Line falling walking pressing device suitable for flying hot-line work robot

Abstract

The utility model discloses a wire falling walking pressing device suitable for a flying hot-line work robot, which comprises a walking structure, a pressing structure is arranged at the bottom of the walking structure, a flying platform for driving the walking structure to fly is arranged at the top of the walking structure, and the flying platform comprises a main carbon frame; the walking structure comprises a hub, wheel edges are symmetrically arranged on the two sides of the hub, a wiring groove is formed in the middle of the hub, and a rotating assembly is arranged on one side of the hub. Through the design of the flying platform, the wheel hub, the wheel edge, the wiring groove, the rotating assembly, the pressing wheel body and the moving assembly, during use, the flying platform drives the wheel hub to move to the wiring groove formed in the middle of the wheel hub to be attached to a high-voltage transmission line, and then the moving assembly drives the pressing wheel body to move towards one side of the wheel hub; therefore, the device is limited on the high-voltage power transmission line through the pressing wheel body and the hub, and the situation that a robot needs to go up a tower manually to go up and down the line is avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of live-line working, in particular to a line-falling walking and clamping device suitable for a flying live-line working robot. Background Art

[0002] High-voltage transmission lines are essential equipment in the power grid system. In order to ensure the safe and normal operation of the transmission lines, the hardware on the transmission lines must be inspected and maintained regularly and irregularly.

[0003] At present, when live-working robots are transported to high-voltage wires, wheeled robots are mainly suspended on the wires and moved to the working position through the wires. When in use, workers are required to climb onto the high-voltage towers first, and then move the wheeled robots to the high-voltage transmission lines through the wires. This type of live-working robot has a low safety factor when going up and down the line, and is time-consuming and labor-intensive. Utility Model Content

[0004] The purpose of the utility model is to provide a line-dropping walking and clamping device suitable for a flying live-working robot, so as to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a line-falling walking and clamping structure suitable for a flying live-working robot, comprising a walking structure, a clamping structure is arranged at the bottom of the walking structure, a flying platform for driving the walking structure to fly is arranged at the top of the walking structure, and the flying platform comprises a main carbon frame;

[0006] The walking structure comprises a wheel hub, wheel rims are symmetrically arranged on both sides of the wheel hub, a wiring slot is opened in the middle of the wheel hub, and a rotating assembly is arranged on one side of the wheel hub;

[0007] The clamping structure includes a clamping frame fixedly connected to the bottom of the main carbon frame, a plurality of clamping wheel bodies are arranged on one side of the clamping frame, and a moving component for moving the position of the clamping wheel body is arranged at the connection between the clamping wheel body and the clamping frame.

[0008] Preferably, the moving component includes a motor mounting frame fixedly connected to the other side of the pressing frame, an outer rotor motor 2 is fixedly connected to the interior of the motor mounting frame, an output end of the outer rotor motor 2 is fixedly connected to a rod shaft, a worm is sleeved in the middle of the rod shaft, a worm wheel is meshed at the bottom of the worm, a pressing pendulum shaft is sleeved in the middle of the worm wheel, a pressing wheel bracket is sleeved at one end of the pressing pendulum shaft, and the multiple pressing wheel bodies are symmetrically arranged at the top of the pressing wheel bracket.

[0009] Preferably, end cover 2 and end cover 1 are respectively provided on both sides of the compression frame, and the rod shaft is inserted and connected in the middle of end cover 1 and end cover 2.

[0010] Preferably, end covers three are symmetrically arranged on the front and back sides of the compacting frame, a wheel axle is inserted and connected to the middle of the worm gear, and the wheel axle is inserted and connected to the middle of the end cover three.

[0011] Preferably, the bottom end of the main carbon frame is fixedly connected with a mounting seat 1, the middle of the mounting seat 1 is inserted with a main carbon tube, and the bottom of the main carbon tube is provided with a fixing pin 1 for fixing the position of the main carbon tube and the mounting seat 1.

[0012] Preferably, a plurality of connecting rods are symmetrically arranged in the middle part of the main carbon tube, wherein one side of one of the connecting rods is fixedly connected to a motor mounting plate, the rotating assembly includes an outer rotor motor 1 fixedly connected to one side of the motor mounting plate, the wheel hub is fixedly connected to the output end of the outer rotor motor 1, a rolling support shaft is arranged on the other side of the wheel hub, a locating bearing is sleeved on one side of the rolling support shaft, a bearing seat is sleeved on the outer wall of the locating bearing, and the bearing seat is fixedly connected to one side of another connecting rod.

[0013] Preferably, a shock-absorbing pin is provided on one side of the motor mounting plate, a second pin is provided on one side of the bearing seat, and shock absorbers are provided on the tops of the shock-absorbing pin and the second pin.

[0014] Preferably, a mounting seat 2 is provided at the bottom of the main carbon tube, a secondary carbon tube is inserted and connected to the middle of the mounting seat 2, the secondary carbon tube is inserted and connected to the top of the shock absorber, and a fixing pin 2 for fixing the position of the mounting seat 2 and the secondary carbon tube is provided at the bottom of the mounting seat 2.

[0015] Technical effects and advantages of the utility model:

[0016] The utility model adopts the design of a flying platform, a wheel hub, a wheel edge, a wiring groove, a rotating assembly, a clamping wheel body and a moving assembly. When in use, the flying platform drives the wheel hub to move to the wiring groove opened in the middle thereof to fit with the high-voltage transmission line, and then the moving assembly drives the clamping wheel body to move to one side of the wheel hub, so that the device is restricted to the high-voltage transmission line by the clamping wheel body and the wheel hub, avoiding the need for manual work on the tower to carry out the robot on and off the line. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is an overall three-dimensional schematic diagram of the utility model.

[0018] Figure 2 This is a machine status diagram of the utility model UAV when landing the wire.

[0019] Figure 3 It is a three-dimensional structural schematic diagram of the walking structure of the utility model.

[0020] Figure 4It is a schematic cross-sectional view of the walking structure of the utility model.

[0021] Figure 5 It is a three-dimensional structural schematic diagram of the compacting structure of the utility model.

[0022] Figure 6 It is a schematic diagram of the cross-sectional structure of the compacting structure of the utility model.

[0023] In the figure: 1. walking structure; 101. mounting seat 1; 102. fixing pin 1; 103. main carbon tube; 104. connecting rod; 105. shock-absorbing pin; 106. shock absorber; 107. motor mounting plate; 108. outer rotor motor 1; 109. wheel edge; 110. wheel hub; 111. wiring slot; 112. rolling support shaft; 113. positioning bearing; 114. bearing seat; 115. pin 2; 116. mounting seat 2; 1 17. Fixing pin 2; 118. Auxiliary carbon tube; 2. Clamping structure; 201. Motor mounting frame; 202. External rotor motor 2; 203. Rod shaft; 204. End cover 1; 205. Clamping frame; 206. Worm; 207. End cover 2; 208. Worm wheel; 209. Wheel axle; 210. End cover 3; 211. Clamping swing shaft; 212. Clamping wheel bracket; 213. Clamping wheel body; 3. Flight platform; 301. Main carbon frame. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0025] The utility model provides Figure 1-6 The shown device is suitable for a flying live-working robot to walk and clamp down, comprising a walking structure 1, a clamping structure 2 is arranged at the bottom of the walking structure 1, a flying platform 3 for driving the walking structure 1 to fly is arranged at the top of the walking structure 1, and the flying platform 3 comprises a main carbon frame 301; the walking structure 1 comprises a hub 110, wheel edges 109 are symmetrically arranged on both sides of the hub 110, a wiring groove 111 is opened in the middle of the hub 110, and a rotating component is arranged on one side of the hub 110; the clamping structure 2 comprises a clamping frame 205 fixedly connected to the bottom of the main carbon frame 301, a plurality of clamping wheel bodies 213 are arranged on one side of the clamping frame 205, and a moving component for moving the position of the clamping wheel body 213 is arranged at the connection between the clamping wheel body 213 and the clamping frame 205.

[0026] It should be noted that the flying platform 3 can be a drone, which drives the walking structure 1 and the clamping structure 2 to move when in use. The wiring groove 111 provided on the outer wall of the wheel hub 110 is in an inverted V-shaped structure, which is convenient for guiding and covering the transmission line. When in use, the flying platform 3 drives the wheel hub 110 to move to the wiring groove 111 provided in the middle thereof to fit with the high-voltage transmission line, and then the clamping wheel body 213 is driven to move to one side of the wheel hub 110 by the moving component, so that the device is restricted to the high-voltage transmission line by the clamping wheel body 213 and the wheel hub 110.

[0027] Specifically, the moving assembly includes a motor mounting frame 201 fixedly connected to the other side of the pressing frame 205, the inner part of the motor mounting frame 201 is fixedly connected to the outer rotor motor 202, the output end of the outer rotor motor 202 is fixedly connected to the shaft 203, the middle part of the shaft 203 is sleeved with a worm 206, the bottom of the worm 206 is meshed with a worm wheel 208, the middle part of the worm wheel 208 is sleeved with a pressing swing shaft 211, and one end of the pressing swing shaft 211 is sleeved with a pressing A wheel bracket 212, a plurality of pressing wheel bodies 213 are symmetrically arranged at the top end of the pressing wheel bracket 212, end cover 207 and end cover 1 204 are respectively arranged on both sides of the pressing frame 205, the rod shaft 203 is inserted and connected in the middle of end cover 1 204 and end cover 207, the front and back sides of the pressing frame 205 are symmetrically arranged with end cover 3 210, the middle part of the worm gear 208 is inserted and connected with the wheel axle 209, and the wheel axle 209 is inserted and connected in the middle part of the end cover 3 210.

[0028] It should be noted that the motor mounting frame 201 can be fixed to the pressing frame 205 by bolts, the outer rotor motor 202 is fixed to the inner wall of one side of the motor mounting frame 201 by bolts, and the output end of the outer rotor motor 202 is fixed to the rod shaft 203 by screws. Both ends of the structure are supported by bearings and axial limit is achieved by end cover 1 204 and end cover 207, so that when the worm 206 needs to be rotated, the rod shaft 203 is directly driven to rotate by the output end of the outer rotor motor 202, and the worm 206 is rotated by the output end of the outer rotor motor 202. The rod shaft 203 drives the worm 206 to rotate, thereby realizing that the worm 206 drives the worm wheel 208 meshing with it to rotate; the set clamping swing shaft 211 is sleeved on one side of the worm wheel 208, and the two are fixed by bolts. The wheel axle 209 passes through the worm wheel 208, and is also supported and limited by bearings and end cover three 210. The position of the worm wheel 208 is limited by limiting the movement of the wheel axle 209; the set clamping wheel body 213 is rotatably connected to the top of the clamping wheel bracket 212.

[0029] Furthermore, when the position of the pressure wheel body 213 needs to be moved, the outer rotor motor 202 is turned on, the worm 206 is driven to rotate by the outer rotor motor 202, and the rotating worm 206 drives the worm wheel 208 to rotate, and the rotating worm wheel 208 drives the pressure swing shaft 211, the pressure wheel bracket 212 and the pressure wheel body 213 to move.

[0030] Specifically, the bottom end of the main carbon frame 301 is fixedly connected with a mounting seat 101, the middle of the mounting seat 101 is interlaced with a main carbon tube 103, the bottom of the main carbon tube 103 is provided with a fixing pin 102 for fixing the position of the main carbon tube 103 and the mounting seat 101, and the middle of the main carbon tube 103 is symmetrically provided with a plurality of connecting rods 104, one side of one of the connecting rods 104 is fixedly connected with a motor mounting plate 107, the rotating assembly includes an outer rotor motor 108 fixedly connected to one side of the motor mounting plate 107, a hub 110 is fixedly connected to the output end of the outer rotor motor 108, and the other side of the hub 110 is provided with a rolling support shaft 112, and one side of the rolling support shaft 112 A locating bearing 113 is sleeved, and a bearing seat 114 is sleeved on the outer wall of the locating bearing 113. The bearing seat 114 is fixedly connected to one side of the other connecting rod 104. A shock-absorbing pin 105 is arranged on one side of the motor mounting plate 107, and a pin 2 115 is arranged on one side of the bearing seat 114. Shock absorbers 106 are arranged on the tops of the shock-absorbing pin 105 and the pin 2 115. A mounting seat 2 116 is arranged at the bottom of the main carbon tube 103, and a secondary carbon tube 118 is inserted and connected to the middle of the mounting seat 2 116. The secondary carbon tube 118 is inserted and connected to the top of the shock absorber 106, and a fixing pin 2 117 for fixing the position of the mounting seat 2 116 and the secondary carbon tube 118 is arranged at the bottom of the mounting seat 2 116.

[0031] It should be noted that the mounting seat 101 is fixedly connected to the main carbon frame 301 of the flight platform 3 by screws, and the number of the mounting seats 101 is two. The two mounting seats 101 are symmetrically arranged at the bottom of the flight platform 3. A mounting hole compatible with the main carbon tube 103 is opened in the middle of the mounting seat 101. When the position of the main carbon tube 103 needs to be fixed, the main carbon tube 103 is first passed through the inside of the two mounting holes in turn, and the two ends of the main carbon tube 103 are respectively fixedly connected to the inside of the two mounting holes by the fixing pin 102, so that the main carbon tube 103 is fixed to the bottom of the flight platform 3 through the mounting seat 101. The connecting rod 104 is sleeved and fixed on the main carbon tube 103, and the number is set to two. One of the connecting rods 104 is fixedly connected to the motor mounting plate 107 by bolts, and the other connecting rod 104 can be fixedly connected to the bearing seat 114 by bolts. The rolling support shaft 112, the positioning bearing 113 and the bearing seat 114 are used to fix the wheel hub 110 does not restrict its rotation. The inner groove ring of the positioning bearing 113 is fixedly sleeved on one side of the rolling support shaft 112, and the outer groove ring of the positioning bearing 113 is inserted and fixedly connected to one side of the bearing seat 114. The positions of the positioning bearing 113, the rolling support shaft 112 and the wheel hub 110 are fixed by the bearing seat 114. When the wheel hub 110 needs to rotate, it drives the rolling support shaft 112 and the inner groove ring of the positioning bearing 113 to rotate; the shock absorber 106 includes a damper and a spring, which can achieve the function of buffering vibration, thereby reducing the vibration of the robot when it falls on the line and improving its stability; the fixing method between the mounting seat 2 116 and the auxiliary carbon tube 118 is consistent with the fixing method between the mounting seat 101 and the main carbon tube 103; the outer rotor motor 108 is used to drive the wheel hub 110 to rotate. When the wheel hub 110 needs to be rotated, the outer rotor motor 108 is turned on, and the wheel hub 110 is driven to rotate through the output end of the outer rotor motor 108.

[0032] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A line-falling walking and clamping device suitable for a flying live-line working robot, characterized in that: It comprises a walking structure (1), a pressing structure (2) is arranged at the bottom of the walking structure (1), a flying platform (3) for driving the walking structure (1) to fly is arranged at the top of the walking structure (1), and the flying platform (3) comprises a main carbon frame (301); The walking structure (1) comprises a wheel hub (110), wheel rims (109) are symmetrically arranged on both sides of the wheel hub (110), a wiring slot (111) is opened in the middle of the wheel hub (110), and a rotating assembly is arranged on one side of the wheel hub (110); The clamping structure (2) comprises a clamping frame (205) fixedly connected to the bottom of the main carbon frame (301), a plurality of clamping wheel bodies (213) are arranged on one side of the clamping frame (205), and a moving component for moving the position of the clamping wheel body (213) is arranged at the connection between the clamping wheel body (213) and the clamping frame (205).

2. The line-falling walking and clamping device for a flying live-line working robot according to claim 1 is characterized in that: The moving assembly comprises a motor mounting frame (201) fixedly connected to the other side of the pressing frame (205); an outer rotor motor 2 (202) is fixedly connected inside the motor mounting frame (201); an output end of the outer rotor motor 2 (202) is fixedly connected to a rod shaft (203); a worm (206) is sleeved in the middle of the rod shaft (203); a worm wheel (208) is meshed at the bottom of the worm (206); a pressing swing shaft (211) is sleeved in the middle of the worm wheel (208); a pressing wheel bracket (212) is sleeved at one end of the pressing swing shaft (211); and the plurality of pressing wheel bodies (213) are symmetrically arranged at the top end of the pressing wheel bracket (212).

3. The line-falling walking and clamping device for a flying live-line working robot according to claim 2 is characterized in that: End cover 2 (207) and end cover 1 (204) are respectively arranged on both sides of the compacting frame (205), and the rod shaft (203) is inserted and connected in the middle of end cover 1 (204) and end cover 2 (207).

4. The line-falling walking and clamping device for a flying live-line working robot according to claim 2 is characterized in that: End covers (210) are symmetrically arranged on the front and back sides of the compacting frame (205), a wheel shaft (209) is inserted and connected in the middle of the worm wheel (208), and the wheel shaft (209) is inserted and connected in the middle of the end cover (210).

5. The line-falling walking and clamping device for a flying live-line working robot according to claim 1 is characterized in that: The bottom end of the main carbon frame (301) is fixedly connected to a mounting seat (101), the middle of the mounting seat (101) is interlaced with a main carbon tube (103), and the bottom of the main carbon tube (103) is provided with a fixing pin (102) for fixing the position of the main carbon tube (103) and the mounting seat (101).

6. The line-falling walking and clamping device for a flying live-line working robot according to claim 5 is characterized in that: A plurality of connecting rods (104) are symmetrically arranged in the middle of the main carbon tube (103), one side of one of the connecting rods (104) is fixedly connected to a motor mounting plate (107), the rotating assembly comprises an outer rotor motor (108) fixedly connected to one side of the motor mounting plate (107), the wheel hub (110) is fixedly connected to the output end of the outer rotor motor (108), a rolling support shaft (112) is arranged on the other side of the wheel hub (110), a positioning bearing (113) is sleeved on one side of the rolling support shaft (112), the outer wall of the positioning bearing (113) is sleeved on a bearing seat (114), and the bearing seat (114) is fixedly connected to one side of another connecting rod (104).

7. The line-falling walking and clamping device for a flying live-line working robot according to claim 6 is characterized in that: A shock-absorbing pin (105) is arranged on one side of the motor mounting plate (107), a second pin (115) is arranged on one side of the bearing seat (114), and shock absorbers (106) are arranged on the tops of the shock-absorbing pin (105) and the second pin (115).

8. The line-falling walking and clamping device for a flying live-line working robot according to claim 7 is characterized in that: A second mounting seat (116) is provided at the bottom of the main carbon tube (103), a secondary carbon tube (118) is inserted and connected to the middle of the second mounting seat (116), the secondary carbon tube (118) is inserted and connected to the top of the shock absorber (106), and a second fixing pin (117) for fixing the position of the second mounting seat (116) and the secondary carbon tube (118) is provided at the bottom of the second mounting seat (116).

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