CN217072356U - Automatic wire loading and unloading device and system for inspection robot - Google Patents

Abstract

The utility model relates to the field of inspection robots, in particular to an automatic wire feeding and discharging device and a system of an inspection robot, which comprises a frame main body, a moving assembly and a driving motor; the frame main body comprises a driving support and a suspension arm support. The moving assembly is arranged on the driving bracket; the suspension arm support is provided with a suspension pipe, and the suspension pipe is used for suspending the inspection robot and is in butt joint with the walking track; the driving motor is installed on the rack main body and used for driving the rack main body to move along the climbing rail. The frame main part is equipped with the hanging pipe, and the robot that patrols and examines hangs on this hanging pipe, and the hanging pipe can dock with the walking track is automatic again for it can stably transport and automatic transition to the walking track to patrol and examine the robot, is showing the transportation that has improved the robot of patrolling and examining and patrols and examines efficiency.

Description

Automatic wire loading and unloading device and system for inspection robot

Technical Field

The utility model relates to a patrol and examine the robot field, especially a patrol and examine automatic winding displacement and system of robot.

Background

The inspection robot is a special robot for inspecting the equipment of the transmission line, can walk along the ground wire on the high-voltage and ultra-high-voltage transmission line, and inspects and analyzes the faults of the transmission line through a task module carried by the inspection robot.

Generally, placing the inspection robot to the working position needs to be achieved by hoisting: the inspection robot is hoisted to the position near the cable by utilizing the hoisting device mounted on the ground wire, and then is hung on the cable in a manual auxiliary mode. The other method comprises the following steps: the guide rail and the hoisting equipment are installed on the tower, the inspection robot is hoisted to the top of the tower through the steel wire rope, and then runs to the ground wire through the transition guide rail installed on the top of the tower. There is also a method of: arranging a crawling structure on the tower body, and transferring the inspection robot to a ground wire of the tower body by adopting a crawling device; but current device of crawling all adopts chassis or base, will patrol and explain the robot and hold up and transport to body of the tower upper portion, lead to the device of crawling self structure complicacy, it is complicated to patrol and examine the robot and place the operation on the device of crawling, and patrol and examine the robot and transport to the body of the tower upper portion after can't quick transition to the ground wire on for the application effect of patrolling and examining the robot is unsatisfactory.

SUMMERY OF THE UTILITY MODEL

To the above defect, the utility model aims to provide an automatic winding and unwinding devices of patrolling and examining robot and system, suspension structure is simple easy and simple to handle, can be high-efficient will patrol and examine the robot and transport to body of the tower upper portion and transition to the ground wire fast.

To achieve the purpose, the utility model adopts the following technical proposal:

an automatic wire loading and unloading device of an inspection robot comprises a rack main body, a moving assembly and a driving motor; the rack main body comprises a driving bracket and a suspension arm bracket; the moving assembly is arranged on the driving bracket;

one end of the suspension arm support is fixedly connected with the driving support, and the other end of the suspension arm support is provided with a suspension pipe; the hanging pipe is used for hanging the inspection robot and is in butt joint with the walking track; the driving motor is arranged on the frame main body; the driving motor is used for driving the rack main body to move along the climbing rail.

Preferably, the drive bracket is provided with a strip-shaped cavity; the moving assembly includes: the driving wheel, the first guide wheel and the second guide wheel; at least two driving rotating shafts are arranged in the strip-shaped cavity; the driving rotating shafts are sleeved with first guide wheels; second guide wheels are rotatably arranged on two sides of the strip-shaped cavity; the driving wheel is sleeved on at least one driving rotating shaft; the first guide wheel is positioned on the inner side of the second guide wheel, and the second guide wheel is positioned on the outer side of the strip-shaped cavity; the driving motor is arranged on the driving support and is in transmission connection with the driving rotating shaft sleeved with the driving wheel, and the driving wheel is in transmission connection with a transmission part of the climbing track, so that the first guide wheel and the second guide wheel can roll along two sides of the climbing track in a clinging mode.

Preferably, the top surface of the suspension arm bracket is provided with the suspension pipe in a penetrating way, one end of the suspension pipe is a limiting end, and the other end of the suspension pipe is a butt joint end; the limiting end is provided with a limiting plate; the limiting plate is used for limiting a roller on the hanging pipe; the butt joint end is used for butt joint with the walking track.

Preferably, the driving support and the suspension arm support are provided with polygonal hollow areas, and the top of the suspension arm support is provided with a control box.

An automatic on-off line system of an inspection robot comprises a tower body, a climbing rail, a walking rail and the automatic on-off line device of the inspection robot; the climbing rail extends from the bottom of the tower body to the top of the tower body; the walking track is arranged at the top of the tower body and used for the inspection robot to walk; the automatic wire loading and unloading device of the inspection robot is arranged on the climbing track and can move along the climbing track under the driving of the driving motor.

Preferably, the cross section of the climbing rail is T-shaped; the driving support covers the climbing rail, and the corresponding position of the climbing rail is embedded into the strip-shaped cavity; the first guide wheel and the second guide wheel on two sides of the strip-shaped cavity respectively clamp the convex edge parts on the side surfaces on two sides of the climbing track; the transmission part is fixedly arranged in the middle of the climbing rail; the transmission part is a chain part, and the chain part extends along the climbing track; the driving wheel is a chain wheel, and the chain wheel is in meshing transmission with the chain part.

Preferably, the automatic on-off line system of the inspection robot further comprises a controller; the automatic wire loading and unloading device of the inspection robot is provided with a limit switch; the top and the bottom of the tower body are provided with collision detection plates; and the controller is electrically connected with the limit switch and the driving motor.

Preferably, the climbing trajectory comprises a straight segment and an arcuate segment; one end of the straight line section is connected with one end of the arc section.

The utility model discloses a beneficial effect of embodiment:

the inspection robot is characterized in that the frame main body is provided with a hanging pipe, the inspection robot is hung on the hanging pipe, and the hanging pipe can also be automatically butted with the walking track, so that the inspection robot can be stably transported to the tower body and automatically transited to the walking track; the transfer and inspection efficiency of the inspection robot is remarkably improved.

Automatic line device about patrolling and examining robot is equipped with first leading wheel and second leading wheel, first leading wheel is located the inboard of second leading wheel makes automatic line device about patrolling and examining robot can not only hug closely the roll with the orbital straightway that climbs, also can hug closely the roll with orbital segmental arc that climbs, makes automatic line device about patrolling and examining robot can hug closely the high-efficient stable removal of the track that climbs that the body of a tower set up, has improved the automatic actual application effect of line device about patrolling and examining robot greatly, more does benefit to popularization and application.

The frame main part is subjected to stress optimization design, is integrally light, and meets the optimization of stress and weight.

Drawings

Fig. 1 is a schematic front view of the inspection robot for automatically loading and unloading the line device according to an embodiment of the present invention;

FIG. 2 is a schematic side view of the embodiment of FIG. 1;

FIG. 3 is a schematic perspective view of the embodiment of FIG. 1;

fig. 4 is a schematic structural diagram of the inspection robot when the inspection robot hangs the inspection robot from the line loading and unloading device in one embodiment of the present invention;

fig. 5 is a schematic structural diagram of the automatic on-off line system of the inspection robot according to an embodiment of the present invention;

fig. 6 is a schematic diagram of the structure of the inspection robot during the automatic line loading and unloading system of the inspection robot and the assembly of the climbing rail in one embodiment of the present invention.

Wherein: the automatic winding and unwinding device 100 of the inspection robot includes: the robot comprises a frame main body 110, a driving support 111, a strip-shaped cavity 112, a suspension arm support 113, a driving rotating shaft 114, a driving wheel 115, a first guide wheel 116, a second guide wheel 117, a driving motor 118, a suspension pipe 120, a limiting plate 121, a control box 130, a limit switch 140, a tower body 200, a climbing track 210, a straight line section 211, an arc-shaped section 212, a walking track 220 and an inspection robot 300.

Detailed Description

The technical solution of the present invention is further explained by the following embodiments with reference to the accompanying drawings.

In one embodiment of the present application, as shown in fig. 1 to 4, an automatic loading and unloading apparatus 100 for an inspection robot includes: a frame body 110, a driving wheel 115, a first guide wheel 116, a second guide wheel 117, and a driving motor 118; the frame body 110 includes a driving bracket 111 and a boom bracket 113; the suspension arm support 113 is used for suspending the inspection robot 300; the driving bracket 111 is provided with a strip-shaped cavity 112; at least two driving rotating shafts 114 are arranged in the strip-shaped cavity 112; the driving rotating shafts 114 are all sleeved with first guide wheels 116; a second guide wheel 117 is rotatably arranged on each of two sides of the strip-shaped cavity 112; at least one of the driving shafts 114 is sleeved with the driving wheel 115; the first guide wheel 116 is located inside the second guide wheel 117, and the second guide wheel 117 is located outside the bar-shaped cavity 112; the driving motor 118 is installed on the driving bracket 111, the driving motor 118 is in transmission connection with the driving rotating shaft 114 on which the driving wheel 115 is sleeved, and the driving wheel 115 is in transmission connection with a transmission part of the climbing rail 210, so that the first guide wheel 116 and the second guide wheel 117 can roll closely to two sides of the climbing rail 210.

When the driving motor 118 is driven, the driving rotating shaft 114 rotates relative to the driving bracket 111, the driving rotating shaft 114 drives the driving wheel 115 to rotate in the strip-shaped cavity 112, and the driving wheel 115 acts with a transmission part arranged on the climbing rail 210 in the rotating process, so that the automatic line loading and unloading device 100 of the inspection robot can move relative to the climbing rail 210; the first guide wheel 116 and the second guide wheel 117 are respectively attached to two sides of the climbing rail 210, and under the power trend of the driving rotating shaft 114, the automatic line loading and unloading device 100 of the inspection robot can move along the climbing rail 210 more stably and rapidly.

In addition, preferably, the automatic line loading and unloading device 100 of the inspection robot is provided with a first guide wheel 116 and a second guide wheel 117, and the first guide wheel 116 is located on the inner side of the second guide wheel 117, so that the automatic line loading and unloading device 100 of the inspection robot can not only be tightly attached to the straight line section 211 of the climbing track 210 but also be tightly attached to the arc section 212 of the climbing track 210, so that the automatic line loading and unloading device 100 of the inspection robot can be tightly attached to the climbing track 210 arranged on the tower body to efficiently and stably move, the actual application effect of the automatic line loading and unloading device 100 of the inspection robot is greatly improved, and the popularization and application are more facilitated.

One end of the boom support 113 is fixedly connected with the driving support 111, and the other end of the boom support 113 is provided with a boom pipe 120; the hanging pipe 120 is used for hanging the inspection robot 300 and interfacing with the traveling rail 220. The rollers arranged at the top of the inspection robot 300 can be hung on the hanging pipe 120, when the inspection robot automatically goes up and down the line device 100 along the climbing rail 210 to climb to the top of the tower body 200, the hanging pipe 120 is in butt joint with the walking rail 220, the inspection robot 300 drives the rollers to move from the hanging pipe 120 to the walking rail 220, and then the inspection robot can transit to the ground line through the walking rail 220 to perform inspection operation. The hanging tube 120 enables the automatic loading and unloading device 100 of the inspection robot to suspend the inspection robot 300 to be simpler and more convenient, and the inspection robot 300 can be more simply and efficiently transited to the walking track 220.

The top surface of the suspension arm bracket 113 is provided with the suspension pipe 120 in a penetrating manner, one end of the suspension pipe 120 is a limiting end, and the other end is a butt joint end; the limiting end is provided with a limiting plate 121; the limiting plate 121 is used for limiting a roller on the hanging pipe 120; the docking end is used for docking with the running rail 220. The limiting plate 121 can ensure that the inspection robot 300 is limited on the hanging pipe 120 in the climbing process; when the inspection robot 300 climbs to a set position, the butt joint end of the hanging pipe 120 is in butt joint with the crawling track, and the inspection robot 300 can move to the crawling track from the limiting end of the hanging pipe 120 according to a set requirement.

The driving bracket 111 and the suspension arm bracket 113 are provided with polygonal hollow areas, and the top of the suspension arm bracket 113 is provided with a control box 130. The polygonal hollowed-out area can optimize the supporting structure of the driving support 111 and the boom support 113, and simultaneously reduce the weight of the driving support 111 and the boom support 113, so that the suspension supporting strength of the inspection robot 300 by the automatic line feeding and discharging device 100 of the inspection robot is higher, and the weight is lighter. The polygonal hollowed-out area can be obtained by a design and research method of topology optimization; the control box 130 may be provided therein with a control circuit and a power supply, the control circuit may be used to control the operation logic of the automatic loading and unloading apparatus 100 of the inspection robot, and the power supply may be used to provide electric energy for the operation of the automatic loading and unloading apparatus 100 of the inspection robot.

In one embodiment of the present application, as shown in fig. 5 to 6, an automatic inspection robot line loading and unloading system includes a tower body 200, a climbing rail 210, a walking rail 220, and the automatic inspection robot line loading and unloading device 100 as described above; the climbing rail 210 extends from the bottom of the tower body 200 to the top of the tower body 200; the traveling rail 220 is arranged at the top of the tower body and used for the inspection robot 300 to travel; the inspection robot automatic line loading and unloading device 100 is mounted on the climbing rail 210 and can move along the climbing rail 210 under the driving of the driving motor 118.

The cross section of the climbing rail 210 is T-shaped; the driving bracket 111 is covered on the climbing rail 210, and the corresponding position of the climbing rail 210 is embedded into the bar-shaped cavity 112; the first guide wheel 116 and the second guide wheel 117 on both sides of the bar-shaped cavity 112 clamp the side convex edges on both sides of the climbing rail 210 respectively; the transmission part is fixedly arranged at the convex edge part in the middle of the climbing rail 210; the transmission part is a chain part, and the chain part extends along the climbing rail 210; the driving wheel 115 is a sprocket wheel, and the sprocket wheel is in meshing transmission with the chain portion.

The device also comprises a controller; the automatic line loading and unloading device 100 of the inspection robot is provided with a limit switch 140; the top and the bottom of the tower body 200 are provided with collision detection plates; the controller is electrically coupled to the limit switch 140 and the drive motor 118.

It should be noted that the first guide wheel 116 is located inside the second guide wheel 117, and the second guide wheel 117 is located outside the strip-shaped cavity 112, that is, as shown in fig. 6, in the extending direction of the strip-shaped cavity 112, the first guide wheel 116 is located inside the second guide wheel 117, so that the rolling gap between the first guide wheel 116 and the second guide wheel 117 is kept fixed, and the automatic line loading and unloading device of the inspection robot can move close to the climbing rail; in addition, preferably, the first guide wheel 116 and the second guide wheel 117 are not arranged right opposite to each other, a hollow area is left on the outer side of the first guide wheel 116, and the curved track can be curved in the hollow area, so that the inspection robot can automatically get on and off the line device and smoothly move on the curved track.

The climbing track 210 comprises a straight section 211 and an arc section 212; one end of the straight section 211 is connected to one end of the arc section 212. According to the structure of the existing power line iron tower, if the climbing rail 210 is required to be arranged close to the power line iron tower, the climbing rail 210 cannot be arranged in a straight line shape, and often comprises a straight line section 211 and an arc section 212; the automatic line device 100 of going up and down of patrolling and examining robot can be in straightway 211 and arc section 212 go up the laminating removal, makes automatic line device 100 of going up and down of patrolling and examining robot is for prior art, and the result of application is showing and is improving, can be applicable to more various power transmission line iron towers and patrol and examine the scene.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

Unless specifically stated otherwise, the relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present invention. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. 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, further discussion thereof is not required in subsequent figures.

In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the orientation words such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplification of description, and in the case of not making a contrary explanation, these orientation words do not indicate and imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be interpreted as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "above … … surface," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and if not stated otherwise, the terms have no special meaning, and therefore, the scope of the present invention should not be construed as being limited.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in other sequences than those illustrated or described herein.

The technical principle of the present invention is described above with reference to specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without any inventive effort, which would fall within the scope of the present invention.

Claims (9)

1. An automatic wire loading and unloading device of an inspection robot is characterized by comprising a rack main body, a moving assembly and a driving motor;

the rack main body comprises a driving bracket and a suspension arm bracket;

the moving assembly is arranged on the driving bracket;

one end of the suspension arm support is fixedly connected with the driving support, and the other end of the suspension arm support is provided with a suspension pipe; the hanging pipe is used for hanging the inspection robot and is in butt joint with the walking track;

the driving motor is arranged on the frame main body; the driving motor is used for driving the moving assembly, so that the rack main body moves along the climbing rail.

2. The inspection robot automatic line loading and unloading device according to claim 1, wherein the driving bracket is provided with a bar-shaped cavity; the moving assembly includes: the driving wheel, the first guide wheel and the second guide wheel; at least two driving rotating shafts are arranged in the strip-shaped cavity; the driving rotating shafts are sleeved with first guide wheels; second guide wheels are rotatably arranged on two sides of the strip-shaped cavity; the driving wheel is sleeved on at least one driving rotating shaft;

the first guide wheel is located on the inner side of the second guide wheel, and the second guide wheel is located on the outer side of the strip-shaped cavity.

3. The automatic wire loading and unloading device of the inspection robot according to claim 2, wherein the driving motor is mounted on the driving support, the driving motor is in transmission connection with the driving rotating shaft on which the driving wheel is sleeved, and the driving wheel is in transmission connection with a transmission part of the climbing rail, so that the first guide wheel and the second guide wheel can roll along two sides of the climbing rail in a tight fit manner.

4. The automatic wire loading and unloading device of the inspection robot according to claim 3, wherein the hanging pipe is arranged on the top surface of the hanging arm bracket in a penetrating manner, one end of the hanging pipe is a limiting end, and the other end of the hanging pipe is a butt joint end; the limiting end is provided with a limiting plate; the limiting plate is used for limiting a roller on the hanging pipe; the butt joint end is used for butt joint with the walking track.

5. The inspection robot automatic line loading and unloading device according to claim 4, wherein the driving support and the boom support are provided with polygonal hollowed areas, and a control box is arranged at the top of the boom support.

6. An automatic on-off line system of an inspection robot is characterized by comprising a tower body, a climbing rail, a walking rail and the automatic on-off line device of the inspection robot according to claim 5;

the climbing rail extends from the bottom of the tower body to the top of the tower body;

the walking track is arranged at the top of the tower body and used for the inspection robot to walk;

the automatic wire loading and unloading device of the inspection robot is arranged on the climbing track and can move along the climbing track under the driving of the driving motor.

7. The inspection robot automatic on-off line system according to claim 6, wherein the cross section of the climbing rail is T-shaped; the driving support covers the climbing rail, and the corresponding position of the climbing rail is embedded into the strip-shaped cavity; the first guide wheel and the second guide wheel on two sides of the strip-shaped cavity respectively clamp the convex edge parts on the side surfaces on two sides of the climbing track; the transmission part is fixedly arranged in the middle of the climbing track; the transmission part is a chain part, and the chain part extends along the climbing track; the driving wheel is a chain wheel, and the chain wheel is in meshing transmission with the chain part.

8. The inspection robot automatic on-off line system according to claim 6, further comprising a controller; the automatic wire loading and unloading device of the inspection robot is provided with a limit switch; the top and the bottom of the tower body are provided with collision detection plates; and the controller is electrically connected with the limit switch and the driving motor.

9. The inspection robot automatic on-off line system according to claim 6, wherein the climbing track comprises a straight section and an arc-shaped section; one end of the straight line section is connected with one end of the arc section.

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