CN213692944U - Cable inspection robot - Google Patents
Cable inspection robot Download PDFInfo
- Publication number
- CN213692944U CN213692944U CN202022822921.XU CN202022822921U CN213692944U CN 213692944 U CN213692944 U CN 213692944U CN 202022822921 U CN202022822921 U CN 202022822921U CN 213692944 U CN213692944 U CN 213692944U
- Authority
- CN
- China
- Prior art keywords
- cable
- driving
- driven wheel
- shaft
- inspection robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a cable inspection robot, include: the device comprises a driving device, a sensor, two driving wheels and a driven wheel; the driving wheel and the driven wheel are positioned on two sides of the cable or the inspection auxiliary device on the cable, and the driving device can drive the driving wheel and the driven wheel to simultaneously move in opposite directions or in a separated direction; further comprising: the two first protection shafts are respectively positioned on one side of one driving wheel, which is far away from the other driving wheel, along the routing inspection direction and are respectively connected with the first mounting seat, and the first protection shafts are positioned above the driving wheels and can extend to the cable or the routing inspection auxiliary device on the cable; the two second protection shafts are positioned on two sides of the driven wheel along the routing inspection direction and connected with the second mounting seat, and the second protection shafts are positioned above the driven wheel and can extend to the cable or the routing inspection auxiliary device on the cable; each first shield shaft is disposed adjacent to one second shield shaft. Compared with the prior art, the utility model discloses a damage of falling can be avoided when the cable patrols and examines robot realization obstacle more.
Description
Technical Field
The utility model relates to a robot field, concretely relates to cable inspection robot.
Background
The inspection robot mainly comprises a wheeled robot, a tracked robot, a guide rail robot, a power transmission line robot and an unmanned aerial vehicle at present, the visual sensor, the gas sensor, the temperature sensor and the like are mounted for inspection in industrial production, power industry and the like, so that manual in-person inspection is not needed, however, these inspection robots in the market today have limitations, such as wheel-type and crawler-type inspection robots relying heavily on the ground environment, and once the ground environment changes, the navigation system needs to be reconfigured, but also has more general obstacle crossing performance, the power transmission line robot has complex structure, complex mechanical structure and auxiliary lines are needed for realizing the obstacle crossing function, the price of the guide rail paved by the guide rail robot is expensive, the infrastructure cost is high, the cruising ability of the unmanned aerial vehicle is limited, and cannot operate in a flight-limiting zone, especially with the risk of falling damage when passing through the auxiliary device.
Therefore, aiming at the technical defects of the cable inspection robot in the prior art, a novel inspection robot for cables or self-provided cables is needed to be designed, so that the inspection robot is not limited by the working environment, the obstacle crossing function is easily and stably realized, and the falling damage of the inspection robot can be avoided.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a cable inspection robot can avoid it to fall to damage when realizing hindering more.
To achieve the purpose, the utility model adopts the following technical proposal:
provided is a cable inspection robot, including:
the driving device is arranged on the base;
a sensor connected to the base;
the driving device comprises a first mounting seat, two driving wheels arranged on the first mounting seat and two driving motors arranged below the first mounting seat and used for driving the corresponding driving wheels to rotate, wherein the first mounting seat is in transmission connection with the driving device;
the driven wheel is in transmission connection with the driving device through a second mounting seat;
the driving wheel and the driven wheel are positioned on two sides of the inspection auxiliary device on the cable or the cable, and the driving device can drive the driving wheel and the driven wheel to move oppositely or away from each other at the same time;
further comprising:
the two first protection shafts are respectively positioned on one side of one driving wheel, which is far away from the other driving wheel, along the routing inspection direction and are respectively connected with the first mounting seat through a first connecting piece, and the first protection shafts are positioned above the driving wheels and can extend to the cable or the routing inspection auxiliary device arranged on the cable;
the two second protection shafts are positioned on two sides of the driven wheel along the routing inspection direction and connected with the second mounting base through second connecting pieces, and the second protection shafts are positioned above the driven wheel and can extend to a cable or a routing inspection auxiliary device arranged on the cable;
the first protective shaft and the second protective shaft can freely rotate around the axes of the first protective shaft and the second protective shaft respectively, and each first protective shaft is arranged adjacent to one second protective shaft.
As a preferred scheme of the cable inspection robot, the axle center of the first protection shaft and the axle center of the second protection shaft are in the same horizontal plane.
As a preferable scheme of the cable inspection robot, the two first protection shafts are respectively positioned at one side of one second protection shaft adjacent to the first protection shaft, which is far away from the other second protection shaft.
As a preferred scheme of robot is patrolled and examined to the cable, every first connecting piece include two install in on the first mount pad and be located the first stand of action wheel both sides and with the first connecting portion that the upper end of first stand is connected, another is kept away from to first connecting portion one is installed to the one end of action wheel first protection axle.
As a preferred scheme of robot is patrolled and examined to cable, first connecting portion include connection panel, protrusion in the connecting lug and a connecting rod of connection panel both sides, the both ends of connecting rod are respectively through one first stand with connecting lug connects.
As a preferred scheme of robot is patrolled and examined to the cable, the second connecting piece include two install in on the second mount pad and be located follow the second stand of driving wheel both sides and with the second connecting portion that the upper end of second stand is connected, install one respectively at the both ends of second connecting portion the second protection axle.
As a preferred scheme of the cable inspection robot, an avoiding groove for the upper end of the driven wheel to penetrate is formed in the lower portion of the second connecting portion.
As a preferred scheme of the cable inspection robot, a plurality of groups of installation adjusting holes for installing the second upright post are arranged on the second installation seat at intervals along the direction close to the driving wheel.
As a preferable aspect of the cable inspection robot, the driving device includes:
the pressing motor is arranged on the base through a mounting plate;
the left-right rotating screw rod is arranged on the base and is connected with the pressing motor through the mounting plate, and the pressing motor can drive the left-right rotating screw rod to rotate;
the two guide shafts are positioned on two sides of the left and right screw rods, one end of each guide shaft is arranged on the base, and the other end of each guide shaft is fixedly connected with the shell of the compaction motor;
the driving wheel nut seat is in screwed connection with the left and right screw rods through a first screw rod nut and is in sliding connection with the two guide shafts;
the driven wheel nut seat is in screwed connection with the left and right screw rods through a second screw rod nut and is in sliding connection with the two guide shafts;
the two first pressure springs are respectively sleeved on one guide shaft, one end of each first pressure spring is abutted with the nut seat of the driving wheel, and the other end of each first pressure spring is abutted with a first sliding block which is fixed below the first mounting seat and is respectively connected with the two guide shafts in a sliding manner;
the two second pressure springs are respectively sleeved on one guide shaft, one end of each second pressure spring is connected with the driven wheel nut seat, and the other end of each second pressure spring is abutted against a second sliding block which is fixed below the second mounting seat and is respectively connected with the two guide shafts in a sliding manner;
when the pressing motor drives the left-handed and right-handed screw rod to rotate, the driving wheel nut seat and the driven wheel nut seat can be driven to move in the opposite direction or in the opposite direction at the same time.
As a preferred scheme of robot is patrolled and examined to the cable, the second slider is close to the one end of second pressure spring is equipped with the spacing groove, the one end of second pressure spring with the spacing groove butt.
The utility model has the advantages that: the utility model discloses a set up first protection axle and set up the second protection axle from the driving wheel top in two action wheel tops, can make the cable patrol and examine the robot and patrol and examine auxiliary device through the cable pre-compaction cable when patrolling and examining auxiliary device, for the action wheel with provide supplementary from the position abrupt change of driving wheel on the vertical direction, prevent that the cable from patrolling and examining the robot and patrol and examine the unexpected drop of in-process at the cable. Compared with the prior art, the utility model discloses a damage of falling can be avoided when the cable patrols and examines robot realization obstacle more.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments of the present invention will be briefly described below. It is obvious that the drawings described below are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be obtained from these drawings without inventive effort.
Fig. 1 is a schematic structural diagram of a cable inspection robot according to an embodiment of the present invention.
Fig. 2 is a schematic plan view of the cable inspection robot according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of looking sideways at a cable inspection robot according to an embodiment of the present invention.
Fig. 4 is a schematic diagram of the cable inspection robot according to an embodiment of the present invention, which travels on a cable with a linear bracket.
Fig. 5 is a flow chart of the cable inspection robot when passing through the linear support according to an embodiment of the present invention.
Fig. 6 is a schematic diagram of the cable inspection robot according to an embodiment of the present invention, which travels to a traveling route formed by the linear bracket, the branched cable, and the branched bracket in order to cross the shockproof hammer.
Fig. 7 is a schematic diagram of the cable inspection robot according to an embodiment of the present invention, which travels to a traveling route formed by a linear bracket, a branched cable, a linear bracket, and a branched bracket in order to cross over the stockbridge damper and the iron tower.
In the figure:
1. a drive device; 10. a compacting motor; 20. mounting a plate; 30. a left-right screw rod; 40. a guide shaft; 50. a driving wheel nut seat; 60. a driven wheel nut seat; 70. a first pressure spring; 80. a second pressure spring;
2. a base;
3. a sensor;
41. a first mounting seat; 42. a driving wheel; 43. a drive motor;
51. a second mounting seat; 52. a driven wheel; 53. installing an adjusting hole;
61. a first shield shaft; 62. a first connecting member; 621. a first upright post; 622. a first connection portion;
71. a second shield shaft; 72. a second connecting member; 721. a second upright post; 722. a second connecting portion;
100. a cable; 201. a linear support; 202. a bifurcated stent; 203. a bifurcated cable; 300. a vibration damper; 400. an iron tower.
Detailed Description
The technical solution of the present invention is further explained by the following embodiments with reference to the accompanying drawings.
Wherein the showings are for the purpose of illustration only and are shown by way of illustration only and not in actual form, and are not to be construed as limiting the present patent; for a better understanding of the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right", "inner", "outer", etc. are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of description, but it is not indicated or implied that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are used only for illustrative purposes and are not to be construed as limiting the present patent, and the specific meaning of the terms will be understood by those skilled in the art according to the specific circumstances.
In the description of the present invention, unless otherwise explicitly specified or limited, the term "connected" or the like, if appearing to indicate a connection relationship between the components, is to be understood broadly, for example, as being either a fixed connection, a detachable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or may be connected through one or more other components or may be in an interactive relationship with one another. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 1 to 3, an embodiment of the utility model provides a robot is patrolled and examined to cable, include:
a drive device 1 mounted on the base 2;
the sensor 3 is connected with the base 2, and particularly, the sensor 3 is arranged below the base 2;
the driving device comprises a first mounting seat 41, two driving wheels 42 arranged on the first mounting seat 41 and two driving motors 43 arranged below the first mounting seat 41 and used for driving the corresponding driving wheels 42 to rotate, wherein the first mounting seat 41 is in transmission connection with the driving device 1;
the driven wheel 52 is in transmission connection with the driving device 1 through the second mounting seat 51;
the driving wheel 42 and the driven wheel 52 are positioned at two sides of the cable 100 or the inspection auxiliary device on the cable 100, and the driving device 1 can drive the driving wheel 42 and the driven wheel 52 to move oppositely or away from each other at the same time;
further comprising:
the two first protection shafts 61 are respectively positioned on one side of one driving wheel 52 far away from the other driving wheel 52 along the routing inspection direction and are respectively connected with the first mounting seat 41 through one first connecting piece 62, and the first protection shafts 61 are positioned above the driving wheels 52 and can extend to the cable 100 or the routing inspection auxiliary device mounted on the cable 100;
two second protection shafts 71 which are positioned at two sides of the driven wheel 52 along the inspection direction and are connected with the second mounting seat 51 through second connecting pieces 72, wherein the second protection shafts 71 are positioned above the driven wheel 52 and can extend to the cable 100 or the inspection auxiliary device installed on the cable 100;
the first shield shaft 61 and the second shield shaft 71 are each freely rotatable about its own axis, and each first shield shaft 61 is disposed adjacent to one second shield shaft 71.
The driven wheel 52 is located at one side of the two driving wheels 42 and at the center line of the two driving wheels 42, that is, the two driving wheels are symmetrically arranged relative to the driven wheel 52.
In this embodiment, the driving wheel 42 and the driven wheel 52 are respectively located at two sides of the cable 100 or the inspection auxiliary device, during inspection, the driving wheel 42 and the driven wheel 52 are driven by the driving device 1 to simultaneously clamp the cable 100 or the inspection auxiliary device, that is, the driving wheel 42 and the driven wheel 52 can be automatically opened and closed according to the profile of the cable 100 or the inspection auxiliary device, and then the driving wheel 42 is driven by the driving motor 43 to rotate and move along the cable 100 or the inspection auxiliary device, so that inspection is realized. In the inspection process, the first protection shaft 61 and the second protection shaft 71 are positioned above the cable 100 or the inspection auxiliary device, when the cable inspection robot runs on the cable 100, the first protection shaft 61 and the second protection shaft 71 can pre-press the cable 100, so that the cable 100 is always positioned in the V-shaped grooves of the driving wheel 42 and the driven wheel 52, and the cable inspection robot is ensured not to fall; or when the cable inspection robot runs from the cable 100 to the inspection auxiliary device, the first protective shaft 61 and the second protective shaft 71 move to the upper part of the side edge of the inspection auxiliary device in advance of the driving wheel 42 and the driven wheel 52 to pre-press the inspection auxiliary device, so that the cable inspection robot is prevented from accidentally falling.
The cable inspection robot of this embodiment can replace wheeled robot, tracked robot, guide rail robot, power transmission line robot, unmanned aerial vehicle etc. to carry out the task of patrolling and examining through setting up simple auxiliary device that patrols and examines on the cable. The cable inspection robot of the embodiment has the characteristics of simple structure, light weight, low capital construction cost and the like.
In this embodiment, the cable inspection robot can be used for the cable to patrol and examine by single exclusive use, also can patrol and examine the robot by two or more cables and pass through modes such as pole, articulated connection and recombine into a new robot, and every robot can all carry the sensor that can realize patrolling and examining the task to reach the more nimble variety of machine combination.
Compared with the prior art, this embodiment can guarantee that the cable patrols and examines the robot and not fall when the cable patrols and examines the in-process and pass through patrolling and examining auxiliary device.
Further, the axis of the first protective shaft 61 and the axis of the second protective shaft 71 are located on the same horizontal plane, so that the stable pre-pressing inspection auxiliary device can be realized. The first shield shaft 61 and the second shield shaft 71 can freely rotate in the circumferential direction, and the diameters of the first shield shaft 61 and the second shield shaft 71 can be determined according to practical situations, and are not limited.
Further, the two first protection shafts 61 are respectively located on one side of the second protection shaft 71 adjacent to the two first protection shafts 61, which is far away from the other second protection shaft 71, that is, the first protection shaft 61 and the second protection shaft 71 are adjacently arranged, specifically, as shown in the figure, the two second protection shafts 71 are located between the two first protection shafts 61, and the anti-falling stability can be improved.
In this embodiment, each first connecting member 62 includes two first uprights 621 mounted on the first mounting seat 41 and located at two sides of the driving wheel 42, and a first connecting portion 622 connected to an upper end of the first upright 621, and one end of the first connecting portion 622 away from the other driving wheel 42 is mounted with a first protection shaft 61.
Specifically, the first connecting portion 622 includes a connecting panel, a connecting lug protruding from two sides of the connecting panel, and a connecting rod, and two ends of the connecting rod are connected to the connecting lug through a first pillar 621.
In this embodiment, the second connecting member 72 includes two second uprights 721 mounted on the second mounting base 51 and located at two sides of the driven wheel 52, and a second connecting portion 722 connected to upper ends of the second uprights 721, and two second protective shafts 71 are respectively mounted at two ends of the second connecting portion 722.
Furthermore, an avoiding groove for the upper end of the driven wheel 52 to pass through is formed below the second connecting portion 71, so that the second protective shaft 71 is adjacent to the upper end face of the driven wheel 52, and the falling prevention stability is further improved.
In order to adjust the length of the second shielding shaft extending to the cable 100, the second mounting seat 51 is further provided with a plurality of sets of mounting adjustment holes 53 at intervals along the direction close to the driving wheel 42 for mounting the second upright 721.
Of course, several groups of adjusting holes may be disposed on the first mounting seat 41 to adjust the length of the first protection shaft 61 extending to the cable 100, which will not be described in detail.
The drive device 1 in the present embodiment includes:
a pressing motor 10 mounted on the base 2 through a mounting plate 20;
the left-right rotating screw rod 30 is arranged on the base 2 and penetrates through the mounting plate 20 to be connected with the pressing motor 10, and the pressing motor 10 can drive the left-right rotating screw rod 30 to rotate;
two guide shafts 40 are positioned at two sides of the left and right screw rods 30, one end of each guide shaft 40 is arranged on the base 2, and the other end is fixedly connected with the mounting plate 20;
the driving wheel nut seat 50 is connected with the left and right screw rods 30 in a screwing way through a first screw rod nut and is connected with the two guide shafts 40 in a sliding way;
a driven wheel nut seat 60 which is connected with the left and right screw rods 30 in a screwing way through second screw rod nuts and is connected with the two guide shafts 40 in a sliding way;
the two first pressure springs 70 are respectively sleeved on one guide shaft 30, one end of each first pressure spring 70 is abutted with the driving wheel nut seat 50, and the other end of each first pressure spring 70 is abutted with a first sliding block which is fixed below the first mounting seat 41 and is respectively connected with the two guide shafts 40 in a sliding manner;
two second pressure springs 80 respectively sleeved on one guide shaft 40, wherein one end of each second pressure spring 80 is connected with the driven wheel nut seat 60, and the other end of each second pressure spring 80 is abutted with a second sliding block which is fixed below the second mounting seat 51 and is respectively connected with the two guide shafts 40 in a sliding manner;
when the pressing motor 10 drives the left-handed and right-handed screw rod 30 to rotate, the driving wheel nut seat 50 and the driven wheel nut seat 60 can be driven to move in the opposite direction or in the opposite direction at the same time.
The pressing motor 10 can drive the left-handed or right-handed screw rod 30 to rotate left or right, so as to drive the driving nut seat 50 and the driven nut seat 60 to move in opposite directions or away from each other at the same time, thereby achieving the passive opening and closing of the driving wheel 42 and the driven wheel 52.
The drive unit 1 further comprises a gearbox mounted on the base 2 for regulating the rotational speed of the compacting motor 10.
Further, one end, close to the second pressure spring 80, of the second sliding block is provided with a limiting groove, and one end of the second pressure spring 80 is always located in the limiting groove and is abutted to the limiting groove.
The cable inspection robot of the embodiment can smoothly and stably pass through various inspection auxiliary devices such as the linear bracket 201, the branched bracket 202, the branched cable 203 and the like when inspecting on the cable 100.
When the cable inspection robot runs through the linear bracket 201 as shown in fig. 4, the working principle is as follows: referring to fig. 5, the pressing motor 10 drives the left and right screw rods 30 to rotate, so that the driving wheel nut seat 50 drives the first mounting seat 41, and the driven wheel nut seat 60 drives the second mounting seat 51 to move away from each other, so that the driving wheel 42 and the driven wheel 52 can be passively separated according to the profile of the linear support 201, at this time, the first protective shaft 61 and the second protective shaft 71 located in front of the driving direction pre-press the linear support 201 until two sides of the linear support 201 are respectively clamped in the V-shaped grooves of the driving wheel 42 and the driven wheel 52, and the cable inspection robot continues to drive along the profile of the linear support 201 through the driving wheel 42 and the driven wheel 52; when the cable is driven away from the linear bracket 201, the first protective shaft 61 and the second protective shaft 71 which are positioned at the rear part of the driving direction always pre-press the linear bracket 201, so that buffer is provided for sudden position drop of the driving wheel 42 and the driven wheel 52 when the cable 100 is driven from the linear bracket 201, and the situation that the driving wheel 42 and the driven wheel 52 are suddenly dropped and separated from the cable 100 in the driving process is avoided; after passing through the linear bracket 201, the pressing motor 10 drives the left-right rotating screw rod 30 to drive the driving wheel nut seat 50 and the driven wheel nut seat 60 to move oppositely, the driving wheel nut seat 50 presses the first pressure spring 70 and the driven wheel nut seat 60 presses the second pressure spring 80, the first pressure spring 70 and the second pressure spring 80 respectively press the first mounting seat 41 and the second mounting seat 51, so that the driving wheel 42 and the driven wheel 52 can press the cable 100, and inspection work is continuously performed along the cable 100 under the driving of the driving motor 43. The first shield shaft 61 and the second shield shaft 71 are opened and closed as the driving pulley 42 and the driven pulley 52 are opened and closed.
When the cable inspection robot is about to pass over an obstacle such as a crash hammer 300 on the cable 100, it is required to pass through the bifurcated bracket 202 shown in fig. 6, enter the bifurcated cable 203, and pass through another bifurcated bracket 202. Wherein, the operating principle of patrolling and examining of robot is patrolled and examined on forked support 202 to the cable is similar with the operating principle of patrolling and examining on above-mentioned sharp support 201, specifically no longer gives unnecessary details. Because the structure of the forked cable 203 is similar to that of the cable 100, the patrol working principle of the cable patrol robot on the forked cable 203 is similar to that of the cable patrol robot on the cable 100, and detailed description is omitted.
When the cable inspection robot crosses an obstacle such as a vibration damper 300 and an iron tower 400 in an existing power transmission line as shown in fig. 7 (the obstacle should be located between two forked brackets 202, and the lowest position of the forked cable 203 is lower than that of the obstacle, so that the cable inspection robot does not generate a clamping fault with the obstacle when passing around the obstacle), a worker can adopt the forked brackets 202, the forked cable 203 and the linear bracket 201 to construct a new inspection line. The inspection working principle of the cable inspection robot on the linear bracket 201 is recorded in the above embodiment, and is not described in detail; the inspection working principle of the cable inspection robot on the cross bracket 202 is similar to that of the cable inspection robot on the linear bracket 201, and detailed description is omitted; the inspection working principle of the cable inspection robot on the bifurcated cable 203 is similar to that of the cable inspection robot on the cable 100, and detailed description is omitted.
It should be understood that the above-described embodiments are merely illustrative of the preferred embodiments of the present invention and the technical principles thereof. It will be understood by those skilled in the art that various modifications, equivalents, changes, and the like can be made to the present invention. However, these modifications are within the scope of the present invention as long as they do not depart from the spirit of the present invention. In addition, certain terms used in the specification and claims of the present application are not limiting, but are used merely for convenience of description.
Claims (10)
1. A cable inspection robot, comprising:
the driving device is arranged on the base;
a sensor connected to the base;
the driving device comprises a first mounting seat, two driving wheels arranged on the first mounting seat and two driving motors arranged below the first mounting seat and used for driving the corresponding driving wheels to rotate, wherein the first mounting seat is in transmission connection with the driving device;
the driven wheel is in transmission connection with the driving device through a second mounting seat;
the driving wheel and the driven wheel are positioned on two sides of the inspection auxiliary device on the cable or the cable, and the driving device can drive the driving wheel and the driven wheel to move oppositely or away from each other at the same time;
it is characterized by also comprising:
the two first protection shafts are respectively positioned on one side of one driving wheel, which is far away from the other driving wheel, along the routing inspection direction and are respectively connected with the first mounting seat through a first connecting piece, and the first protection shafts are positioned above the driving wheels and can extend to the cable or the routing inspection auxiliary device arranged on the cable;
the two second protection shafts are positioned on two sides of the driven wheel along the routing inspection direction and connected with the second mounting base through second connecting pieces, and the second protection shafts are positioned above the driven wheel and can extend to a cable or a routing inspection auxiliary device arranged on the cable;
the first protective shaft and the second protective shaft can freely rotate around the axes of the first protective shaft and the second protective shaft respectively, and each first protective shaft is arranged adjacent to one second protective shaft.
2. The cable inspection robot according to claim 1, wherein the axis of the first protective shaft is at the same level as the axis of the second protective shaft.
3. The cable inspection robot according to claim 1, wherein the two first protection shafts are respectively located at a side of one of the second protection shafts adjacent thereto, which is away from the other second protection shaft.
4. The cable inspection robot according to claim 1, wherein each first connecting member includes two first columns installed on the first installation base and located at both sides of the driving wheel, and a first connecting portion connected to an upper end of the first column, one end of the first connecting portion, which is far away from the other driving wheel, is provided with one first protective shaft.
5. The cable inspection robot according to claim 4, wherein the first connecting portion includes a connecting panel, connecting lugs protruding from both sides of the connecting panel, and a connecting rod, and both ends of the connecting rod are connected to the connecting lugs through the first posts, respectively.
6. The cable inspection robot according to claim 1, wherein the second connecting member includes two second posts mounted on the second mounting base and located at both sides of the driven wheel, and a second connecting portion connected to an upper end of the second posts, and one second protective shaft is mounted at each of both ends of the second connecting portion.
7. The cable inspection robot according to claim 6, wherein an avoidance slot through which the upper end of the driven wheel passes is formed below the second connecting portion.
8. The cable inspection robot according to claim 6, wherein a plurality of sets of mounting and adjusting holes for mounting the second upright are formed in the second mounting seat at intervals in a direction close to the driving wheel.
9. The cable inspection robot according to claim 1, wherein the driving device includes:
the pressing motor is arranged on the base through a mounting plate;
the left-right rotating screw rod is arranged on the base and penetrates through the mounting plate to be connected with the pressing motor, and the pressing motor can drive the left-right rotating screw rod to rotate;
the two guide shafts are positioned on two sides of the left and right screw rods, one end of each guide shaft is arranged on the base, and the other end of each guide shaft is fixedly connected with the mounting plate;
the driving wheel nut seat is in screwed connection with the left and right screw rods through a first screw rod nut and is in sliding connection with the two guide shafts;
the driven wheel nut seat is in screwed connection with the left and right screw rods through a second screw rod nut and is in sliding connection with the two guide shafts;
the two first pressure springs are respectively sleeved on one guide shaft, one end of each first pressure spring is abutted with the nut seat of the driving wheel, and the other end of each first pressure spring is abutted with a first sliding block which is fixed below the first mounting seat and is respectively connected with the two guide shafts in a sliding manner;
the two second pressure springs are respectively sleeved on one guide shaft, one end of each second pressure spring is connected with the driven wheel nut seat, and the other end of each second pressure spring is abutted against a second sliding block which is fixed below the second mounting seat and is respectively connected with the two guide shafts in a sliding manner;
when the pressing motor drives the left-handed and right-handed screw rod to rotate, the driving wheel nut seat and the driven wheel nut seat can be driven to move in the opposite direction or in the opposite direction at the same time.
10. The cable inspection robot according to claim 9, wherein a limiting groove is formed in one end, close to the second pressure spring, of the second sliding block, and one end of the second pressure spring is abutted to the limiting groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022822921.XU CN213692944U (en) | 2020-11-30 | 2020-11-30 | Cable inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022822921.XU CN213692944U (en) | 2020-11-30 | 2020-11-30 | Cable inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213692944U true CN213692944U (en) | 2021-07-13 |
Family
ID=76737504
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022822921.XU Active CN213692944U (en) | 2020-11-30 | 2020-11-30 | Cable inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213692944U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114422754A (en) * | 2022-01-06 | 2022-04-29 | 新昌县新明实业有限公司 | Portable miniature inspection robot for cable channel of transformer substation |
| CN114614396A (en) * | 2022-03-22 | 2022-06-10 | 广东瓦力科技有限公司 | Transmission line inspection robot |
| WO2024128739A1 (en) * | 2022-12-16 | 2024-06-20 | 주식회사 케이아이 | Crossing structure and crossing method for preventing collisions on elevated single-track rail |
-
2020
- 2020-11-30 CN CN202022822921.XU patent/CN213692944U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114422754A (en) * | 2022-01-06 | 2022-04-29 | 新昌县新明实业有限公司 | Portable miniature inspection robot for cable channel of transformer substation |
| CN114614396A (en) * | 2022-03-22 | 2022-06-10 | 广东瓦力科技有限公司 | Transmission line inspection robot |
| CN114614396B (en) * | 2022-03-22 | 2023-08-25 | 广东瓦力科技有限公司 | Power transmission line inspection robot |
| WO2024128739A1 (en) * | 2022-12-16 | 2024-06-20 | 주식회사 케이아이 | Crossing structure and crossing method for preventing collisions on elevated single-track rail |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN213692944U (en) | Cable inspection robot | |
| CN110480597B (en) | High-voltage transmission line robot | |
| CN101168252A (en) | Arm lifting type high voltage transmission line automatic polling robot | |
| CN111541186B (en) | Walking type high-voltage line pin supplementing device | |
| CN102556196A (en) | Magnetic absorption type wall climbing robot | |
| CN102938544B (en) | A kind of transmission line active obstacle travelling robot | |
| CN209682199U (en) | A kind of mine monitoring rail polling robot | |
| CN111570134A (en) | Anti-icing cable intelligent spraying robot convenient to hoist and mount counterpoint | |
| CN111404083A (en) | Power transmission line inspection robot based on comprehensive navigation and line inspection method thereof | |
| CN113866567B (en) | Cable fault early warning quick positioning system | |
| CN109659858B (en) | Obstacle crossing method for high-voltage line inspection robot | |
| CN112748184B (en) | Ultrasonic hidden trouble detection device for power distribution network | |
| US10836231B2 (en) | Automatic adjustment device for front suspension of driverless formula racing car | |
| CN218195160U (en) | Cable conduit inspection robot | |
| CN215318724U (en) | Multifunctional intelligent inspection robot | |
| CN115436754A (en) | Intelligent inspection robot for underground power pipeline cable fault detection | |
| CN210817919U (en) | Spot welding device of H-shaped steel assembling machine | |
| CN212047573U (en) | Mobile robot chassis suitable for uneven ground | |
| CN113285388A (en) | Bus drainage wire disconnecting device | |
| CN111516772A (en) | Swing arm type magnetic wall-climbing robot for ship cleaning | |
| CN113601479A (en) | Self-walking intelligent platform inspection equipment | |
| CN202935465U (en) | High-voltage electric transmission line patrol and operation robot driving arm | |
| CN113090914A (en) | Tourism hotel monitors and uses all-round camera hoisting structure | |
| CN221200550U (en) | Intelligent traffic road condition information acquisition device | |
| CN113054587A (en) | Novel transmission line foreign matter removing device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |