CN210246130U - Line patrol robot applying winch - Google Patents
Line patrol robot applying winch Download PDFInfo
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- CN210246130U CN210246130U CN201921387696.2U CN201921387696U CN210246130U CN 210246130 U CN210246130 U CN 210246130U CN 201921387696 U CN201921387696 U CN 201921387696U CN 210246130 U CN210246130 U CN 210246130U
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Abstract
The utility model discloses an use inspection robot of hoist engine installs the hoist engine in inspection robot box, and the rope and the bearing tongs of hoist engine are connected, and the bearing tongs passes through connecting piece and telescopic link fixed mounting. When the inspection robot crosses the obstacle, the electric wire is taken on the bearing hand grip, and the front walking hand grip or the rear walking hand grip is matched to cooperatively act together, so that the stability of the gravity center of the inspection robot when crossing the obstacle can be ensured. Simultaneously, when the line inspection robot is taken off from the cable, the rope is released by the winch, the line inspection robot can fall down automatically without climbing to the profiling tower or the electric pole again by a worker, and the labor cost and the operation time are greatly saved. And the solar cell panel is arranged on the surface of the box body, so that uninterrupted power supply can be provided for equipment, and the line patrol efficiency of the line patrol robot is ensured.
Description
Technical Field
The utility model relates to a power transmission line inspection robot especially relates to an applied hoist engine's inspection robot.
Background
The power transmission line has multiple distribution points and wide area, most of the power transmission line is far away from towns, the terrain is complex, the natural environment is severe, and the power line and the pole tower accessories are exposed outdoors for a long time, so that the cable is easy to damage, the safety of the power transmission line is further influenced, and the power transmission line must be subjected to regular inspection tour. At present, the inspection robot gradually replaces the manual work to carry out line inspection. The transmission line of the linear tower is provided with structural obstacles such as a suspension clamp, a suspension insulator, a vibration damper, a strain clamp, a tower and the like. Some inspection robots still need to stride across with the help of the manpower when crossing over the obstacle, and the inspection robot of another part is not used the manpower to cross the obstacle, but the stability of crossing the obstacle is not good enough, has the risk that unbalance drops, and the efficiency of crossing the obstacle is also lower simultaneously.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is: the utility model provides an use inspection robot of hoist engine to solve current inspection robot unstable and the inefficiency problem when surmounting the obstacle.
The technical scheme of the utility model is that:
a line patrol robot applying a winch comprises a box body, a front walking gripper and a rear walking gripper; the front walking gripper and the rear walking gripper are respectively arranged on the left side and the right side outside the box body, and a winch and a telescopic rod are fixedly arranged on the bottom surface inside the box body; a bearing grab is fixed at the end of a rope of the winch; and a connecting piece is arranged between the rod head of the telescopic rod and the bearing gripper.
The surface of the box body is covered with a solar panel.
The telescopic rod is an electric telescopic rod;
one end of the connecting piece, which is arranged with the bearing gripper, is provided with an opening, and the aperture is larger than the outer diameter of the rope of the winch.
One end of the front operating arm is arranged on the right end face outside the box body, and the other end of the front operating arm is fixedly provided with a front traveling wheel mechanism.
One end of the rear operating arm is arranged on the left end face outside the box body, and the other end of the rear operating arm is fixedly provided with a rear traveling wheel mechanism.
The front travelling wheel mechanism and the rear travelling wheel mechanism are of the same structure and comprise a motor, a guide pillar, a lead screw, an upper support frame, a lower support frame and travelling wheels; the upper support frame and the lower support frame are of a groove structure, the opening of the groove is installed right opposite, and the walking wheels are installed in the groove; a guide pillar and a lead screw are arranged between the upper support frame and the lower support frame; the lead screw is positioned between the two guide posts; the motor is fixedly arranged on the lower support frame; the motor is connected with the screw rod through a gear; the lower support frame is fixedly arranged on the end surface of the front operating arm or the rear operating arm.
The rear operating arm is of a connecting rod type structure and comprises a first connecting rod, a second connecting rod and a third connecting rod; the hinge joint of the first connecting rod and the second connecting rod is provided with a steering motor.
The bottom of the steering engine is arranged on the connecting piece, and the top of the steering engine is fixedly provided with a guide rail; a rotating shaft of the steering engine penetrates through the guide rail and then is fixed with the center of the rudder plate; two slide blocks which are opposite to each other in direction are sleeved on the guide rail, and the slide blocks are connected with the steering wheel through connecting pins; the transverse roller is horizontally arranged at the upper part of the sliding block; the vertical roller is vertically installed on the sliding block.
The distance from the bottom of the transverse roller to the upper surface of the guide rail is larger than the diameter of the cable.
The utility model discloses beneficial effect:
the utility model discloses an use line walking robot of hoist engine, the bearing tongs of installation on installation hoist engine and the hoist rope in the box, when line walking robot is surmounting the obstacle, the electric wire is taken to the bearing tongs, and walking tongs or back walking tongs are in coordination before the cooperation, can guarantee to patrol line robot centrobaric stability when surmounting the obstacle. Simultaneously, when the line inspection robot is taken off from the cable, the rope is released by the winch, the line inspection robot can fall down automatically without climbing to the profiling tower or the electric pole again by a worker, and the labor cost and the operation time are greatly saved. And the solar cell panel is arranged on the surface of the box body, so that uninterrupted power supply can be provided for equipment, and the line patrol efficiency of the line patrol robot is ensured.
Drawings
Fig. 1 is a schematic view of the overall assembly structure of the present invention;
fig. 2 is a schematic structural view of the front walking gripper of the present invention;
fig. 3 is a schematic structural view of the rear walking gripper of the present invention;
fig. 4 is a schematic view of the structure of the bearing gripper of the present invention.
Detailed Description
A line patrol robot applying a winch comprises a box body 1, a front walking gripper 2 and a rear walking gripper 3; preceding walking tongs 2 and back walking tongs 3 install respectively in the outside left and right sides of box 1, its characterized in that: a winch 5 and a telescopic rod 4 are fixedly arranged on the bottom surface inside the box body 1; a bearing grab 7 is fixed at the end of a rope of the winch 5; a connecting piece 6 is arranged between the rod head of the telescopic rod 4 and the bearing hand grip 7.
Preferably, the winch is a small-sized wire rope winch provided by Hebei Hanzhang hoisting machinery Co. The winch has a remote control function and can realize the extending and retracting actions of the rope of the winch.
The surface of the box body 1 is covered with a solar cell panel 8, so that uninterrupted power supply can be carried out on the winch and each motor, and long-time operation of equipment is guaranteed.
The telescopic rod 4 uses an electric telescopic rod, preferably, the telescopic rod 4 selects a direct-current electric push rod high-thrust lifting rod provided by elephant electric company Limited in Zhongshan city, and the remote control telescopic function of the push rod can be realized.
One end of the connecting piece 6, which is mounted on the bearing hand grip 7, is provided with an opening, the aperture of the opening is larger than the outer diameter of the rope of the winch 5, and the rope of the winch 5 penetrates through the opening and then is connected with the bearing hand grip 7. When the inspection robot needs to be taken down integrally, the movement of the rope is not influenced by the length of the telescopic rod 4.
As shown in fig. 2, the front road wheel mechanism 22 and the rear road wheel mechanism 32 are of the same structure, the upper support frame 205 and the lower support frame 204 are of a concave groove structure, the groove opening of the lower support frame 204 is installed upwards, and the groove opening of the upper support frame is installed downwards; a traveling wheel 206 is arranged in the groove; the position of the road wheels is aligned in the vertical direction to ensure that the cable can be clamped effectively.
A threaded hole is formed in the middle of the upper support frame 205, the diameter of the thread is consistent with the outer diameter of the lead screw 203, and the lead screw 203 penetrates through the threaded hole; a guide post 202 and a lead screw 203 are arranged between the upper support frame 205 and the lower support frame 204; the lead screw 203 is positioned between the two guide posts 202; the lead screw 203 mainly serves for stabilization and guidance.
The motor 201 is fixedly arranged on the lower support frame 204; the end of the rotating shaft of the motor 201 is in a gear structure, one end of a screw rod 203 connected with the end of the rotating shaft is also welded with the gear structure, and gears of the two are meshed with each other; the lower support bracket 204 is fixedly mounted on the end of the front operating arm 21 or the rear operating arm 31.
As shown in fig. 3, the rear operating arm 31 is a link structure, and a steering motor 314 is installed at the joint of the first link 311 and the second link 312. The steering motor 314 is used to unfold the first link 311 and the second link 312 and send the forward walking gripper 2 to the obstacle side when the obstacle is being cleared.
As shown in fig. 4, the bottom of the steering engine 701 is mounted on the connecting piece 6, and the top is fixedly mounted with a guide rail 702; a rotating shaft of the steering engine 701 penetrates through the guide rail 702 and then is fixed with the center of the rudder disk 703; two sliding blocks 704 which are opposite in direction are sleeved on the guide rail 702, and the sliding blocks 704 are connected with a rudder disc 703 through a connecting pin 707; the transverse roller 705 is horizontally arranged at the upper part of the sliding block 704; the vertical roller 706 is mounted vertically on the slider 704.
The distance from the bottom of the cross roller 705 to the upper surface of the guide rail 702 is greater than the diameter of the cable. To prevent the problem of a cable not being clamped or not being clamped.
An obstacle crossing method of a line patrol robot applying a winch mainly comprises the following steps:
step 1, moving an expansion link 4 upwards, putting up a bearing gripper 7 and grasping a cable;
step 4, the forward walking gripper 2 is used for putting up and grasping the cable;
and 8, loosening the cable by the bearing gripper 7, and moving the telescopic rod 4 downwards.
The method for the load-bearing gripper 7 to grasp and release the cable comprises the following steps: the steering engine 702 rotates forwards, and the connecting pin 708 drives the sliding block 705 to be tightened inwards, so that the transverse roller 706 and the vertical roller 707 clamp the cable; when the steering engine 702 rotates reversely, the connecting pin 708 moves in the opposite direction, which drives the sliding block 705 to move outwards, so that the transverse roller 706 and the vertical roller 707 loose cables.
The method for the front walking gripper 2 to grip and release the cable is as follows: the motor 201 rotates forwards to drive the screw rod 203 to rotate, so as to drive the upper support frame 205 to move downwards and clamp the cable together with the lower support frame 204; when the motor 201 is reversed, the upper support bracket 205 is moved upward, thereby releasing the cable.
The method for taking down the whole inspection robot comprises the following steps: the telescopic rod 4 moves upwards, the bearing gripper is put on and grips the cable, and the front walking gripper 2 and the rear walking gripper 3 loosen the cable; then the winch rotates to release the rope, and the whole inspection robot moves downwards to the ground.
Claims (10)
1. A line patrol robot applying a winch comprises a box body (1), a front walking gripper (2) and a rear walking gripper (3); preceding walking tongs (2) and back walking tongs (3) are installed respectively in box (1) outside left and right sides, its characterized in that: a winch (5) and a telescopic rod (4) are fixedly arranged on the bottom surface inside the box body (1); a bearing grab (7) is fixed at the end of the rope of the winch (5); a connecting piece (6) is arranged between the rod head of the telescopic rod (4) and the bearing grab handle (7).
2. The line patrol robot using the winding machine according to claim 1, wherein: the surface of the box body (1) is covered with a solar panel (8).
3. The line patrol robot using the winding machine according to claim 1, wherein: the telescopic rod (4) adopts an electric telescopic rod.
4. The line patrol robot using the winding machine according to claim 1, wherein: one end of the connecting piece (6) and one end of the bearing gripper (7) are provided with an opening, and the aperture is larger than the outer diameter of the rope of the winch (5).
5. The line patrol robot using the winding machine according to claim 1, wherein: the front walking gripper (2) comprises a front operating arm (21) and a front travelling wheel mechanism (22); one end of the front operating arm is arranged on the right end face outside the box body (1), and the other end is fixedly provided with a front travelling wheel mechanism (22).
6. The line patrol robot using the winding machine according to claim 1, wherein: the rear walking gripper (3) comprises a rear operating arm (31) and a rear walking wheel mechanism (32); one end of the rear operating arm (31) is arranged on the left end face outside the box body (1), and the other end is fixedly provided with a rear travelling wheel mechanism (32).
7. The line patrol robot using the winding machine according to claim 5 or 6, wherein: the front walking wheel mechanism (22) and the rear walking wheel mechanism (32) are consistent in structure, and comprise a motor (201), a guide pillar (202), a lead screw (203), an upper support frame (205), a lower support frame (204) and walking wheels (206); the upper support frame (205) and the lower support frame (204) are of a groove structure, the opening of the groove is arranged opposite to each other, and a travelling wheel (206) is arranged in the groove; a guide post (202) and a lead screw (203) are arranged between the upper support frame (205) and the lower support frame (204); the lead screw (203) is positioned between the two guide columns (202); the motor (201) is fixedly arranged on the lower support frame (204); the motor (201) is connected with the lead screw (203) through a gear; the lower support frame (204) is fixedly arranged on the end surface of the front operating arm (21) or the rear operating arm (31).
8. The line patrol robot using the winding machine according to claim 6, wherein: the rear operating arm (31) is of a connecting rod type structure and comprises a first connecting rod (311), a second connecting rod (312) and a third connecting rod (313); the hinged part of the first connecting rod (311) and the second connecting rod (312) is provided with a steering motor (314).
9. The line patrol robot using the winding machine according to claim 1, wherein: a steering engine (701) of a bearing gripper (7), a guide rail (702), a rudder wheel (703), a sliding block (704), a transverse roller (705), a vertical roller (706) and a connecting pin (707); the bottom of the steering engine (701) is arranged on the connecting piece (6), and the top is fixedly provided with a guide rail (702); a rotating shaft of the steering engine (701) penetrates through the guide rail (702) and then is fixed with the center of the rudder disk (703); two sliding blocks (704) which are opposite in direction are sleeved on the guide rail (702), and the sliding blocks (704) are connected with the rudder disc (703) through connecting pins (707); the transverse roller (705) is horizontally arranged at the upper part of the sliding block (704); the vertical roller (706) is vertically mounted on the slider (704).
10. The line patrol robot using the winding machine according to claim 9, wherein: the distance from the bottom of the cross roller (705) to the upper surface of the guide rail (702) is greater than the diameter of the cable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921387696.2U CN210246130U (en) | 2019-08-26 | 2019-08-26 | Line patrol robot applying winch |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921387696.2U CN210246130U (en) | 2019-08-26 | 2019-08-26 | Line patrol robot applying winch |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210246130U true CN210246130U (en) | 2020-04-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201921387696.2U Active CN210246130U (en) | 2019-08-26 | 2019-08-26 | Line patrol robot applying winch |
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| CN (1) | CN210246130U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110401139A (en) * | 2019-08-26 | 2019-11-01 | 贵州电网有限责任公司 | A kind of inspection robot and obstacle-detouring method using hoist engine |
-
2019
- 2019-08-26 CN CN201921387696.2U patent/CN210246130U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110401139A (en) * | 2019-08-26 | 2019-11-01 | 贵州电网有限责任公司 | A kind of inspection robot and obstacle-detouring method using hoist engine |
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