CN215971824U - Insulator detection metamorphic robot mechanism based on metamorphic epicyclic bevel gear train - Google Patents
Insulator detection metamorphic robot mechanism based on metamorphic epicyclic bevel gear train Download PDFInfo
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- CN215971824U CN215971824U CN202122332010.3U CN202122332010U CN215971824U CN 215971824 U CN215971824 U CN 215971824U CN 202122332010 U CN202122332010 U CN 202122332010U CN 215971824 U CN215971824 U CN 215971824U
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Abstract
The utility model relates to the technical field of insulator detection robots, in particular to an insulator detection metamorphic robot mechanism based on metamorphic epicyclic bevel gear trains, which comprises a peristaltic movement mechanism, a first epicyclic bevel gear train metamorphic clamping mechanism and a second epicyclic bevel gear train metamorphic clamping mechanism, wherein the two epicyclic bevel gear train metamorphic clamping mechanisms are arranged on two sides of the peristaltic movement mechanism, and an insulator steel cap and an umbrella skirt are clamped alternately under the movement of the movement mechanism, so that the movement detection task of the insulator detection metamorphic robot on an insulator string is realized. The two groups of turnover bevel gear train metamorphic clamping mechanisms realize two configurations of clamping jaw rotation and clamping jaw movement and transformation of the clamping mechanism through metamorphic turnover bevel gear trains, complete the clamping task of the insulator steel cap, and have strong adaptability to the size and position change of the insulator steel cap, stable clamping and good stress condition.
Description
Technical Field
The utility model relates to the technical field of insulator string detection, in particular to an insulator detection metamorphic robot mechanism based on a metamorphic epicyclic bevel gear train.
Background
The high-voltage transmission line is erected in the south and north of China by an iron tower, is an energy main artery of industrial production and people's life, and the insulator is used as an important hardware tool for connecting the iron tower and the transmission line, and plays a role in mechanical fixation and electrical insulation. Due to long-time exposure in adverse working environment, for example, external environments such as thunder and lightning, rainstorm, snowstorm and the like, electromechanical load, working environment such as strong magnetic high voltage and the like, the insulator string can have surface pollution layers, cracks, insulation resistance reduction and other degradation phenomena, and further a series of serious accidents such as flashover, damage, string falling and the like are caused, so that large-area power failure of the power transmission line is caused, and huge loss is caused. Therefore, in order to accurately and effectively detect the degradation problem of the insulator, a power transmission line maintenance worker urgently needs a robot to assist in carrying out live-line detection and maintenance operation on a high-voltage power transmission and transformation facility, quickly and efficiently provides a maintenance decision basis, and has important significance for improving the automation and intelligent level of line operation and maintenance. At present, an insulator detection robot can complete the moving functional realization of an insulator string detection task through various types of prototype machines, but still is in the laboratory experiment stage.
SUMMERY OF THE UTILITY MODEL
In view of the above problems, an object of the present invention is to provide an insulator detection metamorphic robot mechanism based on a metamorphic epicyclic bevel gear train, so as to meet the operational requirements of good clamping adaptability, compact structure and light weight of an insulator detection robot, and improve the operational efficiency.
In order to achieve the purpose, the utility model adopts the following technical scheme:
the utility model provides an insulator detects metamorphic robot mechanism based on metamorphic epicone gear train, including first epicone gear train metamorphic clamping mechanism, second epicone gear train metamorphic clamping mechanism and wriggling formula moving mechanism, wherein first epicone gear train metamorphic clamping mechanism and second epicone gear train metamorphic clamping mechanism install the both sides at wriggling formula moving mechanism for centre gripping insulator, make insulator detect metamorphic robot fix on insulator chain, wriggling formula moving mechanism realizes the wriggling formula crawl moving process along insulator chain through first epicone gear train metamorphic clamping mechanism of alternative displacement and second epicone gear train metamorphic clamping mechanism.
The peristaltic moving mechanism comprises a control box body, two rack moving mechanisms and a driving gear, wherein the two rack moving mechanisms are arranged on two sides of the driving gear in parallel and meshed with the driving gear, the driving gear is connected with an output shaft of a driving motor in the control box body, and the driving gear is used for driving the two rack moving mechanisms to move reversely.
The first epicyclic bevel gear train metamorphic clamping mechanism and the second epicyclic bevel gear train metamorphic clamping mechanism have the same structure and respectively comprise a friction plate bracket, a clamping driving motor, a driving bevel gear, a bevel gear planet carrier, a driven bevel gear, a clamping jaw and a screw nut mechanism, wherein the friction plate bracket is connected with a rack moving mechanism in the peristaltic moving mechanism; the clamping driving motor is arranged on the friction plate bracket, and the output shaft is connected with the driving bevel gear; the driving bevel gear is rotationally connected with a bevel gear planet carrier, and the bevel gear planet carrier is rotationally connected with the friction plate bracket; the driven bevel gear is rotatably arranged on the bevel gear planet carrier and is meshed with the driving bevel gear; the screw rod and nut mechanism is connected with the driven bevel gear and the bevel gear planet carrier, and the output end is connected with the clamping jaw.
The screw rod and screw nut mechanism comprises a screw nut, a guide rail, a constraint spring and a screw rod, wherein the guide rail and the screw rod are arranged on the clamping jaw in parallel, the screw rod penetrates through the driven bevel gear and the bevel gear planet carrier, and the driven bevel gear is connected with the screw rod through the screw nut; the guide rail is connected with the bevel gear planet carrier in a sliding way.
The guide rail is sleeved with a restraining spring, and two ends of the restraining spring are respectively abutted to the clamping jaw and the bevel gear planet carrier and used for restraining the clamping jaw and the guide rail from moving relative to the bevel gear planet carrier.
The driving bevel gear coincides with the rotation axis of the bevel gear planet carrier.
The driving bevel gear can drive the driven bevel gear to rotate around the rotation axis of the driving bevel gear, and can also drive the driven bevel gear and the bevel gear planet carrier to rotate around the driving bevel gear.
When the clamping jaw does not touch the insulator steel cap, the clamping jaw, the screw rod and the guide rail do not move relative to the bevel gear planet carrier, and the driven bevel gear, the screw nut and the bevel gear planet carrier do not rotate relative to each other.
When the clamping jaw touches the insulator steel cap, the clamping jaw, the screw rod and the guide rail move relative to the bevel gear planet carrier, and the driven bevel gear, the screw nut and the bevel gear planet carrier rotate relative to each other.
The utility model has the advantages and positive effects that:
1. the insulator detection metamorphic robot mechanism based on the metamorphic epicyclic bevel gear train aims at the problems of position deviation, size change and the like of a steel cap in an insulator string, uses steel cap contact and a constraint spring as constraint, adopts two working configurations and transformation of the metamorphic epicyclic bevel gear train mechanism, and realizes that a single driving motor finishes two motion processes of clamping jaw rotation and clamping jaw movement.
2. The clamping jaw has good adaptability, the clamping jaw is changed from rotating to moving when touching the insulator steel cap, the position and the size of the steel cap do not influence the clamping process, and the clamping process is stable.
3. The metamorphic epicyclic bevel gear train adopted by the utility model has compact structure and stable power, and effectively reduces the complexity and the self-quality of the mechanism.
Drawings
FIG. 1 is a schematic structural diagram of an insulator detection metamorphic robot mechanism based on a metamorphic epicyclic bevel gear train according to the utility model;
FIG. 2 is a schematic structural diagram of a moving mechanism according to the present invention;
FIG. 3 is a schematic structural diagram of a metamorphic clamping mechanism of an epicyclic bevel gear train according to the present invention;
FIG. 4 is a schematic diagram of the mechanism of the turnover bevel gear train metamorphic clamping mechanism of the utility model when the turnover bevel gear train metamorphic clamping mechanism does not touch the insulator steel cap;
FIG. 5 is one of the schematic diagrams of the mechanism of the turnover bevel gear train metamorphic clamping mechanism of the present invention after touching the insulator steel cap;
FIG. 6 is a second schematic diagram of the metamorphic clamping mechanism of the epicyclic bevel gear train of the present invention after the metamorphic clamping mechanism touches the steel cap of the insulator;
in the figure: the device comprises a first epicyclic bevel gear train metamorphic clamping mechanism 1, a second epicyclic bevel gear train metamorphic clamping mechanism 1', a peristaltic moving mechanism 2, a control box 201, a rack moving mechanism 202, a driving gear 203, a friction plate support 101, a clamping driving motor 102, a driving bevel gear 103, a bevel gear planet carrier 104, a screw 105, a driven bevel gear 106, a guide rail 107, a restraining spring 108, a clamping jaw 109, a lead screw 110, an insulator 3, an insulator steel cap 301 and an insulator umbrella skirt 302.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments,
as shown in fig. 1, the insulator detection metamorphic robot mechanism based on metamorphic epicyclic bevel gear train provided by the utility model comprises a first epicyclic bevel gear train metamorphic clamping mechanism 1, a second epicyclic bevel gear train metamorphic clamping mechanism 1 ' and a peristaltic movement mechanism 2, wherein the first epicyclic bevel gear train metamorphic clamping mechanism 1 and the second epicyclic bevel gear train metamorphic clamping mechanism 1 ' are symmetrically installed at two sides of the peristaltic movement mechanism 2 and used for clamping insulators, so that the insulator detection metamorphic robot is fixed on an insulator string, and the peristaltic movement mechanism 2 realizes a peristaltic crawling movement process along the insulator string by alternately moving the first epicyclic bevel gear train metamorphic clamping mechanism 1 and the second epicyclic bevel gear train metamorphic clamping mechanism 1 '.
As shown in fig. 2, in the embodiment of the present invention, the peristaltic movement mechanism 2 includes a control box 201, a rack movement mechanism 202 and a driving gear 203, and two sets of rack movement mechanisms 202 are installed on the control box 201 in parallel, specifically, may be installed and connected through a sliding rail and sliding block mechanism. The first rotating bevel gear train metamorphic clamping mechanism 1 and the second rotating bevel gear train metamorphic clamping mechanism 1' are respectively connected with the two sets of rack moving mechanisms 202, the driving gear 203 is connected with the output shaft of the driving motor in the control box 201 and is meshed with the racks of the two sets of rack moving mechanisms 202, and the driving gear 203 drives the two sets of rack moving mechanisms 202 to move reversely.
As shown in fig. 3, in the embodiment of the present invention, the first epicyclic bevel gear train metamorphic clamping mechanism 1 and the second epicyclic bevel gear train metamorphic clamping mechanism 1' have the same structure, and each of them includes a friction plate bracket 101, a clamping driving motor 102, a driving bevel gear 103, a bevel gear planet carrier 104, a driven bevel gear 106, a clamping jaw 109 and a screw-nut mechanism, wherein the friction plate bracket 101 is connected with a rack moving mechanism 202 in the peristaltic moving mechanism 2; a clamping driving motor 102 is installed on the friction plate bracket 101, and an output shaft is connected with a driving bevel gear 103; the driving bevel gear 103 is rotationally connected with a bevel gear planet carrier 104, the bevel gear planet carrier 104 is rotationally connected with the friction plate bracket 101, and the driven bevel gear 106 is meshed with the driving bevel gear 103 and is rotationally connected with the bevel gear planet carrier 104; the screw nut mechanism is connected with the driven bevel gear 106 and the bevel gear planet carrier 104, and the output end is connected with the clamping jaw 109.
Specifically, the screw and nut mechanism comprises a nut 105, a guide rail 107, a constraint spring 108 and a screw 110, wherein the guide rail 107 and the screw 110 are arranged on a clamping jaw 109 in parallel, the screw 110 penetrates through a driven bevel gear 106 and a bevel gear planet carrier 104, the nut 105 is coaxially fixed on the driven bevel gear 106, and the nut 105 is in threaded connection with the screw 110; the guide rail 107 is slidably connected to the bevel gear carrier 104. Specifically, a jaw 109 is attached to the end of the guide rail 107 and a lead screw 110.
Further, the driving bevel gear 103 is overlapped with the rotation axis of the bevel gear planet carrier 104, and can drive the driven bevel gear 106 to rotate around the rotation axis thereof, and simultaneously can drive the driven bevel gear 106 and the bevel gear planet carrier 104 to rotate around the driving bevel gear 103, and simultaneously the driven bevel gear 106 is fixedly connected with the nut 105 and can rotate around the co-rotation axis, so that the lead screw 110 is driven to move simultaneously, and the clamping jaws 109 and the guide rail 107 are driven to move.
Further, the restraint spring 108 is connected with the clamping jaw 109 at one end and the bevel gear planet carrier 104 at the other end, restrains the relative movement between the clamping jaw 109 and the guide rail 107 and the bevel gear planet carrier 104, restrains the relative movement between the lead screw 110 and the nut 105, and restrains the rotation of the nut 105 and the driven bevel gear 106 around the rotation axis of the nut 105 and the driven bevel gear 106.
In the embodiment of the utility model, the rotating process of the first and second epicyclic gear train metamorphic clamping mechanisms is as follows:
as shown in fig. 4, the clamping driving motor 102 drives the driving bevel gear 103 to rotate, under the restraining force of the restraining spring 108, the clamping jaws 109, the guide rail 107, the lead screw 110, the nut 105 and the movable bevel gear 106 are relatively stationary with the bevel gear carrier 104, and can be used as a whole which is fixedly connected together, and the driving bevel gear 103 drives the clamping jaws 109, the guide rail 107, the lead screw 110, the nut 105, the driven bevel gear 106 and the bevel gear carrier 104 to rotate around the rotation axis of the driving bevel gear 103, so as to approach the insulator steel cap 301.
In the embodiment of the utility model, the clamping process of the first and second epicyclic gear train metamorphic clamping mechanisms is as follows:
as shown in fig. 5, after the clamping jaw 109 contacts the insulator steel cap 301, the bevel gear carrier 104 stops rotating and is stationary relative to the insulator steel cap 301, and it can be seen that the bevel gear carrier 104 is fixedly connected with the insulator steel cap 301 and the friction plate bracket 101.
As shown in fig. 6, the clamping driving motor 102 continues to drive the driving bevel gear 103 to rotate, the driven bevel gear 106 and the nut 105 are driven to rotate around the rotation axis of the driven bevel gear 106 and the nut 105, and under the rotation driving of the nut 105, the lead screw 110 moves along the axis thereof, and simultaneously the clamping jaw 109 and the guide rail 107 break through the constraint of the constraint spring 108, and generate relative displacement with the bevel gear carrier 104 along the direction of the guide rail 107.
After the first epicyclic bevel gear train metamorphic clamping mechanism 1 finishes a clamping and fixing task, the operation of loosening the insulator steel cap 301 is opposite to the movement of the clamping operation.
In the moving process of the peristaltic moving mechanism 2, when the first epicyclic bevel gear train metamorphic clamping mechanism 1 connected with the left rack moving mechanism 202 or the second epicyclic bevel gear train metamorphic clamping mechanism 1' connected with the right rack moving mechanism 202 clamps the insulator steel cap 301, the rack moving mechanism 202 with the other unclamped epicyclic bevel gear train metamorphic clamping mechanism connected with the other side moves in the same direction under the driving of the driving gear 203, and the tasks of advancing, detecting or cleaning on the insulator string are completed.
The insulator detection metamorphic robot mechanism based on the metamorphic epicyclic bevel gear train aims at the problems of position deviation, size change and the like of a steel cap in an insulator string, uses steel cap contact and a constraint spring as constraint, adopts two working configurations and transformation of the metamorphic epicyclic bevel gear train mechanism, and realizes that a single driving motor finishes two motion processes of clamping jaw rotation and clamping jaw movement.
The insulator string clamping device can effectively realize the tasks of clamping and moving the insulator string on the insulator string, has good adaptability, compact structure and light weight, improves the operation efficiency, lightens the labor intensity of detection personnel, and ensures the safe operation of a high-voltage transmission line.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (9)
1. The insulator detection metamorphic robot mechanism is characterized by comprising a first epicyclic gear train metamorphic clamping mechanism (1), a second epicyclic gear train metamorphic clamping mechanism (1 ') and a peristaltic movement mechanism (2), wherein the first epicyclic gear train metamorphic clamping mechanism (1) and the second epicyclic gear train metamorphic clamping mechanism (1 ') are installed on two sides of the peristaltic movement mechanism (2) and used for clamping insulators, so that the insulator detection metamorphic robot is fixed on the insulator string, and the peristaltic movement mechanism (2) realizes a peristaltic crawling movement process along the insulator string by alternately moving the first epicyclic gear train metamorphic clamping mechanism (1) and the second epicyclic gear train metamorphic clamping mechanism (1 ').
2. The insulator detection metamorphic robot mechanism based on metamorphic epicyclic bevel gear train as claimed in claim 1, wherein the peristaltic moving mechanism (2) comprises a control box (201), a rack moving mechanism (202) and a driving gear (203), wherein the rack moving mechanisms (202) are two and are arranged on two sides of the driving gear (203) in parallel and are meshed with the driving gear (203), the driving gear (203) is connected with an output shaft of a driving motor in the control box (201), and the driving gear (203) is used for driving the two rack moving mechanisms (202) to move reversely.
3. The metamorphic epicycloidal gear train-based insulator detection metamorphic robot mechanism according to claim 1 or 2, characterized in that the first epicycloidal gear train metamorphic clamping mechanism (1) and the second epicycloidal gear train metamorphic clamping mechanism (1') are identical in structure and comprise a friction plate bracket (101), a clamping driving motor (102), a driving bevel gear (103), a bevel gear planet carrier (104), a driven bevel gear (106), a clamping jaw (109) and a lead screw nut mechanism, wherein the friction plate bracket (101) is connected with the creeping type moving mechanism (2); the clamping driving motor (102) is arranged on the friction plate bracket (101), and the output shaft is connected with the driving bevel gear (103); the driving bevel gear (103) is rotationally connected with a bevel gear planet carrier (104), and the bevel gear planet carrier (104) is rotationally connected with the friction plate bracket (101); the driven bevel gear (106) is rotatably arranged on the bevel gear planet carrier (104) and is meshed with the driving bevel gear (103); the screw rod and nut mechanism is connected with a driven bevel gear (106) and a bevel gear planet carrier (104), and the output end of the screw rod and nut mechanism is connected with the clamping jaw (109).
4. The insulator detection metamorphic robot mechanism based on metamorphic epicyclic bevel gear train of claim 3, characterized in that the lead screw nut mechanism comprises a nut (105), a guide rail (107), a restraint spring (108) and a lead screw (110), wherein the guide rail (107) and the lead screw (110) are mounted on a clamping jaw (109) in parallel, the lead screw (110) passes through the driven bevel gear (106) and a bevel gear carrier (104), and the driven bevel gear (106) is connected with the lead screw (110) through the nut (105); the guide rail (107) is connected with the bevel gear planet carrier (104) in a sliding way.
5. The insulator detection metamorphic robot mechanism based on metamorphic epicyclic bevel gear train of claim 4, characterized in that said guide rail (107) is sleeved with a restraining spring (108), and two ends of the restraining spring (108) are respectively abutted against said clamping jaw (109) and said bevel gear carrier (104) for restraining the relative movement between said clamping jaw (109) and said guide rail (107) and said bevel gear carrier (104).
6. The metamorphic epicycloidal gear train-based insulator detection metamorphic robot mechanism according to claim 5, wherein the drive bevel gear (103) is coincident with the rotation axis of the bevel gear planet carrier (104).
7. The insulator detection metamorphic robot mechanism based on metamorphic epicyclic bevel gear train of claim 5, characterized in that the driving bevel gear (103) drives the driven bevel gear (106) to rotate around its own axis of rotation, or the driving bevel gear (103) drives the driven bevel gear (106) and bevel gear carrier (104) to rotate around the driving bevel gear (103).
8. The insulator detection metamorphic robot mechanism based on metamorphic epicyclic bevel gear train of claim 5, wherein when the clamping jaw (109) does not touch the insulator steel cap (301), the clamping jaw (109), the lead screw (110) and the guide rail (107) do not generate relative movement with the bevel gear carrier (104), and the driven bevel gear (106) and the lead screw (105) do not generate relative rotation with the bevel gear carrier (104).
9. The insulator detection metamorphic robot mechanism based on metamorphic epicyclic bevel gear train of claim 8, wherein after the clamping jaw (109) is contacted with an insulator steel cap (301), the clamping jaw (109), the lead screw (110) and the guide rail (107) move relatively to the bevel gear carrier (104), and the driven bevel gear (106) and the screw nut (105) rotate relatively to the bevel gear carrier (104).
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| CN202122332010.3U CN215971824U (en) | 2021-09-26 | 2021-09-26 | Insulator detection metamorphic robot mechanism based on metamorphic epicyclic bevel gear train |
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| CN202122332010.3U CN215971824U (en) | 2021-09-26 | 2021-09-26 | Insulator detection metamorphic robot mechanism based on metamorphic epicyclic bevel gear train |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113799888A (en) * | 2021-09-26 | 2021-12-17 | 中国科学院沈阳自动化研究所 | Insulator detection metamorphic robot mechanism based on metamorphic epicyclic bevel gear train |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113799888A (en) * | 2021-09-26 | 2021-12-17 | 中国科学院沈阳自动化研究所 | Insulator detection metamorphic robot mechanism based on metamorphic epicyclic bevel gear train |
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