fastening wheel mounting frame is provided with a connecting rod, and the connecting rod is rotatably connected with the sliding mounting frame.
The utility model discloses a steering wheel is as the part that actuates of runner assembly, only needs to rotate a low-angle and can make the fastening wheel break away from with the electric wire completely, also only needs to rotate a low-angle simultaneously and can produce great clamp force. The sliding assembly is connected with the fastening wheel mounting frame through the rotating assembly and is further connected with the fastening wheel mounting frame through the connecting rod, and the two rotating connection points can support and steer the fastening wheel mounting frame through a lever principle.
The utility model discloses following beneficial effect has:
(1) the utility model discloses a guide tracked inspection robot removes through the guide rail on the first support, can make the claw break away from the electric wire and shunt away from various obstacles, realizes strideing across the obstacle through the direction of guide rail, and the axis of guide rail and the axis of electric wire distance on the horizontal direction can not change to the direction is accurate, and the moving means of each claw is simple, reduces and hinders the operation degree of difficulty more, can stride across the obstacle of various sizes.
(2) The utility model discloses support groove on the supporting wheel is used for placing the electric wire in each claw, the fastening wheel can contact with the electric wire under sliding assembly and rotating assembly's drive, fastening groove extrusion electric wire makes electric wire and supporting wheel can closely cooperate, realize holding tightly the operation, because sliding assembly has the lifting action to the fastening wheel, the promotion of fastening wheel can increase the effort between electric wire and supporting wheel and the fastening wheel, thereby can satisfy the change of electric wire thick line, and simultaneously, because the limiting displacement in support groove and fastening groove, make being connected between each claw and the electric wire reliable.
Drawings
Fig. 1 is a schematic structural view of a guide rail type line inspection robot of the present invention;
fig. 2 is a schematic structural view of the screw rod of the present invention;
FIG. 3 is a schematic structural view of the first connecting arm without the claw portion;
fig. 4 is a schematic perspective view of the claw portion of the present invention;
fig. 5 is a schematic perspective view of the claw portion of the present invention;
fig. 6 is a schematic structural view of the fastening assembly of the present invention.
In the figure: 10-a second scaffold; 20-a support assembly; 21-a support wheel; 22-a support groove; 23-spring suspension; 24-a brake component; 30-a fastening assembly; 31-a slide assembly; 32-a rotating assembly; 33-fastening wheel mounting; 34-a fastening wheel; 35-a fastening slot; 36-a connecting rod; 50-a first scaffold; 51-a screw rod; 52-a guide rail; 53-screw motor; 54-right-handed thread segment; 55-left-handed thread segment; 60-a first connecting arm; 61-vertical support bars; 62-a horizontal rotation assembly; 63-a mounting member; 64-a vertical rotation assembly; 65-a sliding member; 66-a screw rod sleeve; 70-a second connecting arm; 80-a posture adjusting component; 81-posture adjusting rotating shaft; 82-posture adjusting motor; 100-a jaw portion; 311-screw motor; 312-a lead screw; 313-a sliding mount; 321-a steering engine; 322-a linkage mechanism; 621-horizontal rotating disk; 622-horizontal rotation motor; 641-vertical rotating electrical machines.
Detailed Description
The principles and features of the present invention are described below in conjunction with the following drawings, the examples given are only intended to illustrate the present invention and are not intended to limit the scope of the present invention.
Examples
Referring to fig. 1, a guide rail type line patrol robot includes: a first bracket 50, a first connecting arm 60, and a second connecting arm 70. The first bracket 50 is in a tilted state. The first connecting arm 60 and the second connecting arm 70 are both vertically arranged, the top ends of the first connecting arm 60 and the second connecting arm 70 are flush, the bottom ends of the first connecting arm 60 and the second connecting arm 70 are respectively connected with the first support 50, and the length of the first connecting arm 60 is smaller than that of the second connecting arm 70, so that the first connecting arm 60 and the second connecting arm 70 correspond to the obliquely arranged first support 50.
Referring to fig. 1 and 2, the first bracket 50 is provided with a lead screw 51, a guide rail 52 and a lead screw motor 53. The two ends of the screw rod 51 are respectively connected with the two ends of the bracket 50, the extending direction of the screw rod 51 is consistent with the overall extending direction of the first bracket 50, namely the inclination degree of the screw rod 51 and the first bracket 50 is consistent, the screw rod 51 comprises a right-handed thread section 54 and a left-handed thread section 55, and the right-handed thread section 54 and the left-handed thread section 55 are respectively connected with the bottom ends of the first connecting arm 60 and the second connecting arm 70. The guide rail 52 is parallel to the screw 51, and the guide rail 52 is slidably connected to the first connecting arm 60 and the second connecting arm 70. The lead screw motor 53 is connected with the lead screw 51, and the first connecting arm 60 and the second connecting arm 70 can move in opposite directions relative to the first bracket 50 under the driving of the lead screw motor 53.
Referring to fig. 3, the first connecting arm 60 includes a claw portion 100, a vertical support rod 61, a horizontal rotating assembly 62, a mounting part 63, a vertical rotating assembly 64, and a sliding part 65, which are connected in sequence.
The top end of the vertical support rod 61 is connected with the claw part 100 through the posture adjusting assembly 80, and the bottom end of the vertical support rod 61 is connected with the horizontal rotating assembly 62. The posture adjustment assembly 80 comprises a posture adjustment rotating shaft 81 and a posture adjustment motor 82 which are connected with each other. The posture adjusting rotating shaft 81 is connected with the top ends of the claw part 100 and the vertical supporting rod 61, and the claw part 100 can be ensured to be in a vertical position under the driving of the posture adjusting motor 82, so that the obstacle-crossing electric wire can be held tightly.
The horizontal rotation assembly 62 includes a horizontal rotation disc 621 and a horizontal rotation motor 622 connected to each other, the horizontal rotation disc 621 being rotatably connected to the mounting part 63 and the horizontal rotation disc 621 being connected to the bottom end of the vertical support rod 61. The horizontal rotation motor 622 is fixed to the mounting part 63, and the vertical support rod 61 and the claw part 100 are both rotated around the axis of the horizontal rotation disc 621 by the horizontal rotation motor 622.
The vertical rotation assembly 64 includes a vertical rotation shaft (not shown) and a vertical rotation motor 641 which are connected to each other. The vertical rotating shaft connects the mounting member 63 and the sliding member 65. The vertical rotation motor 641 is fixed on the sliding member 65, and the mounting member 63, the horizontal rotation assembly 62, the vertical support rod 61, and the claw portion 100 can rotate around the vertical rotation axis by the driving of the vertical rotation motor 641.
The slide member 65 is provided with a slide groove (not shown) which is engaged with the guide rail 52. The sliding member 65 is further provided with a screw sleeve 66, and the screw sleeve 66 is engaged with the screw 51.
The structure of the second connecting arm 70 is identical to that of the first connecting arm 60. The second connecting arm 70 is different from the first connecting arm 60 in that the length of the vertical support bar 61 in the second connecting arm 70 is greater than the length of the vertical support bar 61 in the first connecting arm 60; the lead screw sleeve 66 of the second connecting arm 70 and the lead screw sleeve 66 of the first connecting arm 60 are respectively matched with the left-handed thread section 55 and the right-handed thread section 54.
Referring to fig. 4 and 5, the claw portion 100 includes: the support assembly 20 is disposed in the second bracket 10, and the fastening assembly 30 is disposed at one side of the second bracket 10. The second bracket 10 is also connected to the top end of the vertical support bar 61, and the vertical support bar 61 and the fastening members 30 are respectively located at both corresponding sides of the second bracket 10, so that the claw portion 100 and the electric wire can be vertically misaligned when the claw portion 100 is rotated, and the electric wire does not interfere with the movement of the claw portion 100 in the vertical direction.
The support assembly 20 includes a support wheel 21, a spring suspension 23, and a brake member 24. The supporting wheel 21 is provided with a supporting groove 22 in the circumferential direction for limiting the electric wire. The supporting wheel 21 is provided with a supporting wheel motor (not shown), the supporting wheel motor is installed on the spring suspension 23, a motor shaft of the supporting wheel motor is connected with the supporting wheel 21, and when the supporting wheel 21 is stressed, a spring in the spring suspension 23 can be compressed through the connecting action of the supporting wheel motor. A spring suspension 23 is mounted on the second frame 10 so that the support wheels 21 are suspended from the second frame 10. One end of the brake element 24 is fixedly connected with the second bracket 10, and the other end is positioned in the support groove 22 with a gap from the groove wall of the support groove 22. In the present embodiment, the support groove 22 is a ring groove having a trapezoidal cross section.
Referring to fig. 6, the fastening assembly 30 includes a sliding assembly 31, a rotating assembly 32, a fastening wheel mounting bracket 33, and at least one fastening wheel 34. The sliding assembly 31 is mounted on the second bracket 10. The rotating assembly 32 is connected to the sliding assembly 31 and the fastening wheel mounting bracket 33, respectively. The fastening wheel 34 is mounted on the fastening wheel mounting bracket 33.
The sliding assembly 31 includes a lead screw motor 311, a lead screw 312, and a sliding mount 313. The lead screw motor 311 is mounted on the second bracket 10. The lead screw 312 is vertically disposed and is connected to a motor shaft of the lead screw motor 311 and the sliding mount 313, respectively. The sliding mount 313 is connected to the second bracket 10 by a slider. The sliding mounting frame 313 slides on the second support 10 along the extending direction of the lead screw 312 by the driving of the lead screw motor 311.
The rotating assembly 32 includes a steering engine 321 and a linkage 322. The steering wheel 321 is installed on the sliding installation frame 313, one end of the link mechanism 322 is connected with the steering wheel 321, and the other end of the link mechanism 322 is connected with the fastening wheel installation frame 33. Under the drive of steering wheel 321, link mechanism 322 can drive fastening wheel mounting bracket 33 to rotate, thereby driving fastening wheel 34 to be close to supporting wheel 21 or keep away from supporting wheel 21. In this embodiment, link mechanism 322 is equipped with the arch, and when link mechanism 322 rotated to be rectilinear position, the arch can prevent link mechanism 322 to continue to rotate, utilizes link mechanism 322's mechanical auto-lock to make steering wheel 321 need not provide any moment when pressing from both sides tightly, and the clamp force is all provided by sliding assembly 31, not only can realize opening and shutting fast between supporting wheel 21 and the tight wheel 34 but also can provide great clamp force.
The fastening wheel mounting bracket 33 is provided with a connecting rod 36. One end of the connecting rod 36 is connected to the fastening wheel mounting bracket 33, and the other end of the connecting rod 36 is rotatably connected to the slide mounting bracket 313. The sliding member 31 is connected to the fastening wheel mounting bracket 33 not only through the rotating member 32 but also through the connecting rod 36, and the two rotating points can support and steer the fastening wheel mounting bracket 33 by the principle of lever.
The fastening wheel 34 is rotatably connected with the fastening wheel mounting frame 33, a fastening groove 35 is formed in the circumferential direction of the fastening wheel 34, the axis of the fastening wheel 34 is parallel to the axis of the supporting wheel 21, the fastening groove 35 is opposite to the supporting groove 22, and the fastening wheel 34 and the brake component 24 are located on two sides corresponding to the supporting wheel 21. The fastening wheel 34 can be rotated under the supporting wheel 21 by the rotating assembly 32 and make the fastening slot 35 opposite to the supporting slot 22, and the fastening wheel 34 can be moved close to the supporting wheel 21 or away from the supporting wheel 21 by the sliding assembly 31. The fastening wheel 34 holds the electric wire together with the support wheel 21 by the sliding assembly 31. In this embodiment, the number of the fastening wheels 34 is 3, and 3 fastening wheels 34 can make the electric wire be placed in the supporting groove 22 in a bent state, and increase the friction force between the electric wire and the groove wall of the supporting groove 22; the fastening groove 35 is a ring groove having a trapezoidal cross section. In other embodiments of the present invention, the number of fastening wheels 34 may also be 1, 2, 4, etc.
The claw portion 100 and electric wire clasping process: the rotating assembly 32 can drive the fastening wheel 34 and the fastening wheel mounting frame 33 to rotate, the fastening wheel 34 is located below the supporting wheel 21, the sliding assembly 31 can lift the fastening wheel 34, the fastening wheel 34 is in contact with the electric wire, the sliding assembly 31 continues to lift the fastening wheel 34, the electric wire is attached to the fastening groove 35 and the supporting groove 22, and the holding operation between the electric wire and the fastening wheel 34 and the supporting wheel 21 is achieved.
Locking process of the claw 100: after the claw part 100 is tightly held with the electric wire, the sliding assembly 31 continues to work, which drives the supporting wheel 21 to continue to move upwards until contacting with the braking component 24, so that the locking function can be realized by the friction force between the braking component 24 and the groove wall of the supporting groove 22.
Hereinafter, the "first claw portion" is the claw portion 100 of the first connecting arm 60, and the "second claw portion" is the claw portion 100 of the second connecting arm 70. When the guide rail type line patrol robot walks, the walking and obstacle crossing processes of the guide rail type line patrol robot are described in the sequence that the first claw part is arranged in front and the second claw part is arranged behind.
The normal walking process of the guide rail type inspection robot is as follows: the first claw part and the second claw part are respectively tightly held with the electric wire, and the first claw part and the second claw part are driven to normally walk on the electric wire through the rotation of supporting wheel motors in the first claw part and the second claw part.
Guide tracked inspection robot rolls and crosses small-size obstacle: the first claw part is loosened from the electric wire, the second claw part is kept in a tightly holding state with the electric wire, and the first claw part is driven to roll over small obstacles by the rotation of the supporting wheel motors in the first claw part and the second claw part. After the first claw rolled across the small-sized obstacle, the first claw tightly clasped with the electric wire, the second claw loosened with the electric wire, the supporting wheel motor in the first claw and the second claw rotated to drive the second claw to roll across the small-sized obstacle, and therefore the robot can cross across the small-sized obstacle through rolling.
The guide tracked inspection robot bypasses small-sized obstacles or large-sized obstacles to cross the obstacle process: the first claw part is loosened from the electric wire, and the second claw part is held in a clasping state with the electric wire. The screw motor 53 rotates to drive the first claw to move obliquely upward in the advancing direction, so that the first claw is separated from the electric wire. The horizontal rotation motor 622 on the first link arm 60 rotates to rotate the first claw portion, so that the first claw portion is vertically offset from the electric wire. The vertical rotating motor on the second connecting arm 70 rotates to drive the second bracket 10 and the first connecting arm 60 to rotate, so that the first claw part is positioned below the electric wire. The lead screw motor 53 rotates again, driving the first claw to move in the forward direction until the obstacle is crossed. The vertical rotating motor on the second connecting arm 70 rotates again to drive the second bracket 10 and the first connecting arm 60 to rotate, so that the first claw part is positioned above the electric wire. The horizontal rotation motor 622 on the first connecting arm 60 rotates again to drive the first claw part to rotate, so that the first claw part is aligned with the electric wire in the vertical direction, and finally the screw motor 53 rotates to enable the first claw part to be in contact with the electric wire and enable the first claw part to be tightly held with the electric wire, and obstacle crossing of the first claw part is achieved. The obstacle crossing process of the second claw part is consistent with that of the first claw part.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included within the protection scope of the present invention.
Claims (10)
1. The utility model provides a guide tracked inspection robot which characterized in that includes: a first bracket (50), a first connecting arm (60) and a second connecting arm (70) which are both vertically arranged;
the first bracket (50) is provided with a screw rod (51), a guide rail (52) and a screw rod motor (53); the screw rod (51) is obliquely arranged and is parallel to the guide rail (52), the screw rod (51) comprises a right-handed thread section (54) and a left-handed thread section (55), and the screw rod (51) is connected with the screw rod motor (53);
the length of the first connecting arm (60) is smaller than that of the second connecting arm (70), and the first connecting arm (60) and the second connecting arm (70) respectively comprise a claw part (100), a vertical supporting rod (61), a horizontal rotating assembly (62), an installation part (63), a vertical rotating assembly (64) and a sliding part (65) which are sequentially connected; the sliding parts (65) of the first connecting arm (60) and the second connecting arm (70) are in sliding connection with the guide rail (52), and the sliding parts (65) of the first connecting arm (60) and the second connecting arm (70) are matched with the right-handed thread section (54) and the left-handed thread section (55) respectively.
2. The rail-type patrol robot according to claim 1, wherein each of the horizontal rotation assemblies (62) comprises a horizontal rotation disc (621) and a horizontal rotation motor (622) which are connected with each other, the horizontal rotation disc (621) is rotatably connected with the mounting part (63), and the horizontal rotation disc (621) is further connected with the bottom end of the vertical support rod (61).
3. The rail-type patrol robot according to claim 2, wherein the vertical rotation assembly (64) comprises a vertical rotation shaft and a vertical rotation motor (641) connected to each other, the vertical rotation shaft being connected to the mounting member (63) and the slide member (65).
4. The guide-type line patrol robot according to claim 3, wherein the top end of the vertical support rod (61) is connected to the claw portion (100) through a posture adjustment assembly (80); the posture adjusting component (80) comprises a posture adjusting rotating shaft (81) and a posture adjusting motor (82) which are connected with each other; the posture adjusting rotating shaft (81) is connected with the top ends of the claw part (100) and the vertical supporting rod (61).
5. The rail-type patrol robot according to any one of claims 1 to 4, wherein the claw portion (100) comprises a second bracket (10), a support member (20), and a fastening member (30); the supporting assembly (20) comprises a supporting wheel (21) connected with the second bracket (10), and a supporting groove (22) is formed in the supporting wheel (21) along the circumferential direction; the fastening assembly (30) comprises a sliding assembly (31), a rotating assembly (32), a fastening wheel mounting frame (33) and at least one fastening wheel (34); the sliding component (31) is connected with the second bracket (10); the rotating assembly (32) is respectively connected with the sliding assembly (31) and the fastening wheel mounting frame (33); the fastening wheel (34) is rotatably connected with the fastening wheel mounting frame (33), the axis of the fastening wheel (34) is parallel to the axis of the supporting wheel (21), a fastening groove (35) is formed in the fastening wheel (34) along the circumferential direction, and the fastening groove (35) is opposite to the supporting groove (22).
6. The guideway patrol robot of claim 5, wherein the support assembly (20) further comprises a spring suspension (23), and the support wheel (21) is connected to the second support (10) by the spring suspension (23).
7. The guideway patrol robot of claim 6, wherein a support wheel motor is connected to the support wheel (21), the support wheel motor being mounted on the spring suspension (23).
8. The rail-type line patrol robot according to claim 7, wherein the support assembly (20) further comprises a brake member (24), the brake member (24) and the fastening wheel (34) are located on two sides corresponding to the support wheel (21), one end of the brake member (24) is connected with the second bracket (10), and the other end of the brake member (24) is located in the support groove (22) and is spaced from the groove wall of the support groove (22).
9. The rail-type patrol robot according to claim 5, wherein the slide assembly (31) comprises a lead screw motor (311), a lead screw (312), and a slide mount (313); the screw motor (311) is arranged on the second bracket (10); the lead screw (312) is respectively connected with the lead screw motor (311) and the sliding mounting frame (313); the sliding mounting frame (313) is connected with the second support (10) in a sliding mode.
10. The rail-type patrol robot according to claim 9, wherein the rotating assembly (32) comprises a steering engine (321) and a link mechanism (322); the steering engine (321) is connected with the sliding installation frame (313), and the connecting rod mechanism (322) is respectively connected with the steering engine (321) and the fastening wheel installation frame (33); and a connecting rod (36) is arranged on the fastening wheel mounting frame (33), and the connecting rod (36) is rotatably connected with the sliding mounting frame (313).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020047390.9U CN211590140U (en) | 2020-01-09 | 2020-01-09 | Guide tracked inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020047390.9U CN211590140U (en) | 2020-01-09 | 2020-01-09 | Guide tracked inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211590140U true CN211590140U (en) | 2020-09-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020047390.9U Active CN211590140U (en) | 2020-01-09 | 2020-01-09 | Guide tracked inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211590140U (en) |
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2020
- 2020-01-09 CN CN202020047390.9U patent/CN211590140U/en active Active
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