CN112600118B - Transmission line work robot - Google Patents
Transmission line work robot Download PDFInfo
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- CN112600118B CN112600118B CN202011410015.7A CN202011410015A CN112600118B CN 112600118 B CN112600118 B CN 112600118B CN 202011410015 A CN202011410015 A CN 202011410015A CN 112600118 B CN112600118 B CN 112600118B
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- mounting plate
- driving wheel
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The invention provides a power transmission line operation robot, which comprises: two guide rails are vertically arranged; the upper wheel assembly comprises an upper mounting plate, one side surface of the upper mounting plate is provided with an upper driving wheel, an upper driven wheel and an upper synchronous belt, and the other side surface of the upper mounting plate is provided with an upper driving chain wheel connected with the upper driving wheel; the lower wheel assembly comprises a lower driving wheel, a lower driven wheel and a lower synchronous belt which are arranged on one side surface of the lower mounting plate, a lower driving chain wheel connected with the lower driving wheel is arranged on the other side surface of the lower mounting plate, and a tensioning chain wheel is arranged on one side of the lower driving chain wheel; the fixed assembly comprises a fixed plate, a steering chain wheel is rotatably arranged on the side face of the fixed plate, the upper driving chain wheel, the lower driving chain wheel, the tensioning chain wheel and the steering chain wheel are connected through chain transmission, and a pushing device used for driving the lower wheel assembly to move up and down is further arranged on the fixed plate. The invention can greatly improve the climbing capability of the power transmission line operating robot by providing enough pressing force.
Description
Technical Field
The invention relates to the technical field of power maintenance equipment, in particular to a power transmission line operation robot.
Background
When climbing on a transmission conductor, the conventional transmission line robot mainly depends on the component force of the gravity of the transmission line robot to ensure that a driving wheel of the transmission line robot presses the transmission conductor to climb. When the gradient of the power transmission line is increased, the pressing force provided by the power transmission line robot self-gravity component force is reduced, and the downward sliding tendency caused by the gravity component force is increased, so that the power transmission line robot cannot climb and slips or slides downwards.
Disclosure of Invention
In view of this, the invention provides a power transmission line working robot, which can realize additional compensation on the pressing force of the power transmission line robot, and ensure enough pressing force so as to greatly improve the climbing capability of the power transmission line robot.
The technical scheme of the invention is realized as follows: the invention provides a power transmission line operation robot, which comprises:
two guide rails are vertically arranged and are arranged in parallel at intervals;
the upper wheel assembly comprises an upper mounting plate which is arranged between the two guide rails and fixedly connected with the guide rails, an upper driving wheel and an upper driven wheel are horizontally arranged on one side surface of the upper mounting plate at intervals, the upper driving wheel and the upper driven wheel are in transmission connection through an upper synchronous belt, an upper arc-shaped groove matched with the power transmission line is formed in the outer surface of the upper synchronous belt, and an upper driving sprocket connected with the upper driving wheel is arranged on the other side surface of the upper mounting plate;
the lower wheel assembly comprises a lower mounting plate arranged below the upper mounting plate, two ends of the lower mounting plate are respectively connected with the guide rails in a sliding manner, a lower driving wheel and a lower driven wheel are horizontally arranged on the side surface of the lower mounting plate below the upper driving wheel at intervals, the lower driving wheel and the lower driven wheel are in transmission connection through a lower synchronous belt, a lower arc-shaped groove matched with the power transmission line is formed in the outer surface of the lower synchronous belt, a lower driving sprocket connected with the lower driving wheel is arranged on the side surface of the lower mounting plate below the upper driving sprocket, and a tensioning sprocket is rotatably arranged on the lower mounting plate on one side of the lower driving sprocket;
the fixing assembly comprises a fixing plate arranged below the lower mounting plate, the two ends of the fixing plate are fixedly connected with the guide rails respectively, at least one steering chain wheel is rotatably arranged on the side face of the fixing plate below the lower driving chain wheel, the upper driving chain wheel, the lower driving chain wheel, the tensioning chain wheel and the steering chain wheel are connected through chain transmission, and a pushing device used for driving the lower wheel assembly to move up and down is further arranged on the fixing plate.
On the basis of the technical scheme, the driving device for driving the upper driving wheel to rotate is preferably further included, the driving device comprises a first motor, a main driving wheel, a secondary driving wheel and a transmission piece, the first motor is fixed on the upper mounting plate, the main driving wheel is fixedly connected with an output shaft of the first motor, the secondary driving wheel is fixedly connected with an axle center of the upper driving chain wheel, and the main driving wheel is in transmission connection with the secondary driving wheel through the transmission piece.
On the basis of the technical scheme, preferably, first teeth are arranged on the outer circumference rings of the upper driving wheel and the upper driven wheel, and second teeth meshed with the first teeth are arranged on the inner surface of the upper synchronous belt; and third teeth are arranged on the outer circumference rings of the lower driving wheel and the lower driven wheel, and fourth teeth meshed with the third teeth are arranged on the inner surface of the lower synchronous belt.
On the basis of the technical scheme, preferably, the upper wheel assembly further comprises a plurality of upper compression gears, and the upper compression gears are linearly arranged on the side face of the upper mounting plate at equal intervals and meshed with second teeth on the inner periphery of the lower end of the upper synchronous belt.
On the basis of the technical scheme, preferably, the lower wheel assembly further comprises a plurality of lower pressing gears, and the lower pressing gears are linearly arranged on the side face of the lower mounting plate at equal intervals and meshed with fourth teeth on the inner periphery of the upper end of the lower synchronous belt.
On the basis of the above technical solution, preferably, a horizontal distance between the upper driving wheel and the nearest guide rail is smaller than a horizontal distance between the lower driving wheel and the nearest guide rail, and a horizontal distance between the tensioning sprocket and the nearest guide rail is larger than a horizontal distance between the lower driving wheel and the nearest guide rail.
On the basis of the technical scheme, preferably, the pushing device comprises a sliding rail, a sliding block, a rotating gear and a second motor, the sliding rail is vertically and fixedly arranged in the middle of the fixing plate, the sliding block is connected with the sliding rail in a sliding mode, the top end of the sliding block is fixedly connected with the lower mounting plate, fifth teeth are arranged on the surface of the sliding block, the second motor is fixed on the fixing plate, the rotating gear is fixedly connected with an output shaft of the second motor, and the rotating gear is meshed with the fifth teeth.
Further, preferably, a guide rod is arranged at the top of the lower mounting plate, and a guide hole in sliding connection with the guide rod is formed in the upper mounting plate.
Further, preferably, the surfaces of the upper arc-shaped groove and the lower arc-shaped groove are provided with polyurethane rubber coating.
Compared with the prior art, the invention has the following beneficial effects:
(1) the invention discloses a power transmission line operation robot, wherein a driving device drives an upper driving sprocket to rotate, the upper driving sprocket drives a lower driving sprocket to rotate under the action of a chain, so that an upper driving wheel and a lower driving wheel roll forwards on a power transmission line, a pushing device on a fixed plate drives a lower wheel component to move upwards along a guide rail, the lower wheel component and an upper wheel component are matched to compress the power transmission line, pressing force is increased, the phenomenon that the robot slips in the climbing process is avoided, the climbing capability of the power transmission line operation robot is greatly improved by providing enough pressing force, and the lower driving sprocket and a tensioning sprocket simultaneously move upwards in the upward movement process of the lower wheel component, so that the upper driving wheel and the lower driving wheel are synchronously and stably driven while the chain is ensured to be stably driven.
(2) The inner surfaces of the upper driving wheel, the upper driven wheel and the upper synchronous belt are provided with teeth which are meshed with each other; lower action wheel, lower follow driving wheel and lower synchronous belt's internal surface also sets up intermeshing's tooth for go up hold-in range and lower synchronous belt more powerful steady when the transmission, take place the phenomenon of skidding when avoiding going up hold-in range and lower synchronous belt and rolling on the transmission line, and then improve transmission line work robot climbing ability.
(3) Through setting up a plurality of last compression gears and going up the compression gear, can further improve the degree of compressing tightly to the power transmission line, and then improve power transmission line work robot climbing ability.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic front structural view of a power transmission line working robot disclosed by the invention;
fig. 2 is a schematic diagram of a back structure of the power transmission line operation robot disclosed by the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
As shown in fig. 1, in combination with fig. 2, an embodiment of the present invention discloses a power transmission line operation robot, which includes a guide rail 1, an upper wheel assembly 2, a lower wheel assembly 3, and a fixing assembly 4.
Two guide rails 1 are vertically arranged and are arranged in parallel at intervals.
The upper wheel assembly 2 comprises an upper mounting plate 21 which is arranged between two guide rails 1 and fixedly connected with the guide rails 1, an upper driving wheel 22 and an upper driven wheel 23 are horizontally arranged on one side surface of the upper mounting plate 21 at intervals, the upper driving wheel 22 and the upper driven wheel 23 are in transmission connection through an upper synchronous belt 24, an upper arc-shaped groove 241 matched with a power transmission line S is formed in the outer surface of the upper synchronous belt 24, and an upper driving chain wheel 25 connected with the upper driving wheel 22 is arranged on the other side surface of the upper mounting plate 21.
The fixing assembly 4 comprises a fixing plate 41 arranged below the lower mounting plate 31, two ends of the fixing plate 41 are respectively fixedly connected with the guide rail 1, at least one steering sprocket 42 is rotatably arranged on the side surface of the fixing plate 41 below the lower driving sprocket 35, the upper driving sprocket 25, the lower driving sprocket 35, the tension sprocket 36 and the steering sprocket 42 are in transmission connection through a chain 43, and a pushing device 44 used for driving the lower wheel assembly 3 to move up and down is further arranged on the fixing plate 41.
By adopting the technical scheme, the upper driving sprocket 25 rotates to drive the upper driving wheel 22 to rotate in the process, the upper driving wheel 22 drives the upper driven wheel 23 to rotate through the upper synchronous belt 24, therefore, the upper synchronous belt 24 realizes tensioning transmission through the upper driving wheel 22 and the upper driven wheel 23, the upper driving sprocket 25 drives the lower driving sprocket 35 to rotate through the chain 43 in the rotating process, the lower driving sprocket 35 drives the lower driving wheel 32 to rotate in the process, the lower driving wheel 32 drives the lower driven wheel 33 to rotate through the lower synchronous belt 34, therefore, the lower synchronous belt 34 realizes tensioning transmission through the lower driving wheel 32 and the lower driven wheel 33, the lower mounting plate 31 is driven to move upwards along the guide rail 1 through the pushing device 44, so that the whole lower wheel assembly 3 moves upwards along the guide rail 1 and is matched with the upper wheel assembly 2 to compress a power transmission line to increase the pressing force, and the upper driving wheel 22 and the upper driven wheel 23 rotate, Lower driving wheel 32 and lower follow driving wheel 33 mutually support and compress tightly the power transmission line, wrap up the power transmission line through last arc groove 241 of last hold-in range 24 surface, lower arc groove 341 of lower hold-in range 34 surface simultaneously, under the packing force effect, go up hold-in range 24 and lower hold-in range 34 reverse drive to can order about whole transmission line work robot and move along the power transmission line. Because thrust unit 44 drives lower wheel subassembly 3 and upwards removes along guide rail 1, compress tightly the power transmission line with upper wheel subassembly 2 cooperation, increase the packing force, avoid the robot to skid the phenomenon emergence in the climbing process, thereby make power transmission line operation robot climbing ability promote greatly through providing sufficient packing force, in the process that lower wheel subassembly 3 upwards removed, lower driving sprocket 35, tensioning sprocket 36 upwards remove simultaneously, when guaranteeing that chain 43 stably drives, realize again that upper driving wheel 22 and lower driving wheel 32 are synchronous stable drive.
In this embodiment, in order to provide power for the upper driving wheel 22, the present invention further includes a driving device 26, the driving device 26 includes a first motor 261, a main driving wheel 262, a secondary driving wheel 263 and a transmission member 264, the first motor 261 is fixed on the upper mounting plate 21, the main driving wheel 262 is fixedly connected to an output shaft of the first motor 261, the secondary driving wheel 263 is fixedly connected to the axial center of the upper driving sprocket 25, and the main driving wheel 262 is in transmission connection with the secondary driving wheel 263 through the transmission member 264. Therefore, the rotation of the first motor 261 drives the main driving wheel 262 to rotate, the main driving wheel 262 drives the auxiliary driving wheel 263 to rotate through the transmission member 264, and further drives the upper driving sprocket 25 to rotate, the upper driving sprocket 25 drives the upper driving wheel 22 to rotate in the rotating process, the upper driving wheel 22 drives the upper driven wheel 23 to rotate through the upper synchronous belt 24 in the rotating process, meanwhile, the upper driving sprocket 25 drives the lower driving sprocket 35 to rotate through the chain 43 in the rotating process, so that the lower driving sprocket 35 drives the lower driving wheel 32 to rotate, under the structural arrangement, the simultaneous driving of the upper driving wheel 22 and the lower driving wheel 32 by one driving device 26 is realized, and the transmission of the chain 43 is realized, under the premise that the upper driving wheel 22 and the lower driving wheel 32 rotate simultaneously, the rotating directions are opposite, thereby, when the upper driving wheel 22 and the lower driving wheel 32 roll on the power transmission line, the upper synchronous belt 24, the lower synchronous belt 34 and the power transmission line generate friction force to achieve the movement of the whole robot, the driving structure is simplified, the synchronous operation effect is good, and the transmission is stable.
In the above embodiment, the driving wheel 262 and the driven wheel 263 can be synchronous pulleys, and the transmission member 264 is a synchronous belt.
As some preferred embodiments, the outer circumference rings of the upper driving wheel 22 and the upper driven wheel 23 are both provided with first teeth 221, and the inner surface of the upper synchronous belt 24 is provided with second teeth 242 meshed with the first teeth 221; third teeth 321 are arranged on the outer circumference of the lower driving wheel 32 and the outer circumference of the lower driven wheel 33, and fourth teeth 342 meshed with the third teeth 321 are arranged on the inner surface of the lower synchronous belt 34. By adopting the structure, the upper synchronous belt 24 and the lower synchronous belt 34 are driven by tooth meshing, the transmission ratio is accurate, no slip exists, a constant speed ratio can be obtained, and the transmission is stable and powerful. The phenomenon of skidding when the upper synchronous belt 24 and the lower synchronous belt 34 roll on the power transmission line is avoided, and the climbing capacity of the power transmission line operation robot is improved.
In the initial state, the power transmission line is positioned between the upper wheel assembly 2 and the lower wheel assembly 3, the whole robot is placed on the power transmission line through the upper synchronous belt 24, and the upper arc-shaped groove 241 at the lower end of the upper synchronous belt 24 is engaged with the upper surface of the power transmission line, when the pushing device 44 pushes the lower wheel assembly 3 to move relative to the upper wheel assembly 2, the lower driving wheel 32 and the lower driven wheel 33 are matched with the upper driving wheel 22 and the upper driven wheel 23 to compress the power transmission line, and at the same time, the lower arc-shaped groove 341 of the lower synchronous belt 34 is attached to the lower surface of the power transmission line, because, in the pressing process, the power transmission line is mainly pressed by the lower driving wheel 32, the lower driven wheel 33, the upper driving wheel 22 and the upper driven wheel 23, the pressing points are fewer, and the lower synchronous belt 34 between the lower driving pulley 32 and the lower driven pulley 33 and the upper synchronous belt 24 between the upper driving pulley 22 and the upper driven pulley 23 cannot sufficiently press the power transmission line due to elastic deformation. Therefore, in order to further improve the pressing force on the robot power transmission line, the invention adopts the technical scheme that: the upper wheel assembly 2 further includes a plurality of upper pressing gears 27, and the upper pressing gears 27 are linearly and equally spaced apart from each other at the side of the upper mounting plate 21 and engaged with second teeth 242 on the inner circumference of the lower end of the upper belt 24. The lower wheel assembly 3 further comprises a plurality of lower pressing gears 37, and the lower pressing gears 37 are linearly and equally spaced on the side surface of the lower mounting plate 31 and are engaged with the fourth teeth 342 on the inner periphery of the upper end of the lower synchronous belt 34. By adopting the technical scheme, the upper pressing gear 27 presses the upper surface of the power transmission line when being meshed with the lower end of the upper synchronous belt 24, and the lower pressing gear 37 presses the lower surface of the power transmission line when being meshed with the upper end of the lower synchronous belt 34, so that pressing points are increased, the whole robot can provide enough pressing force, and the climbing capacity of the robot is improved.
In this embodiment, the horizontal distance between the upper drive wheel 22 and the nearest guide rail 1 is smaller than the horizontal distance between the lower drive wheel 32 and the nearest guide rail 1, and the horizontal distance between the tension sprocket 36 and the nearest guide rail 1 is larger than the horizontal distance between the lower drive wheel 32 and the nearest guide rail 1. Therefore, under the above structure, the lower driving sprocket 35 and the upper driving sprocket 25 are vertically staggered, when the driving sprocket, the lower driving sprocket 35, the tension sprocket 36 and the steering sprocket 42 are connected by the chain 43, the chain 43 goes around the driving sprocket, goes around the lower driving sprocket 35 downwards, then goes around the tension sprocket 36 crosswise, goes around the steering sprocket 42 downwards, and finally is closed with the chain 43 on the driving sprocket, because the relative positions of the driving sprocket and the steering sprocket 42 are static, and the circumference of the chain 43 is fixed, when the upper driving sprocket 25 rotates, the chain 43 drives the lower driving sprocket 35 to rotate in the opposite direction, and meanwhile, the chain 43 is connected crosswise between the lower driving sprocket 35 and the tension sprocket 36, so that the rotation directions of the tension sprocket 36, the steering sprocket 42 and the upper driving sprocket 25 are consistent, and during the upward movement of the lower wheel assembly 3, the lower driving sprocket 35 and the tension sprocket 36 move upwards simultaneously, so that the chain 43 is ensured to stably drive, and the upper driving wheel 22 and the lower driving wheel 32 are synchronously and stably driven.
As some preferred embodiments, the pushing device 44 includes a sliding rail 441, a sliding block 442, a rotating gear 443 and a second motor 444, the sliding rail 441 is vertically and fixedly disposed in the middle of the fixing plate 41, the sliding block 442 is slidably connected to the sliding rail 441, the top end of the sliding block 442 is fixedly connected to the lower mounting plate 31, a fifth tooth 445 is disposed on the surface of the sliding block 442, the second motor 444 is fixedly disposed on the fixing plate 41, the rotating gear 443 is fixedly connected to the output shaft of the second motor 444, and the rotating gear 443 is engaged with the fifth tooth. By adopting the technical scheme, the second motor 444 drives the rotating gear 443 to rotate, the rotating gear 443 is meshed with the fifth teeth on the sliding block 442, so that the sliding block 442 is driven to move upwards along the sliding rail 441, the sliding block 442 pushes the lower mounting plate 31 to move upwards, and the lower wheel assembly 3 is matched with the upper wheel assembly 2 to compress the power transmission line in the process of moving upwards. Through the gear and rack transmission structure, the moving stroke is stable, and the transmission precision is high.
Preferably, the lower mounting plate 31 is provided with a guide rod 311 at the top thereof, and the upper mounting plate 21 is provided with a guide hole slidably connected with the guide rod 311. In the process that the lower wheel assembly 3 moves upwards, the guide rod 311 is matched with the guide hole to slide, so that the lower wheel assembly 3 can play a role in guiding and limiting when moving up and down.
Preferably, the surfaces of the upper arc-shaped groove 241 and the lower arc-shaped groove 341 are provided with polyurethane encapsulation. This prevents the upper and lower timing belts 24 and 34 from being damaged by friction with the power transmission lines.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A transmission line work robot, comprising:
two guide rails (1) are vertically arranged and are arranged in parallel at intervals;
the upper wheel assembly (2) comprises an upper mounting plate (21) which is arranged between the two guide rails (1) and fixedly connected with the guide rails (1), one side surface of the upper mounting plate (21) is horizontally provided with an upper driving wheel (22) and an upper driven wheel (23) at intervals, the upper driving wheel (22) and the upper driven wheel (23) are in transmission connection through an upper synchronous belt (24), the outer surface of the upper synchronous belt (24) is provided with an upper arc-shaped groove (241) matched with the power transmission line (S), and the other side surface of the upper mounting plate (21) is provided with an upper driving chain wheel (25) connected with the upper driving wheel (22);
the lower wheel assembly (3) comprises a lower mounting plate (31) arranged below the upper mounting plate (21), two ends of the lower mounting plate (31) are respectively connected with the guide rail (1) in a sliding manner, a lower driving wheel (32) and a lower driven wheel (33) are horizontally arranged on the side surface of the lower mounting plate (31) below the upper driving wheel (22) at intervals, the lower driving wheel (32) and the lower driven wheel (33) are in transmission connection through a lower synchronous belt (34), a lower arc-shaped groove (341) matched with the power transmission line (S) is formed in the outer surface of the lower synchronous belt (34), a lower driving sprocket (35) connected with the lower driving wheel (32) is arranged on the side surface of the lower mounting plate (31) below the upper driving sprocket (25), and a tensioning sprocket (36) is rotatably arranged on the lower mounting plate (31) on one side of the lower driving sprocket (35);
the fixing assembly comprises a fixing plate (41) arranged below the lower mounting plate (31), two ends of the fixing plate (41) are respectively fixedly connected with the guide rail (1), at least one steering chain wheel (42) is rotatably arranged on the side surface of the fixing plate (41) below the lower driving chain wheel (35), the upper driving chain wheel (25), the lower driving chain wheel (35), the tensioning chain wheel (36) and the steering chain wheel (42) are in transmission connection through a chain (43), and the fixing plate (41) is also provided with a pushing device (44) for driving the lower wheel assembly (3) to move up and down; the device also comprises a driving device (26) for driving the upper driving wheel (22) to rotate;
the driving device (26) comprises a first motor (261), a main driving wheel (262), a driven driving wheel (263) and a transmission piece (264), wherein the first motor (261) is fixed on the upper mounting plate (21), the main driving wheel (262) is fixedly connected with an output shaft of the first motor (261), the driven driving wheel (263) is fixedly connected with the axis of the upper driving chain wheel (25), and the main driving wheel (262) is in transmission connection with the driven driving wheel (263) through the transmission piece (264).
2. The power transmission line working robot of claim 1, characterized by: first teeth (221) are arranged on the outer circumference rings of the upper driving wheel (22) and the upper driven wheel (23), and second teeth (242) meshed with the first teeth (221) are arranged on the inner surface of the upper synchronous belt (24); the outer circumference circles of the lower driving wheel (32) and the lower driven wheel (33) are respectively provided with third teeth (321), and the inner surface of the lower synchronous belt (34) is provided with fourth teeth (342) meshed and connected with the third teeth (321).
3. The power transmission line working robot of claim 2, characterized in that: go up wheel subassembly (2) and still include a plurality of hold-down gear (27) of going up, go up hold-down gear (27) and be linear equidistant setting in last mounting panel (21) side, and with second tooth (242) on the lower extreme inner periphery of last hold-in range (24) mesh mutually.
4. A line work robot according to claim 3, characterized in that: the lower wheel assembly (3) further comprises a plurality of lower pressing gears (37), the lower pressing gears (37) are linearly arranged on the side face of the lower mounting plate (31) at equal intervals and meshed with fourth teeth (342) on the inner periphery of the upper end of the lower synchronous belt (34).
5. The power transmission line working robot of claim 1, characterized by: the horizontal distance between the upper driving wheel (22) and the nearest guide rail (1) is smaller than the horizontal distance between the lower driving wheel (32) and the nearest guide rail (1), and the horizontal distance between the tensioning chain wheel (36) and the nearest guide rail (1) is larger than the horizontal distance between the lower driving wheel (32) and the nearest guide rail (1).
6. The power transmission line working robot of claim 1, characterized by: the pushing device (44) comprises a sliding rail (441), a sliding block (442), a rotating gear (443) and a second motor (444), the sliding rail is vertically and fixedly arranged in the middle of the fixing plate (41), the sliding block is in sliding connection with the sliding rail, the top end of the sliding block is fixedly connected with the lower mounting plate (31), fifth teeth (445) are arranged on the surface of the sliding block, the second motor is fixed on the fixing plate (41), the rotating gear is fixedly connected with an output shaft of the second motor, and the rotating gear is meshed with the fifth teeth.
7. The transmission line work robot of claim 6 wherein: the top of the lower mounting plate (31) is provided with a guide rod (311), and the upper mounting plate (21) is provided with a guide hole in sliding connection with the guide rod.
8. The power transmission line working robot of claim 1, characterized by: and polyurethane rubber coating is arranged on the surfaces of the upper arc-shaped groove (241) and the lower arc-shaped groove (341).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011410015.7A CN112600118B (en) | 2020-12-06 | 2020-12-06 | Transmission line work robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011410015.7A CN112600118B (en) | 2020-12-06 | 2020-12-06 | Transmission line work robot |
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| CN112600118A CN112600118A (en) | 2021-04-02 |
| CN112600118B true CN112600118B (en) | 2022-05-10 |
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| CN202011410015.7A Active CN112600118B (en) | 2020-12-06 | 2020-12-06 | Transmission line work robot |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113858962B (en) * | 2021-09-07 | 2023-04-18 | 中科开创（广州）智能科技发展有限公司 | Guide rail robot, climbing device and energy recovery method |
| CN114987560B (en) * | 2022-06-17 | 2024-03-19 | 广东科凯达智能机器人有限公司 | Running gear, robot and walking track of variable drive |
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| CA2418473A1 (en) * | 2003-02-04 | 2004-08-04 | Hydro-Quebec | Robot vehicle that runs on conductors and has the ability to negotiate obstacles using temporary support rotors |
| CN201421982Y (en) * | 2009-04-02 | 2010-03-10 | 山东电力研究院 | Running gear of power transmission line robot |
| CN111570134B (en) * | 2020-04-28 | 2021-10-22 | 湖北工业大学 | Anti-icing cable intelligent spraying robot convenient to hoist and mount counterpoint |
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| CN101777743A (en) * | 2010-03-30 | 2010-07-14 | 湖南大学 | Intelligent robot for removing ice in high-voltage transmission line |
| CN202978179U (en) * | 2012-12-13 | 2013-06-05 | 山东电力集团公司检修公司 | Snow-blowing deicing device for power devices |
| CN108110676A (en) * | 2018-01-29 | 2018-06-01 | 国家电网公司 | A kind of overhead line inspection obstacle removing robot |
| CN208522369U (en) * | 2018-06-08 | 2019-02-19 | 湖北汇宜建设工程有限公司 | The underground pipe gallery cable and wire of urban engineering project is laid with traction device |
| CN111029963A (en) * | 2019-12-12 | 2020-04-17 | 贵州电网有限责任公司 | Traction system for overhead line |
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| CN112600118A (en) | 2021-04-02 |
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