CN205829024U - High-voltage transmission line inspection robot - Google Patents

Abstract

The utility model discloses a kind of inspection robot for high-voltage transmission lines, including three moving obstacle-crossing arm mechanisms, moving obstacle-crossing arm mechanism includes arm body, drive the telescoping drive mechanism of the upper and lower stretching motion of arm body, can the palm mechanism of folding, palm mechanism includes the first palm being oppositely arranged and the second palm being controlled folding by open-and-close mechanism, open-and-close mechanism includes the second leading screw, second drives motor, the second screw being fixed on the second leading screw, two connecting plates being fixed on the second screw, it is separately fixed at the first palm and second-hand's palm two pins being slidably connected respectively with two connecting plates, slide rail, the guide groove being obliquely installed is had on connecting plate, slide in pin is located in this guide groove and along guide groove, first palm and the second palm are installed on slide rail and move along slide rail.This utility model simple in construction, easy to maintenance, patrol and examine efficiently, obstacle detouring stable, beneficially safe and efficient the carrying out of inspecting high-voltage transmission lines work.

Description

High-voltage transmission line inspection robot

technical field

The utility model relates to the field of inspection equipment, in particular to a boom-type high-voltage transmission line inspection robot.

Background technique

High-voltage transmission line is the artery of power system, and its safe operation has been paid more and more attention by departments at all levels. Transmission lines are not only subject to the internal stress of inherent mechanical loads and electrical loads. Over time, it will inevitably lead to various faults in the line, such as: increased contact resistance, broken wires, broken lightning rods, tilted towers, flickering insulators, and falling off hardware. If they are not discovered and removed in time, they will constitute a catastrophic hazard to the power system. . At present, most of the inspection tasks in our country are completed by manual inspection. At present, most inspection robots at home and abroad have the characteristics of complex structure, difficult repair and maintenance, unstable obstacle crossing and low efficiency, and have not been widely used. my country's high-voltage transmission line inspection work.

Utility model content

In order to solve the above problems, the utility model provides a high-voltage transmission line inspection robot with simple structure, convenient maintenance, high-efficiency inspection, and stable obstacle surmounting.

The utility model is in order to realize above-mentioned object, and the technical solution that adopts is:

A high-voltage transmission line inspection robot, including three walking obstacle-surpassing arm mechanisms, the walking obstacle-surpassing arm mechanism includes an arm body, a telescopic drive mechanism that drives the arm body to move up and down, and an openable palm mechanism installed on the upper part of the arm body , the palm mechanism includes a first palm and a second palm that are oppositely arranged to be opened and closed by an opening and closing mechanism, and the opening and closing mechanism includes a second lead screw, a second drive motor that drives the second lead screw to rotate, and is fixed on The second screw nut on the second lead screw, the two connecting plates fixed on the second screw nut, the two pins respectively fixed on the first palm and the second palm and slidingly connected with the two connecting plates respectively, relative to the first Two lead screws are vertically arranged on the slide rail, and the connecting plate is provided with an oblique guide groove, and the pin is penetrated in the guide groove and slides along the guide groove, and the first palm and the second palm are installed on the slide rail. on the rail and move along the slide rail.

Based on the above technical solution, the robot realizes the vertical expansion and contraction of the arm body through the telescopic drive mechanism, and the opening and closing of the palm is realized through the opening and closing mechanism in the palm mechanism. During the inspection process, when obstacles are encountered, the action of the telescopic drive mechanism drives the arm body to rise to achieve offline, the second drive motor in the opening and closing mechanism acts to open the palm, and the action of the telescopic drive mechanism drives the arm body to drop to the required height. Advance to the distance where the obstacle can be crossed, the arm body rises, the palm is closed to complete the hanging line, and the other two walking obstacle-crossing arm mechanisms complete the obstacle-crossing action in turn, realizing the obstacle-crossing and inspection. The structure is simple, the maintenance is convenient, and the inspection is efficient. .

The opening and closing of the palm is driven by a screw mechanism, and the screw mechanism is driven by a stable screw and screw nut. Specifically, the second driving motor drives the second screw to rotate, and the second screw drives the second screw through screw transmission. Moving up and down, the connecting plate and the second nut are connected together, driven by the second nut to drive the connecting plate to move up and down, the two palms and the connecting plate are connected together by pins, and the pins are arranged along the inclination of the connecting plate The movement of the guide groove is transformed into the horizontal movement of the two palms through the up and down movement of the connecting plate, so as to realize the opening and closing of the palms. The slide rail remains stationary during the whole process, the pin slides in the guide groove of the connecting plate, and the connecting plate gives the first palm and the second palm a vertical guide groove force through the pin during the sliding process, and the force is in the vertical direction and There is a component force in each horizontal direction, and the horizontal component force drives the two palms to open and close, so as to meet the design requirements. During the entire process of opening and closing obstacles, the movement is stable, and stable obstacle surmounting can be realized.

In the high-voltage transmission line inspection robot described above, the telescopic drive mechanism includes a first lead screw, a first drive motor that drives the first lead screw to rotate, a first screw nut installed on the first lead screw, and the arm The body is fixedly connected with the first wire nut. Wherein, the arm body is fixedly connected with the first screw nut through the flange. The first driving motor drives the first lead screw to rotate, and drives the first screw nut to move up and down, thereby driving the arm body to move up and down to realize telescopic movement.

In the high-voltage transmission line inspection machine described above, preferably, in order to prevent the setting of the connecting plate from hindering the movement of the two palms, the connecting plate is a triangular plate.

In the high-voltage transmission line inspection robot described above, the palm mechanism is also provided with a guide cylinder for guiding the second lead screw, and opposite openings are provided on both sides of the guide cylinder, and the openings are used to guide the second lead screw. The silk mother guides.

In the high-voltage transmission line inspection robot described above, preferably, the slide rail is fixed on the guide cylinder.

In the high-voltage transmission line inspection robot described above, the first palm is provided with a first traveling wheel, and the second palm is provided with a second traveling wheel and a traveling wheel driving motor that drives the second traveling wheel to rotate. Splines are provided on the second traveling wheel, and spline openings for cooperating with the splines are provided on the first traveling wheel.

In the above-mentioned high-voltage transmission line inspection robot, the palm mechanism also includes a brake device, which includes a brake screw, a brake drive motor, and a brake pad. brake action.

The above-mentioned high-voltage transmission line inspection robot also includes a battery, a GPS system, and a box for placing the battery and the GPS system. The box includes upper and lower box plates, and the upper and lower box plates are connected by screws.

The above-mentioned high-voltage transmission line inspection robot also includes a miniature camera device.

The above-mentioned high-voltage transmission line inspection robot also includes a sensor bracket and a sensor installed on the sensor bracket for sensing whether there is an obstacle. Preferably, the sensor brackets are arranged in two groups, which are respectively installed at the front and rear positions of the inspection robot, and sensors are arranged on each sensor bracket to facilitate the identification of the distance of obstacles, thereby realizing automatic obstacle surmounting.

Beneficial effects that the utility model can produce: the utility model has simple structure, convenient maintenance, and high-efficiency inspection. Obstacles can be overcome, which is conducive to the safe and efficient inspection of high-voltage transmission lines.

Description of drawings

Accompanying drawing 1 is the structural representation of the utility model;

Accompanying drawing 2 is the structural representation of palm mechanism;

Among them: 1. Box body; 2. Sensor; 3. Sensor bracket; 4. Palm mechanism; 5. Traveling wheel drive motor; 6. Slide rail; 7. Guide tube; 8. Arm body; 9. Battery; Box; 11, flange; 12, the first screw nut; 13, the first screw; 14, micro-camera device; 15, reducer; 16, screw; 17, the first drive motor; 18, braking device; 19, Connecting plate; 20, pin; 21, guide groove; 22, opening; 41, first palm; 42, second palm; 43, first traveling wheel; 44, second traveling wheel; 45, spline.

detailed description

Below in conjunction with accompanying drawing, the specific embodiment of the present utility model is described in further detail.

This embodiment will be described with reference to FIGS. 1 and 2 . As shown in Figures 1 and 2, a high-voltage transmission line inspection robot includes three walking obstacle-surpassing arm mechanisms, and each walking obstacle-surpassing arm mechanism includes an arm body 8 and a telescopic drive mechanism that drives the arm body 8 to move up and down. 1. The openable and closable palm mechanism 4 installed on the upper part of the arm body 8 . The robot also includes a miniature camera 14, a sensor bracket 3, a sensor 2 mounted on the sensor bracket 3 for sensing whether there is an obstacle, a battery 9, a GPS system, and a box 1 for placing the battery 9 and the GPS system. Preferably, the sensor brackets 3 are arranged in two groups, respectively installed at the front and rear positions of the inspection robot, and each sensor bracket 3 is provided with a sensor 2 to facilitate the identification of the distance of obstacles, thereby realizing automatic obstacle surmounting. The box body 1 includes upper and lower box body plates, the upper and lower box body plates are connected by screws 16 , and the battery 9 is installed in the box body 1 through the battery box 10 .

The telescopic driving mechanism comprises a first leading screw 13, a first driving motor 17 that drives the first leading screw 13 to rotate, a first screw nut 12 installed on the first leading screw 13, and the arm body 8 connects with the first screw through the flange 11. The female 12 is fixedly connected. The first driving motor 17 drives the first lead screw 13 to rotate, and drives the first screw nut 12 to move up and down, thereby driving the arm body 8 to move up and down to realize telescopic movement. The first driving motor 17 is fixed below the lower box body plate of the casing 1, and a through hole is provided in the casing 1 for the first leading screw 13 connected with the first driving motor to pass through, and the arm body 8 is arranged on the casing 1 top. The first drive motor 17 is connected to the first lead screw 13 through the reducer 15 . The first screw 13 is preferably a ball screw.

The palm mechanism 4 includes a first palm 41 and a second palm 42 oppositely arranged to be opened and closed by the opening and closing mechanism. The first palm 41 is provided with a first road wheel 43, the second palm 42 is provided with a second road wheel 44 and a road wheel drive motor 5 that drives the second road wheel 44 to rotate, and the second road wheel 44 is provided with a spline 45, the first traveling wheel 43 is provided with a spline opening (not shown in the figure) for matching with the spline 45 . The palm mechanism 4 also includes a braking device 18, and the braking device 18 includes a brake screw, a brake drive motor, and a brake pad, and the brake pad is used to contact the first running wheel 43 to realize the braking action of the walking process.

The opening and closing mechanism includes a second lead screw (not shown in the figure), a second drive motor (not shown in the figure) that drives the second lead screw to rotate, a second screw nut (not shown in the figure) fixed on the second lead screw ), two connecting plates 19 fixed on the second screw nut, two pins 20 respectively fixed on the first palm 41 and the second palm 42 and slidingly connected with the two connecting plates 19, perpendicular to the second leading screw The set slide rail 6 has a guide groove 21 arranged obliquely on the connecting plate 19, and the pin 20 is passed through the guide groove 21 and slides along the guide groove 21. The first palm 41 and the second palm 42 are installed on the slide rail 6 Go up and move along the slide rail 6. The connection plate 19 is preferably a triangular plate. The palm mechanism 4 is also provided with a guide tube 7 for guiding the second lead screw. The two sides of the guide tube 7 are provided with opposite openings 22. The opening 22 is used to guide the second screw nut. The slide rail 6 is fixed on the guide tube. 7 on.

In this embodiment, the opening and closing of the palm is driven by a screw mechanism, and the screw mechanism is driven by a stable lead screw and screw nut. As shown in Figure 2, the second driving motor drives the second lead screw to rotate, and the second lead screw drives the second screw nut to move up and down through screw transmission, and the connecting plate 19 is connected with the second screw nut. Driven to drive the connecting plate 19 to move up and down, the two palms and the connecting plate 19 are connected together by the pin 20, and the pin 20 moves along the inclined guide groove 21 on the connecting plate, and is transformed into two palms through the vertical movement of the connecting plate 19. Horizontal movement of the palm to achieve palm opening and closing. The slide rail 6 remains stationary during the whole process, the pin 20 slides in the guide groove 21 of the connecting plate 19, and the connecting plate 19 gives the first palm 41 and the second palm 42 a vertical guide groove 21 by the pin 20 in the sliding process The force has a component in the vertical direction and a horizontal direction, and its horizontal component drives the two palms to open and close, so as to meet the design requirements.

Of course, the above description is not a limitation of the present utility model, and the present utility model is not limited to the above-mentioned examples, and changes, modifications, additions or replacements made by those skilled in the art within the essential scope of the present utility model are also acceptable. Should belong to the protection scope of the present utility model.

Claims (10)

1. an inspection robot for high-voltage transmission lines, including three moving obstacle-crossing arm mechanisms, moving obstacle-crossing arm mechanism includes hands Arm body, drive the upper and lower stretching motion of arm body telescoping drive mechanism, be installed on arm body upper part can the palm of folding Mechanism, described palm mechanism includes the first palm being oppositely arranged and the second palm being controlled folding by open-and-close mechanism, and its feature exists In: described open-and-close mechanism includes the second leading screw, the second driving motor driving the second screw turns, is fixed on the second leading screw Second screw, two connecting plates being fixed on the second screw, it is separately fixed at the first palm and second-hand's palm and respectively with two Two pins that individual connecting plate is slidably connected, the relative second vertically disposed slide rail of leading screw, described connecting plate has and is obliquely installed Guide groove, described pin is located in this guide groove and slides along guide groove, and described first palm and the second palm are installed on slide rail also Move along slide rail.

Inspection robot for high-voltage transmission lines the most according to claim 1, it is characterised in that: described telescoping drive mechanism includes First leading screw, drive the first driving motor of the first screw turns, the first screw of being installed on the first leading screw, described arm this Body and the fixing connection of the first screw.

Inspection robot for high-voltage transmission lines the most according to claim 1, it is characterised in that: described connecting plate is triangular plate.

Inspection robot for high-voltage transmission lines the most according to claim 1, it is characterised in that: described palm mechanism is additionally provided with use In the guide that the second leading screw guides, the both sides of described guide are provided with the opening being oppositely arranged, and described opening is for entering the second screw Row guides.

Inspection robot for high-voltage transmission lines the most according to claim 4, it is characterised in that: described slide rail is fixed on guide.

Inspection robot for high-voltage transmission lines the most according to claim 1, it is characterised in that: described first-hand palm is provided with One road wheel, described second-hand's palm is provided with the second road wheel and drives the traction drive motor of the second road wheel rotation, and second Road wheel is provided with spline, and the first row travelling wheel is provided with for the spline opening with this spline fitted.

Inspection robot for high-voltage transmission lines the most according to claim 1, it is characterised in that: described palm mechanism also includes stopping Car device, brake gear includes brake leading screw, brake driving motor, brake block.

Inspection robot for high-voltage transmission lines the most according to claim 1, it is characterised in that: also include battery, GPS system, For placing battery and the casing of GPS system.

Inspection robot for high-voltage transmission lines the most according to claim 1, it is characterised in that: also include micro-camera device.

Inspection robot for high-voltage transmission lines the most according to claim 1, it is characterised in that: also include sensor stand and The sensor whether having obstacle for sensing being arranged on sensor stand.