Insulator string creeping mechanism

Abstract

The present invention discloses an insulator string crawling mechanism, comprising an upper frame, a lower frame and a connecting mechanism connecting the upper frame and the lower frame, the upper frame and the lower frame have the same structure, the upper frame and the lower frame respectively comprise a first arc frame and a second arc frame, the first arc frame and the second arc frame are connected and fixed to a circular ring structure with a notch through a frame opening and closing mechanism, the upper frame and the lower frame are respectively provided with a plurality of planetary gear trains, the planetary gear trains are respectively distributed along the circumference of the upper frame and the lower frame, the axis of the planetary gear train is perpendicular to the axis of the insulator string to be crawled and parallel to the tangent direction of the outer edge of the insulator porcelain bottle. The present invention drives the planetary gear to move through the rotation of the planetary frame on the planetary gear train, has a wide adaptability to the external dimensions of the insulator, and can realize fast, continuous and non-jamming crawling.

Description

Technical Field

[0001] The invention relates to the technical field of crawling robots, and in particular to an insulator string crawling mechanism. Background Art

[0002] In the insulator string crawling mechanism of the prior art, it can be mainly divided into three categories according to the movement mode of the robot, namely creeping type, crawler type and wheel-leg type. Among them, the creeping walking mechanism uses the principle of bionics to crawl along the suspended insulator string. The movement of this mechanism is stable and reliable, but its gait control is complex; the crawler walking mechanism mainly relies on the crawler to roll and crawl along the surface of the insulator. This mechanism has strong load-bearing capacity and strong surface adaptability, and is widely used in various obstacle-crossing robots, but its structure is complex and bulky; the wheel-leg walking mechanism is a mechanism that uses multiple sets of wheel legs to alternately contact the insulator porcelain skirt to achieve movement along the suspended insulator string. The mechanism principle is simple, the movement is continuous, and the volume is light. However, this type of mechanism is slightly insufficient in terms of adaptability to different insulator strings, movement stability and load-bearing capacity. Summary of the invention

[0003] In view of the above shortcomings, the present invention provides an insulator string crawling mechanism with strong adaptability and fast crawling.

[0004] In order to achieve the above object, the present invention adopts the following technical scheme:

[0005] An insulator string crawling mechanism comprises an upper frame, a lower frame and a connecting mechanism connecting the upper frame and the lower frame, wherein the upper frame and the lower frame have the same structure, and the upper frame and the lower frame respectively comprise a first arc frame and a second arc frame, and the first arc frame and the second arc frame are connected and fixed to a circular ring structure with a notch through a frame opening and closing mechanism, and the upper frame and the lower frame are respectively provided with a plurality of planetary gear trains, and the planetary gear trains are respectively distributed along the circumference of the upper frame and the lower frame, and the axis of the planetary gear train is perpendicular to the axis of the insulator string to be crawled and parallel to the tangent direction of the outer edge of the insulator porcelain bottle.

[0006] Furthermore, the planetary gear train includes a planet carrier, a sun gear, planetary gears and a planet carrier driving mechanism, the sun gear is fixedly mounted on the first arc frame or the second arc frame, the planet carrier is rotatably disposed on the first arc frame or the second arc frame and is driven to rotate by the planet carrier driving mechanism, and there are multiple planetary gears, which are rotatably disposed on the planet carrier and mesh with the sun gear.

[0007] Furthermore, the planetary gear train also includes a creeper wheel, and the creeper wheel is coaxially arranged on the side of the planetary wheel.

[0008] Furthermore, a friction component for increasing friction force is provided on the outer periphery of the crawler wheel.

[0009] Furthermore, the friction component is a concave or convex pattern arranged on the outer periphery of the crawler wheel, or a rubber sleeve wrapped on the outer periphery of the crawler wheel, or a convex tooth.

[0010] Furthermore, the connecting mechanism is a rod.

[0011] Furthermore, the frame opening and closing mechanism includes a first drive motor fixedly arranged on one of the first arc frame and the second arc frame, and the output shaft of the first drive motor is connected to the other of the first arc frame and the second arc frame, and is driven to rotate by the first drive motor.

[0012] Furthermore, the planetary carrier drive mechanism includes a second drive motor, which is fixedly mounted on the first arc frame or the second arc frame. A drive gear is fixedly mounted on the output shaft of the second drive motor, and a ring gear is fixedly mounted on the side of the planetary carrier, and the drive gear is meshed with the ring gear.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] 1. The planetary gear system of the present invention is pressed on the insulator porcelain bottle, and then the planetary gear is driven to move by the rotation of the planetary carrier on the planetary gear system, which has wide adaptability to the external dimensions of the insulator; since the mechanism adopts an embracing design, the mechanism can adapt to different types of insulator strings such as horizontal, I-type, V-type and Y-type, that is, the present invention has strong adaptability to different types of insulators;

[0015] 2. The present invention realizes the creeping motion on the insulator string by driving the revolution and rotation of the planetary gear and the creeping gear through the rotation of the planetary carrier on the planetary gear train when the planetary gear train rotates. Therefore, the linear speed of the outer edge of the planetary gear is the sum of the revolution speed and the rotation speed, thereby realizing high-speed movement;

[0016] 3. The planetary gear train of the present invention can rotate continuously and rapidly, so that the mechanism can crawl continuously and rapidly;

[0017] 4. The planetary gear mechanism of the present invention has good obstacle-crossing capability, can adapt to the irregular features of the insulator surface, and is not prone to getting stuck. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for describing the embodiments are briefly introduced below.

[0019] Figure 1 It is a structural schematic diagram of the present invention;

[0020] Figure 2 Schematic diagram of the connection between the first arc frame and the second arc frame

[0021] Figure 3 It is a simplified schematic diagram of a planetary gear train when viewed from the side (wherein the planetary carrier drive mechanism is not shown);

[0022] Figure 4 Schematic diagram of the structure of the planetary gear train (the creeper gear is not shown). DETAILED DESCRIPTION

[0023] The technical scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiment of the present invention, not all of the embodiments. Based on the embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] Please refer to Figures 1 to 4 The preferred embodiment of the present invention provides an insulator string crawling mechanism, including an upper frame 1, a lower frame 2, and a connecting mechanism 3 connecting the upper frame 1 and the lower frame 2. The connecting mechanism 3 is a rod, and the upper frame 1 and the lower frame 2 are fixed by four rods. The upper frame 1 and the lower frame 2 have the same structure. The upper frame 1 and the lower frame 2 respectively include a first arc frame 51 and a second arc frame 52. The first arc frame 51 and the second arc frame 52 are connected and fixed to a circular ring structure with a gap through a frame opening and closing mechanism 53. In this preferred embodiment, please refer to Figure 2The frame opening and closing mechanism 53 mainly includes a first driving motor 531. The first arc frame 51 and the second arc frame 52 are stacked at the connection. The first driving motor 531 is fixedly arranged on the second arc frame 52, and the output shaft of the first driving motor 531 passes through the through hole on the second arc frame 52 and is fixed to the first arc frame 51. The fixing method is that a key groove is provided on the side of the output shaft of the first driving motor 531, and a fixed key 532 is fixedly placed in the key groove. The first arc frame 51 is also provided with a key groove at a position corresponding to the fixed key 532, and a pressure cover 533 is fixedly provided on the end face of the output shaft of the first driving motor 531. Specifically, a screw hole is provided on the end face of the output shaft of the first drive motor 531, and a screw hole is also provided on the pressure cover 533. The pressure cover 533 is pressed against the end face of the output shaft of the first drive motor 531 by the clamping bolt 534. At this time, under the action of the pressure cover 533, the first arc frame 51 will not be able to detach along the axial direction of the output shaft of the first drive motor 531, and when the first drive motor 531 is running, the first arc frame 51 will rotate with the output shaft of the first drive motor 531. By controlling the first drive motor 531, the rotation direction of the first arc frame 51 can be realized, so as to realize the opening and fixing of the first arc frame 51 and the second arc frame 52. The upper frame 1 and the lower frame 2 are respectively provided with four planetary gear trains 4, and the planetary gear trains 4 are respectively distributed along the circumference of the upper frame 1 and the lower frame 2. The axis of the planetary gear train 4 is perpendicular to the axis of the insulator string to be crawled and parallel to the tangent direction of the outer edge of the insulator porcelain bottle.

[0025] Please refer to Figure 3 and Figure 4The planetary gear train 4 includes a planet carrier 41, a sun gear 42, a planetary gear 43 and a planetary gear drive mechanism. The sun gear 42 is fixedly mounted on the first arc frame 51 or the second arc frame 52. The planetary gear 41 is rotatably mounted on the first arc frame 51 or the second arc frame 52 and driven to rotate by the planetary gear drive mechanism. In this preferred embodiment, a ring gear 48 is fixedly mounted on the side of the planetary gear 41. The planetary gear drive mechanism includes a second drive motor 44. The second drive motor 44 is mounted on the first arc frame 51 through a mounting plate 46. A drive gear 47 is fixedly mounted on the output shaft of the second drive motor 44. The drive gear 47 is meshed with the ring gear 48. Then, driven by the second drive motor 44, the drive gear 47 rotates, driving the ring gear 48 to rotate and thus driving the planetary gear 41 to rotate. There are four planetary gears 43 in each planetary gear train, which are rotatably mounted on the planetary gear 41 and meshed with the sun gear 42. The four planetary gears 43 are evenly distributed on the circumference of the sun gear 42. When the planet carrier 41 rotates, the planetary gear 43 is driven to revolve and rotate around the sun gear 42. In a preferred embodiment, the planetary gear system 4 also includes a creeper wheel 45, which is coaxially arranged on the side of the planetary gear 43. When the planetary gear 43 rotates, the creeper wheel 45 rotates together. A friction component for increasing friction is provided on the outer periphery of the creeper wheel 45. The friction component is a concave or convex pattern provided on the outer periphery of the creeper wheel 45, or a rubber sleeve wrapped on the outer periphery of the creeper wheel 45, or a convex tooth. In this preferred embodiment, the friction component is a convex pattern provided on the outer periphery of the creeper wheel 45.

[0026] During implementation, the frame opening and closing mechanism 53 is used to open the gap between the first arc frame 51 and the second arc frame 52 so that the insulator string to be crawled is located in the upper frame 1 and the lower frame 2, and then the frame opening and closing mechanism 53 is used to close the first arc frame 51 and the second arc frame 52 to each other, so that the crawling wheel 45 is against the outer edge of the insulator porcelain bottle. At this time, the star frame driving mechanism is started to drive the planetary frame 41 to rotate, and the rotation of the planetary frame 41 drives the planetary wheel 43 to revolve and rotate, and the crawling wheel 45 on the planetary wheel 43 also revolves and rotates together. During the revolution and rotation of the crawling wheel 45, the movement of the insulator string crawling mechanism on the insulator string can be realized. It is worth noting that when the crawling wheel 45 is not set, the planetary wheel 43 directly abuts on the outer edge of the insulator porcelain bottle, and under the driving action of the star frame driving mechanism, the revolution and rotation of the planetary wheel 43 are relied on to realize the movement of the insulator string crawling mechanism on the insulator string.

[0027] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. An insulator string creeping mechanism, characterized in that: The invention comprises an upper frame (1), a lower frame (2) and a connecting mechanism (3) connecting the upper frame (1) and the lower frame (2); the upper frame (1) and the lower frame (2) have the same structure; the upper frame (1) and the lower frame (2) respectively comprise a first arc frame (51) and a second arc frame (52); the first arc frame (51) and the second arc frame (52) are connected and fixed to form a circular ring structure with a notch through a frame opening and closing mechanism (53); the upper frame (1) and the lower frame (2) are respectively provided with a plurality of planetary gear trains (4); the planetary gear trains (4) are respectively distributed along the circumference of the upper frame (1) and the lower frame (2); the axis of the planetary gear trains (4) is perpendicular to the axis of the insulator string to be crawled and is parallel to the tangent direction of the outer edge of the insulator porcelain bottle; The planetary gear train (4) comprises a planet carrier (41), a sun gear (42), planetary gears (43) and a planet carrier driving mechanism, wherein the sun gear (42) is fixedly mounted on the first arc frame (51) or the second arc frame (52), the planet carrier (41) is rotatably mounted on the first arc frame (51) or the second arc frame (52) and is driven to rotate by the planet carrier driving mechanism, and the planetary gears (43) are plural and rotatably mounted on the planet carrier (41) and meshed with the sun gear (42); The planetary gear train (4) further comprises a creeper wheel (45), wherein the creeper wheel (45) is coaxially arranged on the side of the planetary wheel (43); The planetary carrier driving mechanism comprises a second driving motor (44), the second driving motor (44) is fixedly arranged on the first arc-shaped frame (51) or the second arc-shaped frame (52), a driving gear (47) is fixedly arranged on the output shaft of the second driving motor (44), a ring gear (48) is fixedly arranged on the side surface of the planetary carrier (41), and the driving gear (47) is meshed with the ring gear (48); The frame opening and closing mechanism (53) comprises a first driving motor (531) fixedly arranged on one of the first arc frame (51) and the second arc frame (52); an output shaft of the first driving motor (531) is connected to the other of the first arc frame (51) and the second arc frame (52), and is driven to rotate by the first driving motor (531).

2. The insulator string creeping mechanism according to claim 1, characterized in that: The outer circumference of the crawling wheel (45) is provided with a friction component for increasing friction force.

3. The insulator string creeping mechanism according to claim 2, characterized in that: The friction component is a concave or convex pattern arranged on the outer periphery of the crawler wheel (45), or a rubber sleeve wrapped on the outer periphery of the crawler wheel (45), or a convex tooth.

4. The insulator string creeping mechanism according to claim 1, characterized in that: The connecting mechanism (3) is a rod.

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