CN216707508U

CN216707508U - Inspection robot composite main power device capable of walking on power tower and cable

Info

Publication number: CN216707508U
Application number: CN202122794217.2U
Authority: CN
Inventors: 陈建新; 张欣; 吴小欢; 王鹏程; 任新卓; 孟浩杰; 徐寅飞; 喻擎苍; 方家吉
Original assignee: Hangzhou Power Equipment Manufacturing Co Ltd
Current assignee: Hangzhou Power Equipment Manufacturing Co Ltd
Priority date: 2021-05-19
Filing date: 2021-11-15
Publication date: 2022-06-10
Anticipated expiration: 2031-11-15
Also published as: CN113997302A; CN216634393U; CN216372230U; CN114029975A; CN216634394U; CN113183165A; CN114043494A; CN113954095A

Abstract

The utility model relates to the technical field of power inspection. The technical scheme is as follows: can go up compound main power device of inspection robot of walking on electric power tower and cable, its characterized in that: the device comprises at least two groups of power components which have the same structure and are provided with electromagnets; each group of power components comprises a wheel carrier structure capable of being suspended on a cable, a power motor connected with the wheel carrier structure, a lifting structure and a power conversion structure which are respectively matched with the wheel carrier structure; the power motor shells in two adjacent groups of power assemblies are connected through a telescopic mechanical arm; the wheel carrier structure comprises a suspension frame, a suspension wheel rotatably positioned on the suspension frame, a crimping frame arranged below the suspension frame, a stepped shaft rotatably positioned on the crimping frame and a crimping wheel coaxially and fixedly connected with the stepped shaft. The device is installed on patrolling line robot, not only can make and patrol line robot work on the cable, can make moreover patrolling line robot walk around the electric power tower, guarantees patrolling line robot's continuation and patrols the line operation.

Description

Inspection robot composite main power device capable of walking on power tower and cable

Technical Field

The utility model relates to the technical field of power inspection, in particular to a composite main power device of an inspection robot, which is suitable for walking on a power tower and a cable.

Background

Along with the continuous increase of the scale of the power grid, the efficiency of manual routing inspection is gradually low, and a complex power grid system puts higher requirements on routing inspection technicians. The appearance of the electric power inspection robot can replace inspection technicians, the efficiency of simple work is improved, the accident rate of high-risk working environment is reduced, and the defects of manual inspection are well overcome. The scale of the Chinese power grid is continuously enlarged, the difficulty of maintaining the operation safety of the power grid is also increased, and the demand of the Chinese power industry on the power inspection robot is increasingly urgent.

The current electric power line patrol robot can only carry out cable line patrol, cannot move forward continuously when meeting an electric power tower, and can only be forced to stop working. The structure that the electric wire is the same can also be reformed transform out on the electric power tower, make electric power patrol line robot can walk around the shaft tower according to original rolling mode and advance, can still need to have a power failure for a long time and reform transform, the construction volume is big with the input cost, and the loss that causes is also great.

SUMMERY OF THE UTILITY MODEL

The utility model aims to overcome the defects of the background technology and provide a composite main power device of a line patrol robot, which can walk on a power tower and a cable.

The technical scheme provided by the utility model is as follows:

can go up compound main power device of inspection robot of walking on electric power tower and cable, its characterized in that: the device comprises at least two groups of power components which have the same structure and are provided with electromagnets; each group of power components comprises a wheel carrier structure capable of being suspended on a cable, a power motor connected with the wheel carrier structure, a lifting structure and a power conversion structure which are respectively matched with the wheel carrier structure; the power motor shells in two adjacent groups of power assemblies are connected through a telescopic mechanical arm;

the wheel carrier structure comprises a suspension frame, a suspension wheel rotatably positioned on the suspension frame, a crimping frame arranged below the suspension frame, a stepped shaft driven by a power motor and rotatably positioned on the crimping frame, and a crimping wheel coaxially and fixedly connected with the stepped shaft;

the lifting structure comprises a lifting frame, a lifting motor fixed on the lifting frame, a lifting screw rod driven by the lifting motor and positioned on the lifting frame in a manner of rotating around a vertical axis, a lifting plate capable of vertically sliding along the lifting frame and a lifting nut fixed on the lifting plate and in threaded connection with the lifting screw rod; the lifting plate is fixedly connected with the crimping frame, so that the crimping frame can move synchronously with the lifting plate;

the power conversion structure comprises a buckling rod which is slidably positioned on the crimping frame to prevent or allow the crimping wheel to rotate and a power conversion motor which is fixed on the crimping frame and drives the buckling rod through a screw nut component.

The electromagnet is fixedly connected with the suspension bracket.

The axis of the power conversion screw rod, the axis of the buckling rod and the axis of the stepped shaft in the screw rod nut assembly are parallel to each other.

The wheel surfaces of the suspension wheel and the crimping wheel are grooves which are arranged around the outer circumferential surface and are matched with the cable; the center lines of the wheel surface grooves of the suspension wheel and the crimping wheel are arranged in the same plane; the rotation axis of the suspension wheel is parallel to the rotation axis of the crimping wheel.

And a plurality of hole sites convenient for the buckle rods to pass through are correspondingly arranged on the crimping frame and the crimping wheel.

The rotating axis of the lifting screw rod is perpendicular to the rotating axis of the crimping wheel.

The lifting frame comprises a vertically arranged bearing rod, an upper mounting plate and a lower mounting plate which are respectively fixed at two ends of the bearing rod; the upper mounting plate is fixedly connected with the suspension bracket.

And a bracket is fixed on a shell of the power motor so as to be connected with the line patrol robot.

The mechanical arm comprises a first rotating motor, a second rotating motor, a third rotating motor, a first connecting arm and a second connecting arm, wherein one end of the first connecting arm is fixedly connected with a first rotating motor shell, the other end of the first connecting arm is fixedly connected with a rotating shaft of the second rotating motor, one end of the second connecting arm is fixedly connected with a second rotating motor shell, and the other end of the second connecting arm is fixedly connected with a rotating shaft of the third rotating motor; a rotating shaft of the first rotating motor is fixedly connected with one power motor shell; the shell of the third rotating motor is fixedly connected with the shell of the other power motor; the axes of the rotating shafts of the rotating motors are parallel to each other and are perpendicular to the rotating axes of the stepped shafts.

The utility model has the beneficial effects that:

the cable inspection robot is arranged on the power cable inspection robot, can be driven to move on a cable, and can assist the cable inspection robot to deform when the cable inspection robot encounters power tower angle steel, so that the cable inspection robot can move on the power tower angle steel and smoothly bypass the power tower angle steel, and the cable inspection operation of the cable inspection robot is ensured to be continuously carried out.

Drawings

Fig. 1 is a front view schematically showing the structure of the present invention suspended on a cable.

Fig. 2 is one of the three-dimensional structures of the power assembly.

Fig. 3 is a schematic perspective view of the second power assembly.

Fig. 4 is a right-view structural schematic diagram of the power assembly.

Fig. 5.1 is a schematic perspective view of the suspension bracket and the suspension wheel.

Fig. 5.2 is an exploded view of fig. 5.1.

Fig. 6.1 is a schematic perspective view of the crimping frame and the crimping wheel.

Fig. 6.2 is an exploded view of fig. 6.1.

Fig. 7.1 is a schematic perspective view of the lifting structure.

Fig. 7.2 is an exploded view of fig. 7.1.

Fig. 8 is a perspective view of the overhang angle fixing structure.

Fig. 9 is a schematic perspective view of the power motor.

Fig. 10 is a perspective view of the power conversion structure.

Fig. 11.1 is a schematic perspective view of the robot arm.

Fig. 11.2 is a second schematic perspective view of the robot arm.

Fig. 12 is a schematic view illustrating a movement state of the cable to the angle iron of the power tower according to the present invention.

Fig. 13 is a front view of the structure of fig. 12.

Fig. 14 is a second schematic diagram illustrating the movement state of the cable to the angle iron of the power tower according to the present invention.

Fig. 15 is a front view of fig. 14.

Fig. 16 is a third schematic view illustrating a movement state of the cable to the angle iron of the power tower according to the present invention.

Fig. 17 is a front view of fig. 16.

Fig. 18 is a schematic view of the movement state of the present invention on the angle iron of the power tower.

Fig. 19 is a schematic top view of the structure of fig. 18.

Fig. 20 is a second schematic diagram illustrating the movement state of the angle iron of the power tower according to the present invention.

Fig. 21 is a schematic top view of the structure of fig. 20.

Reference numerals:

1. a suspension bracket; 2. a suspension wheel; 3. a crimping frame; 4. a crimping wheel; 5. a lifting plate; 6. a stepped shaft; 7. a suspension angle fixing structure; 7.1, fixing frames; 7.2, connecting plates; 7.3, connecting rods; 8. a force bearing rod; 8.1, mounting the plate; 8.2, a lower mounting plate; 9. a lifting screw rod; 10. a lifting motor; 11. a lifting nut; 12. a power motor; 13. a support; 14. a power conversion motor; 15. a buckle rod; 16. a power conversion nut; 17. a power conversion screw rod; 18. a cable; 19. hole site; 20. a mechanical arm; 21. a first rotating electrical machine; 22. a second rotating electrical machine; 23. a third rotating electrical machine; 24. a first connecting arm; 25. a second connecting arm; 26. angle steel of the power tower; 27. an electromagnet.

Detailed Description

The following further description is made with reference to the embodiments shown in the drawings.

The inspection robot composite main power device capable of walking on the power tower and the cable shown in fig. 1 is connected with an inspection robot (not shown in the figure) when in use, and can be used as a main power device of the inspection robot to drive the inspection robot to move on the cable or/and the angle steel. The main power device comprises at least two groups of power components (two groups of power components are adopted in the embodiment) with the same structure, and each group of power components is fixedly provided with an electromagnet 27, so that the main power device is integrally adsorbed on the electric power tower angle steel 26 through the electromagnets.

As shown in fig. 2 to 4, each group of power components includes a wheel frame structure, a power motor 12, a lifting structure and a power conversion structure. The truck structure may suspend the power assembly entirely from the cable 18. The power motor is connected with the wheel carrier structure; as shown in fig. 9, in this embodiment, a bracket 13 is fixed to a housing of the power motor to facilitate connection with an external inspection robot. The lifting structure and the power conversion structure are respectively matched with the wheel carrier structure, wherein the lifting structure can drive the wheel carrier structure to clamp or separate from the cable 18, and the power conversion structure can prevent or allow the compression wheel to rotate so as to adapt to different movement modes of the inspection robot on the cable or the electric power tower angle steel.

As shown in fig. 5.1, 5.2, 6.1, and 6.2, the wheel carriage structure includes a suspension frame 1, suspension wheels 2 (two in the figure), a crimping frame 3, a stepped shaft 6, and a crimping wheel 4. The suspension bracket is fixedly connected with the electromagnet. The two suspension wheels are rotatably positioned on the suspension bracket; the crimping frame is arranged below the suspension frame. The stepped shaft is used as a rotating shaft of the crimping wheel and is driven by a power motor; the large shaft end of the stepped shaft (namely the left end of the stepped shaft in fig. 4) is rotatably connected with the crimping frame through a bearing, the middle part of the stepped shaft is coaxially and fixedly connected with the crimping wheel, and one end of the small shaft of the stepped shaft (namely the right end of the stepped shaft in fig. 4) is rotatably connected with the lifting plate 5 in the lifting structure through a bearing. The wheel surfaces of the suspension wheel and the crimping wheel are grooves which are arranged around the outer circumferential surface and are suitable for the cables, and the center lines of the grooves of the wheel surfaces of the suspension wheel and the crimping wheel are arranged in the same plane, so that the device can be safely and stably suspended on the same cable. The rotation axis of the suspension wheel is parallel to the rotation axis of the crimping wheel.

As shown in fig. 7.1 and 7.2, the lifting structure comprises a lifting frame, a lifting motor 10, a lifting screw rod 9, a lifting plate 5 and a lifting nut 11. The lifting frame comprises two vertically arranged and parallel bearing rods 8, and an upper mounting plate 8.1 and a lower mounting plate 8.2 which are respectively fixed at two ends of the bearing rods; the upper mounting plate and the lifting motor are fixedly connected with the suspension bracket at the same time. The lifting screw rod is parallel to the bearing rod, and the rotating axis of the lifting screw rod is mutually perpendicular to the rotating axis of the compression joint wheel (wherein the rotating axis of the compression joint wheel is horizontally arranged, and the rotating axis of the lifting screw rod is vertically arranged); one end of the lifting screw rod is coaxially connected with an output shaft of the lifting motor, and the other end of the lifting screw rod is rotatably connected to the lower mounting plate, so that the lifting screw rod can rotate around a vertical axis under the driving of the lifting motor. The lifting plate is provided with a sliding hole in sliding fit with the bearing rod, so that the lifting plate can vertically slide along the lifting frame. The lifting nut is fixed on the lifting plate and is in threaded connection with the lifting screw rod; when the lifting screw rod rotates, the lifting nut moves vertically along the lifting screw rod, and then the lifting plate is driven to move vertically. The lifting plate is fixedly connected with the crimping frame through the suspension angle fixing structure, so that the crimping frame can move synchronously with the lifting plate; other fixing structures can be adopted to fixedly connect the lifting plate with the crimping frame. As shown in fig. 8, in this embodiment, the suspension angle fixing structure includes a fixing frame 7.1 fixedly connected to the crimping frame, a connecting plate 7.2 fixedly connected to the lifting plate, and a connecting rod 7.3 integrally connecting the fixing frame and the connecting plate.

As shown in fig. 10, the power conversion structure includes a power conversion motor 14, a screw nut assembly composed of a power conversion screw 17 and a power conversion nut 16, and a snap rod 15. The axis of the power conversion screw rod, the axis of the buckle rod and the axis of the stepped shaft are parallel to each other. The power conversion motor is fixed on the crimping frame; the power conversion screw rod is rotatably positioned on the crimping frame through a bearing and is driven to rotate by a power conversion motor; the power conversion nut is in threaded connection with the power conversion screw rod and is fixedly connected with the buckle rod; the crimping frame and the crimping wheel are correspondingly provided with a plurality of hole sites 19 which are convenient for the buckle rods to pass through, the buckle rods can be positioned on the crimping frame through the hole sites and can be inserted into or withdrawn from the hole sites on the crimping wheel as required, and therefore the rotation of the crimping wheel is prevented or allowed.

The working principle of the power conversion structure is as follows:

when the buckle rod only passes through the hole site of the crimping frame but not the hole site of the crimping wheel, the power motor rotates, the power assembly is in a main power state at the moment, and the power assembly can be driven to move along a cable integrally under the driving of the crimping wheel (because the power motor shells in the two groups of power assemblies are mutually fixed through the mechanical arm, the power motor shells cannot rotate, and the crimping wheel can be used as a power driving wheel). When the buckle rod penetrates through the hole position of the crimping wheel under the driving of the power conversion motor, the crimping frame is fixed with the crimping wheel, the power motor rotates at the moment, the crimping wheel cannot rotate, and the output shaft of the power motor is fixed with the stepped shaft, the crimping wheel and the crimping frame, so that the shell of the power motor rotates around the axis of the crimping wheel, the power conversion is realized, and the line patrol robot moves on the angle steel of the power tower.

The power motor shells in the two adjacent groups of power assemblies are connected through a mechanical arm 20 (which can be purchased directly); the mechanical arm is arranged into a telescopic structure so as to adjust the distance between two adjacent groups of power components. As shown in fig. 11.1 and 11.2, the robot arm includes a first rotating electrical machine 21, a second rotating electrical machine 22, a third rotating electrical machine 23, a first connecting arm 24 having one end fixedly connected to the first rotating electrical machine housing and the other end fixedly connected to the second rotating electrical machine shaft, and a second connecting arm 25 having one end fixedly connected to the second rotating electrical machine housing and the other end fixedly connected to the third rotating electrical machine shaft; a rotating shaft of the first rotating motor is fixedly connected with one power motor shell; the shell of the third rotating motor is fixedly connected with the shell of the other power motor; the axes of the rotating shafts of the rotating motors are parallel to each other and are perpendicular to the rotating axes of the stepped shafts.

The working mode of the embodiment is as follows:

the first method is as follows: as shown in fig. 1, when the inspection robot needs to roll along the cable straight line and advance, two sets of power assemblies are in the main power state (namely, the buckle rods in the two sets of power assemblies do not pass through the hole sites of the pressure connection wheels), three rotating motors of the mechanical arm do not work, the shells of the power motors in the two sets of power assemblies are fixedly connected with each other through the mechanical arm (the positions of the first connecting arm and the second connecting arm are mutually overlapped), so that the shells of the power motors are equivalently fixed, the shells of the power motors are prevented from rotating when working on the cable, and a stable working environment is provided for the inspection robot. And then, starting the two power motors to synchronously rotate, so that the suspension wheels and the compression wheels in the two groups of power assemblies synchronously roll, and the line patrol robot moves along the cable.

The second method comprises the following steps: as shown in fig. 12 to 17, when the inspection robot moves forward to the power tower angle along the cable and needs to transfer from the cable to the power tower angle, both sets of power assemblies perform power conversion (i.e. the snap rods in both sets of power assemblies pass through the hole sites of the crimping wheels), wherein the lifting motor of the power assembly (the power assembly on the right side in fig. 13) close to the power tower angle operates to separate the crimping wheels and the suspension wheels of the power assembly, and at this time, the power assembly (the power assembly on the left side in fig. 13) far away from the power tower angle still remains suspended on the cable (see fig. 12 and 13). Then the three rotating electrical machines of arm cooperate each other, make the arm extension (i.e. first linking arm and second linking arm separately certain contained angle, the same down) to adsorb right side power component on the electric power tower angle steel through the electro-magnet (see fig. 14, fig. 15). Then, the three rotating electrical machines of arm mutually support, make the arm shrink (first linking arm overlaps each other with the second linking arm position promptly, the same down) to adsorb power component on the left side to the electric power tower angle steel through the electro-magnet. Thus, the inspection robot can be transferred to the angle iron of the power tower through the cable (see fig. 16 and 17).

The third method comprises the following steps: as shown in fig. 18 to 21, when the inspection robot needs to move on the power tower angle steel, the two sets of power assemblies perform power conversion, then the electromagnet of the left power assembly (i.e., the power assembly located on the upper side in fig. 19 and 21) is electrified and then fixed on the power tower angle steel, and the electromagnet of the right power assembly (i.e., the power assembly located on the lower side in fig. 19 and 21) is deenergized. Three rotating electrical machines through the arm are mutually supported, make the arm extension, adjust right side power component to the corresponding placement position of electric power tower angle steel to adsorb through the electro-magnet and fix on this placement position with right side power component. Then the electromagnet of the left power assembly is powered off, the three rotating motors of the mechanical arm are mutually matched to enable the mechanical arm to contract, and the electromagnet can be used for adsorbing and fixing the left power assembly on the electric power tower angle steel after being powered on, so that the primary displacement of the inspection robot on the electric power tower angle steel is completed; and the continuous motion of the line patrol robot on the angle steel of the power tower can be realized by circulating the above operations.

The method is as follows: when the inspection robot walks around the electric power tower, when needing to transfer to the cable of electric power tower opposite side from the electric power tower angle steel, two sets of power components all carry out power conversion, left side power component's electro-magnet circular telegram, right side power component's electro-magnet outage, the three rotating electrical machines of arm are mutually supported, make the arm extension, then left side power component's power motor work, adjust right side power component to cable height position, three rotating electrical machines and the elevator motor through the arm are mutually supported, hang right side power component and fix on the cable, left side power component still adsorbs to be fixed on the electric power tower angle steel this moment. Then, the electromagnet of the left power assembly is powered off, the three rotating motors of the mechanical arm are matched with each other to enable the mechanical arm to contract, the power motor of the right power assembly works to adjust the left power assembly to the height position of the cable, and the left power motor is also hung on the cable (at the moment, the left power assembly is still on the left side of the right power assembly) under the mutual matching of the three rotating motors of the mechanical arm and the lifting motor. So can accomplish the supplementary deformation of inspection robot motion form, walk around the power tower angle steel smoothly, guarantee that inspection robot carries out the cable in succession and patrols and examines the operation.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; while the utility model has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and these modifications or substitutions do not depart from the spirit of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. Can go up compound main power device of inspection robot of walking on electric power tower and cable, its characterized in that: comprises at least two groups of power components which have the same structure and are provided with electromagnets (27); each group of power components comprises a wheel carrier structure capable of being hung on a cable (18), a power motor (12) connected with the wheel carrier structure, a lifting structure and a power conversion structure which are respectively matched with the wheel carrier structure; the power motor shells in two adjacent groups of power assemblies are connected through a telescopic mechanical arm (20);

the wheel carrier structure comprises a suspension frame (1), a suspension wheel (2) rotatably positioned on the suspension frame, a crimping frame (3) arranged below the suspension frame, a stepped shaft (6) driven by a power motor and rotatably positioned on the crimping frame, and a crimping wheel (4) coaxially and fixedly connected with the stepped shaft;

the lifting structure comprises a lifting frame, a lifting motor (10) fixed on the lifting frame, a lifting screw rod (9) driven by the lifting motor and positioned on the lifting frame in a manner of rotating around a vertical axis, a lifting plate (5) capable of vertically sliding along the lifting frame and a lifting nut (11) fixed on the lifting plate and in threaded connection with the lifting screw rod; the lifting plate is fixedly connected with the crimping frame, so that the crimping frame can move synchronously with the lifting plate;

the power conversion structure comprises a buckling rod (15) which is slidably positioned on the crimping frame to prevent or allow the crimping wheel to rotate and a power conversion motor (14) which is fixed on the crimping frame and drives the buckling rod through a screw nut component.

2. The inspection robot composite main power device capable of walking on power towers and cables according to claim 1, characterized in that: the electromagnet is fixedly connected with the suspension bracket.

3. The inspection robot composite main power device capable of walking on power towers and cables according to claim 2, wherein: the axis of a power conversion screw rod (17) in the screw rod nut assembly, the axis of the buckling rod and the axis of the stepped shaft are parallel to each other.

4. The inspection robot composite main power device capable of walking on power towers and cables according to claim 3, wherein: the wheel surfaces of the suspension wheel and the crimping wheel are grooves which are arranged around the outer circumferential surface and are matched with the cable; the center lines of the wheel surface grooves of the suspension wheel and the crimping wheel are arranged in the same plane; the rotation axis of the suspension wheel is parallel to the rotation axis of the crimping wheel.

5. The inspection robot composite main power device capable of walking on power towers and cables as claimed in claim 4, wherein: a plurality of hole sites (19) which are convenient for the buckle rods to pass through are correspondingly arranged on the crimping frame and the crimping wheel.

6. The inspection robot composite main power device capable of walking on power towers and cables according to claim 5, wherein: the rotating axis of the lifting screw rod is perpendicular to the rotating axis of the crimping wheel.

7. The inspection robot composite main power device capable of walking on power towers and cables as claimed in claim 6, wherein: the lifting frame comprises a bearing rod (8) which is vertically arranged, and an upper mounting plate (8.1) and a lower mounting plate (8.2) which are respectively fixed at two ends of the bearing rod; the upper mounting plate is fixedly connected with the suspension bracket.

8. The inspection robot composite main power device capable of walking on power towers and cables according to claim 7, wherein: and a bracket (13) is fixed on a shell of the power motor so as to be connected with the line patrol robot.

9. The inspection robot composite main power device capable of walking on power towers and cables according to claim 8, wherein: the mechanical arm comprises a first rotating motor (21), a second rotating motor (22), a third rotating motor (23), a first connecting arm (24) and a second connecting arm (25), wherein one end of the first connecting arm is fixedly connected with a first rotating motor shell, the other end of the first connecting arm is fixedly connected with a second rotating motor rotating shaft, one end of the second connecting arm is fixedly connected with a second rotating motor shell, and the other end of the second connecting arm is fixedly connected with a third rotating motor rotating shaft; a rotating shaft of the first rotating motor is fixedly connected with one power motor shell; the shell of the third rotating motor is fixedly connected with the shell of the other power motor; the axes of the rotating shafts of the rotating motors are parallel to each other and are perpendicular to the rotating axes of the stepped shafts.