CN216634393U

CN216634393U - Composite main power device for variable-form inspection robot

Info

Publication number: CN216634393U
Application number: CN202122794400.2U
Authority: CN
Inventors: 陈建新; 张欣; 吴小欢; 王鹏程; 任新卓; 孟浩杰; 徐寅飞; 喻擎苍; 方家吉
Original assignee: Hangzhou Power Equipment Manufacturing Co Ltd
Current assignee: Hangzhou Power Equipment Manufacturing Co Ltd
Priority date: 2021-05-19
Filing date: 2021-11-15
Publication date: 2022-05-31
Anticipated expiration: 2031-11-15
Also published as: CN114029975A; CN113954095A; CN216634394U; CN216707508U; CN113997302A; CN113183165A; CN216372230U; CN114043494A

Abstract

The utility model relates to the technical field of power inspection. The technical scheme is as follows: the utility model provides a compound main power device that is used for variable form inspection robot which characterized in that: comprises at least two groups of power components with the same structure; each group of power components comprises a wheel carrier structure capable of being suspended on a cable, a power motor connected with the wheel carrier structure, a lifting structure and a power conversion structure which are respectively matched with the wheel carrier structure; the power motor shells in two adjacent groups of power assemblies are connected through a telescopic mechanical arm; the wheel carrier structure comprises a suspension frame, a suspension wheel rotatably positioned on the suspension frame, a crimping frame arranged below the suspension frame, a stepped shaft driven by a power motor and rotatably positioned on the crimping frame, and a crimping wheel coaxially connected with the stepped shaft. The device is installed on patrolling the line robot, can drive to patrol the line robot and roll on the cable and advance, carries out supplementary deformation to patrolling the motion form of line robot, makes patrolling the line robot walk around the barrier on the cable smoothly.

Description

Composite main power device for variable-form inspection robot

Technical Field

The utility model relates to the technical field of power inspection, in particular to a composite main power device for a variable-form inspection robot.

Background

Along with the continuous increase of the scale of the power grid, the manual inspection efficiency is gradually low, and the complex power grid system has higher requirements on inspection technicians. The appearance of the electric power inspection robot can replace inspection technicians, the efficiency of simple work is improved, the accident rate of high-risk working environment is reduced, and the defects of manual inspection are well overcome. The scale of the Chinese power grid is continuously enlarged, the difficulty of maintaining the operation safety of the power grid is also increased, and the demand of the Chinese power industry on the power inspection robot is increasingly urgent.

For an electric power line patrol robot, the electric power line patrol robot is suspended on a high-altitude cable during working, not only needs to roll on the cable to travel, but also needs to go around a barrier to continue line patrol when encountering the barrier (such as a vibration damper and an insulator on the cable). Therefore, how to ensure the free movement of the power line patrol robot in the line patrol process becomes a key for the robot to replace manual work to carry out cable patrol.

SUMMERY OF THE UTILITY MODEL

The utility model aims to overcome the defects of the background technology and provide a composite main power device of a variable-form inspection robot, which is arranged on the inspection robot, can drive the inspection robot to roll on a cable and can perform auxiliary deformation on the motion form of the inspection robot, so that the inspection robot can smoothly bypass obstacles on the cable, and the inspection robot can smoothly perform inspection operation.

The technical scheme provided by the utility model is as follows:

the utility model provides a compound main power device that is used for variable form inspection robot which characterized in that: comprises at least two groups of power components with the same structure; each group of power components comprises a wheel carrier structure capable of being suspended on a cable, a power motor connected with the wheel carrier structure, a lifting structure and a power conversion structure which are respectively matched with the wheel carrier structure; the power motor shells in two adjacent groups of power assemblies are connected through a telescopic mechanical arm;

the wheel carrier structure comprises a suspension frame, a suspension wheel rotatably positioned on the suspension frame, a crimping frame arranged below the suspension frame, a stepped shaft driven by a power motor and rotatably positioned on the crimping frame, and a crimping wheel coaxially and fixedly connected with the stepped shaft;

the lifting structure comprises a lifting frame, a lifting motor fixed on the lifting frame, a lifting screw rod driven by the lifting motor and positioned on the lifting frame in a manner of rotating around a vertical axis, a lifting plate capable of vertically sliding along the lifting frame and a lifting nut fixed on the lifting plate and in threaded connection with the lifting screw rod; the lifting plate is fixedly connected with the crimping frame, so that the crimping frame can move synchronously with the lifting plate;

the power conversion structure comprises a buckling rod which is slidably positioned on the crimping frame to prevent or allow the crimping wheel to rotate and a power conversion motor which is fixed on the crimping frame and drives the buckling rod through a screw nut component.

The axis of the power conversion screw rod, the axis of the buckling rod and the axis of the stepped shaft in the screw rod nut assembly are parallel to each other.

The wheel surfaces of the suspension wheel and the crimping wheel are grooves which are arranged around the outer circumferential surface and are matched with the cable; the center lines of the wheel surface grooves of the suspension wheel and the crimping wheel are arranged in the same plane; the rotation axis of the suspension wheel is parallel to the rotation axis of the crimping wheel.

And a plurality of hole sites convenient for the buckle rods to pass through are correspondingly arranged on the crimping frame and the crimping wheel.

The rotating axis of the lifting screw rod is perpendicular to the rotating axis of the crimping wheel.

The lifting frame comprises a vertically arranged bearing rod, an upper mounting plate and a lower mounting plate which are respectively fixed at two ends of the bearing rod; the upper mounting plate is fixedly connected with the suspension bracket.

And a bracket is fixed on a shell of the power motor so as to be connected with the line patrol robot.

The mechanical arm comprises a first rotating motor, a second rotating motor, a third rotating motor, a first connecting arm and a second connecting arm, wherein one end of the first connecting arm is fixedly connected with a first rotating motor shell, the other end of the first connecting arm is fixedly connected with a rotating shaft of the second rotating motor, one end of the second connecting arm is fixedly connected with a second rotating motor shell, and the other end of the second connecting arm is fixedly connected with a rotating shaft of the third rotating motor; a rotating shaft of the first rotating motor is fixedly connected with one power motor shell; the shell of the third rotating motor is fixedly connected with the shell of the other power motor; the axes of the rotating shafts of the rotating motors are parallel to each other and are perpendicular to the rotating axes of the stepped shafts.

The utility model has the beneficial effects that:

the cable inspection robot is arranged on the electric power cable inspection robot, not only can provide main power for the linear motion of the cable inspection robot, but also can assist the cable inspection robot to deform when the cable inspection robot encounters an obstacle on the cable, so that the cable inspection robot can smoothly bypass the obstacle, and the cable inspection operation of the cable inspection robot is ensured to be smoothly performed.

Drawings

Fig. 1 is a front view schematically showing the structure of the present invention suspended on a cable.

Fig. 2 is one of the three-dimensional structures of the power assembly.

Fig. 3 is a schematic perspective view of the second power assembly.

Fig. 4 is a right-view structural schematic diagram of the power assembly.

Fig. 5.1 is a schematic perspective view of the suspension bracket and the suspension wheel.

Fig. 5.2 is an exploded view of fig. 5.1.

Fig. 6.1 is a schematic perspective view of the crimping frame and the crimping wheel.

Fig. 6.2 is an exploded view of fig. 6.1.

Fig. 7.1 is a schematic perspective view of the lifting structure.

Fig. 7.2 is an exploded view of fig. 7.1.

Fig. 8 is a perspective view of the overhang angle fixing structure.

Fig. 9 is a schematic perspective view of the power motor.

Fig. 10 is a perspective view of the power conversion structure.

Fig. 11.1 is a schematic perspective view of the robot arm.

Fig. 11.2 is a second schematic perspective view of the robot arm.

Fig. 12.1 is a schematic front view of the auxiliary deformation of the present invention.

Fig. 12.2 is a schematic top view of the auxiliary deformation of the present invention.

Reference numerals:

1. a suspension bracket; 2. a suspension wheel; 3. a crimping frame; 4. a crimping wheel; 5. a lifting plate; 6. a stepped shaft; 7. a suspension angle fixing structure; 7.1, fixing frames; 7.2, connecting plates; 7.3, connecting rods; 8. a force bearing rod; 8.1, mounting a plate; 8.2, a lower mounting plate; 9. a lifting screw rod; 10. a lifting motor; 11. a lifting nut; 12. a power motor; 13. a support; 14. a power conversion motor; 15. a buckle rod; 16. a power conversion nut; 17. a power conversion screw rod; 18. a cable; 19. hole site; 20. a mechanical arm; 21. a first rotating electrical machine; 22. a second rotating electrical machine; 23. a third rotating electrical machine; 24. a first connecting arm; 25. a second connecting arm; 26. an obstacle.

Detailed Description

The following further description is made with reference to the embodiments shown in the drawings.

The composite main power device for the inspection robot with the variable form shown in fig. 1 is hung on a cable and connected with the inspection robot (not shown) when in use, and can be used as a main power device of the inspection robot to drive the inspection robot to do linear motion along the cable and to do deformation motion when meeting an obstacle 26. The main power device comprises at least two groups of power components (two groups of power components in the embodiment) with the same structure.

As shown in fig. 2 to 4, each group of power assemblies includes a wheel carrier structure, a power motor 12, a lifting structure and a power conversion structure. The truck structure may suspend the main power unit entirely from the cable 18. The power motor is connected with the wheel carrier structure; as shown in fig. 9, in this embodiment, a bracket 13 is fixed to a housing of the power motor to facilitate connection with an external inspection robot. The lifting structure and the power conversion structure are respectively matched with the wheel carrier structure, wherein the lifting structure is used for driving the wheel carrier structure to clamp or separate the cable 18 so as to adapt to different motion modes of the inspection robot; the power conversion structure is used for converting the motion mode of the inspection robot, namely the inspection robot converts between linear motion along the cable and deformation motion when encountering an obstacle.

As shown in fig. 5.1, 5.2, 6.1, and 6.2, the wheel carriage structure includes a suspension frame 1, suspension wheels 2 (two in the figure), a crimping frame 3, a stepped shaft 6, and a crimping wheel 4. The two suspension wheels are rotatably positioned on the suspension bracket; the crimping frame is arranged below the suspension frame. The stepped shaft is used as a rotating shaft of the crimping wheel and is driven by a power motor; the large shaft end of the stepped shaft (namely the left end of the stepped shaft in fig. 4) is rotatably connected with the crimping frame through a bearing, the middle part of the stepped shaft is coaxially and fixedly connected with the crimping wheel, and one end of the small shaft of the stepped shaft (namely the right end of the stepped shaft in fig. 4) is rotatably connected with the lifting plate 5 in the lifting structure through a bearing. The wheel surfaces of the suspension wheel and the crimping wheel are grooves which are arranged around the outer circumferential surface and are suitable for the cables, and the center lines of the grooves of the wheel surfaces of the suspension wheel and the crimping wheel are arranged in the same plane, so that the device can be safely and stably suspended on the same cable. The rotation axis of the suspension wheel is parallel to the rotation axis of the crimping wheel.

As shown in fig. 7.1 and 7.2, the lifting structure comprises a lifting frame, a lifting motor 10, a lifting screw rod 9, a lifting plate 5 and a lifting nut 11. The lifting frame comprises two vertically arranged and parallel bearing rods 8, and an upper mounting plate 8.1 and a lower mounting plate 8.2 which are respectively fixed at two ends of the bearing rods; the upper mounting plate and the lifting motor are fixedly connected with the suspension bracket at the same time. The lifting screw rod is parallel to the force bearing rod, and the rotating axis of the lifting screw rod is perpendicular to the rotating axis of the pressure joint wheel (wherein the rotating axis of the pressure joint wheel is horizontally arranged, and the rotating axis of the lifting screw rod is vertically arranged); one end of the lifting screw rod is coaxially connected with an output shaft of the lifting motor, and the other end of the lifting screw rod is rotatably connected to the lower mounting plate, so that the lifting screw rod can rotate around a vertical axis under the driving of the lifting motor. The lifting plate is provided with a sliding hole in sliding fit with the bearing rod, so that the lifting plate can vertically slide along the lifting frame. The lifting nut is fixed on the lifting plate and is in threaded connection with the lifting screw rod; when the lifting screw rod rotates, the lifting nut moves vertically along the lifting screw rod, and then the lifting plate is driven to move vertically. The lifting plate is fixedly connected with the crimping frame through the suspension angle fixing structure, so that the crimping frame can move synchronously with the lifting plate; other fixing structures can be adopted to fixedly connect the lifting plate with the crimping frame. As shown in fig. 8, in this embodiment, the suspension angle fixing structure includes a fixing frame 7.1 fixedly connected to the crimping frame, a connecting plate 7.2 fixedly connected to the lifting plate, and a connecting rod 7.3 integrally connecting the fixing frame and the connecting plate.

As shown in fig. 10, the power conversion structure includes a power conversion motor 14, a screw nut assembly composed of a power conversion screw 17 and a power conversion nut 16, and a snap rod 15. The axis of the power conversion screw rod, the axis of the buckle rod and the axis of the stepped shaft are parallel to each other. The power conversion motor is fixed on the crimping frame; the power conversion screw rod is rotatably positioned on the crimping frame through a bearing and is driven to rotate by the power conversion motor; the power conversion nut is in threaded connection with the power conversion screw rod and is fixedly connected with the buckle rod; the crimping frame and the crimping wheel are correspondingly provided with a plurality of hole sites 19 which are convenient for the buckle rods to pass through, the buckle rods can be positioned on the crimping frame through the hole sites and can be inserted into or withdrawn from the hole sites on the crimping wheel as required, and therefore the rotation of the crimping wheel is prevented or allowed.

The working principle of the power conversion structure is as follows:

when the buckle rod only penetrates through the hole position of the crimping frame but not the hole position of the crimping wheel, the power motor rotates, the power assembly is in a main power state at the moment, and the whole device can be driven to do linear motion along the cable under the driving of the crimping wheel (because the power motor shells in the two groups of power assemblies are mutually fixed through the mechanical arm, the power motor shells cannot rotate, and the crimping wheel can be used as a power driving wheel). When the buckling rod penetrates through the hole position of the crimping wheel under the driving of the power conversion motor, the crimping frame is fixed with the crimping wheel, the power motor rotates at the moment, the crimping wheel cannot rotate, and the output shaft of the power motor is fixed with the stepped shaft, the crimping wheel and the crimping frame, so that the shell of the power motor rotates around the axis of the crimping wheel, and the power conversion is realized.

The power motor shells in the two adjacent groups of power assemblies are connected through a mechanical arm 20 (which can be purchased directly); the mechanical arm is arranged into a telescopic structure so as to adjust the distance between two adjacent groups of power components. As shown in fig. 11.1 and 11.2, the robot arm includes a first rotating electrical machine 21, a second rotating electrical machine 22, a third rotating electrical machine 23, a first connecting arm 24 having one end fixedly connected to the first rotating electrical machine housing and the other end fixedly connected to the second rotating electrical machine shaft, and a second connecting arm 25 having one end fixedly connected to the second rotating electrical machine housing and the other end fixedly connected to the third rotating electrical machine shaft; a rotating shaft of the first rotating motor is fixedly connected with one power motor shell; the shell of the third rotating motor is fixedly connected with the shell of the other power motor; the axes of the rotating shafts of the rotating motors are parallel to each other and are perpendicular to the rotating axes of the stepped shafts.

The working mode of the embodiment is as follows:

as shown in fig. 1, when the inspection robot needs to roll along a cable straight line to advance, two sets of power assemblies are in a main power state (namely, the buckle rods in the two sets of power assemblies do not pass through the hole sites of the pressure connection wheels), the rotating motor does not work, at the moment, the shells of the power motors in the two sets of power assemblies are fixedly connected through the mechanical arm (the positions of the first connecting arm and the second connecting arm are mutually overlapped), so that the shells of the power motors are equivalently fixed, the power motors are prevented from rotating when working, and a stable working environment is provided for the inspection robot. And then, starting the two power motors to synchronously rotate, so that the suspension wheels and the crimping wheels in the two groups of power assemblies synchronously roll along the cable, and the linear motion of the line inspection robot is realized.

As shown in fig. 12.1 and 12.2, when the inspection robot encounters an obstacle, both sets of power assemblies perform power conversion (i.e., the snap rods in both sets of power assemblies pass through the hole sites of the crimping wheels), the lifting motor of one set of power assembly (the right power assembly in fig. 12.1) operates to separate the crimping wheels and the suspension wheels of the set of power assembly, and at this time, the other set of power assembly (the left power assembly in fig. 12.1) still remains suspended on the cable. Then the power motor of the left power assembly works, the line patrol robot and the right power assembly are driven by the mechanical arm to rotate clockwise at a certain angle on a vertical plane together (the angle is determined according to the heights of the line patrol robot and the power assembly), and the power assembly is driven to be separated from the cable. Then, the three rotating motors of the mechanical arm are matched with each other, so that the mechanical arm is extended (namely the first connecting arm and the second connecting arm are separated by a certain included angle), and the distance between the two groups of power assemblies is larger than the distance between the left power assembly and the barrier; then, the power motor of the left power assembly works to drive the right power assembly to rotate anticlockwise and return to the height position of the cable again, and the right power assembly is hung on the cable again through the mutual cooperation of the lifting motor and the three rotating motors of the mechanical arm; thus, the right power assembly passes over the obstacle. Operating in reverse in the above manner, the left power assembly may also be suspended from a cable on the right side of the obstacle after crossing the obstacle (while the left power assembly remains on the left side of the right power assembly). Therefore, the auxiliary deformation of the motion form of the inspection robot can be completed, and an obstacle on the cable can be smoothly bypassed.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; while the utility model has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. The utility model provides a compound main power device that is used for variable form inspection robot which characterized in that: comprises at least two groups of power components with the same structure; each group of power components comprises a wheel carrier structure capable of being hung on a cable (18), a power motor (12) connected with the wheel carrier structure, a lifting structure and a power conversion structure which are respectively matched with the wheel carrier structure; the power motor shells in two adjacent groups of power assemblies are connected through a telescopic mechanical arm (20);

the wheel carrier structure comprises a suspension bracket (1), a suspension wheel (2) rotatably positioned on the suspension bracket, a crimping bracket (3) arranged below the suspension bracket, a stepped shaft (6) driven by a power motor and rotatably positioned on the crimping bracket, and a crimping wheel (4) coaxially and fixedly connected with the stepped shaft;

the lifting structure comprises a lifting frame, a lifting motor (10) fixed on the lifting frame, a lifting screw rod (9) driven by the lifting motor and positioned on the lifting frame in a manner of rotating around a vertical axis, a lifting plate (5) capable of vertically sliding along the lifting frame and a lifting nut (11) fixed on the lifting plate and in threaded connection with the lifting screw rod; the lifting plate is fixedly connected with the crimping frame, so that the crimping frame can move synchronously with the lifting plate;

the power conversion structure comprises a buckling rod (15) which is slidably positioned on the crimping frame to prevent or allow the crimping wheel to rotate and a power conversion motor (14) which is fixed on the crimping frame and drives the buckling rod through a screw nut component.

2. The composite main power device for a variable form patrol robot according to claim 1, wherein: the axis of a power conversion screw rod (17) in the screw rod nut assembly, the axis of the buckling rod and the axis of the stepped shaft are parallel to each other.

3. The composite main power device for a variable form patrol robot according to claim 2, wherein: the wheel surfaces of the suspension wheel and the crimping wheel are grooves which are arranged around the outer circumferential surface and are matched with the cable; the center lines of the wheel surface grooves of the suspension wheel and the crimping wheel are arranged in the same plane; the rotation axis of the suspension wheel is parallel to the rotation axis of the crimping wheel.

4. The composite main power device for a variable form patrol robot according to claim 3, wherein: a plurality of hole sites (19) which are convenient for the buckle rods to pass through are correspondingly arranged on the crimping frame and the crimping wheel.

5. The composite main power device for a variable form patrol robot according to claim 4, wherein: the rotating axis of the lifting screw rod is perpendicular to the rotating axis of the crimping wheel.

6. The composite main power device for a variable form patrol robot according to claim 5, wherein: the lifting frame comprises a bearing rod (8) which is vertically arranged, and an upper mounting plate (8.1) and a lower mounting plate (8.2) which are respectively fixed at two ends of the bearing rod; the upper mounting plate is fixedly connected with the suspension bracket.

7. The composite main power device for a variable form patrol robot according to claim 6, wherein: and a bracket (13) is fixed on a shell of the power motor so as to be connected with the line patrol robot.

8. The composite main power device for a variable form patrol robot according to claim 7, wherein: the mechanical arm comprises a first rotating motor (21), a second rotating motor (22), a third rotating motor (23), a first connecting arm (24) and a second connecting arm (25), wherein one end of the first connecting arm is fixedly connected with a first rotating motor shell, the other end of the first connecting arm is fixedly connected with a second rotating motor rotating shaft, one end of the second connecting arm is fixedly connected with a second rotating motor shell, and the other end of the second connecting arm is fixedly connected with a third rotating motor rotating shaft; a rotating shaft of the first rotating motor is fixedly connected with one power motor shell; the shell of the third rotating motor is fixedly connected with the shell of the other power motor; the axes of the rotating shafts of the rotating motors are parallel to each other and are perpendicular to the rotating axes of the stepped shafts.