CN212648942U - Overhead transmission line inspection robot - Google Patents
Overhead transmission line inspection robot Download PDFInfo
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- CN212648942U CN212648942U CN202021794723.0U CN202021794723U CN212648942U CN 212648942 U CN212648942 U CN 212648942U CN 202021794723 U CN202021794723 U CN 202021794723U CN 212648942 U CN212648942 U CN 212648942U
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Abstract
The utility model relates to an overhead transmission line patrols line robot belongs to transmission of electricity specialty and patrols line machine technical field. The technical scheme is as follows: starting a lifting driving motor (304), lifting a pulley (403), putting a cable of the overhead transmission line into a mechanical foot frame (401) by an operator, and descending the pulley (403) to enable the cable to be positioned between a pulley groove of the pulley (403) and a lower layer plate, so that the placement work of one mechanical foot is completed; repeating the operation until the placement work of all the mechanical feet is completed; the mechanical foot driving motor (406) rotates forwards to drive the pulley to act so as to enable the robot to move forwards, and the mechanical foot driving motor rotates backwards to drive the pulley to act backwards so as to enable the robot to move backwards; ground operating personnel acquire images or video images through the detection module (7) to finish inspection. The utility model discloses an actively the effect: when meeting obstacles such as stockbridge dampers, spacing rods, pole tower cross arms and the like, the lifting and moving of the mechanical feet can be sequentially controlled to complete obstacle crossing inspection.
Description
Technical Field
The utility model relates to an overhead transmission line patrols line robot belongs to transmission of electricity specialty and patrols line machine technical field.
Background
With the development of science and technology, more and more high and new technologies are applied to the power transmission major, the intellectualization and automation gradually become the industry trend, and the inspection robot is produced at the same time. However, due to structural limitations, the conventional line patrol robot device generally adopts a single-line mobile robot, that is, one or more rollers move along a wire or ground wire support, and this way only can patrol the wire or ground wire with a single span, but cannot patrol multiple wire and ground wire segments across a tower.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing an overhead transmission line patrols line robot, four mechanical feet of patrolling line robot carry on respectively on two cables of overhead transmission line, through remote control, control robot gos forward and retreat to patrol and examine transmission line through carrying on detection device. When obstacles such as a vibration damper, a spacer rod, a tower cross arm and the like are encountered, the obstacle crossing inspection can be completed by sequentially controlling the lifting and the movement of the mechanical feet, so that the problems in the background technology are solved.
The technical scheme of the utility model is that:
an overhead transmission line inspection robot comprises a walking crossing mechanism, a controller, a power module and a detection module, wherein the walking crossing mechanism, the controller, the power module and the detection module are arranged on a main body frame;
the main body frame comprises transverse frames, vertical frames, a rotating table, gear grooves, bearing holes and a rotating arm fixing sliding groove, the two vertical frames are respectively arranged above the two cables in parallel along the direction of the cables, and the two transverse frames are respectively vertically arranged at two ends of the two vertical frames to form a rectangular frame; the rotating platform is of a circular ring structure, and the inner side surface and the outer side surface are respectively provided with a gear groove and a rotating arm fixing sliding groove along the circumferential direction; the four rotating platforms are respectively arranged at four corners of the rectangular frame, bearing holes are arranged at the joints of the horizontal frame and the vertical frame, and the central lines of the bearing holes are superposed with the central line of the gear groove;
the walking crossing mechanism comprises mechanical arms, mechanical legs and mechanical feet which are sequentially arranged from top to bottom;
the mechanical arm comprises a mechanical arm telescopic seat, a mechanical arm telescopic rod, a mechanical arm fixing slide bar I, a mechanical arm fixing slide bar II, a mechanical arm lead screw, a mechanical arm rotation driving motor, a mechanical arm driving gear, a mechanical arm telescopic driving motor and a mechanical arm central shaft, wherein the mechanical arm telescopic seat is of a strip-shaped structure and is arranged below the rotating table, the mechanical arm central shaft is arranged in the center of the upper end face of the mechanical arm telescopic seat, and the mechanical arm central shaft is arranged in a bearing hole of the main body frame through a bearing; the second mechanical arm fixing sliding strip and the first mechanical arm fixing sliding strip are both arc-shaped structures, are respectively arranged on the upper end surface of the mechanical arm telescopic seat in the front and back directions, are positioned outside the rotating platform and are matched with a rotating arm fixing sliding groove on the outer side surface of the rotating platform; a mechanical arm rotation driving motor and a mechanical arm driving gear in driving connection with the mechanical arm rotation driving motor are arranged at two adjacent positions of the mechanical arm telescopic seat and the mechanical arm fixing sliding strip, the mechanical arm rotation driving motor and the mechanical arm driving gear are both positioned in the rotating platform, the mechanical arm driving gear is matched with a gear groove on the inner side surface of the rotating platform, and the mechanical arm rotation driving motor drives the mechanical arm telescopic seat to rotate around the rotating platform; the mechanical arm telescopic driving motor, the mechanical arm lead screw and the mechanical arm telescopic rod are sequentially arranged on the lower end face of the mechanical arm telescopic seat from back to front, an output shaft of the mechanical arm telescopic driving motor is connected with the mechanical arm lead screw, the mechanical arm lead screw is in threaded connection with the mechanical arm telescopic rod, and the mechanical arm telescopic driving motor drives the mechanical arm lead screw to rotate to drive the mechanical arm telescopic rod to extend or retract (extend out of the mechanical arm telescopic seat or retract into the mechanical arm telescopic seat);
the mechanical leg comprises a mechanical leg connecting piece, a supporting rod, a mechanical leg screw rod, a lifting driving motor, a supporting rod gear groove, a mechanical leg driving motor and a mechanical leg driving gear, wherein the mechanical leg connecting piece is connected with a mechanical arm telescopic rod of the mechanical arm, the supporting rod is of a hollow structure, the upper end of the supporting rod is rotatably arranged on the mechanical leg connecting piece, the upper end of the mechanical leg screw rod is in threaded connection with the lower end of the supporting rod, and the lower end of the mechanical leg screw rod is connected with an output shaft of the; the outer side wall of the supporting rod is provided with an annular sawtooth-shaped supporting rod gear groove, a mechanical leg driving motor is arranged on the side surface of the supporting rod, an output shaft of the mechanical leg driving motor is provided with a mechanical leg driving gear, the mechanical leg driving gear is meshed with the supporting rod gear groove, and the mechanical leg driving motor drives the supporting rod to rotate and is used for correcting and controlling the mechanical foot to be consistent with the direction of a lightning conductor;
the mechanical foot comprises a mechanical foot frame, a mechanical foot motor support frame, a pulley, a stabilizer bar, a fixing clamping seat and a mechanical foot driving motor, wherein the mechanical foot frame is in a groove shape and consists of an upper layer plate, a connecting frame and a lower layer plate which are sequentially connected, the upper layer plate and the lower layer plate are arranged in parallel up and down, and one sides of the upper layer plate and the lower layer plate are connected through the connecting frame; the mechanical foot motor support frame is arranged in the mechanical foot frame, at least two pulleys are rotatably arranged in the mechanical foot motor support frame along the direction of a power transmission line, mechanical foot driving motors are arranged on the mechanical foot motor support frame, the number of the mechanical foot driving motors is the same as that of the pulleys, and the mechanical foot driving motors drive the corresponding pulleys to rotate; be equipped with a plurality of lift holes on the upper plate of sufficient frame of machinery, a plurality of stabilizer bar upper ends set up respectively on corresponding lift hole, the lower extreme setting of a plurality of stabilizer bars is on sufficient motor support frame of machinery, the bracing piece of machinery leg stretches into in the sufficient frame of machinery, the lift driving motor of bracing piece bottom is fixed on fixed cassette, fixed cassette sets up on sufficient motor support frame of machinery, lift driving motor drives sufficient motor support frame of machinery and sets up the pulley on sufficient motor support frame of machinery oscilaltion sufficient frame of machinery.
The bottom of the mechanical arm telescopic seat is provided with a motor mounting groove, a mechanical arm lead screw support is arranged in the motor mounting groove, the motor mounting groove is divided into a front part and a rear part, a mechanical arm telescopic driving motor is arranged at the rear part of the motor mounting groove, an output shaft of the mechanical arm telescopic driving motor is connected with a mechanical arm lead screw arranged on the mechanical arm lead screw support, the mechanical arm lead screw extends forwards to enter the front part of the motor mounting groove and is in threaded connection with the rear end of a mechanical arm telescopic rod, and the front end of the mechanical arm telescopic rod extends forwards after penetrating through the mechanical arm.
The mechanical leg connecting piece is of a rectangular block structure, a horizontal through hole is formed in the mechanical leg connecting piece, and the front end of the mechanical arm telescopic rod extends out of the mechanical arm telescopic seat and then extends into the horizontal through hole.
The horizontal frame, the vertical frame and the rotating platform are of an integrally formed structure.
The mechanical foot motor support frame consists of two support plates, two pulleys are rotatably arranged between the two support plates, and the fixing clamping seat is arranged in a space enclosed by the two support plates and the two pulleys; every backup pad up end all is equipped with two stabilizer bars, and the upper end of every stabilizer bar matches and inserts in corresponding lifting hole.
A plurality of pulley holes are formed in the lower plate of the mechanical foot frame, the number of the pulley holes is consistent with that of the pulleys, the lower ends of the pulleys are located in the pulley holes, and the cables are located between the pulley grooves and the lower plate.
The power supply modules are long-strip-shaped, four in number and are respectively arranged on the upper end surfaces of the two transverse frames and the two vertical frames; the controller is arranged on the side surface of the transverse frame or the vertical frame and is positioned between the two rotating tables; the detection module quantity is a plurality of, sets up at revolving stage up end, and the detection module includes but not limited to: the system comprises a visible light detection module, an infrared detection module, a flaw detection module and the like.
The whole part of the vertical frame and the part of the transverse frame, which are positioned in the rotating platform, are T-shaped, and the length of the vertical frame, which is positioned in the rotating platform, is equal to the diameter of the rotating platform.
The upper end face of the mullion is flush with the upper end face of the rotating platform, the lower end face of the mullion is located above the gear groove and the mechanical arm driving gear, and the mechanical arm driving gear can slide in the rotating platform along the gear groove in the circumferential direction.
The mechanical arm telescopic rod is perpendicular to the central line of the supporting rod.
The controller, the power supply module and the detection module are all common devices known in the art and are sold in the market.
The utility model discloses an actively the effect: through remote control, the robot is controlled to move forwards and backwards, and the power transmission line is patrolled and examined through the carrying detection device. When obstacles such as a vibration damper, a spacer rod, a tower cross arm and the like are encountered, the obstacle crossing inspection can be completed by sequentially controlling the lifting and the movement of the mechanical feet, and the inspection of multi-gear guide and ground line segments can be carried out by crossing the tower.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the main frame structure of the present invention;
FIG. 3 is a schematic view of the structure of the robot arm of the present invention;
FIG. 4 is a schematic view of the mechanical leg structure of the present invention;
FIG. 5 is a schematic view of the mechanical foot of the present invention;
fig. 6 is a third schematic view of the embodiment of the present invention;
fig. 7 is a rear schematic view of a third left front side mechanical leg crossing a tower cross arm according to an embodiment of the present invention;
in the figure: a main body frame 1, a horizontal frame 101, a vertical frame 102, a rotary table 103, a gear groove 104, a bearing hole 105, a rotary arm fixing chute 106, a mechanical arm 2, a mechanical arm telescopic seat 201, a mechanical arm telescopic rod 202, a mechanical arm fixing slide bar 203A, a mechanical arm fixing slide bar 203B, a mechanical arm lead screw 204, a mechanical arm rotary driving motor 205, a mechanical arm driving gear 206, a mechanical arm telescopic driving motor 207, a mechanical arm central bearing 208, a mechanical arm lead screw support 209, a mechanical leg 3, a mechanical leg connecting piece 301, a support rod 302, a mechanical leg lead screw 303, a lifting driving motor 304, a support rod gear groove 305, a mechanical leg driving motor 306, a mechanical leg driving gear 307, a horizontal through hole 308, a mechanical foot 4, a mechanical foot frame 401, an upper plate 401A, a connecting frame 401B, a lower plate 401C, a mechanical foot motor support frame 402, a pulley 403, a stabilizer, Mechanical foot drive motor 406, controller 5, power module 6, detection module 7.
Detailed Description
The invention is further described with reference to the following figures and examples:
the utility model discloses can use on overhead transmission line's ground wire, wire and lightning conductor, accomplish many grades and lead, the tour of ground wire section.
An overhead transmission line inspection robot comprises a walking crossing mechanism, a controller 5, a power module 6 and a detection module 7, wherein the walking crossing mechanism, the controller 5, the power module 6 and the detection module 7 are arranged on a main body frame 1;
the main body frame 1 comprises transverse frames 101, vertical frames 102, a rotating platform 103, a gear groove 104, a bearing hole 105 and a rotating arm fixing sliding groove 106, wherein the two vertical frames 102 are respectively arranged above the two cables in parallel along the direction of the cables, and the two transverse frames 101 are respectively vertically arranged at two ends of the two vertical frames 102 to form a rectangular frame; the rotary table 103 is of a circular ring structure, and the inner side surface and the outer side surface are respectively provided with a gear groove 104 and a rotating arm fixing sliding groove 106 along the circumferential direction; the four rotating platforms 103 are respectively arranged at four corners of the rectangular frame, bearing holes 105 are arranged at the joint of the horizontal frame 101 and the vertical frame 102, and the central lines of the bearing holes 105 are superposed with the central line of the gear groove 104;
the number of the walking crossing mechanisms is four, the walking crossing mechanisms are respectively arranged below the four rotating platforms 103, and each walking crossing mechanism comprises a mechanical arm 2, a mechanical leg 3 and a mechanical foot 4 which are sequentially arranged from top to bottom;
the mechanical arm 2 comprises a mechanical arm telescopic seat 201, a mechanical arm telescopic rod 202, a mechanical arm fixing slide bar I203A, a mechanical arm fixing slide bar II 203B, a mechanical arm screw rod 204, a mechanical arm rotation driving motor 205, a mechanical arm driving gear 206, a mechanical arm telescopic driving motor 207 and a mechanical arm central shaft 208, wherein the mechanical arm telescopic seat 201 is of a strip structure and is arranged below the rotating table 103, the mechanical arm central shaft 208 is arranged at the center of the upper end face of the mechanical arm telescopic seat 201, and the mechanical arm central shaft 208 is arranged in a bearing hole 105 of the main body frame 1 through a bearing; the second mechanical arm fixing sliding strip 203B and the first mechanical arm fixing sliding strip 203A are both arc-shaped structures, are respectively arranged on the upper end surface of the mechanical arm telescopic seat 201 in the front and back directions, are positioned on the outer side of the rotating platform 103, and are matched with the rotating arm fixing sliding groove 106 on the outer side surface of the rotating platform 103; a mechanical arm rotation driving motor 205 and a mechanical arm driving gear 206 in driving connection with the mechanical arm rotation driving motor 205 are arranged at the position, adjacent to the mechanical arm fixing slide bar II 203B, of the mechanical arm telescopic seat, the mechanical arm rotation driving motor 205 and the mechanical arm driving gear 206 are both positioned in the rotating platform 103, the mechanical arm driving gear 206 is matched with a gear groove 104 on the inner side surface of the rotating platform 103, and the mechanical arm rotation driving motor 205 drives the mechanical arm telescopic seat 201 to rotate around the rotating platform 103; the mechanical arm telescopic driving motor 207, the mechanical arm lead screw 204 and the mechanical arm telescopic rod 202 are sequentially arranged on the lower end face of the mechanical arm telescopic seat 201 from back to front, an output shaft of the mechanical arm telescopic driving motor 207 is connected with the mechanical arm lead screw 204, the mechanical arm lead screw 204 is in threaded connection with the mechanical arm telescopic rod 202, and the mechanical arm telescopic driving motor 207 drives the mechanical arm lead screw 204 to rotate so as to drive the mechanical arm telescopic rod 202 to extend or retract;
the mechanical leg 3 comprises a mechanical leg connecting piece 301, a support rod 302, a mechanical leg screw rod 303, a lifting driving motor 304, a support rod gear groove 305, a mechanical leg driving motor 306 and a mechanical leg driving gear 307,
the mechanical leg connecting piece 301 is connected with a mechanical arm telescopic rod 202 of the mechanical arm 2, the supporting rod 302 is of a hollow structure, the upper end of the supporting rod 302 is rotatably arranged on the mechanical leg connecting piece 301, the upper end of the mechanical leg screw rod 303 is in threaded connection with the lower end of the supporting rod 302, and the lower end of the mechanical leg screw rod 303 is connected with an output shaft of a lifting driving motor 304; an annular sawtooth-shaped support rod gear groove 305 is formed in the outer side rod wall of the support rod 302, a mechanical leg driving motor 306 is arranged on the side face of the support rod 302, a mechanical leg driving gear 307 is arranged on an output shaft of the mechanical leg driving motor 306, the mechanical leg driving gear 307 is meshed with the support rod gear groove 305, and the mechanical leg driving motor 306 drives the support rod 302 to rotate;
the mechanical foot 4 comprises a mechanical foot frame 401, a mechanical foot motor support frame 402, a pulley 403, a stabilizer bar 404, a fixed clamping seat 405 and a mechanical foot driving motor 406, wherein the mechanical foot frame 401 is groove-shaped and consists of an upper plate 401A, a connecting frame 401B and a lower plate 401C which are sequentially connected, the upper plate and the lower plate are arranged in parallel up and down, and one sides of the upper plate and the lower plate are connected through the connecting frame; the mechanical foot motor support frame 402 is arranged in the mechanical foot frame 401, at least two pulleys 403 are rotatably arranged in the mechanical foot motor support frame 402 along the direction of a power transmission line, mechanical foot driving motors 406 are arranged on the mechanical foot motor support frame 402, the number of the mechanical foot driving motors 406 is the same as that of the pulleys 403, and the mechanical foot driving motors 406 drive the corresponding pulleys 403 to rotate; be equipped with a plurality of lift holes on the upper plate of machinery foot frame 401, a plurality of stabilizer bar 404 upper ends set up respectively on corresponding lift hole, the lower extreme setting of a plurality of stabilizer bar 404 is on machinery foot motor support frame 402, the bracing piece 302 of machinery leg 3 stretches into in machinery foot frame 401, the lift driving motor 304 of bracing piece 302 bottom is fixed on fixed cassette 405, fixed cassette 405 sets up on machinery foot motor support frame 402, lift driving motor 304 drives machinery foot motor support frame 402 and sets up pulley 403 on machinery foot motor support frame 402 and oscilaltion in machinery foot frame 401.
The bottom of the mechanical arm telescopic seat 201 is provided with a motor mounting groove, a mechanical arm lead screw support 209 is arranged in the motor mounting groove, the motor mounting groove is divided into a front part and a rear part, a mechanical arm telescopic driving motor 207 is arranged at the rear part of the motor mounting groove, an output shaft of the mechanical arm telescopic driving motor 207 is connected with a mechanical arm lead screw 204 arranged on the mechanical arm lead screw support, the mechanical arm lead screw 204 stretches forwards to enter the front part of the motor mounting groove and is in threaded connection with the rear end of the mechanical arm telescopic rod 202, and the front end of the mechanical arm telescopic rod 202 penetrates through the mechanical arm telescopic seat 201 and then stretches.
The mechanical leg connecting piece 301 is of a rectangular block structure, a horizontal through hole 308 is formed in the mechanical leg connecting piece, and the front end of the mechanical arm telescopic rod 202 extends out of the mechanical arm telescopic seat 201 and then extends into the horizontal through hole 308.
The horizontal frame 101, the vertical frame 102 and the rotary table 103 are integrally formed.
The mechanical foot motor support frame 402 is composed of two support plates, two pulleys 403 are rotatably arranged between the two support plates, and a fixed clamping seat 405 is arranged in a space enclosed by the two support plates and the two pulleys 403; two stabilizer bars 404 are arranged on the upper end surface of each supporting plate, and the upper end of each stabilizer bar 404 is inserted into the corresponding lifting hole in a matching manner.
A plurality of pulley holes are formed in a lower plate of the mechanical foot frame 401, the number of the pulley holes is consistent with that of the pulleys 403, the lower ends of the pulleys 403 are located in the pulley holes, and cables are located between pulley grooves of the pulleys 403 and the lower plate.
The power supply modules 6 are long-strip-shaped, four in number and are respectively arranged on the upper end faces of the two transverse frames 101 and the two vertical frames 102; the controller 5 is arranged on the side surface of the horizontal frame 101 or the vertical frame 102 and is positioned between the two rotating platforms 103; the number of the detection modules 7 is four, and the detection modules are respectively arranged on the upper end surfaces of the four rotating platforms 103.
The whole part of the vertical frame and the part of the transverse frame, which are positioned in the rotating platform, are T-shaped, and the length of the vertical frame, which is positioned in the rotating platform, is equal to the diameter of the rotating platform.
The upper end face of the mullion is flush with the upper end face of the rotating table, the lower end face of the mullion is located above the gear groove and the mechanical arm driving gear, and the mechanical arm driving gear 206 can slide along the gear groove 104 in the circumferential direction of the rotating table.
The first embodiment is as follows:
the robot normally patrols the line:
starting the lifting driving motor 304, lifting the pulley 403, putting the cable of the overhead transmission line into the mechanical foot frame 401 by an operator, and descending the pulley 403 to enable the cable to be positioned between the pulley groove of the pulley 403 and the lower layer plate, so that the placement work of one mechanical foot is completed; repeating the operation until the placement work of all the mechanical feet is completed; the mechanical foot driving motor 406 drives the pulley 403 to move forward to enable the robot to move forward, and the mechanical foot driving motor 406 drives the pulley 403 to move backward to enable the robot to move backward; the ground operator collects images or video images through the detection module 7 to complete inspection.
Example two:
when obstacles such as a shockproof hammer, a spacing rod and the like on the cable need to be crossed:
an operator controls the action of the walking crossing mechanism encountering obstacles through the remote control device; firstly, starting a lifting driving motor 304 of a mechanical leg 3, enabling the lifting driving motor 304 to rotate reversely to drive a pulley 403 of a mechanical foot 4 to lift up, enabling a mechanical arm telescopic driving motor 207 of a mechanical arm 2 to rotate forward to drive a mechanical arm lead screw 204 to drive a mechanical arm telescopic rod 202 to extend outwards, and enabling the mechanical foot 4 to reach the outer side of an obstacle; at this time, the pulleys 403 of the other mechanical feet 4 continue to act to drive the robot to move forward, after the outwardly extending mechanical feet 4 pass through the obstacle, the mechanical arm extension driving motor 207 of the mechanical arm 2 rotates reversely to drive the mechanical arm lead screw 204 to drive the mechanical arm extension rod 202 to retract, so that the mechanical feet 4 approach the cable inwards until the cable enters the mechanical foot frame 401, the lifting driving motor 304 of the mechanical leg 3 rotates forwards to drive the pulley 403 corresponding to the mechanical foot 4 to descend, so that the pulley 403 is loaded on the cable again, and the remaining mechanical feet 4 sequentially repeat the above actions, thereby completing the crossing of the whole robot.
Example three:
when the robot reaches a pole tower cross arm, the robot is suspended to move, and the crossing of the left front walking crossing mechanism is finished firstly; starting a lifting driving motor 304 of the left front mechanical leg 3 to rotate reversely to drive a pulley 403 of the left front mechanical foot 4 to lift up, rotating a mechanical arm telescopic driving motor 207 of the left front mechanical arm 2 forward to drive a mechanical arm screw 204 to drive a mechanical arm telescopic rod 202 to extend out, so that the left front mechanical foot 4 extends outwards, rotating a mechanical arm rotating driving motor 205 forward to drive the left front mechanical arm 2 to rotate, so that the left front mechanical foot 4 strides over a tower cross arm, rotating the mechanical arm telescopic driving motor 207 of the left front mechanical arm 2 backward to drive the mechanical arm screw 204 to drive the mechanical arm telescopic rod 202 to retract, so that the left front mechanical foot 4 approaches a cable until the cable enters a mechanical foot frame 401, rotating the lifting driving motor 304 of the left front mechanical leg 3 forward to drive the pulley 403 of the left front mechanical foot 4 to descend, so that the pulley 403 is re-loaded on the cable, and crossing of the left front walking; when the direction of the left front mechanical foot 4 is not consistent with the direction of the cable, the mechanical leg driving motor 306 is started, the supporting rod 302 is driven to drive the left front mechanical foot 4 to rotate, and the direction adjustment of the left front mechanical foot is completed;
secondly, the right front walking and crossing mechanism repeats the actions to complete crossing;
the mechanical foot driving motors 406 of the four mechanical feet 4 rotate forwards to drive the robot to move forwards, the robot action is suspended until the left rear mechanical foot 4 and the right rear mechanical foot 4 reach the vicinity of the tower cross arm, the left rear walking crossing mechanism and the right rear walking crossing mechanism sequentially complete the actions, and the whole robot finishes the crossing of the tower cross arm (at the moment, the mechanical arm 2 and the vertical frame 102 are not in an initial state vertical to the axial space, but form a certain angle with the vertical frame);
fourthly, the whole robot completes the crossing of the cross arm of the tower; firstly, starting a lifting driving motor 304 of a left front mechanical leg 3 to reversely rotate so as to drive a pulley 403 of a left front mechanical foot 4 to lift; starting a mechanical arm telescopic driving motor 207 of the left front mechanical arm 2 to rotate forwards to drive a mechanical arm screw 204 to drive a mechanical arm telescopic rod 202 to extend out, so that the left front mechanical foot 4 extends out, then starting a mechanical arm rotary driving motor 205 to rotate backwards to drive the left front mechanical arm 2 to rotate in the opposite direction until the left front mechanical arm 2 and the mullion 102 are in an axial space vertical state; starting the mechanical arm telescopic driving motor 207 of the left front mechanical arm 2 to rotate reversely, driving the mechanical arm lead screw 204 to drive the mechanical arm telescopic rod 202 to retract, enabling the left front mechanical foot 4 to approach the cable inwards until the cable enters the mechanical foot frame 401, enabling the lifting driving motor 304 of the left front mechanical leg 3 to rotate forwards, driving the pulley 403 of the left front mechanical foot 4 to descend, enabling the pulley 403 to be loaded on the cable again, and enabling the left front walking crossing mechanism to complete resetting;
the right front, left rear and right rear walking crossing mechanisms finish the actions in sequence, and the right front, left rear and right rear walking crossing mechanisms are reset;
sixthly, when the single walking crossing mechanism is reset, the pulleys 403 of other mechanical feet 4 continue to act to drive the robot to move forward.
Claims (5)
1. The utility model provides an overhead transmission line patrols line robot which characterized in that: the power supply module is respectively connected with the controller (5) and the detection module (7), and the controller (5) controls the walking crossing mechanism to act on a cable of a power transmission line;
the main body frame (1) comprises transverse frames (101), vertical frames (102), a rotating table (103), gear grooves (104), bearing holes (105) and rotating arm fixing sliding grooves (106), the two vertical frames (102) are respectively arranged above the two cables in parallel along the trend of the cables, and the two transverse frames (101) are respectively vertically arranged at two ends of the two vertical frames (102) to form a rectangular frame; the rotating platform (103) is of a circular ring structure, and the inner side surface and the outer side surface are respectively provided with a gear groove (104) and a rotating arm fixing sliding groove (106) along the circumferential direction; the four rotating platforms (103) are respectively arranged at four corners of the rectangular frame, bearing holes (105) are formed at the joint of the transverse frame (101) and the vertical frame (102), and the central lines of the bearing holes (105) are superposed with the central line of the gear groove (104);
the walking and crossing mechanism is four in number and is respectively arranged below the four rotating platforms (103), and comprises a mechanical arm (2), a mechanical leg (3) and a mechanical foot (4) which are sequentially arranged from top to bottom;
the mechanical arm (2) comprises a mechanical arm telescopic seat (201), a mechanical arm telescopic rod (202), a mechanical arm fixing slide bar I (203A), a mechanical arm fixing slide bar II (203B), a mechanical arm lead screw (204), a mechanical arm rotary driving motor (205), a mechanical arm driving gear (206), a mechanical arm telescopic driving motor (207) and a mechanical arm central shaft (208), wherein the mechanical arm telescopic seat (201) is of a strip-shaped structure and is arranged below the rotary table (103), the mechanical arm central shaft (208) is arranged at the central position of the upper end face of the mechanical arm telescopic seat (201), and the mechanical arm central shaft (208) is arranged in a bearing hole (105) of the main body frame (1) through a bearing; the second mechanical arm fixing sliding strip (203B) and the first mechanical arm fixing sliding strip (203A) are both arc-shaped structures, are respectively arranged on the upper end surface of the mechanical arm telescopic seat (201) in the front and back directions, are both positioned on the outer side of the rotating platform (103), and are matched with a rotating arm fixing sliding groove (106) on the outer side surface of the rotating platform (103); a mechanical arm rotation driving motor (205) and a mechanical arm driving gear (206) in driving connection with the mechanical arm rotation driving motor (205) are arranged at the position, adjacent to the mechanical arm fixing slide bar II (203B), of the mechanical arm telescopic seat, the mechanical arm rotation driving motor (205) and the mechanical arm driving gear (206) are both located in the rotating table (103), the mechanical arm driving gear (206) is matched with a gear groove (104) in the inner side face of the rotating table (103), and the mechanical arm rotation driving motor (205) drives the mechanical arm telescopic seat (201) to rotate around the rotating table (103); the mechanical arm telescopic driving motor (207), the mechanical arm lead screw (204) and the mechanical arm telescopic rod (202) are sequentially arranged on the lower end face of the mechanical arm telescopic seat (201) from back to front, an output shaft of the mechanical arm telescopic driving motor (207) is connected with the mechanical arm lead screw (204), the mechanical arm lead screw (204) is in threaded connection with the mechanical arm telescopic rod (202), and the mechanical arm telescopic driving motor (207) drives the mechanical arm lead screw (204) to rotate to drive the mechanical arm telescopic rod (202) to extend out or retract;
the mechanical leg (3) comprises a mechanical leg connecting piece (301), a supporting rod (302), a mechanical leg screw rod (303), a lifting driving motor (304), a supporting rod gear groove (305), a mechanical leg driving motor (306) and a mechanical leg driving gear (307), the mechanical leg connecting piece (301) is connected with a mechanical arm telescopic rod (202) of the mechanical arm (2), the supporting rod (302) is of a hollow structure, the upper end of the supporting rod (302) is rotatably arranged on the mechanical leg connecting piece (301), the upper end of the mechanical leg screw rod (303) is in threaded connection with the lower end of the supporting rod (302), and the lower end of the mechanical leg screw rod (303) is connected with an output shaft of the lifting driving motor (304); an annular sawtooth-shaped support rod gear groove (305) is formed in the outer side rod wall of the support rod (302), a mechanical leg driving motor (306) is arranged on the side face of the support rod (302), a mechanical leg driving gear (307) is arranged on an output shaft of the mechanical leg driving motor (306), the mechanical leg driving gear (307) is meshed with the support rod gear groove (305), and the mechanical leg driving motor (306) drives the support rod (302) to rotate;
the mechanical foot (4) comprises a mechanical foot frame (401), a mechanical foot motor support frame (402), a pulley (403), a stabilizer bar (404), a fixed clamping seat (405) and a mechanical foot driving motor (406), wherein the mechanical foot frame (401) is groove-shaped and consists of an upper layer plate (401A), a connecting frame (401B) and a lower layer plate (401C) which are sequentially connected, the upper layer plate and the lower layer plate are arranged in parallel up and down, and one sides of the upper layer plate and the lower layer plate are connected through the connecting frame; the mechanical foot motor support frame (402) is arranged in the mechanical foot frame (401), at least two pulleys (403) are rotatably arranged in the mechanical foot motor support frame (402) along the direction of a power transmission line, mechanical foot driving motors (406) are arranged on the mechanical foot motor support frame (402), the number of the mechanical foot driving motors (406) is the same as that of the pulleys (403), and the mechanical foot driving motors (406) drive the corresponding pulleys (403) to rotate; be equipped with a plurality of lift holes on the upper plate of machinery foot frame (401), a plurality of stabilizer bar (404) upper end sets up respectively on corresponding lift hole, the lower extreme setting of a plurality of stabilizer bar (404) is on machinery foot motor support frame (402), bracing piece (302) of machinery leg (3) stretch into in machinery foot frame (401), lift driving motor (304) of bracing piece (302) bottom are fixed on fixed cassette (405), fixed cassette (405) set up on machinery foot motor support frame (402), lift driving motor (304) drive machinery foot motor support frame (402) and pulley (403) of setting on machinery foot motor support frame (402) are oscilaltion in machinery foot frame (401).
2. The overhead transmission line inspection robot according to claim 1, characterized in that: the bottom of the flexible seat of arm (201) is equipped with the motor mounting groove, be equipped with arm screw support (209) in the motor mounting groove, divide into two parts around the motor mounting groove, the flexible driving motor of arm (207) sets up at motor mounting groove rear portion, the output shaft of the flexible driving motor of arm (207) is connected with arm lead screw (204) of setting on arm screw support, it is anterior that arm lead screw (204) stretch out forward to enter into the motor mounting groove, and with arm telescopic link (202) rear end threaded connection, stretch out forward behind the flexible seat of arm (201) is run through to arm telescopic link (202) front end and be connected with mechanical leg connecting piece (301).
3. The overhead transmission line inspection robot according to claim 2, characterized in that: the mechanical leg connecting piece (301) is of a rectangular block structure, a horizontal through hole (308) is formed in the mechanical leg connecting piece, and the front end of the mechanical arm telescopic rod (202) extends out of the mechanical arm telescopic seat (201) and then extends into the horizontal through hole (308).
4. The overhead transmission line inspection robot according to claim 1 or 2, characterized in that: the transverse frame (101), the vertical frame (102) and the rotating platform (103) are of an integrally formed structure.
5. The overhead transmission line inspection robot according to claim 1, characterized in that: the mechanical foot motor support frame (402) is composed of two support plates, two pulleys (403) are rotatably arranged between the two support plates, and a fixed clamping seat (405) is arranged in a space enclosed by the two support plates and the two pulleys (403); two stabilizer bars (404) are arranged on the upper end face of each supporting plate, and the upper end of each stabilizer bar (404) is inserted into the corresponding lifting hole in a matching mode.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021794723.0U CN212648942U (en) | 2020-08-25 | 2020-08-25 | Overhead transmission line inspection robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021794723.0U CN212648942U (en) | 2020-08-25 | 2020-08-25 | Overhead transmission line inspection robot |
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| CN212648942U true CN212648942U (en) | 2021-03-02 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111975743A (en) * | 2020-08-25 | 2020-11-24 | 国网冀北电力有限公司唐山供电公司 | Overhead transmission line inspection robot and application method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111975743A (en) * | 2020-08-25 | 2020-11-24 | 国网冀北电力有限公司唐山供电公司 | Overhead transmission line inspection robot and application method thereof |
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