CN113001565B - A wheel clamp module for inspection and operation - Google Patents
A wheel clamp module for inspection and operation Download PDFInfo
- Publication number
- CN113001565B CN113001565B CN202110306556.3A CN202110306556A CN113001565B CN 113001565 B CN113001565 B CN 113001565B CN 202110306556 A CN202110306556 A CN 202110306556A CN 113001565 B CN113001565 B CN 113001565B
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- roller
- wheel
- worm
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- assembly
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
本发明提供一种用于巡检及操作的轮夹模块，包括夹持传动组件、夹持组件和滚轮组件，所述夹持传动组件的输出端与夹持组件连接，所述滚轮组件固定在所述夹持组件的顶部，所述滚轮组件包括滚轮和带动滚轮转动的电机，所述滚轮分为第一侧面和第二侧面，所述第一侧面的直径比第二侧面的直径大，所述第一侧面的周边上设有切割锯片，所述第二侧面的轴心处设有用于拧紧螺母的内六角凹槽。本发明能配合机器人完成巡线移动，跨越线路上的障碍物，还能对线路上进行清除杂物和拧紧螺母等简单的维护操作。
The present invention provides a wheel clamp module for inspection and operation, including a clamping transmission component, a clamping component and a roller component, wherein the output end of the clamping transmission component is connected to the clamping component, the roller component is fixed on the top of the clamping component, the roller component includes a roller and a motor for driving the roller to rotate, the roller is divided into a first side surface and a second side surface, the diameter of the first side surface is larger than the diameter of the second side surface, a cutting saw blade is provided on the periphery of the first side surface, and a hexagonal groove for tightening a nut is provided at the axis of the second side surface. The present invention can cooperate with a robot to complete line patrol movement, cross obstacles on the line, and can also perform simple maintenance operations such as clearing debris and tightening nuts on the line.
Description
Technical Field
The invention relates to the technical field of wheel clamps, in particular to a wheel clamp module for inspection and operation.
Background
High-voltage transmission lines and transmission towers play an extremely important role as important devices for transmitting electric power. Because the transmission line and the tower are exposed in the field environment at any time and are influenced by factors such as mechanical tension, wind power, sun irradiation, rain water flushing and the like, various faults are easy to occur to the equipment, and sundries such as plastic bags, cloth strips, kite lines and the like are hung on the transmission line, so that the problems are not found and eliminated in time and damage to a power system is caused. Therefore, regular inspection and maintenance of the transmission line is very necessary. At present, the line inspection of the transmission lines in China is mainly completed manually, and the lines are observed on the ground or climbing towers with naked eyes or by means of telescope. The manual line inspection is high in labor intensity, and the working environment is severe and dangerous.
The line inspection robot provides good choice for inspection of the power transmission line. Compared with a manual inspection mode, the inspection robot is high in speed and efficiency, workers can be liberated from high-risk and heavy physical labor, the robot is used for replacing manual high-altitude operation on a high-voltage line, certain requirements are met on the environment adaptability of the robot, the robot can walk along a power transmission line at a higher speed, and obstacles such as a damper, a strain clamp, a suspension clamp and a spacer can be spanned, and even maintenance operations can be carried out. The requirements are mainly met by an end effector of a robot, chinese patent publication No. CN109066473A, the publication date of which is 2018, 12 and 21, discloses a traveling device which comprises a traveling wheel positioned above a ground line and a clamping wheel positioned below the ground line, wherein the traveling wheel is meshed with the clamping wheel, the traveling wheel is fixedly connected with a connecting plate, the traveling device can only complete traveling on the line and cannot perform other maintenance work, and other functional components are required to be added if other maintenance work is required to be completed.
Disclosure of Invention
The invention aims to overcome the defect that an end module of the existing line inspection robot can only complete a walking function on a line, and other functional components are required to be additionally assembled if other maintenance works are required to be carried out, and provides a wheel clamp module. The invention can complete line inspection movement by matching with a robot, cross obstacles on a line, and can also carry out simple maintenance operations such as removing sundries, tightening nuts and the like on the line.
In order to solve the technical problems, the technical scheme includes that the wheel clamp module comprises a clamping transmission assembly, a clamping assembly and a roller assembly, wherein the output end of the clamping transmission assembly is connected with the clamping assembly, the roller assembly is fixed at the top of the clamping assembly and comprises a roller and a motor for driving the roller to rotate, the roller is divided into a first side face and a second side face, the diameter of the first side face is larger than that of the second side face, a cutting saw blade is arranged on the periphery of the first side face, and an inner hexagonal groove for screwing a nut is formed in the axis of the second side face.
In this technical scheme, the clamping assembly can accomplish the action of opening and shutting under the control of clamping transmission subassembly, the cable of cable centre gripping or breaking away from, roller assembly hangs and leans on, motor drive gyro wheel rotates, the gyro wheel is hung and is moved on the cable on the drive of motor, the motor can control the rotational speed of gyro wheel, thereby change the gyro wheel and travel speed on the cable, the clamping assembly can press from both sides tightly or loosen the cable through the tight degree completion brake of clamp of change cable, the movement of opening and shutting of clamping assembly can clamp or loosen the cable, help the robot to accomplish the action of strideing across at the cable, the cutting saw bit rotates along with the gyro wheel, debris on the clearance cable can be cut, hexagon socket on the gyro wheel can be used for screwing up on the cable the nut of loosening.
Further, the clamping transmission assembly comprises a disc motor, a base, a coupler, a harmonic reducer assembly, a harmonic reducer output disc, a worm bearing end cover and a worm which are sequentially connected, a base frame is arranged outside the worm, two sides of the worm are meshed with a first worm wheel and a second worm wheel with arm rods, the first worm wheel and the second worm wheel are respectively arranged on the base frame through bosses of the first worm wheel and the second worm wheel in a rotating mode, and the clamping assembly is located on the arm rods of the first worm wheel and the arm rods of the second worm wheel. In the technical scheme, the disc motor transmits power to the worm through the coupler, the harmonic reducer assembly, the harmonic reducer output disc and the worm bearing end cover, the worm rotates along with the first worm wheel and the second worm wheel meshed with the worm in the rotating process, and the arm rod of the first worm wheel and the clamping assembly correspondingly connected to the arm rod of the second worm wheel rotate along with the worm to complete the opening and closing actions.
Further, the clamping assembly comprises a first clamping jaw and a second clamping jaw which are respectively hinged on the arm rod of the first worm wheel and the arm rod of the second worm wheel, and the roller assembly is fixed on the first clamping jaw or the second clamping jaw. In the technical scheme, as the arm lever of the first worm wheel and the arm lever of the second worm wheel can rotate along with the rotation of the worm, the first clamping jaw and the second clamping jaw which are correspondingly connected can follow to complete opening and closing actions together.
Further, still be equipped with first driven lever and second driven lever on the bed frame, the one end of first driven lever and second driven lever all with bed frame swing joint, first driven lever and second driven lever other end respectively with first clamping jaw and second clamping jaw pass through the pin activity and articulate, and first driven lever and second driven lever follow the armed lever of first worm wheel and the armed lever of second worm wheel drive first clamping jaw and second clamping jaw and accomplish the motion of opening and shutting. In the technical scheme, the first driven rod, the second driven rod and the arm rods of the first worm wheel and the second worm wheel mutually assist to drive the first clamping jaw and the second clamping jaw to complete opening and closing actions.
Further, the roller assembly further comprises a support frame and a synchronous belt transmission member, a bearing seat is arranged at one end of the support frame, a motor seat is arranged at the other end of the support frame, the roller is connected with the bearing seat through a roller shaft, the motor is fixed on the motor seat, one end of the synchronous belt transmission member is connected with an output shaft of the motor, and the other end of the synchronous belt transmission member is connected with the roller shaft. In this technical scheme, the motor drives the gyro wheel through hold-in range driving member and rotates, and the centre gripping subassembly is with the gyro wheel subassembly of its top on hanging the cable behind the cable clamp, so when the gyro wheel rotates along with the motor, can make whole robot remove on the cable.
Further, the synchronous belt transmission component comprises a first synchronous wheel, a synchronous belt and a second synchronous wheel, the diameter of the first synchronous wheel is larger than that of the second synchronous wheel, the second synchronous wheel is sleeved on an output shaft of the motor, the first synchronous wheel is sleeved on the rolling shaft, and the synchronous belt connects the first synchronous wheel with the second synchronous wheel.
Further, the shaft hole of the first synchronous wheel is a D-shaped hole, and one end of the rolling shaft, which is close to the first synchronous wheel, is in a D-shaped shape and is matched with the D-shaped hole.
Furthermore, the contact surfaces of the rolling shafts, the rolling wheels and the bearing seats are provided with snap springs for preventing axial movement. The snap springs can strengthen the fixed connection of the roller, the roller and the bearing seat, and the axial movement of the roller at the roller or the bearing seat is avoided.
Further, the cutting saw blade is fixed to the periphery of the first side surface by a screw.
Further, a V-shaped groove is arranged between the first side surface and the second side surface of the roller. The V-shaped groove on the roller enhances the stability of the roller in hanging and moving on the cable.
Compared with the prior art, the invention has the beneficial effects that:
1. The invention has the advantages that the rotary modularized design is adopted, so that the rotary modularized multifunctional module is a module, has standard mechanical and electrical interfaces, can be conveniently and quickly connected with other modules with the same interfaces, and has good universality and applicability;
2. The internal structure of the invention is divided into a clamping transmission assembly, a clamping assembly and a roller assembly, which have independence and can be conveniently disassembled and replaced;
3. The invention integrates rolling, clamping and operating functions, realizes continuous and rapid rolling, braking, sundry removal, nut screwing and climbing, obstacle crossing, line transition and other discrete movements on a cable through the robot which is connected with the clamping assembly and the roller assembly in an assisted manner, and greatly improves the maneuverability, the dexterity and the practicability of the line inspection robot;
4. according to the invention, the V-shaped groove between the two side surfaces of the roller can strengthen the stability of hanging the cable.
Drawings
Fig. 1 is a schematic diagram of the overall structure of the present invention.
Fig. 2 is an exploded view of the clamping transmission assembly of the present invention.
Fig. 3 is a schematic view of a structure of the roller assembly according to the present invention.
Fig. 4 is a schematic structural diagram of a roller assembly according to the present invention.
Fig. 5 is an exploded view of the roller assembly of the present invention.
The graphic indicia are illustrated as follows:
1-worm, 2-base frame, 3-arm rod, 4-driven rod, 5-base frame cover, 6-worm wheel bearing end cover, 7-disc motor, 8-base seat, 9-coupler, 10-harmonic speed reducer component, 11-harmonic speed reducer output disc, 12-worm wheel bearing end cover, 13-roller, 14-first clamping jaw, 15-second clamping jaw, 16-motor, 17-supporting frame, 18-second synchronous wheel, 19-synchronous belt, 20-first synchronous wheel, 21-shaft end retainer ring, 22-roller, 23-cutting saw blade and 24-internal hexagonal groove.
Detailed Description
The invention is further described below in connection with the following detailed description. In which the drawings are for illustrative purposes only and are not intended to be construed as limiting the present patent, and in which certain elements of the drawings may be omitted, enlarged or reduced in order to better illustrate embodiments of the present invention, and not to represent actual product dimensions, it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
In the description of the present invention, it should be understood that, if there is an azimuth or positional relationship indicated by terms such as "upper", "lower", "left", "right", etc., which are based on the azimuth or positional relationship shown in the drawings, it is merely for convenience of describing the present invention and simplifying the description, and it is not indicated or implied that the apparatus or elements referred to must have a specific azimuth, be constructed and operated in a specific azimuth, so that the terms describing the positional relationship in the drawings are merely for exemplary illustration and are not to be construed as limitations of the present patent, and that the specific meanings of the terms described above should be understood by those skilled in the art according to circumstances.
Examples
Fig. 1 to 5 show an embodiment of a wheel clamp module according to the present invention. The utility model provides a wheel presss from both sides module, as shown in FIG. 1, includes centre gripping drive assembly, centre gripping subassembly and roller component, and centre gripping drive assembly's output is connected with the centre gripping subassembly, and roller component fixes on the centre gripping subassembly, roller component includes gyro wheel 13 and drives gyro wheel 13 pivoted motor 16, and motor 16 drives gyro wheel 13 through hold-in range transmission component and rotates. The clamping transmission assembly controls the clamping assembly to complete opening and closing actions, the clamping assembly can clamp the cable, the roller assembly at the top of the clamping assembly is hung on the cable, and the motor 16 drives the roller 13 to rotate, so that the wheel clamp module can move on the cable.
As shown in fig. 2, the clamping transmission assembly comprises a disc motor 7, a base 8, a coupler 9, a harmonic reducer assembly 10, a harmonic reducer output disc 11, a worm bearing end cover 12 and a worm 1 which are sequentially connected, wherein a base frame 2 is arranged outside the worm 1, two sides of the worm 1 are meshed with a first worm wheel and a second worm wheel with arm rods 3, the coupler 9, the harmonic reducer assembly 10, the harmonic reducer output disc 11 and the worm bearing end cover 12 are placed in a cavity of the base 8, the disc motor 7 and the base 8 are fixed through fastening screws, an output shaft of the disc motor 7 is connected with a wave generator of the harmonic reducer assembly 10 through the coupler 9, an input steel wheel in the harmonic reducer assembly 10 is fastened and connected with the harmonic reducer output disc 11 through screws, the harmonic reducer output disc 11 is connected with one end of the worm 1, and the disc motor 7 transmits power to the worm 1 through the coupler 9, the harmonic reducer assembly 10, the harmonic reducer output disc 11 and the worm bearing 6 to drive the worm 1 to rotate.
In addition, the base frame 2 is arranged outside the worm 1, two sides of the worm 1 are meshed with the first worm wheel and the second worm wheel with the arm rods 3, meanwhile, the first worm wheel and the second worm wheel are arranged on two sides of the base frame 2 in a rotating mode through respective bosses, and the clamping assembly is fixed on the arm rods 3 of the first worm wheel and the arm rods 3 of the second worm wheel. The clamping assembly comprises a first clamping jaw 14 and a second clamping jaw 15 which are respectively fixed on the arm rod 3 of the first worm wheel and the arm rod 3 of the second worm wheel, and the roller assembly is fixed on the first clamping jaw 14. When the worm 1 rotates, the first worm wheel and the second worm wheel which are meshed at two sides of the worm can rotate along with the rotation of the worm 1, and the arm rod 3 of the first worm wheel and the arm rod 3 of the second worm wheel swing in the rotating process, so that the first clamping jaw 14 and the second clamping jaw 15 are driven to complete the opening and closing actions.
In one embodiment, the base frame 2 is further provided with a pair of driven rods 4, which are respectively a first driven rod and a second driven rod, the first driven rod and the second driven rod are symmetrically arranged on two sides of the base frame 2, the rotating ends of the arm rods 3 of the first worm wheel and the second worm wheel are rotatably arranged on two sides of the worm wheel through bosses, the rotating ends of the first driven rod and the second driven rod are movably hinged on the base frame 2 through pin shafts, the free ends of the arm rods 3 and the driven rods 4 are correspondingly and rotatably connected with the first clamping jaw 14 and the second clamping jaw 15 through pins, wherein the first clamping jaw 14 is movably hinged with the free ends of the first driven rod and the first worm wheel arm rod 3, and the second clamping jaw 15 is movably hinged with the free ends of the second driven rod and the second worm wheel arm rod 3. The first clamping jaw 14 and the second clamping jaw 15 are driven by the driven rod 4 and the arm rod 3 to rotate along with the worm 1 to complete the opening and closing actions.
In one embodiment, the worm wheel and worm wheel drive mechanism further comprises a base frame cover 5 and a worm wheel bearing end cover 6, wherein the base frame cover 5 and the worm wheel bearing end cover 6 cover the base frame 2 and the worm wheel, so that other objects are prevented from entering a transmission structure of the worm wheel and the worm 1, and the operation of the worm wheel and worm wheel is prevented from being influenced.
In one embodiment, the roller assembly further comprises a support frame 17, a bearing seat is arranged at one end of the support frame 17, a motor seat is arranged at the other end of the support frame, the roller 13 is connected with the bearing seat through a roller 22, the motor 16 is fixed on the motor seat, the synchronous belt transmission component comprises a first synchronous wheel 20, a synchronous belt 19 and a second synchronous wheel 18, the diameter of the first synchronous wheel 20 is larger than that of the second synchronous wheel 18, the first synchronous wheel 20 is sleeved on the roller 22, the second synchronous wheel 18 is sleeved on an output shaft of the motor 16, and the synchronous belt 19 connects the first synchronous wheel 20 with the second synchronous wheel 18.
The roller 13 is divided into a first side surface and a second side surface, the diameter of the first side surface is larger than that of the second side surface, an annular cutting saw blade 23 is fixed on the periphery of the first side surface through screws, an inner hexagonal groove 24 for tightening nuts is formed in the axis of the second side surface, a V-shaped groove is formed between the first side surface and the second side surface, the V-shaped groove of the roller 13 is convenient for hanging cables, in the use process, the first side surface of the roller 13 faces towards the supporting frame 17, the roller 13 is arranged on the roller 22, then the roller 13 is in the groove formed by the two clamping jaws and cannot contact or rub with the clamping jaws, when the wheel clamp module works, the roller 13 is hooked on a high-voltage cable, the first clamping jaw 14 and the second clamping jaw 15 are not completely closed, namely the cables are not clamped, and quick movement on the cables can be realized.
In addition, the shaft hole of the first synchronizing wheel 20 is a D-shaped hole, one end of the roller 22 close to the first synchronizing wheel 20 is in a D-shape and matched with the D-shaped hole, and the contact surface of the roller 22, the roller 13 and the bearing seat is provided with a snap spring for preventing the axial movement of the roller 22.
In one embodiment, the wheel clamp module is used as the tail end of the inspection robot and is arranged at two ends of the inspection robot, and when the inspection robot encounters obstacles such as a damper, a suspension clamp and a spacer rod, the first clamping jaw 14 and the second clamping jaw 15 close the clamping cable under the action of the clamping transmission assembly for the inspection robot to surmount the obstacle.
The wheel clamp module is under the effect of robot body for gyro wheel 13 is hooked on power transmission cable, and the centre gripping part work makes first clamping jaw 14 and second clamping jaw 15 opposite and go gradually near. When the first clamping jaw 14 and the second clamping jaw 15 are at a distance, the clamping transmission assembly stops working.
Referring to fig. 4 and 5, if the clamping transmission assembly stops working, the motor 16 starts working, and transmits power to the second synchronizing wheel 18, the second synchronizing wheel 18 transmits power to the roller 22 through the linkage of the synchronous belt 19 and the first synchronizing wheel 20, the roller 22 transmits power to the roller 13 under the action of the key, and the roller 13 realizes rolling and walking on the cable.
When the inspection robot encounters a downhill slope requiring braking or an uphill slope requiring anti-skid, the first clamping jaw 14 and the second clamping jaw 15 are further close under the drive of the clamping transmission assembly, the first clamping jaw 14 and the second clamping jaw 15 are in contact with the cable, so that friction force is increased, and the braking and anti-skid effects are achieved; when the inspection robot encounters an obstacle, the first clamping jaw 14 and the second clamping jaw 15 are further close under the drive of the clamping transmission assembly, and the cable is clamped, so that the inspection robot can complete obstacle surmounting.
When the inspection robot encounters sundries such as plastic bags, cloth strips and kite wires on a line, the motor 16 drives the cutting saw blade 22 on the roller 13 to rotate, the cutting saw blade 22 contacts the sundries to remove the sundries on the line, and when the inspection robot encounters a vibration damper nut or other nuts loose on the line, the second side surface of the roller 13 with the inner hexagonal groove 24 is aligned with the nut, and the motor 16 drives the roller 13 to rotate to screw the nut.
The wheel clamp module of this embodiment simple structure, it is compact, including centre gripping drive assembly, centre gripping subassembly and roller component, the triplex is dismantled and assembled, convenient and fast, can realize the function of patrolling and examining on the high tension transmission line, meet the obstacle and can keep away the barrier, meet the debris on the circuit and can clear away debris, can also screw up the nut that loosens on the circuit, can very convenient with other robot components combination high-efficient completion high tension transmission line's the inspection and maintenance work, can realize rolling walking and grasp and press from both sides two kinds of motion modes, the wearing is cleared up the barrier and is fastened nut operational function, can very big convenience be paired with other parts intercombinations of robot.
It is to be understood that the above examples of the present invention are provided by way of illustration only and not by way of limitation of the embodiments of the present invention. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.
Claims (6)
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| CN202110306556.3A CN113001565B (en) | 2021-03-23 | 2021-03-23 | A wheel clamp module for inspection and operation |
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| CN202110306556.3A CN113001565B (en) | 2021-03-23 | 2021-03-23 | A wheel clamp module for inspection and operation |
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| CN116853381A (en) * | 2023-08-01 | 2023-10-10 | 广东工业大学 | Rolling climbing robot module |
| CN117206776B (en) * | 2023-11-08 | 2024-02-20 | 中铁三局集团有限公司 | Portable robot moving chassis with three-dimensional guide rail |
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| CN214686575U (en) * | 2021-03-23 | 2021-11-12 | 广东工业大学 | A wheel clamp module for inspection and operation |
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| JP4875102B2 (en) * | 2005-12-02 | 2012-02-15 | アイロボット コーポレイション | Coverage robot mobility |
| CN106584484B (en) * | 2017-02-10 | 2023-07-25 | 济南舜风科技有限公司 | Fuselage rotary overhead line operation robot structure and application |
| CN106786170B (en) * | 2017-03-09 | 2018-05-18 | 华北电力大学（保定） | Transmission line polling robot |
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