CN216530226U - Inspection robot - Google Patents
Inspection robot Download PDFInfo
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- CN216530226U CN216530226U CN202123075865.9U CN202123075865U CN216530226U CN 216530226 U CN216530226 U CN 216530226U CN 202123075865 U CN202123075865 U CN 202123075865U CN 216530226 U CN216530226 U CN 216530226U
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Abstract
The utility model discloses an inspection robot and relates to the technical field of inspection. The inspection robot comprises a first inspection main body, a first connecting rod mechanism and a second inspection main body. The first main part of patrolling and examining and the second main part of patrolling and examining all are used for hanging and locate on the power transmission line, and can move for the power transmission line, and first link mechanism includes the articulated seat of first articulated seat, connecting rod and second, and first articulated seat fixed connection patrols and examines the main part in the first, and the articulated seat fixed connection of second patrols and examines the main part in the second, and the one end of connecting rod is articulated with first articulated seat, and the other end is articulated with the articulated seat of second. Compared with the prior art, the inspection robot provided by the utility model adopts the first inspection main body and the second inspection main body which are arranged in a split manner and connected through the first connecting rod mechanism, so that the shaking amplitude caused by the influence of the external environment can be effectively reduced, the trafficability characteristic and the walking efficiency are improved, and the inspection robot is strong in stability during bending and is safe and reliable.
Description
Technical Field
The utility model relates to the technical field of inspection, in particular to an inspection robot.
Background
At present, inspection robots are widely applied to the field of overhead high-voltage transmission lines and are used for replacing manual inspection work of the high-voltage transmission lines. Present robot of patrolling and examining generally adopts integral type box structure, and is bulky, and the focus is far away with transmission line's interval, consequently is patrolling and examining the in-process and receive external environment influence easily and produce and rock, and trafficability characteristic is relatively poor, and the walking efficiency of robot walking is patrolled and examined to the serious influence, and patrol and examine the robot because the home range and the turned angle of horn are limited, and stability is relatively poor when meetting the wide-angle turn, the condition of derailment probably takes place even, and the security is poor.
In view of this, it is important to design and manufacture a safe and reliable inspection robot, especially in robot production.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide an inspection robot which can effectively reduce the shaking amplitude caused by the influence of the external environment, improve the trafficability characteristic and the walking efficiency, and has strong stability during bending, safety and reliability.
The utility model is realized by adopting the following technical scheme.
The utility model provides a patrol and examine robot, be applied to overhead transmission line, patrol and examine the robot and include the first main part of patrolling and examining, first link mechanism and second patrol and examine the main part, first patrol and examine the main part and the second patrol and examine the main part and all be used for hanging and locate on the transmission line, and can move for transmission line, first link mechanism includes first articulated seat, connecting rod and the articulated seat of second, first articulated seat fixed connection is in the first main part of patrolling and examining, the articulated seat fixed connection of second is patrolled and examined the main part in the second, the one end of connecting rod is articulated with first articulated seat, the other end is articulated with the articulated seat of second.
Optionally, the first main part of patrolling and examining includes control box, frame and walking and hinders the subassembly more, and the control box hinders the subassembly with the walking and all installs in the frame more, and first articulated seat and control box fixed connection, the walking hinders the subassembly more and is used for being connected with transmission line.
Optionally, first articulated seat sets up in the top that the main part one side was patrolled and examined to the control box is close to the second.
Optionally, the walking obstacle crossing assembly comprises a walking wheel and a pressing wheel, the walking wheel and the pressing wheel are both rotatably mounted on the frame, the walking wheel is used for being hung on the power transmission line, and the pressing wheel is used for pressing the power transmission line and the walking wheel.
Optionally, the first articulated seat includes first articulated portion, connecting portion, second articulated portion and articulated shaft, and first articulated portion passes through connecting portion and the articulated portion fixed connection of second, and connecting portion and first main part fixed connection of patrolling and examining, the connecting rod sets up between first articulated portion and second articulated portion, and the articulated shaft passes first articulated portion, connecting rod and the articulated portion setting of second in proper order.
Optionally, the first articulated seat and the second articulated seat are both ball-joint supports, the two ends of the connecting rod are provided with a first ball head and a second ball head relatively, the first ball head is matched with the first articulated seat, and the second ball head is matched with the second articulated seat.
Optionally, the quantity of first link mechanism is two, and two first articulated seat intervals set up in the first main part of patrolling and examining, and two articulated seat intervals set up in the second patrolling and examining the main part, and the first main part of patrolling and examining, a connecting rod, second are patrolled and examined the main part and another connecting rod and are enclosed into parallelogram jointly.
Optionally, two first articulated seats set up along vertical direction interval, and two articulated seats of second set up along vertical direction interval, and the parallelogram that main part, a connecting rod, second were patrolled and examined the main part and another connecting rod and formed is located vertical plane for the first main part of patrolling and examining.
Optionally, two first articulated seats set up along the horizontal direction interval, and two articulated seats of second set up along the horizontal direction interval, and the parallelogram that main part, a connecting rod, second were patrolled and examined main part and another connecting rod and formed is located the horizontal plane first patrolling and examining.
Optionally, the inspection robot further comprises a third inspection main body and a second connecting rod mechanism, and the second inspection main body is connected with the third inspection main body through the second connecting rod mechanism.
The inspection robot provided by the utility model has the following beneficial effects:
according to the inspection robot provided by the utility model, the first inspection main body and the second inspection main body are both used for being hung on a power transmission line and can move relative to the power transmission line, the first connecting rod mechanism comprises a first hinge seat, a connecting rod and a second hinge seat, the first hinge seat is fixedly connected to the first inspection main body, the second hinge seat is fixedly connected to the second inspection main body, one end of the connecting rod is hinged to the first hinge seat, and the other end of the connecting rod is hinged to the second hinge seat. Compared with the prior art, the inspection robot provided by the utility model adopts the first inspection main body and the second inspection main body which are arranged in a split manner and connected through the first connecting rod mechanism, so that the shaking amplitude caused by the influence of the external environment can be effectively reduced, the trafficability characteristic and the walking efficiency are improved, and the inspection robot is strong in stability during bending and is safe and reliable.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of an inspection robot according to a first embodiment of the present invention;
fig. 2 is a cross-sectional view of a first link mechanism of the inspection robot according to the first embodiment of the present invention;
fig. 3 is a schematic structural diagram of a first inspection main body in the inspection robot according to the first embodiment of the present invention;
fig. 4 is a cross-sectional view of a first linkage of the inspection robot in accordance with a second embodiment of the present invention;
fig. 5 is a schematic structural diagram of an inspection robot according to a third embodiment of the present invention;
fig. 6 is a schematic structural diagram of an inspection robot according to a fourth embodiment of the present invention.
Icon: 100-an inspection robot; 110-a first inspection main body; 111-a control box; 112-a rack; 113-a walking obstacle crossing assembly; 114-road wheels; 115-pinch rollers; 120-a first linkage; 121-a first articulated seat; 122-a connecting rod; 123-a second articulated seat; 124-a first hinge; 125-a connecting part; 126-a second hinge; 127-an articulated shaft; 128-a first bulb; 129-a second ball head; 130-a second inspection main body; 140-a third inspection main body; 150-a second linkage; 200-power transmission line.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the utility model, as claimed, but is merely representative of selected embodiments of the utility model. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "inside", "outside", "upper", "lower", "horizontal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships conventionally placed when the products of the present invention are used, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "connected," "mounted," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Some embodiments of the utility model are described in detail below with reference to the accompanying drawings. Features in the embodiments described below may be combined with each other without conflict.
First embodiment
Referring to fig. 1, an embodiment of the present invention provides an inspection robot 100, configured to inspect an overhead power transmission line 200. The walking robot can effectively reduce the shaking amplitude generated due to the influence of the external environment, improves the trafficability characteristic and the walking efficiency, and is strong in stability, safe and reliable during bending.
In this embodiment, patrol and examine robot 100 and be applied to overhead transmission line 200, patrol and examine robot 100 and hang and locate transmission line 200 on, and can take place the displacement for transmission line 200 to the realization is patrolled and examined the operation to transmission line 200, and it is efficient to patrol and examine, reduces the human cost.
The inspection robot 100 includes a first inspection main body 110, a first link mechanism 120, and a second inspection main body 130. The first main part 110 and the second main part 130 of patrolling and examining are all used for hanging and locate transmission line 200 on, and can move for transmission line 200, and the first main part 110 and the second main part 130 combined action of patrolling and examining to the realization is patrolled and examined the operation to transmission line 200. The first link mechanism 120 is hinged between the first inspection main body 110 and the second inspection main body 130 to prevent the first inspection main body 110 and the second inspection main body 130 from being separated, and ensure that the first inspection main body 110 and the second inspection main body 130 can synchronously move forwards along the power transmission line 200.
In this embodiment, first main part 110 and the second of patrolling and examining is patrolled and examined main part 130 components of a whole that can function independently setting, and the robot is examined with integrative box patrolling and examining among the prior art, has reduced the volume, has reduced focus and transmission line 200's interval, so can effectively reduce the range of rocking that patrols and examines robot 100 and produce because of external environment influences, improve trafficability characteristic and walking efficiency to stability is strong, safe and reliable when crossing the turn.
Referring to fig. 2, the first link mechanism 120 includes a first hinge seat 121, a link rod 122 and a second hinge seat 123. The first hinged seat 121 is fixedly connected to the first inspection main body 110, the second hinged seat 123 is fixedly connected to the second inspection main body 130, one end of the connecting rod 122 is hinged to the first hinged seat 121, and the other end of the connecting rod is hinged to the second hinged seat 123. The connecting rod 122 can rotate both relative to the first hinge base 121 and relative to the second hinge base 123, so that the first inspection main body 110 and the second inspection main body 130 can be displaced relatively, and the first inspection main body 110 and the second inspection main body 130 are prevented from moving and interfering.
The first hinge base 121 includes a first hinge 124, a connecting portion 125, a second hinge 126, and a hinge shaft 127. The first hinge portion 124 is fixedly connected to the second hinge portion 126 through the connecting portion 125, and in the embodiment, the first hinge portion 124, the connecting portion 125 and the second hinge portion 126 are integrally formed to improve the connection strength. The connecting portion 125 is fixedly connected to the first inspection main body 110, the connecting rod 122 is disposed between the first hinge portion 124 and the second hinge portion 126, and the hinge shaft 127 sequentially passes through the first hinge portion 124, the connecting rod 122 and the second hinge portion 126, so that the connecting rod 122 can rotate relative to the first hinge portion 124 and the second hinge portion 126, thereby realizing the hinge function of the connecting rod 122 and the first hinge seat 121.
In this embodiment, the first articulated seat 121 and the first welding of patrolling and examining the main part 110, the articulated seat 123 of second and the second welding of patrolling and examining the main part 130 to improve joint strength. But not limited thereto, in other embodiments, the first hinge base 121 may be coupled to the first inspection body 110 by a screw, the second hinge base 123 may be coupled to the second inspection body 130 by a screw, and the coupling manner of the first hinge base 121 to the first inspection body 110 and the coupling manner of the second hinge base 123 to the second inspection body 130 are not particularly limited.
Referring to fig. 3, the first inspection main body 110 includes a control box 111, a frame 112, and a walking obstacle crossing assembly 113. Control box 111 and walking obstacle crossing assembly 113 all install in frame 112, and first articulated seat 121 and control box 111 fixed connection, control box 111 are used for patrolling and examining transmission line 200. The walking obstacle crossing assembly 113 is used for being connected with the power transmission line 200 so as to realize the function that the first inspection main body 110 moves relative to the power transmission line 200.
In this embodiment, first articulated seat 121 sets up in the top that main part 130 one side is patrolled and examined to the control box 111 is close to the second to make the focus of patrolling and examining robot 100 set up on the upper side when guaranteeing articulated effect, further reduce the interval of focus and transmission line 200, improve stability.
The walking obstacle crossing assembly 113 includes walking wheels 114 and pinch rollers 115. The travelling wheels 114 and the compression wheels 115 are rotatably mounted on the frame 112, the travelling wheels 114 are used for being hung on the power transmission line 200, and the compression wheels 115 are used for compressing the power transmission line 200 and the travelling wheels 114. The traveling wheels 114 can roll with respect to the power transmission line 200 to move the entire first inspection main body 110 forward. The pressing wheel 115 can apply pressing force to the power transmission line 200 to ensure that the walking wheels 114 are attached to the power transmission line 200, so that the walking wheels 114 are prevented from slipping relative to the power transmission line 200, and walking efficiency is improved.
It should be noted that the specific structure of the second inspection main body 130 is the same as the specific structure of the first inspection main body 110, and is not described herein again.
In the inspection robot 100 provided by the embodiment of the present invention, the first inspection main body 110 and the second inspection main body 130 are both used for being hung on the power transmission line 200 and can move relative to the power transmission line 200, the first link mechanism 120 includes a first hinge base 121, a connection rod 122 and a second hinge base 123, the first hinge base 121 is fixedly connected to the first inspection main body 110, the second hinge base 123 is fixedly connected to the second inspection main body 130, one end of the connection rod 122 is hinged to the first hinge base 121, and the other end is hinged to the second hinge base 123. Compared with the prior art, the inspection robot 100 provided by the utility model adopts the first inspection main body 110 and the second inspection main body 130 which are arranged in a split manner and connected through the first link mechanism 120, so that the shaking amplitude caused by the influence of the external environment can be effectively reduced, the trafficability characteristic and the walking efficiency are improved, and the inspection robot is strong in stability during bending, safe and reliable.
Second embodiment
Referring to fig. 4, an inspection robot 100 according to an embodiment of the present invention is different from the first embodiment in a hinge manner of a first link mechanism 120.
In this embodiment, the first hinge seat 121 and the second hinge seat 123 are both spherical hinge supports, the two ends of the connecting rod 122 are oppositely provided with a first ball head 128 and a second ball head 129, the first ball head 128 is matched with the first hinge seat 121, and the second ball head 129 is matched with the second hinge seat 123. In this way, the universal rotation of the connecting rod 122 with respect to the first hinge base 121 and the universal rotation of the connecting rod 122 with respect to the second hinge base 123 can be achieved, so that the variety of connection postures of the first inspection main body 110 and the second inspection main body 130 can be improved, and the passing performance of the inspection robot 100 can be further improved.
The beneficial effects of the inspection robot 100 provided by the embodiment of the utility model are the same as those of the first embodiment, and are not described herein again.
Third embodiment
Referring to fig. 5, an inspection robot 100 according to an embodiment of the present invention is different from the first embodiment in the number of first link mechanisms 120.
In this embodiment, the number of first link mechanism 120 is two, and two first articulated seats 121 intervals set up on the first main part 110 of patrolling and examining, and two articulated seats 123 intervals set up on the second main part 130 of patrolling and examining, and the first main part 110 of patrolling and examining, a connecting rod 122, the second patrols and examines main part 130 and another connecting rod 122 and enclose into parallelogram jointly. In this way, the first and second inspection bodies 110 and 130 always maintain the postures parallel to each other to improve the stability and wind resistance of the inspection robot 100.
In this embodiment, two first articulated seats 121 set up along vertical direction interval, two articulated seats 123 of second set up along vertical direction interval, the first main part 110 of patrolling and examining, a connecting rod 122, the second is patrolled and examined the parallelogram that main part 130 and another connecting rod 122 formed and is located vertical plane, in order to guarantee that first main part 110 and the second of patrolling and examining patrols and examines main part 130 and set up along vertical direction, prevent that first main part 110 and the second of patrolling and examining from patrolling and examining main part 130 and taking place the skew or slope, further improve stability. However, the present invention is not limited thereto, and in other embodiments, two first hinge bases 121 may be spaced apart from each other in the horizontal direction, and two second hinge bases 123 may be spaced apart from each other in the horizontal direction, where a parallelogram formed by the first inspection main body 110, the one connecting rod 122, the second inspection main body 130, and the other connecting rod 122 is located on the horizontal plane, and the connecting rod 122 may rotate in the vertical direction, so as to prevent the first inspection main body 110 and the second inspection main body 130 from shifting or tilting, and also to improve the stability of the first inspection main body 110 and the second inspection main body 130.
The beneficial effects of the inspection robot 100 provided by the embodiment of the utility model are the same as those of the first embodiment, and are not described herein again.
Fourth embodiment
Referring to fig. 6, an inspection robot 100 according to an embodiment of the present invention is different from the first embodiment in that the inspection robot 100 further includes a third inspection main body 140 and a second link mechanism 150.
In this embodiment, the second patrol inspection main body 130 is connected with the third patrol inspection main body 140 through the second link mechanism 150, and the second link mechanism 150 is hinged between the second patrol inspection main body 130 and the third patrol inspection main body 140 to prevent the second patrol inspection main body 130 and the third patrol inspection main body 140 from breaking away from, and ensure that the second patrol inspection main body 130 and the third patrol inspection main body 140 can move forward along the power transmission line 200 synchronously. However, the present invention is not limited thereto, and in other embodiments, the number of the inspection main bodies may be four, the number of the link mechanisms may be three, the number of the inspection main bodies may also be five, the number of the link mechanisms may be four, and the number of the inspection main bodies and the number of the link mechanisms are not particularly limited.
The beneficial effects of the inspection robot 100 provided by the embodiment of the utility model are the same as those of the first embodiment, and are not described herein again.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a patrol and examine robot, is applied to built on stilts transmission line, a serial communication port, patrol and examine the robot and include that first main part, first link mechanism and the second of patrolling and examining patrols and examines the main part, first patrol and examine the main part with the second patrol and examine the main part and all be used for hanging and locate on the transmission line, and can for the transmission line motion, first link mechanism includes the articulated seat of first articulated seat, connecting rod and second, first articulated seat fixed connection in first patrol and examine the main part, the articulated seat fixed connection of second in the main part is patrolled and examined to the second, the one end of connecting rod with first articulated seat is articulated, the other end with the articulated seat of second is articulated.
2. The inspection robot according to claim 1, wherein the first inspection main body comprises a control box, a frame and a walking obstacle crossing assembly, the control box and the walking obstacle crossing assembly are mounted on the frame, the first hinged seat is fixedly connected with the control box, and the walking obstacle crossing assembly is used for being connected with the power transmission line.
3. The inspection robot according to claim 2, wherein the first hinged mount is disposed at a top of the control box adjacent to one side of the second inspection body.
4. The inspection robot according to claim 2, wherein the walking and obstacle crossing assembly comprises walking wheels and pinch rollers, the walking wheels and the pinch rollers are rotatably mounted on the frame, the walking wheels are used for being hung on the power transmission line, and the pinch rollers are used for tightly pressing the power transmission line and the walking wheels.
5. The inspection robot according to claim 1, wherein the first hinge base includes a first hinge portion, a connecting portion, a second hinge portion, and a hinge shaft, the first hinge portion is fixedly connected to the second hinge portion through the connecting portion, the connecting portion is fixedly connected to the first inspection main body, the connecting rod is disposed between the first hinge portion and the second hinge portion, and the hinge shaft sequentially passes through the first hinge portion, the connecting rod, and the second hinge portion.
6. The inspection robot according to claim 1, wherein the first and second hinged seats are spherical hinge supports, a first ball head and a second ball head are oppositely arranged at two ends of the connecting rod, the first ball head is matched with the first hinged seat, and the second ball head is matched with the second hinged seat.
7. The inspection robot according to claim 1, wherein the number of the first link mechanisms is two, the two first hinged seats are arranged on the first inspection body at intervals, the two second hinged seats are arranged on the second inspection body at intervals, and the first inspection body, the connecting rod, the second inspection body and the other connecting rod jointly enclose a parallelogram.
8. The inspection robot according to claim 7, wherein the two first articulated seats are spaced apart in a vertical direction, the two second articulated seats are spaced apart in a vertical direction, and a parallelogram formed by the first inspection body, the one connecting rod, the second inspection body and the other connecting rod is located on a vertical plane.
9. The inspection robot according to claim 7, wherein the two first articulated seats are spaced apart horizontally, the two second articulated seats are spaced apart horizontally, and the parallelogram formed by the first inspection body, the one connecting rod, the second inspection body and the other connecting rod is located on a horizontal plane.
10. The inspection robot according to claim 1, further including a third inspection body and a second linkage, the second inspection body being connected to the third inspection body by the second linkage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123075865.9U CN216530226U (en) | 2021-12-08 | 2021-12-08 | Inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123075865.9U CN216530226U (en) | 2021-12-08 | 2021-12-08 | Inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216530226U true CN216530226U (en) | 2022-05-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202123075865.9U Active CN216530226U (en) | 2021-12-08 | 2021-12-08 | Inspection robot |
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| Country | Link |
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| CN (1) | CN216530226U (en) |
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2021
- 2021-12-08 CN CN202123075865.9U patent/CN216530226U/en active Active
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