CN205377162U - Wheel indicates that high -voltage line of mechanism patrols and examines robot - Google Patents
Wheel indicates that high -voltage line of mechanism patrols and examines robot Download PDFInfo
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- CN205377162U CN205377162U CN201521024423.3U CN201521024423U CN205377162U CN 205377162 U CN205377162 U CN 205377162U CN 201521024423 U CN201521024423 U CN 201521024423U CN 205377162 U CN205377162 U CN 205377162U
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Abstract
The utility model provides a need not the position that the electric wire was snatched in the accurate positioning, it is strong that is suitable for extensive universal performance, is difficult for receiving the external factors influence when hindering more, the strong wheel indicates that high -voltage line of mechanism patrols and examines robot of stability. The utility model discloses the technological solution that adopts is a wheel indicates that high -voltage line of mechanism patrols and examines robot, including industry camera and electrical power generating system, characterized by: still including at least three through the coaxial continuous independent module of patrolling and examining of shaft coupling, the module setting that patrols and examines have two can the rotation to indicate the mechanism with the wheel that opens and shuts along with drive shaft rotating, every is patrolled and examined the module and all is provided with the driving system that the control handwheel indicates that the mechanism opens and shuts, has at least one to patrol and examine module setting and have the control handwheel to indicate the driving system of mechanism's rotation.
Description
Technical field
The invention belongs to high-voltage line and patrol and examine technical field, particularly relate to the high-voltage line crusing robot of a kind of Lun Zhi mechanism.
Background technology
Fast development along with high-voltage line networking, high-voltage line crusing robot is used widely, the key content that wherein obstacle detouring type inspection machine is artificially studied, but existing inspection device suffers from cost height, obstacle climbing ability is poor, limited by conditions such as geographical position weathers.
As publication number is: the patent disclosure of CN104600628A a kind of high-voltage line automatic inspection device and cruising inspection system, this system includes two and patrol and examine post, mechanical arm, mechanical hand, U-shaped cylinder, crushing knife etc..This system Problems existing: (1) this system is swung by mechanical arm, will patrol and examine post when swinging to barrier front, and can be subject to external environment influence (such as strong wind), cause swaying direction not immediately below high-voltage line, cause completing obstacle detouring；(2) when this system is swung by mechanical arm, can cause that single unit system is unstable, and be not perfectly level straight line due to high-voltage line, pendulum angle is uncertain, if pendulum angle is excessive, patrols and examines post and can clash into high-voltage line, cause equipment damage, if pendulum angle is too small, patrols and examines post and be not readily accessible to high-voltage line and cause that patrolling and examining post can not clamp high-voltage line；(3) this system universal performance is poor, and because high-voltage line wire diameter is different, patrolling and examining post needs constantly to change design size, causes design cost high.
As publication number is: the patent disclosure of 105000078A a kind of high-voltage line crusing robot avoidance mechanism, this mechanism includes housing, servomotor, shaft coupling, nut, leading screw, bearing, connecting rod one, connecting rod two, shell one, shell two, guide wheel, bearing pin, driving connecting rod, support bar.This mechanism's Problems existing: (1), in obstacle detouring process, guide wheel deviates high-voltage line, after surmounting obstacles, has uncertain curvature and softness due to high-voltage line, when guide wheel is wanted to return above high-voltage line, owing to not looking for line mechanism, can cause obstacle detouring failure；(2) poor universality, this mechanism can only patrol and examine in certain high pressure line, if changing guide wheel, whole linkage needs to recalculate design, causes design cost high.
Summary of the invention
The defect that the present invention exists to overcome prior art, it is an object of the invention to provide a kind of without being accurately positioned the position capturing electric wire, widely applicable universal performance is strong, is not easily susceptible to extraneous factor impact, the high-voltage line crusing robot of the Lun Zhi mechanism that stability is strong during obstacle detouring.
The adopted technical solution is that the high-voltage line crusing robot of a kind of Lun Zhi mechanism, including industrial camera and power-supply system, it is characterized in that: also include the independent polling module that at least three is coaxially connected through shaft coupling, described polling module is provided with two, and rotate with power transmission shaft can the Lun Zhi mechanism of rotation and folding, each polling module is both provided with control wheel and refers to the dynamical system of mechanism's folding, has at least a polling module to be provided with control wheel and refers to the dynamical system of mechanism's rotation.
nullDescribed polling module includes the first servomotor、First electric machine main shaft、First shaft coupling、Elevating screw、Elevating screw bearing、Elevating screw bearing block、Elevating screw nut、Elevating screw nut seat、Nut seat support、Wheel refers to folding drive path I、Wheel refers to folding drive path II and polling module support，The first described servomotor is arranged on polling module support，First electric machine main shaft is connected with elevating screw by the first shaft coupling，Elevating screw traverse elevating screw bearing，And be arranged on polling module support by elevating screw bearing block，Elevating screw nut and elevating screw threaded engagement，Elevating screw nut is connected with elevating screw nut seat and is arranged on nut seat support，Wheel refers to that folding drive path I one end is connected with nut seat support，The other end is connected with Lun Zhi mechanism，Wheel refers to that folding drive path II one end is connected with nut seat support，The other end is connected with Lun Zhi mechanism.
Described control wheel refers to that the dynamical system of mechanism's rotation is arranged on polling module support, including the second servomotor, second electric machine main shaft, second servo motor seat, second shaft coupling, first driving pulley, first power transmission shaft, first transmission shaft bearing, second driving pulley, second driving shaft, second driving shaft bearing, second driving shaft bearing block, 3rd driving pulley, 3rd power transmission shaft, 3rd transmission shaft bearing and the 3rd transmission shafts bearing, the second described servomotor is arranged in the second servo motor seat, second servo motor seat is fixed on polling module support, second electric machine main shaft is connected by shaft coupling and the first power transmission shaft, first power transmission shaft is arranged in the second servo motor seat through the first transmission shaft bearing；First driving pulley one end is arranged on the first power transmission shaft, the other end is arranged on second driving shaft, second driving pulley one end is arranged on second driving shaft, the other end is arranged on the 3rd power transmission shaft, 3rd driving pulley one end is arranged on second driving shaft, one end is arranged on the 3rd power transmission shaft, second driving shaft is arranged on second driving shaft bearing block by second driving shaft bearing, second driving shaft bearing block is arranged on polling module support, 3rd power transmission shaft is arranged in the 3rd transmission shafts bearing by the 3rd transmission shaft bearing, 3rd transmission shafts bearing is arranged on polling module support, it is connected by belt between second driving pulley and the 3rd driving pulley, the 3rd described power transmission shaft is provided with the second drive cone gear and the 3rd drive cone gear.
Described Lun Zhi mechanism includes that wheel refers to, patrols cable wheel, wheel refers to clutch shaft bearing, wheel refers to the second bearing, friction wheel case, conical gear and holding screw, described wheel refers to, take turns and refer to that the palm bar of folding drive path I refers to that with wheel the palm bar of folding drive path II is connected, patrol cable wheel and refer to that clutch shaft bearing and wheel refer to that the second bearing holder (housing, cover) is on wheel refers to by taking turns, patrolling cable wheel outside and arrange friction wheel case, conical gear is enclosed within wheel and refers to upper and fixed by holding screw.
Described polling module is connected by link, described link is provided with the switch board being connected with dynamical system, switch board is internally provided with balancing weight, drive system and control system, described control system includes controller and relay, described drive system includes wheel and refers to rotate transmission system drives device, wheel refers to folding transmission driver, described wheel refers to rotate transmission system drives device, wheel refers to that the input of folding transmission driver is connected with the outfan of controller by relay, the input of described controller is connected with the outfan of power-supply system.
Described power-supply system is located on link, including the ferric phosphate lithium cell being arranged in battery case and mu balanced circuit.
Described polling module support adopts Y-shaped structure.
It is provided with bracket reinforcing plate between described two module carriers being connected.
Described friction wheel case adopts the material with frictional resistance to make, and includes but not limited to the insulant of the increasing friction force such as polyurethane, silicone rubber.
Work process: when the high-voltage line crusing robot of Lun Zhi mechanism is patrolled and examined on high-voltage line, run into preceding object, the Lun Zhi mechanism of the second polling module opens, the Lun Zhi mechanism of the first polling module and the 3rd polling module continues obvolvent, under driven by servomotor, the Lun Zhi mechanism of the first polling module and the 3rd polling module continues rotation and advances, after the second polling module surmounts obstacles, the Lun Zhi mechanism of the second polling module holds together to be combined in wheel from chief commander's high-voltage line and refers to inter-agency, completes the second polling module obstacle detouring；Robot advances to obstacle when being positioned in the middle of the second polling module and the first polling module, the Lun Zhi mechanism of the first polling module opens, the Lun Zhi mechanism of the second polling module and the 3rd polling module continues obvolvent, under driven by servomotor, the Lun Zhi mechanism of the second polling module and the 3rd polling module continues rotation and advances, after the first polling module surmounts obstacles, the Lun Zhi mechanism of the first polling module holds together to be combined in wheel from chief commander's high-voltage line and refers to inter-agency, completes the first polling module obstacle detouring；Robot advances to obstacle when being positioned in the middle of the first polling module and the 3rd polling module, the Lun Zhi mechanism of the 3rd polling module opens, the Lun Zhi mechanism of the second polling module and the first polling module continues obvolvent, under driven by servomotor, the Lun Zhi mechanism of the second polling module and the first polling module continues rotation and advances, after the 3rd polling module surmounts obstacles, the Lun Zhi mechanism of the 3rd polling module holds together to be combined in wheel from chief commander's high-voltage line and refers to inter-agency, completes the 3rd polling module obstacle detouring.Namely the high-voltage line crusing robot of whole wheel mechanism completes obstacle, and hereafter, whole robot continues to patrol and examine, and when running into obstacle below, is also adopted by this process obstacle detouring.Shown in obstacle detouring process such as Figure 14,15,16.
Compared with prior art, the present invention is had the beneficial effect that
(1) described in due to all Lun Zhi mechanisms by same power transmission shaft transmit power and produce equidirectional rotation, make robot in the process of moving not because speed discrepancy causes power loss；
The Lun Zhi mechanism of two coordination foldings in (2) polling modules can complete centering and hold together to close, therefore after polling module surmounts obstacles, when Lun Zhi mechanism holds together to close, high pressure alignment Lun Zhi center is held together to close by Liang Gelunzhi mechanism Guan Bi gradually, completing automatically to look for line, bag ridge is stepped up, and not because of the change of high-voltage line wire diameter, making the high-voltage line that this crusing robot is applicable to different wire diameter patrol and examine work, versatility is wide；
(3) owing to robot is combined by multiple polling modules, therefore the stepping up degree and can adjust of the Lun Zhi mechanism of each polling module, to adapt to different high pressure curvature of a curve and to adjust the equilbrium position of crusing robot.
(4) owing to each polling module adopts two Lun Zhi mechanisms with certain frictional force to be undertaken looking for line by folding, this robot is made to be applicable to the high-voltage line of different curvature, solve current crusing robot on complicated circuit active obstacle, independently look for line to patrol and examine work problem, this is for the development and progress of later stage high-voltage line obstacle detouring inspection robot, and the intellectuality and the modernization that improve crusing robot have immeasurable meaning.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of the high-voltage line crusing robot of a kind of Lun Zhi mechanism；
Fig. 2 is the main TV structure schematic diagram of the high-voltage line crusing robot of a kind of Lun Zhi mechanism；
Fig. 3 is the backsight structural representation of the high-voltage line crusing robot of a kind of Lun Zhi mechanism；
Fig. 4 is the left view structural representation of the high-voltage line crusing robot of a kind of Lun Zhi mechanism；
Fig. 5 is the plan structure schematic diagram of the high-voltage line crusing robot of a kind of Lun Zhi mechanism；
Fig. 6 is the overall structure schematic diagram of the polling module of the high-voltage line crusing robot of a kind of Lun Zhi mechanism；
Fig. 7 is the left view structural representation of the polling module of the high-voltage line crusing robot of a kind of Lun Zhi mechanism；
Fig. 8 is one of (hiding Lun Zhi mechanism and folding drive path) overall structure schematic diagram of the polling module of the high-voltage line crusing robot of a kind of Lun Zhi mechanism；
Fig. 9 is the two of (hiding Lun Zhi mechanism and folding drive path) overall structure schematic diagram of the polling module of the high-voltage line crusing robot of a kind of Lun Zhi mechanism；
Figure 10 is the main TV structure schematic diagram that the wheel of the high-voltage line crusing robot of a kind of Lun Zhi mechanism refers to structure；
Figure 11 is the sectional structure schematic diagram that the wheel of the high-voltage line crusing robot of a kind of Lun Zhi mechanism refers to structure；
Figure 12 is the overall structure schematic diagram of the switch board of the high-voltage line crusing robot of a kind of Lun Zhi mechanism；
Figure 13 is the overall structure schematic diagram of the battery case of the high-voltage line crusing robot of a kind of Lun Zhi mechanism；
Figure 14 is the second polling module obstacle detouring structural representation of the high-voltage line crusing robot of a kind of Lun Zhi mechanism；
Figure 15 is the first polling module obstacle detouring structural representation of the high-voltage line crusing robot of a kind of Lun Zhi mechanism；
Figure 16 is the 3rd polling module obstacle detouring structural representation of the high-voltage line crusing robot of a kind of Lun Zhi mechanism.
In figure:
1: the first polling module the 1-1: the first servomotor；1-2: the first electric machine main shaft；1-3: the first shaft coupling；1-4: elevating screw；1-5: elevating screw bearing；1-6: elevating screw bearing block；1-7: elevating screw nut；1-8: elevating screw nut seat；1-9: nut seat support；1-10: wheel refers to folding drive path I；1-11: wheel refers to folding drive path II；1-12: Lun Zhi mechanism；1-13: wheel refers to rotate drive system；1-14: polling module support；1-15: bracket reinforcing plate；
1-10a: connecting pin；1-10b: connecting rod；1-10c: connecting pin；1-10d: palm bar；1-10e: bearing；
1-11a: connecting pin；1-11b: connecting rod；1-11c: connecting pin；1-11d: palm bar；1-11e: bearing；
1-12a: wheel refers to；1-12b: patrol cable wheel；1-12c: wheel refers to clutch shaft bearing；1-12d: wheel refers to the second bearing；1-12e: friction wheel case；1-12f: conical gear；1-12g: holding screw；
1-13-1: the second servomotor；1-13-2: the second electric machine main shaft；1-13-3: the second servo motor seat；1-13-4: the second shaft coupling；1-13-5: the first driving pulley；1-13-6: the first power transmission shaft；1-13-7: the first transmission shaft bearing；1-13-8: the second driving pulley；1-13-9: second driving shaft；1-13-10: second driving shaft bearing；1-13-11: second driving shaft bearing block；1-13-12: the three driving pulley；1-13-13: the three power transmission shaft；1-13-14: the three transmission shaft bearing；1-13-15: the three transmission shafts bearing；
1-13-5a: the first transmission drive pulley；1-13-5b: key；1-13-5c: the first driving belt；1-13-5d: the first driven transmission belt pulley；1-13-5e: key；
1-13-8a: the second transmission drive pulley；1-13-8b: key；1-13-8c: the second driving belt；1-13-8d: the second driven transmission belt pulley；1-13-8e: key；1-13-8f: the second drive cone gear；
1-13-12a: the three transmission drive pulley；1-13-12b: key；1-13-12c: the three driving belt；1-13-12d: the three driven transmission belt pulley；1-13-12e: key；1-13-12f: the three drive cone gear；
2: switch board 2-1: switch board housing；2-2: balancing weight；
3: control system 3-1:NIsbRIO controller；3-2: relay；
4: drive system 4-1: wheel refers to rotate transmission system drives device；4-2: wheel refers to folding transmission driver；4-3: wheel refers to folding transmission driver；4-4: wheel refers to folding transmission driver；
5: power-supply system 5-1: ferric phosphate lithium cell；5-2: mu balanced circuit；5-3 battery case；
6: link
7: industrial camera
8: camera bearing
9: polling module shaft coupling
10: high-voltage line suspension hook
11: high-voltage line
12: the second polling modules
13: the three polling modules.
Detailed description of the invention
Embodiment 1:
Adopting the high-voltage line crusing robot of Lun Zhi mechanism 1-12 of 3 polling modules as shown in figures 1-13, the second driving shaft in described polling module shaft coupling 9 just first polling module the 1, second polling module 12 and the 3rd polling module 13 couples together；
The first servomotor 1-1 in described polling module 1 is arranged on polling module support 1-14, first electric machine main shaft 1-2 is connected with elevating screw 1-4 by the first shaft coupling 1-3, elevating screw 1-4 is through elevating screw bearing 1-5, and is arranged on polling module support 1-14 by elevating screw bearing block 1-6.Elevating screw nut 1-7 and elevating screw 1-4 threaded engagement, the power of Lun Zhi mechanism 1-12 folding is provided, elevating screw nut 1-7 and elevating screw nut seat 1-8 is connected and is arranged on nut seat support 1-9, wheel refers to that folding drive path I1-10 one end is connected with nut seat support 1-9, the other end is connected with Lun Zhi mechanism 1-12, wheel refers to that folding drive path II1-11 one end is connected with nut seat support 1-9, the other end is connected with Lun Zhi mechanism 1-12, wheel refers to that rotating drive system 1-13 is arranged on polling module support 1-14, bracket reinforcing plate 1-15 is arranged between polling module support 1-14；
Described polling module 12 and polling module 13 have identical structure composition with polling module 1, only the servomotor 1-13-1 in polling module 1, electric machine main shaft 1-13-2, servo motor seat 1-13-3, shaft coupling 1-13-4, the first driving pulley 1-13-5, the first power transmission shaft 1-13-6, the first transmission shaft bearing 1-13-7, the first transmission drive pulley 1-13-5a, key 1-13-5b, the first driving belt 1-13-5c, the first driven transmission belt pulley 1-13-5d, key 1-13-5e are extractd, just define polling module 12 and polling module 13；
Described connecting rod 1-10b one end referred in folding drive path I1-10 of taking turns is connected on nut seat support 1-9 by connecting pin 1-10a, and connecting pin 1-10a only slides in polling module support 1-14 chute, with be limited in Liang Gelunzhi mechanism 1-12 capture high-voltage line time issuable dislocation, the other end is connected with palm bar 1-10d by connecting pin 1-10c, and palm bar 1-10d is arranged on the 3rd power transmission shaft 1-13-13 by bearing 1-10e；
Above-mentioned connecting rod 1-11b one end referred in folding drive path II1-11 of taking turns is connected on nut seat support 1-9 by connecting pin 1-11a, and connecting pin 1-11a only slides in polling module support 1-14 chute, the other end is connected with palm bar 1-11d by connecting pin 1-11c, and palm bar 1-11d is arranged on the 3rd power transmission shaft 1-13-13 by bearing 1-11e；
Wheel in above-mentioned Lun Zhi mechanism 1-12 refers to that 1-12a and wheel refer to that the palm bar 1-10d of folding drive path I1-10, wheel refer to that the palm bar 1-11d of folding drive path II1-11 connects, patrol cable wheel 1-12b and refer to that clutch shaft bearing 1-12c and wheel refer to that the second bearing 1-12d is enclosed within wheel and refers on 1-12a by wheel, patrolling cable wheel 1-12b outside bonding friction wheel case 1-12e, conical gear 1-12f to be enclosed within wheel and refer to fix on 1-12a and by holding screw 1-12g；
Described wheel refers to that in rotation drive system 1-13, the second servomotor 1-13-1 is arranged on the second servo motor seat 1-13-3, on the fixing polling module support 1-14 of second servo motor seat 1-13-3, second electric machine main shaft 1-13-2 is connected by the second shaft coupling 1-13-4 and the first power transmission shaft 1-13-6, and the first power transmission shaft 1-13-6 is arranged on the second servo motor seat 1-13-3 through the first transmission shaft bearing 1-13-7.nullFirst driving pulley 1-13-5 one end is arranged on the first power transmission shaft 1-13-6，The other end is arranged on second driving shaft 1-13-9，Second driving pulley 1-13-8 one end is arranged on second driving shaft 1-13-9，The other end is arranged on the 3rd power transmission shaft 1-13-13，3rd driving pulley 1-13-12 one end is arranged on second driving shaft 1-13-9，One end is arranged on the 3rd power transmission shaft 1-13-13，Second driving shaft 1-13-9 is arranged on second driving shaft bearing block 1-13-11 by second driving shaft bearing 1-13-10，Second driving shaft bearing block 1-13-11 is arranged on polling module support 1-14，3rd power transmission shaft 1-13-13 is arranged on the 3rd transmission shafts bearing 1-13-15 by the 3rd transmission shaft bearing 1-13-14，3rd transmission shafts bearing 1-13-15 is arranged on polling module support 1-14；
The first transmission drive pulley 1-13-5a in above-mentioned first driving pulley 1-13-5 is arranged on the first power transmission shaft 1-13-6 by key 1-13-5b, first driven transmission belt pulley 1-13-5d is arranged on second driving shaft 1-13-9 by key 1-13-5e, the first driving belt 1-13-5c and the first transmission drive pulley 1-13-5a, the first driven transmission belt pulley 1-13-5d engagement composition belt transmission；
The second transmission drive pulley 1-13-8a in above-mentioned second driving pulley 1-13-8 is arranged on second driving shaft 1-13-9 by key 1-13-8b, second driven transmission belt pulley 1-13-8d is arranged on the 3rd power transmission shaft 1-13-13 by key 1-13-8e, second drive cone gear 1-13-8f and the second driven transmission belt pulley 1-13-8d connects, the second driving belt 1-13-8c and the second transmission drive pulley 1-13-8a, the second driven transmission belt pulley 1-13-8d engagement composition belt transmission；
The 3rd transmission drive pulley 1-13-12a in above-mentioned 3rd driving pulley 1-13-12 is arranged on second driving shaft 1-13-9 by key 1-13-12b, 3rd driven transmission belt pulley 1-13-12d is arranged on the 3rd power transmission shaft 1-13-13 by key 1-13-12e, 3rd drive cone gear 1-13-12f and the three driven transmission belt pulley 1-13-12d connects, the 3rd driving belt 1-13-12c and the three transmission drive pulley 1-13-12a, the 3rd driven transmission belt pulley 1-13-12d engagement composition belt transmission；
Switch board housing 2-1 in described switch board 2 installs on link 6, and it is internal that balancing weight 2-2 is arranged on switch board 2；
NIsbRIO controller 3-1 and relay 3-2 in described control system 3 are arranged on switch board 2 inside；
It is internal that wheel in described drive system 4 refers to rotate transmission system drives device 4-1, wheel refers to folding transmission driver 4-2, wheel refers to that folding transmission driver 4-3 and wheel refer to that folding transmission driver 4-4 is arranged on switch board 2；
Battery case 5-3 in described power-supply system 5 is arranged on link 6, and ferric phosphate lithium cell 5-1 and mu balanced circuit 5-2 is arranged on inside battery case 5-3；
Polling module 1, polling module 12 and polling module 13 are coupled together by described link 6；
Described robot also includes industrial camera 7, and described industrial camera 7 is fixed on link 6 by camera bearing 8.
Embodiment 2:
The high-voltage line crusing robot of described Lun Zhi mechanism 1-12 adopts 5 polling modules to make, not shown, described friction wheel case 1-12e adopts polyurethane to make, and described polling module support 1-14 adopts Y-shaped structure, and the described wheel in switch board refers to that folding transmission driver is provided with 5.
In robot works: refer to that rotating drive system 1-13 provides the rotational power of all Lun Zhi mechanisms of robot 1-12 by taking turns, it is ensured that the synchronous axial system that wheel refers to, reduce power loss；Meanwhile, the folding of Lun Zhi mechanism 1-12, automatically look for line, bag ridge is promptly so that robot works flexibly on the high-voltage line of different wire diameters；Owing to robot is made up of multiple polling modules, what can regulate the Lun Zhi mechanism 1-12 in different polling module steps up degree to adjust the balance of whole robot, simultaneously, Ye Shi robot is applicable to the high-voltage line of different curvature, solve current crusing robot on complicated circuit active obstacle, independently look for line to patrol and examine work problem, this is for the development and progress of later stage high-voltage line obstacle detouring inspection robot, and the intellectuality and the modernization that improve crusing robot have immeasurable meaning.
The ultimate principle of the present invention, principal character and advantages of the present invention have more than been shown and described.Skilled person will appreciate that of the industry; the present invention is not restricted to the described embodiments; described in above-described embodiment and description is that principles of the invention is described; the present invention also has various changes and modifications without departing from the spirit and scope of the present invention, and these changes and improvements both fall within the claimed scope of the invention.Claimed scope is defined by appending claims and equivalent thereof.
Claims (8)
1. the high-voltage line crusing robot of a Zhong Lunzhi mechanism, including industrial camera and power-supply system, it is characterized in that: also include the independent polling module that at least three is coaxially connected through shaft coupling, described polling module is provided with two, and rotate with power transmission shaft can the Lun Zhi mechanism (1-12) of rotation and folding, each polling module is both provided with control wheel and refers to the dynamical system of mechanism (1-12) folding, has at least a polling module to be provided with control wheel and refers to the dynamical system of mechanism (1-12) rotation.
null2. the high-voltage line crusing robot of Lun Zhi mechanism according to claim 1，It is characterized in that: described polling module includes the first servomotor (1-1)、First electric machine main shaft (1-2)、First shaft coupling (1-3)、Elevating screw (1-4)、Elevating screw bearing (1-5)、Elevating screw bearing block (1-6)、Elevating screw nut (1-7)、Elevating screw nut seat (1-8)、Nut seat support (1-9)、Wheel refers to folding drive path I(1-10)、Wheel refers to folding drive path II(1-11) and polling module support (1-14)，Described the first servomotor (1-1) is arranged on polling module support (1-14)，First electric machine main shaft (1-2) is connected with elevating screw (1-4) by the first shaft coupling (1-3)，Elevating screw (1-4) traverse elevating screw bearing (1-5)，And be arranged on polling module support (1-14) by elevating screw bearing block (1-6)，Elevating screw nut (1-7) and elevating screw (1-4) threaded engagement，Elevating screw nut (1-7) is connected with elevating screw nut seat (1-8) and is arranged on nut seat support (1-9)，Wheel refers to folding drive path I(1-10) one end is connected with nut seat support (1-9)，The other end is connected with Lun Zhi mechanism (1-12)，Wheel refers to folding drive path II(1-11) one end is connected with nut seat support (1-9)，The other end is connected with Lun Zhi mechanism (1-12).
null3. the high-voltage line crusing robot of Lun Zhi mechanism according to claim 1，It is characterized in that: described control wheel refers to that the dynamical system of mechanism's rotation is arranged on polling module support (1-14)，Including the second servomotor (1-13-1)、Second electric machine main shaft (1-13-2)、Second servo motor seat (1-13-3)、Second shaft coupling (1-13-4)、First driving pulley (1-13-5)、First power transmission shaft (1-13-6)、First transmission shaft bearing (1-13-7)、Second driving pulley (1-13-8)、Second driving shaft (1-13-9)、Second driving shaft bearing (1-13-10)、Second driving shaft bearing block (1-13-11)、3rd driving pulley (1-13-12)、3rd power transmission shaft (1-13-13)、3rd transmission shaft bearing (1-13-14) and the 3rd transmission shafts bearing (1-13-15)；Described the second servomotor (1-13-1) is arranged in the second servo motor seat (1-13-3), second servo motor seat (1-13-3) is fixed on polling module support (1-14), second electric machine main shaft (1-13-2) is connected with the first power transmission shaft (1-13-6) by the second shaft coupling (1-13-4), and the first power transmission shaft (1-13-6) is arranged in the second servo motor seat (1-13-3) through the first transmission shaft bearing (1-13-7)；nullFirst driving pulley (1-13-5) one end is arranged on the first power transmission shaft (1-13-6)，The other end is arranged on second driving shaft (1-13-9)，Second driving pulley (1-13-8) one end is arranged on second driving shaft (1-13-9)，The other end is arranged on the 3rd power transmission shaft (1-13-13)，3rd driving pulley (1-13-12) one end is arranged on second driving shaft (1-13-9)，One end is arranged on the 3rd power transmission shaft (1-13-13)，Second driving shaft (1-13-9) is arranged on second driving shaft bearing block (1-13-11) by second driving shaft bearing (1-13-10)，Second driving shaft bearing block (1-13-11) is arranged on polling module support (1-14)，3rd power transmission shaft (1-13-13) is arranged in the 3rd transmission shafts bearing (1-13-15) by the 3rd transmission shaft bearing (1-13-14)，3rd transmission shafts bearing (1-13-15) is arranged on polling module support (1-14)，It is connected by belt between second driving pulley (1-13-8) and the 3rd driving pulley (1-13-12)，The 3rd described power transmission shaft (1-13-13) is provided with the second drive cone gear (1-13-8f) and the 3rd drive cone gear (1-13-12f).
null4. the high-voltage line crusing robot of Lun Zhi mechanism according to claim 1，It is characterized in that: described Lun Zhi mechanism (1-12) includes wheel and refers to (1-12a)、Patrol cable wheel (1-12b)、Wheel refers to clutch shaft bearing (1-12c)、Wheel refers to the second bearing (1-12d)、Friction wheel case (1-12e、) conical gear (1-12f) and holding screw (1-12g)，Described wheel refers to (1-12a)、Wheel refer to folding drive path I(1-10) palm bar (1-10d) refer to folding drive path II(1-11 with wheel) palm bar (1-11d) be connected，Patrol cable wheel (1-12b) and refer to that clutch shaft bearing (1-12c) and wheel refer to that the second bearing (1-12d) is enclosed within wheel and refers on (1-12a) by wheel，Patrol cable wheel (1-12b) outside and friction wheel case (1-12e) is set，Conical gear (1-12f) is enclosed within wheel and refers to that (1-12a) is upper and fixing by holding screw (1-12g).
null5. the high-voltage line crusing robot of Lun Zhi mechanism according to claim 1，It is characterized in that: described polling module is connected by link (6)，Described link is provided with the switch board (2) being connected with dynamical system，Switch board (2) is internally provided with balancing weight (2-2)、Drive system (4) and control system (3)，Described control system (3) includes controller (3-1) and relay (3-2)，Described drive system (4) includes wheel and refers to rotate transmission system drives device (4-1)、Wheel refers to folding transmission driver (4-2)，Described wheel refers to rotate transmission system drives device (4-1)、Wheel refers to that the input of folding transmission driver (4-2) is connected by the outfan of relay (3-2) with controller (3-1)，The input of described controller (3-1) is connected with the outfan of power-supply system.
6. the high-voltage line crusing robot of Lun Zhi mechanism according to claim 1, is characterized in that: described power-supply system is located on link (6), including the ferric phosphate lithium cell (5-1) being arranged in battery case (5-3) and mu balanced circuit (5-2).
7. the high-voltage line crusing robot of Lun Zhi mechanism according to claim 2, is characterized in that: described polling module support (1-14) adopts Y-shaped structure.
8. the high-voltage line crusing robot of the Lun Zhi mechanism according to claim 2 or 7, is characterized in that: be provided with bracket reinforcing plate (1-15) between described two module carriers (1-14) being connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521024423.3U CN205377162U (en) | 2015-12-11 | 2015-12-11 | Wheel indicates that high -voltage line of mechanism patrols and examines robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521024423.3U CN205377162U (en) | 2015-12-11 | 2015-12-11 | Wheel indicates that high -voltage line of mechanism patrols and examines robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205377162U true CN205377162U (en) | 2016-07-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201521024423.3U Expired - Fee Related CN205377162U (en) | 2015-12-11 | 2015-12-11 | Wheel indicates that high -voltage line of mechanism patrols and examines robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205377162U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105514864A (en) * | 2015-12-11 | 2016-04-20 | 沈阳航空航天大学 | High-voltage line inspection robot with wheel mechanisms |
| CN111628577A (en) * | 2020-06-11 | 2020-09-04 | 云南电网有限责任公司昆明供电局 | Mechanism device for taking electricity from high-voltage line |
-
2015
- 2015-12-11 CN CN201521024423.3U patent/CN205377162U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105514864A (en) * | 2015-12-11 | 2016-04-20 | 沈阳航空航天大学 | High-voltage line inspection robot with wheel mechanisms |
| CN111628577A (en) * | 2020-06-11 | 2020-09-04 | 云南电网有限责任公司昆明供电局 | Mechanism device for taking electricity from high-voltage line |
| CN111628577B (en) * | 2020-06-11 | 2021-10-15 | 云南电网有限责任公司昆明供电局 | Mechanism device for taking electricity from high-voltage line |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160706 Termination date: 20161211 |