CN205355674U - Transmission line patrols and examines robot - Google Patents
Transmission line patrols and examines robot Download PDFInfo
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- CN205355674U CN205355674U CN201620023187.1U CN201620023187U CN205355674U CN 205355674 U CN205355674 U CN 205355674U CN 201620023187 U CN201620023187 U CN 201620023187U CN 205355674 U CN205355674 U CN 205355674U
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 35
- 230000007246 mechanism Effects 0.000 claims abstract description 206
- 230000003028 elevating effect Effects 0.000 claims abstract description 27
- 210000000245 forearm Anatomy 0.000 claims description 33
- 239000000725 suspension Substances 0.000 description 20
- 238000010586 diagram Methods 0.000 description 12
- 230000005484 gravity Effects 0.000 description 12
- 230000009194 climbing Effects 0.000 description 8
- 239000000428 dust Substances 0.000 description 6
- 239000004576 sand Substances 0.000 description 6
- 238000007689 inspection Methods 0.000 description 5
- 230000005611 electricity Effects 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 2
- 239000004020 conductor Substances 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 125000006850 spacer group Chemical group 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000012212 insulator Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
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Abstract
The utility model discloses a transmission line patrols and examines robot, including preceding organism, well organism and back organism, preceding organism includes preceding arm and preceding body, and well organism includes well arm and well body, and back organism is including back arm and back body, the structure homogeneous phase of preceding arm, well arm and back arm with, preceding arm includes running gear, fixture, fixture guide rail, elevating system and hand arm rotating mechanism, running gear fixed mounting in the top of fixture guide rail, fixture slidable mounting corresponds running gear's position on the fixture guide rail, bottom fixed mounting in elevating system's the top of fixture guide rail, elevating system's bottom are passed through hand arm rotating mechanism and are rotationally installed in the front on the body, through preceding steering mechanism swing joint between preceding body and the well body, through back steering mechanism swing joint between well body and the back body. Be applicable to patrolling and examining of transmission line.
Description
Technical field
This utility model relates to a kind of field of power transmission, particularly relates to a kind of transmission line polling robot.
Background technology
The safe and stable operation of transmission line of electricity directly affects the safety and reliability of power system; but owing to transmission line of electricity is exposed in field complexity, rugged environment for a long time; affected seriously by factors such as artificial, weathers; the common power equipment accidents such as line material damage, insulator arc-over often occur; so transmission line of electricity must be carried out regular patrolling and examining; grasp the ruuning situation of transmission line of electricity, to find in time, to remove a hidden danger, it is prevented that the generation of electric power accident.
At present, general polling transmission line mode mainly has manual inspection and helicopter routing inspection etc..Wherein, manual inspection relies primarily on line attendant and adopts naked eyes and telescope to check circuit termly, and this mode efficiency is low and labor intensity big, and, once run into the part of path crossing over mountain peak and river, then substantially cannot complete to patrol and examine work；Although and helicopter routing inspection can reduce the labor intensity of attendant, and efficiency is also higher, but the cost of helicopter routing inspection is high, and is very easily affected by weather condition, and meanwhile, the flight of helicopter requires to be restricted by blank pipe.Therefore, needing badly and develop a kind of robot in hgher efficiency and lower in cost that patrols and examines, this robot wants the barriers such as the wire clamp on energy span transmission line, conductor spacer, stockbridge damper and wire jumper.
Summary of the invention
The purpose of this utility model is the deficiency in order to overcome above-mentioned background technology, it is provided that the transmission line polling robot of the barriers such as a kind of wire clamp, conductor spacer, stockbridge damper and wire jumper patrolled and examined in hgher efficiency, lower in cost and energy span transmission line.
In order to realize object above, a kind of transmission line polling robot that this utility model provides, including front body, middle body and rear body, described front body includes again forearm and front body, described middle body includes again middle arm and middle body, and described rear body includes again rear arm and rear body；
Wherein, described forearm, described middle arm is all identical with the structure of described rear arm, described forearm includes walking mechanism, clamping device, clamping device guide rail, elevating mechanism and arm rotating mechanism, described walking mechanism is fixedly installed in the top of described clamping device guide rail, described clamping device is slidably mounted on described clamping device guide rail the position of corresponding described walking mechanism, the bottom of described clamping device guide rail is fixedly installed in the top of described elevating mechanism, the bottom of described elevating mechanism is installed in rotation on described front body by described arm rotating mechanism；
It is flexibly connected by front steering mechanism between described front body with described middle body, is flexibly connected by rear steering mechanism between described middle body with described rear body.
By adopting the mode that front body, middle body, rear body can freely turn to adjust the position of centre of gravity of robot, make the walking mechanism of leaping over obstacles exit wire, and be positioned at the downside of wire, it is achieved thereby that leaping over obstacles, it is ensured that the obstacle climbing ability of robot；Meanwhile, clamping device can adjust the degree of robot clamping wire, increases walking mechanism, frictional force between clamping device and wire, and then improves the robot climbing capacity when big sag；And, robot, when leaping over obstacles, can be maintained with two walking mechanisms on wire, and adjusted the position of centre of gravity of robot by the steering mechanism between body, so can be effectively prevented robot and depart from wire, it is ensured that the security and stability of robot.
In such scheme, described walking mechanism includes road wheel, walking mechanism body, walking mechanism rotating shaft, walking mechanism motor and walking mechanism motor cabinet, described walking mechanism body is fixedly installed in the top of described clamping device guide rail, described walking mechanism motor is fixed on described walking mechanism body by described walking mechanism motor cabinet, the outfan of described walking mechanism motor is connected with one end of described walking mechanism rotating shaft, the other end of described walking mechanism rotating shaft is interspersed in described walking mechanism body rotationally, described road wheel is sleeved on described walking mechanism rotating shaft.
In such scheme, described clamping device includes: pinch wheels, clamping device body, clamping device rotating shaft, clamping device motor, clamping device motor cabinet, the first clamping device gear and clamping device slide block；Described clamping device body side is arranged on described clamping device guide rail by described clamping device skid, described clamping device body opposite side is installed with described clamping device motor by described clamping device motor cabinet, the outfan of described clamping device motor is connected with one end of described clamping device rotating shaft, the other end of described clamping device rotating shaft is interspersed in described clamping device body rotationally, described pinch wheels is sleeved on described clamping device rotating shaft the position of corresponding described road wheel, described first clamping device gear set is positioned at the position outside described clamping device slide block on described clamping device rotating shaft.
In such scheme, on described clamping device rotating shaft, the position of corresponding described first clamping device gear is provided with the second clamping device gear being arranged side by side with described first clamping device gear.By adopting two clamping device gears being arranged side by side, the clamping device stability at clamping device slide on rails so can be improved.
In such scheme, described clamping device guide rail includes: saw-toothed rail and guide rail shell, described saw-toothed rail is fixed on the inner side of guide rail shell, described walking mechanism body is fixedly installed in the top of described guide rail shell, the bottom of described guide rail shell is fixedly installed in the top of described elevating mechanism, described clamping device skid is arranged on described guide rail shell, described first clamping device gear and described second clamping device gear are positioned at described guide rail shell, and described first clamping device gear and described second clamping device gear are mutually twisted with described saw-toothed rail respectively.
In such scheme, described arm rotating mechanism includes arm electric rotating machine, arm electric rotating support, arm rotating mechanism protection shell, first arm rotating mechanism gear and the second arm rotating mechanism gear, described arm electric rotating machine is fixedly installed in the upper surface of described front body by described arm electric rotating support, the outfan of described arm electric rotating machine penetrates rotatably described front body and is connected with described first arm rotating mechanism gear, the bottom of described elevating mechanism is inserted on described front body by described arm rotating mechanism protection shell rotationally, described second arm rotating mechanism gear is fixedly mounted on the bottom of described elevating mechanism, and described second arm rotating mechanism gear and described first arm rotating mechanism gear are mutually twisted.
In such scheme, described front steering mechanism includes front steering motor, front steering motor cabinet and front steering rotating shaft, the rear end of described front body is hinged by described front steering rotating shaft with the front end of described middle body, and described front steering rotating shaft is fixing with described front body is connected, described front steering motor is fixedly installed on described middle body by described front steering motor cabinet, and the outfan of described front steering motor is connected with described front steering rotating shaft.
In such scheme, on described middle body, the position of corresponding described front steering rotating shaft is provided with the front steering rotating shaft base for protecting described front steering rotating shaft.The front steering rotating shaft base added can prevent rainwater and sand and dust etc. from entering front steering rotating shaft, thus improve the service life of robot.
In such scheme, described rear steering mechanism includes rear steering motor, rear steering motor seat and rear steering rotating shaft, the rear end of described middle body is hinged by described rear steering rotating shaft with the front end of described rear body, and described rear steering rotating shaft is fixing with described rear body is connected, described rear steering motor is fixedly installed on described middle body by described rear steering motor seat, and the outfan of described rear steering motor is connected with described rear steering rotating shaft.
In such scheme, on described middle body, the position of corresponding described rear steering rotating shaft is provided with the rear steering rotating shaft base for protecting described rear steering rotating shaft.If rear steering rotating shaft base can prevent rainwater and sand and dust etc. enter rear steering rotating shaft, thus improve the service life of robot.
This utility model is compared with the prior art, and fully shows that it is advantageous in that:
1, obstacle climbing ability is strong: by adopting the mode that front body, middle body, rear body can freely turn to adjust the position of centre of gravity of robot, the walking mechanism making leaping over obstacles exits wire, and be positioned at the downside of wire, it is achieved thereby that leaping over obstacles, it is ensured that the obstacle climbing ability of robot；
2, ramp angle is big: clamping device can adjust the degree of robot clamping wire, increases walking mechanism, frictional force between clamping device and wire, and then improves the robot climbing capacity when big sag；
3, security and stability is good: robot is when leaping over obstacles, two walking mechanisms can be maintained with on wire, and adjusted the position of centre of gravity of robot by the steering mechanism between body, so can be effectively prevented robot and depart from wire, it is ensured that the security and stability of robot；
4, by adopting two clamping device gears being arranged side by side, the clamping device stability at clamping device slide on rails can so be improved；
5, the front steering rotating shaft base added can prevent rainwater and sand and dust etc. from entering front steering rotating shaft, thus improve the service life of robot；
6, the rear steering rotating shaft base added can prevent rainwater and sand and dust etc. from entering rear steering rotating shaft, thus improve the service life of robot.
The advantage such as this utility model has simple in construction, cost is low, efficiency is high, obstacle climbing ability is strong, ramp angle is big and security and stability is good.
Accompanying drawing explanation
Fig. 1 is structure chart of the present utility model；
Fig. 2 is front housing construction figure of the present utility model；
Fig. 3 is walking mechanism structure chart of the present utility model；
Fig. 4 is clamping device structure chart of the present utility model；
Fig. 5 is clamping device guide rail structure figure of the present utility model；
Fig. 6 is arm rotating mechanism structure chart of the present utility model；
Fig. 7 is front steering mechanism structure figure of the present utility model；
Fig. 8 is rear steering mechanism structure figure of the present utility model；
Fig. 9 (a) crosses over the schematic diagram of suspension clamp for front body；
Fig. 9 (b) crosses over another schematic diagram of suspension clamp for front body；
Fig. 9 (c) crosses over the schematic diagram of suspension clamp for middle body；
Fig. 9 (d) crosses over another schematic diagram of suspension clamp for middle body；
Fig. 9 (e) crosses over the schematic diagram of suspension clamp for rear body；
Fig. 9 (f) crosses over another schematic diagram of suspension clamp for rear body；
Figure 10 (a) crosses over the schematic diagram of strain clamp for front body；
Figure 10 (b) crosses over another schematic diagram of strain clamp for front body；
Figure 10 (c) crosses over the schematic diagram of strain clamp for middle body；
Figure 10 (d) crosses over another schematic diagram of strain clamp for middle body；
Figure 10 (e) crosses over the schematic diagram of strain clamp for rear body；
Figure 10 (f) crosses over another schematic diagram of strain clamp for rear body.
In figure, front body 1, middle body 2, rear body 3, rear steering mechanism 4, front steering mechanism 5, wire 6, suspension clamp 7, strain clamp 8；
Forearm 101, front body 102, middle arm 201, middle body 202, rear arm 301, rear body 302；
Walking mechanism 1011, clamping device 1012, clamping device guide rail 1013, elevating mechanism 1014, arm rotating mechanism 1015；
Road wheel 10111, walking mechanism body 10112, walking mechanism rotating shaft 10113, walking mechanism motor 10114, walking mechanism motor cabinet 10115；
Pinch wheels 10121, clamping device body 10122, clamping device rotating shaft 10123, clamping device motor 10124, clamping device motor cabinet 10125, the first clamping device gear 10126, the second clamping device gear 10127, clamping device slide block 10128；
Saw-toothed rail 10131, guide rail shell 10132；
Arm electric rotating machine 10151, arm electric rotating support 10152, arm rotating mechanism protection shell 10153, the first arm rotating mechanism gear 10154, the second arm rotating mechanism gear 10155；
Rear steering motor 401, rear steering motor seat 402, rear steering rotating shaft 403, rear steering rotating shaft base 404；
Front steering motor 501, front steering motor cabinet 502, front steering rotating shaft 503, front steering rotating shaft base 504.
Detailed description of the invention
Below in conjunction with drawings and Examples, this utility model is described in further detail, but this embodiment should not be construed as restriction of the present utility model.
A kind of transmission line polling robot as shown in Figure 1, including front body 1, middle body 2, rear body 3, rear steering mechanism 4, front steering mechanism 5；Described front body 1 includes forearm 101, front body 102, and described middle body 2 includes middle arm 201, middle body 202, and described rear body 3 includes rear arm 301, rear body 302；Described front body 102 is connected by front steering mechanism 5 with middle body 202；Described middle body 202 is connected by rear steering mechanism 4 with rear body 302；Described forearm 101, middle arm 201, rear arm 301 have identical frame for movement, below only launch to specifically describe to forearm 101, the concrete structure of middle arm 201 and rear arm 301 referring to forearm 101, can not repeat them here.
Fig. 2 is the structure chart of the front body 1 of transmission line polling robot.Described forearm 101 includes walking mechanism 1011, clamping device 1012, clamping device guide rail 1013, elevating mechanism 1014, arm rotating mechanism 1015；Described walking mechanism 1011 is fixedly installed in the top of clamping device guide rail 1013；Described clamping device 1012 is installed on described clamping device guide rail 1013, it is possible to move up and down along clamping device guide rail 1013；Described clamping device guide rail 1013 is fixedly installed in the top of described elevating mechanism 1014；Described elevating mechanism 1014 bottom is connected by arm rotating mechanism 1015 with front body 102.
Fig. 3 is the structure chart of the walking mechanism 1011 of transmission line polling robot.Described walking mechanism 1011 includes road wheel 10111, walking mechanism body 10112, walking mechanism rotating shaft 10113, walking mechanism motor 10114, walking mechanism motor cabinet 10115；Described road wheel 10111 is connected with walking mechanism rotating shaft 10113；Described walking mechanism rotating shaft 10113 is embedded in walking mechanism body 10112, and walking mechanism rotating shaft 10113 one end is connected with walking mechanism motor 10114；Described walking mechanism motor 10114 is fixed on walking mechanism body 10112 by walking mechanism motor cabinet 10115.
Fig. 4 is the structure chart of the clamping device 1012 of transmission line polling robot.Described clamping device 1012 includes pinch wheels 10121, clamping device body 10122, clamping device rotating shaft 10123, clamping device motor 10124, clamping device motor cabinet the 10125, first clamping device gear the 10126, second clamping device gear 10127, clamping device slide block 10128；Described pinch wheels 10121 is connected with clamping device rotating shaft 10123；Described clamping device rotating shaft 10123 is embedded in clamping device body 10122, and clamping device rotating shaft 10123 one end is connected with clamping device motor 10124, and the other end is connected with the first clamping device gear 10126 and the second clamping device gear 10127；Described clamping device motor 10124 is fixed on clamping device body 10122 side by clamping device motor cabinet 10125, the opposite side fixed installation clamping device slide block 10128 of clamping device body 10122.
Fig. 5 is the structure chart of the clamping device guide rail 1013 of transmission line polling robot.Described clamping device guide rail 1013 includes saw-toothed rail 10131, guide rail shell 10132；Described saw-toothed rail 10131 is fixed on the inner side of guide rail shell 10132；Described clamping device slide block 10128 is installed on guide rail shell 10132, and can move up and down along guide rail shell；Described first clamping device gear 10126 and the second clamping device gear 10127 are mutually twisted with saw-toothed rail 10131 respectively；
Fig. 6 is the structure chart of the arm rotating mechanism 1015 of transmission line polling robot.Described arm rotating mechanism 1015 is installed on forearm 101 bottom, including arm electric rotating machine 10151, arm electric rotating support 10152, arm rotating mechanism protection shell the 10153, first arm rotating mechanism gear the 10154, second arm rotating mechanism gear 10155；Described arm electric rotating machine 10151 is connected with the first arm rotating mechanism gear 10154；Described second arm rotating mechanism gear 10155 is connected with elevating mechanism 1014 bottom；Described first arm rotating mechanism gear 10154 and the second arm rotating mechanism gear 10155 are mutually twisted；Described arm electric rotating machine 10151 is fixedly installed in the upper surface of front body 102 by arm electric rotating support 10152.
Fig. 7 is the structure chart of the front steering mechanism 5 of transmission line polling robot.Described front steering mechanism 5 includes front steering motor 501, front steering motor cabinet 502 and front steering rotating shaft 503, the rear end of described front body 102 is hinged by described front steering rotating shaft 503 with the front end of described middle body 202, and described front steering rotating shaft 503 is fixing with described front body 102 is connected, described front steering motor 501 is fixedly installed on described middle body 202 by described front steering motor cabinet 502, and the outfan of described front steering motor 501 is connected with described front steering rotating shaft 503.On described middle body 202, the position of corresponding described front steering rotating shaft 503 is provided with the front steering rotating shaft base 504 for protecting described front steering rotating shaft 503.
Fig. 8 is the structure chart of the rear steering mechanism 4 of transmission line polling robot.Described rear steering mechanism 4 includes rear steering motor 401, rear steering motor seat 402 and rear steering rotating shaft 403, the rear end of described middle body 202 is hinged by described rear steering rotating shaft 403 with the front end of described rear body 302, and described rear steering rotating shaft 403 is fixing with described rear body 302 is connected, described rear steering motor 401 is fixedly installed on described middle body 202 by described rear steering motor seat 402, and the outfan of described rear steering motor 401 is connected with described rear steering rotating shaft 403.On described middle body 202, the position of corresponding described rear steering rotating shaft 403 is provided with the rear steering rotating shaft base 404 for protecting described rear steering rotating shaft 403.
The mode that robot can freely turn to by adopting front body 1, middle body 2, rear body 3 adjusts the position of centre of gravity of robot, the walking mechanism 1011 making leaping over obstacles exits wire, and be positioned at the downside of wire, it is achieved thereby that leaping over obstacles, it is ensured that the obstacle climbing ability of robot；Clamping device 1012 can adjust the degree of robot clamping wire, increases walking mechanism 1011, frictional force between clamping device 1012 and wire, and then improves the robot climbing capacity when big sag；Robot, when leaping over obstacles, can be maintained with two walking mechanisms 1011 on wire, and adjusted the position of centre of gravity of robot by the steering mechanism between body, so can be effectively prevented robot and depart from wire, it is ensured that the security and stability of robot；By adopting two clamping device gears being arranged side by side, the stability that clamping device 1012 slides on clamping device guide rail 1013 so can be improved；The front steering rotating shaft base 504 added can prevent rainwater and sand and dust etc. from entering front steering rotating shaft 503, thus improve the service life of robot；The rear steering rotating shaft base 404 added can prevent rainwater and sand and dust etc. from entering rear steering rotating shaft 403, thus improve the service life of robot.
This transmission line polling robot crosses over the detailed process of suspension clamp 7:
The front body 1 of crusing robot is when crossing over suspension clamp 7, and the clamping device 1012 of forearm 101 moves down along clamping device guide rail 1013, makes pinch wheels 10121 separate with wire 6；Elevating mechanism 1014 raises, and walking mechanism 1011 moves up therewith, makes road wheel 10111 and pinch wheels 10121 exit wire 6 simultaneously；Front steering mechanism 5 turns to clockwise, and the position of centre of gravity of robot offsets to the right, makes the walking mechanism 1011 of robot forearm 101 be positioned at the lower right of suspension clamp 7, as shown in Fig. 9 (a).Robot moves forward under the walking mechanism of middle arm 201 and the walking mechanism of rear arm 301 drive jointly, makes front body 1 cross over suspension clamp 7；Front steering mechanism 5 turns to counterclockwise, and forearm 101 adjusts the position of its walking mechanism 1011 and clamping device 1012 simultaneously, makes forearm 101 again " catch " wire on front side of suspension clamp 7, as shown in Fig. 9 (b).
The middle body 2 of crusing robot is when crossing over suspension clamp 7, and the clamping device of middle arm 201 moves down along clamping device guide rail, makes pinch wheels separate with wire 6；Elevating mechanism raises, and walking mechanism moves up therewith, makes road wheel and pinch wheels exit wire 6 simultaneously；Front steering mechanism 5 turns to counterclockwise, rear steering mechanism 4 turns to counterclockwise, the arm rotating mechanism 1015 of forearm 101 and the arm rotating mechanism of rear arm 301 adjust forearm 101 and rear arm 301 simultaneously, make the road wheel of the road wheel 10111 of forearm 101 and pinch wheels 10121 and rear arm 301 and the axially vertical with wire 6 of pinch wheels；Meanwhile, the road wheel of rear arm 301 moves forward, and the position of centre of gravity of robot offsets to the right, makes the walking mechanism of middle arm 201 be positioned at the lower right of suspension clamp 7；Robot moves forward under the walking mechanism 1011 of forearm 101 and the walking mechanism of rear arm 301 drive jointly, makes middle body 2 cross over suspension clamp 7, as shown in Fig. 9 (c).Front steering mechanism 5 turns to clockwise, rear steering mechanism 4 turns to clockwise, simultaneously, the road wheel 10111 of forearm 101 moves forward, middle arm 201 adjusts the position of its walking mechanism and clamping device, arm 201 is made again " to catch " wire on front side of suspension clamp 7, as shown in Fig. 9 (d).
The rear body 3 of crusing robot is when crossing over suspension clamp 7, and the clamping device of rear arm 301 moves down along clamping device guide rail, makes pinch wheels separate with wire 6；Elevating mechanism raises, and walking mechanism moves up therewith, makes road wheel and pinch wheels exit wire 6 simultaneously；Rear steering mechanism 4 turns to counterclockwise, and the position of centre of gravity of robot offsets to the right, and after making robot, the walking mechanism of arm 301 is positioned at the lower right of suspension clamp 7, as shown in Fig. 9 (e).Robot moves forward under the walking mechanism 1011 of forearm 101 and the walking mechanism of middle arm 201 drive jointly, makes rear body 3 cross over suspension clamp 7；Rear steering mechanism 4 turns to clockwise, and after simultaneously, arm 301 adjusts the position of its walking mechanism and clamping device, makes rear arm 301 again " catch " wire on front side of suspension clamp 7, as shown in Fig. 9 (f).
This transmission line polling robot crosses over the detailed process of strain clamp 8:
The front body 1 of crusing robot is when crossing over strain clamp 8, and the clamping device 1012 of forearm 101 moves down along clamping device guide rail 1013, makes pinch wheels 10121 separate with wire 6；Elevating mechanism 1014 raises, and walking mechanism 1011 moves up therewith, makes road wheel 10111 and pinch wheels 10121 exit wire 6 simultaneously；Front steering mechanism 5 turns to clockwise, and the position of centre of gravity of robot offsets to the right, makes the walking mechanism 1011 of robot forearm 101 be positioned at the lower right of strain clamp 8, as shown in Figure 10 (a).Robot moves forward under the walking mechanism of middle arm 201 and the walking mechanism of rear arm 301 drive jointly, makes front body 1 cross over strain clamp 8；Front steering mechanism 5 turns to counterclockwise, and forearm 101 is by adjusting the position of its elevating mechanism 1014, walking mechanism 1011 and clamping device 1012 simultaneously, makes forearm 101 again " catch " wire on front side of strain clamp 8, as shown in Figure 10 (b).
The middle body 2 of crusing robot is when crossing over strain clamp 8, and the clamping device of middle arm 201 moves down along clamping device guide rail, makes pinch wheels separate with wire 6；Elevating mechanism raises, and walking mechanism moves up therewith, makes road wheel and pinch wheels exit wire 6 simultaneously；Front steering mechanism 5 turns to clockwise, rear steering mechanism 4 turns to clockwise, the arm rotating mechanism 1015 of forearm 101 and the arm rotating mechanism of rear arm 301 adjust forearm 101 and rear arm 301 simultaneously, make the road wheel of the road wheel 10111 of forearm 101 and pinch wheels 10121 and rear arm 301 and the axially vertical with wire 6 of pinch wheels；Meanwhile, the road wheel of rear arm 301 moves forward, the position of centre of gravity left shift of robot, makes the walking mechanism of middle arm 201 be positioned at the lower left of strain clamp 8；Robot moves forward under the walking mechanism 1011 of forearm 101 and the walking mechanism of rear arm 301 drive jointly, makes middle body 2 cross over strain clamp 8, as shown in Figure 10 (c).Rear steering mechanism 4 turns to counterclockwise, meanwhile, the road wheel 10111 of forearm 101 moves forward, and middle arm 201 adjusts the position of its walking mechanism and clamping device, arm 201 is made again " to catch " wire on front side of strain clamp 8, as shown in Figure 10 (d).
The rear body 3 of crusing robot is when crossing over strain clamp 8, and the clamping device of rear arm 301 moves down along clamping device guide rail, makes pinch wheels separate with wire 6；Elevating mechanism raises, and walking mechanism moves up therewith, makes road wheel and pinch wheels exit wire 6 simultaneously；Rear steering mechanism 4 turns to counterclockwise, and the position of centre of gravity of robot offsets to the right, and after making robot, the walking mechanism of arm 301 is positioned at the lower right of strain clamp 8, as shown in Figure 10 (e).Robot moves forward under the walking mechanism 1011 of forearm 101 and the walking mechanism of middle arm 201 drive jointly, makes rear body 3 cross over strain clamp 8；Front steering mechanism 5 turns to counterclockwise, and rear steering mechanism 4 turns to clockwise, and after simultaneously, arm 301 adjusts the position of its walking mechanism and clamping device, makes rear arm 301 again " catch " wire on front side of strain clamp 8, as shown in Figure 10 (f).
The foregoing is only preferred embodiment of the present utility model, not in order to limit this utility model, all within spirit of the present utility model and principle, any amendment of making, equivalent replacement, improvement etc., should be included within protection domain of the present utility model.
Claims (10)
1. a transmission line polling robot, it is characterized in that, including front body (1), middle body (2) and rear body (3), described front body (1) includes again forearm (101) and front body (102), described middle body (2) includes again middle arm (201) and middle body (202), and described rear body (3) includes again rear arm (301) and rear body (302)；
Wherein, described forearm (101), described middle arm (201) is all identical with the structure of described rear arm (301), described forearm (101) includes walking mechanism (1011), clamping device (1012), clamping device guide rail (1013), elevating mechanism (1014) and arm rotating mechanism (1015), described walking mechanism (1011) is fixedly installed in the top of described clamping device guide rail (1013), described clamping device (1012) is slidably mounted on the position of the upper corresponding described walking mechanism (1011) of described clamping device guide rail (1013), the bottom of described clamping device guide rail (1013) is fixedly installed in the top of described elevating mechanism (1014), the bottom of described elevating mechanism (1014) is installed in rotation on described front body (102) by described arm rotating mechanism (1015)；
It is flexibly connected by front steering mechanism (5) between described front body (102) with described middle body (202), is flexibly connected by rear steering mechanism (4) between described middle body (202) with described rear body (302).
2. transmission line polling robot according to claim 1, it is characterized in that, described walking mechanism (1011) includes road wheel (10111), walking mechanism body (10112), walking mechanism rotating shaft (10113), walking mechanism motor (10114) and walking mechanism motor cabinet (10115), described walking mechanism body (10112) is fixedly installed in the top of described clamping device guide rail (1013), described walking mechanism motor (10114) is fixed on described walking mechanism body (10112) by described walking mechanism motor cabinet (10115), the outfan of described walking mechanism motor (10114) is connected with one end of described walking mechanism rotating shaft (10113), the other end of described walking mechanism rotating shaft (10113) is interspersed in described walking mechanism body (10112) rotationally, described road wheel (10111) is sleeved on described walking mechanism rotating shaft (10113).
3. transmission line polling robot according to claim 2, it is characterized in that, described clamping device (1012) including: pinch wheels (10121), clamping device body (10122), clamping device rotating shaft (10123), clamping device motor (10124), clamping device motor cabinet (10125), the first clamping device gear (10126) and clamping device slide block (10128)；Described clamping device body (10122) side is slidably mounted on described clamping device guide rail (1013) by described clamping device slide block (10128), described clamping device body (10122) opposite side is installed with described clamping device motor (10124) by described clamping device motor cabinet (10125), the outfan of described clamping device motor (10124) is connected with one end of described clamping device rotating shaft (10123), the other end of described clamping device rotating shaft (10123) is interspersed in described clamping device body (10122) rotationally, described pinch wheels (10121) is sleeved on the position of the upper corresponding described road wheel (10111) of described clamping device rotating shaft (10123), described first clamping device gear (10126) is sleeved on described clamping device rotating shaft (10123) and is positioned at the position outside described clamping device slide block (10128).
4. transmission line polling robot according to claim 3, it is characterized in that, the position of the upper corresponding described first clamping device gear (10126) of described clamping device rotating shaft (10123) is provided with the second clamping device gear (10127) being arranged side by side with described first clamping device gear (10126).
5. transmission line polling robot according to claim 4, it is characterized in that, described clamping device guide rail (1013) including: saw-toothed rail (10131) and guide rail shell (10132), described saw-toothed rail (10131) is fixed on the inner side of guide rail shell (10132), described walking mechanism body (10112) is fixedly installed in the top of described guide rail shell (10132), the bottom of described guide rail shell (10132) is fixedly installed in the top of described elevating mechanism (1014), described clamping device slide block (10128) is slidably mounted on described guide rail shell (10132), described first clamping device gear (10126) and described second clamping device gear (10127) are positioned at described guide rail shell (10132), and described first clamping device gear (10126) and described second clamping device gear (10127) are mutually twisted with described saw-toothed rail (10131) respectively.
6. transmission line polling robot according to claim 5, it is characterized in that, described arm rotating mechanism (1015) includes arm electric rotating machine (10151), arm electric rotating support (10152), arm rotating mechanism protection shell (10153), first arm rotating mechanism gear (10154) and the second arm rotating mechanism gear (10155), described arm electric rotating machine (10151) is fixedly installed in the upper surface of described front body (102) by described arm electric rotating support (10152), the outfan of described arm electric rotating machine (10151) penetrates rotatably described front body (102) and is connected with described first arm rotating mechanism gear (10154), the bottom of described elevating mechanism (1014) is inserted on described front body (102) by described arm rotating mechanism protection shell (10153) rotationally, described second arm rotating mechanism gear (10155) is fixedly mounted on the bottom of described elevating mechanism (1014), and described second arm rotating mechanism gear (10155) and described first arm rotating mechanism gear (10154) are mutually twisted.
7. transmission line polling robot according to claim 6, it is characterized in that, described front steering mechanism (5) includes front steering motor (501), front steering motor cabinet (502) and front steering rotating shaft (503), the rear end of described front body (102) is hinged by described front steering rotating shaft (503) with the front end of described middle body (202), and described front steering rotating shaft (503) is fixing with described front body (102) is connected, described front steering motor (501) is fixedly installed on described middle body (202) by described front steering motor cabinet (502), the outfan of described front steering motor (501) is connected with described front steering rotating shaft (503).
8. transmission line polling robot according to claim 7; it is characterized in that, the position of the upper corresponding described front steering rotating shaft (503) of described middle body (202) is provided with front steering rotating shaft base (504) for protecting described front steering rotating shaft (503).
9. transmission line polling robot according to claim 7, it is characterized in that, described rear steering mechanism (4) includes rear steering motor (401), rear steering motor seat (402) and rear steering rotating shaft (403), the rear end of described middle body (202) is hinged by described rear steering rotating shaft (403) with the front end of described rear body (302), and described rear steering rotating shaft (403) is fixing with described rear body (302) is connected, described rear steering motor (401) is fixedly installed on described middle body (202) by described rear steering motor seat (402), the outfan of described rear steering motor (401) is connected with described rear steering rotating shaft (403).
10. transmission line polling robot according to claim 9; it is characterized in that, the position of the upper corresponding described rear steering rotating shaft (403) of described middle body (202) is provided with rear steering rotating shaft base (404) for protecting described rear steering rotating shaft (403).
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| CN201620023187.1U CN205355674U (en) | 2016-01-11 | 2016-01-11 | Transmission line patrols and examines robot |
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| CN201620023187.1U CN205355674U (en) | 2016-01-11 | 2016-01-11 | Transmission line patrols and examines robot |
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| CN205355674U true CN205355674U (en) | 2016-06-29 |
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| CN109217168A (en) * | 2017-07-04 | 2019-01-15 | 克诺有限公司 | The crusing robot flexible dynamic mechanism and crusing robot of adaptable line line condition |
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