CN216634394U

CN216634394U - Composite main power device of inspection robot capable of walking on cable

Info

Publication number: CN216634394U
Application number: CN202122794527.4U
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: CN114043494A; CN216634393U; CN114029975A; CN216372230U; CN216707508U; CN113997302A; CN113954095A; CN113183165A

Abstract

The utility model relates to the technical field of power inspection. The purpose provides a compound main power device that is used for sharp walking to patrol line robot, and the device can install on patrolling line robot, drives to patrol line robot and moves along the cable to realize automatic line operation of patrolling. The technical scheme is as follows: a composite main power device of a line patrol robot capable of walking on a cable; the method is characterized in that: the cable comprises at least two groups of power assemblies which have the same structure and are arranged in parallel along the length direction of the cable; 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 and a lifting structure matched with the wheel carrier structure; 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.

Description

Composite main power device of inspection robot capable of walking on cable

Technical Field

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

Background

Along with the continuous increase of the scale of the power grid, the efficiency of manual routing inspection is gradually low, and complex power grid systems have higher requirements on routing inspection technicians. The appearance of the electric power inspection robot can replace inspection technicians, the efficiency of cable inspection 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.

SUMMERY OF THE UTILITY MODEL

The utility model aims to overcome the defects of the background technology and provide a composite main power device for a linear walking inspection robot, which can be arranged on the inspection robot and drive the inspection robot to move along a cable, thereby realizing automatic inspection operation.

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

a composite main power device of a line patrol robot capable of walking on a cable; the method is characterized in that: the cable comprises at least two groups of power assemblies which have the same structure and are arranged in parallel along the length direction of the cable; 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 and a lifting structure matched with the wheel carrier structure;

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 motor shells in two adjacent groups of power assemblies are fixedly connected into a whole through a connecting piece.

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.

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 utility model has the beneficial effects that:

1) when the power line patrol robot is used, the power line patrol robot is arranged on the power line patrol robot and can provide power for the line patrol robot to move linearly along a cable; the line patrol robot is hung on a cable through the lifting structure and the wheel carrier structure, and the line patrol robot is driven to move along the cable through the power motor, so that the line patrol robot can automatically perform line patrol operation along the cable.

2) At least two groups of power assemblies are arranged, and power motor shells in two adjacent groups of power assemblies are fixedly connected through connecting pieces, so that the shells of the power motors are fixed, the rotation of the shells of the power motors during working is prevented, and a stable working environment can be provided for a line patrol robot arranged on the shells of the power motors.

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.

Reference numbers:

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 the 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 cable; 15. a connecting member.

Detailed Description

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

The composite main power device of the inspection robot capable of walking on the cable shown in fig. 1 can be connected with the inspection robot (not shown in the figure) when in use, and is used as a main power device of the inspection robot to drive the inspection robot to move linearly along the cable. The main power device comprises at least two groups of power components; the power assemblies have the same structure and are arranged in parallel along the length direction of the cable; the power components in this embodiment are in two sets.

As shown in fig. 2 to 4, each group of power assemblies includes a wheel carrier structure, a power motor 12 and a lifting structure. The wheel carrier structure may suspend the power assembly entirely from the cable 14. The power motor is connected with the wheel carrier structure, and the power motor can provide main power for the wheel carrier structure, and drives the inspection robot to do linear motion along the cable through the wheel carrier structure. As shown in fig. 9, in the present embodiment, a bracket 13 is fixed to a housing of the power motor, so as to be connected to an external inspection robot through the bracket. The lifting structure is matched with the wheel frame structure to drive the wheel frame structure to clamp or separate the cable 14, so that the inspection robot is hung on the cable.

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 moves synchronously along with the lifting plate, the crimping wheel and the suspension wheel are convenient to approach each other and clamp the cable, and the power assembly is integrally suspended on the cable; 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.

It should be particularly noted that, in the present invention, the power motor housings in two adjacent sets of power assemblies are fixedly connected into a whole through the connecting member 15, so as to fix the power motor housings in each power assembly, prevent the power motor housings from rotating during operation, and provide a stable working environment for the inspection robot. During operation, each power motor rotates synchronously, so that the suspension wheels and the compression wheels in each power assembly work synchronously, and the inspection robot is driven to move along the cable.

The connecting piece can be an independent rod piece or a carrying box body, and can also be a line patrol robot; as needed.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; 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 can be on cable walking patrol line robot's compound main power device which characterized in that: the cable comprises at least two groups of power assemblies which have the same structure and are arranged in parallel along the length direction of the cable; each group of power components comprises a wheel carrier structure capable of being hung on a cable (14), a power motor (12) connected with the wheel carrier structure and a lifting structure matched with the wheel carrier structure;

the wheel carrier structure comprises a suspension frame (1), a suspension wheel (2) rotatably positioned on the suspension frame, a crimping frame (3) arranged below the suspension frame, a stepped shaft (6) driven by a power motor and rotatably positioned on the crimping frame, 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 motor shells in two adjacent groups of power assemblies are fixedly connected into a whole through a connecting piece (15).

2. The composite main power device of a patrol robot walking on a cable according to claim 1, 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.

3. The composite main power device of a patrol robot walking on a cable according to claim 2, wherein: the rotating axis of the lifting screw rod is perpendicular to the rotating axis of the crimping wheel.

4. The composite main power device of a patrol robot walking on a cable according to claim 3, 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.

5. The composite main power device of a patrol robot walking on a cable according to claim 4, characterized in that: and a bracket (13) is fixed on a shell of the power motor so as to be connected with the line patrol robot.