A wheel clamp module for inspection and operation

Abstract

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

[0001] The present invention relates to the technical field of wheel clamps, and more particularly to a wheel clamp module for inspection and operation. Background Art

[0002] As important equipment for transmitting electricity, high-voltage transmission lines and transmission towers play an extremely important role. Since transmission lines and towers are always exposed to the wild environment, affected by mechanical tension, wind, sunlight and rain, these equipment are prone to various faults. In addition, there are some debris such as plastic bags, cloth strips and kite lines hanging on the transmission lines. If these problems are not discovered and eliminated in time, they will cause harm to the power system. Therefore, regular inspection and maintenance of transmission lines are very necessary. At present, the inspection of transmission lines in my country is mainly done manually, by observing the lines with the naked eye or with the help of telescopes on the ground or climbing towers. Manual line inspection is not only labor-intensive, but also has a harsh and dangerous working environment.

[0003] Line inspection robots provide a good choice for the inspection of transmission lines. Compared with manual inspection methods, inspection robots are fast and efficient, and can free workers from high-risk and heavy physical labor. Using robots to replace manual work on high-voltage lines requires certain environmental adaptability of robots. They must be able to walk along the transmission line at a relatively fast speed, and can cross obstacles such as anti-vibration hammers, tension clamps, suspension clamps and spacers, and even perform some maintenance operations. The realization of these requirements mainly lies in the end effector of the robot. The Chinese patent publication number CN109066473A, the publication date is December 21, 2018. The patent discloses a walking device, which includes a walking wheel located above the ground wire and a clamping wheel located below the ground wire. The walking wheel and the clamping wheel are meshed with each other, and the walking wheel is fixedly connected to the connecting plate. The walking device in the invention can only complete walking on the line and cannot perform other maintenance work. If other maintenance work needs to be completed, other functional components need to be added. Summary of the invention

[0004] The purpose of the present invention is to overcome the disadvantage that the terminal module of the existing line patrol robot can only complete the walking function on the line, and if other maintenance work is required, other functional components need to be assembled additionally, and provide a wheel clamp module. The present invention can cooperate with the robot to complete the line patrol movement, cross the obstacles on the line, and can also perform simple maintenance operations such as clearing debris and tightening nuts on the line.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: a wheel clamp module, including a clamping transmission assembly, a clamping assembly and a roller assembly, the output end of the clamping transmission assembly is connected to the clamping assembly, the roller assembly is fixed on the top of the clamping assembly, the roller assembly includes a roller and a motor that drives 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.

[0006] In the present technical solution, the clamping assembly can complete the opening and closing action under the control of the clamping transmission assembly to clamp or disengage the cable, the roller assembly hangs on the clamped cable, the motor drives the roller to rotate, the roller hangs on the cable and moves on the cable under the drive of the motor, the motor can control the rotation speed of the roller, thereby changing the running speed of the roller on the cable, and at the same time, the clamping assembly completes the deceleration braking by changing the clamping degree of the cable, the opening and closing movement of the clamping assembly can clamp or loosen the cable, assisting the robot to complete the crossing action on the cable, the cutting saw blade rotates with the roller, and can cut and clean the debris on the cable, and the hexagonal groove on the roller can be used to tighten the loosened nut on the cable.

[0007] Furthermore, the clamping transmission assembly includes a disc motor, a base, a coupling, a harmonic reducer assembly, a harmonic reducer output disc, a worm bearing end cover and a worm connected in sequence. The worm is provided with a base frame outside, and the first worm wheel and the second worm wheel with arms are meshed on both sides of the worm. The first worm wheel and the second worm wheel are both rotatably arranged on the base frame through their bosses, and the clamping assembly is located on the arms of the first worm wheel and the second worm wheel. In this technical solution, the disc motor transmits power to the worm through the coupling, the harmonic reducer assembly, the harmonic reducer output disc and the worm bearing end cover. During the rotation of the worm, the first worm wheel and the second worm wheel meshed therewith rotate together, and the clamping assembly correspondingly connected to the arms of the first worm wheel and the second worm wheel rotates with the worm to complete the opening and closing action.

[0008] Furthermore, the clamping assembly includes a first clamping jaw and a second clamping jaw respectively hinged on the arm of the first worm wheel and the arm of the second worm wheel, and the roller assembly is fixed on the first clamping jaw or the second clamping jaw. In this technical solution, since the arm of the first worm wheel and the arm of the second worm wheel will rotate along with the rotation of the worm, the first clamping jaw and the second clamping jaw connected to the first clamping jaw will follow and complete the opening and closing action.

[0009] Furthermore, the base frame is also provided with a first follower rod and a second follower rod, one end of each of the first follower rod and the second follower rod is movably connected to the base frame, and the other ends of the first follower rod and the second follower rod are respectively movably hinged with the first clamp and the second clamp through pins, and the first follower rod and the second follower rod follow the arm rod of the first worm wheel and the arm rod of the second worm wheel to drive the first clamp and the second clamp to complete the opening and closing movement. In this technical solution, the first follower rod and the second follower rod assist each other with the arm rod of the first worm wheel and the arm rod of the second worm wheel to drive the first clamp and the second clamp to complete the opening and closing movement.

[0010] Furthermore, the roller assembly also includes a support frame and a synchronous belt transmission component, one end of the support frame is provided with a bearing seat, and the other end is provided with a motor seat, the roller is connected to the bearing seat through a roller, the motor is fixed on the motor seat, one end of the synchronous belt transmission component is connected to the output shaft of the motor, and the other end is connected to the roller. In this technical solution, the motor drives the roller to rotate through the synchronous belt transmission component, and after the clamping component clamps the cable, the roller assembly on the top is hung on the cable, so when the roller rotates with the motor, the entire robot can move on the cable.

[0011] Furthermore, the synchronous belt transmission component includes a first synchronous wheel, a synchronous belt and a second synchronous wheel, the diameter of the first synchronous wheel is greater than the diameter of the second synchronous wheel, the second synchronous wheel is sleeved on the output shaft of the motor, the first synchronous wheel is sleeved on the roller, and the synchronous belt connects the first synchronous wheel and the second synchronous wheel.

[0012] Furthermore, the shaft hole of the first synchronous wheel is a D-shaped hole, and one end of the roller close to the first synchronous wheel is in a D-shape and matches the D-shaped hole.

[0013] Furthermore, the contact surfaces of the roller, the roller and the bearing seat are all provided with a retaining spring to prevent axial movement. The retaining spring can strengthen the fixed connection between the roller, the roller and the bearing seat to prevent the roller from axial movement at the roller or the bearing seat.

[0014] Furthermore, the cutting saw blade is fixed on the periphery of the first side surface by screws.

[0015] Furthermore, a V-shaped groove is provided 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 when it is suspended and moved on the cable.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. The present invention adopts a modular design to make the rotary module itself a module with standardized mechanical and electrical interfaces, which can be conveniently and quickly connected with other modules with the same interface and has good versatility and applicability;

[0018] 2. The internal structure of the present invention is divided into a clamping transmission assembly, a clamping assembly and a roller assembly, and the three parts are independent and can be easily disassembled or replaced;

[0019] 3. The present invention integrates rolling, clamping and operating functions. Through the clamping assembly and the roller assembly, the connected robot can realize continuous and rapid rolling, braking, clearing debris and tightening nuts on the cable, as well as discrete movements such as climbing, overcoming obstacles and transitioning between lines, which greatly improves the maneuverability, dexterity and practicality of the line patrol robot;

[0020] 4. In the present invention, the V-shaped groove between the two sides of the roller can enhance the stability of the cable hanging. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0022] Figure 2 It is an exploded view of the clamping transmission assembly in the present invention.

[0023] Figure 3 It is a schematic diagram of the structure in which the roller assembly is removed in the present invention.

[0024] Figure 4 It is a schematic structural diagram of the roller assembly in the present invention.

[0025] Figure 5 It is an exploded view of the roller assembly in the present invention.

[0026] The illustrations are as follows:

[0027] 1-worm; 2-base; 3-arm; 4-driven rod; 5-base cover; 6-worm bearing end cover; 7-disc motor; 8-base; 9-coupling; 10-harmonic reducer assembly; 11-harmonic reducer output disk; 12-worm bearing end cover; 13-roller; 14-first clamping jaw; 15-second clamping jaw; 16-motor; 17-support frame; 18-second synchronous wheel; 19-synchronous belt; 20-first synchronous wheel; 21-shaft end retaining ring; 22-roller; 23-cutting saw blade; 24-hexagonal groove. DETAILED DESCRIPTION

[0028] The present invention is further described below in conjunction with specific implementation methods. The accompanying drawings are only used for exemplary descriptions and are only schematic diagrams, not actual drawings, and cannot be understood as limiting this patent; in order to better illustrate the embodiments of the present invention, some parts of the accompanying drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the accompanying drawings may be omitted.

[0029] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, it is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limitations on this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0030] Example

[0031] like Figures 1 to 5 FIG. 2 is an embodiment of a wheel clamp module of the present invention. Figure 1 As shown, it includes a clamping transmission assembly, a clamping assembly and a roller assembly. The output end of the clamping transmission assembly is connected to the clamping assembly. The roller assembly is fixed on the clamping assembly. The roller assembly includes a roller 13 and a motor 16 that drives the roller 13 to rotate. The motor 16 drives the roller 13 to rotate through a synchronous belt transmission component. The clamping transmission assembly controls the clamping assembly to complete the opening and closing action. The clamping assembly can clamp the cable, and the roller assembly on its top is hung on the cable. The motor 16 drives the roller 13 to rotate, so that the wheel clamp module can move on the cable.

[0032] Among them, Figure 2 As shown, the clamping transmission assembly includes a disc motor 7, a base 8, a coupling 9, a harmonic reducer assembly 10, a harmonic reducer output disc 11, a worm bearing end cover 12 and a worm 1 which are connected in sequence. A base frame 2 is provided outside the worm 1. The first worm wheel and the second worm wheel with arms 3 are meshed on both sides of the worm 1. The coupling 9, the harmonic reducer assembly 10, the harmonic reducer output disc 11 and the worm bearing end cover 12 are placed in the cavity of the base 8. The disc motor 7 and the base 8 are fixed by fastening screws. The output shaft of the disc motor 7 is connected to the wave generator of the harmonic reducer assembly 10 through the coupling 9; the input steel wheel in the harmonic reducer assembly 10 is fastened to the harmonic reducer output disc 11 by screws; the harmonic reducer output disc 11 is connected to one end of the worm 1, and the disc motor 7 transmits power to the worm 1 through the coupling 9, the harmonic reducer assembly 10, the harmonic reducer output disc 11 and the worm bearing end cover 6, so as to drive the worm 1 to rotate.

[0033] In addition, a base frame 2 is provided outside the worm 1, and the first worm wheel and the second worm wheel with the arm rod 3 are meshed on both sides of the worm 1. At the same time, the first worm wheel and the second worm wheel are also rotatably arranged on both sides of the base frame 2 through their respective bosses, and the clamping assembly is fixed on the arm rod 3 of the first worm wheel and the arm rod 3 of the second worm wheel. The clamping assembly includes a first clamping jaw 14 and a second clamping jaw 15 respectively fixed on the arm rod 3 of the first worm wheel and the arm rod 3 of the second worm wheel, and a roller assembly is fixed on the first clamping jaw 14. When the worm 1 rotates, the first worm wheel and the second worm wheel meshed on both sides thereof can rotate along with the rotation of the worm 1, and during the rotation process, the arm rod 3 of the first worm wheel and the arm rod 3 of the second worm wheel swing, thereby driving the first clamping jaw 14 and the second clamping jaw 15 to complete the opening and closing action.

[0034] In one embodiment, a pair of driven rods 4 are further provided on the base frame 2, namely, a first driven rod and a second driven rod, which are symmetrically arranged on both sides of the base frame 2, and the rotating ends of the arm rods 3 of the first worm gear and the second worm gear are rotatably arranged on both sides of the worm gear through bosses, and the rotating ends of the first driven rod and the second driven rod are movably hinged on the base frame 2 through pins, and the free ends of the arm rods 3 and the driven rods 4 are correspondingly 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 gear 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 gear arm rod 3. The first clamping jaw 14 and the second clamping jaw 15 rotate with the worm 1 under the drive of the driven rod 4 and the arm rod 3 to complete the opening and closing action.

[0035] In one of the embodiments, a base frame cover 5 and a worm gear bearing end cover 6 are further included. The base frame cover 5 and the worm gear bearing end cover 6 cover the base frame 2 and the worm gear to prevent other objects from entering the transmission structure of the worm gear and the worm 1 and affecting its operation.

[0036] In one embodiment, the roller assembly also includes a support frame 17, a bearing seat is provided at one end of the support frame 17, and a motor seat is provided at the other end. The roller 13 is connected to the bearing seat through a roller 22, and the motor 16 is fixed on the motor seat. The synchronous belt transmission component includes a first synchronous wheel 20, a synchronous belt 19 and a second synchronous wheel 18. The diameter of the first synchronous wheel 20 is greater than the diameter of the second synchronous wheel 18. The first synchronous wheel 20 is sleeved on the roller 22, and the second synchronous wheel 18 is sleeved on the output shaft of the motor 16. The synchronous belt 19 connects the first synchronous wheel 20 and the second synchronous wheel 18.

[0037] Among them, 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, and an annular cutting saw blade 23 is fixed on the periphery of the first side surface by screws, and a hexagonal groove 24 for tightening the nut is provided at the axis of the second side surface, and a V-shaped groove is provided between the first side surface and the second side surface. The V-shaped groove of the roller 13 is convenient for hanging the cable. During use, the first side surface of the roller 13 faces the support frame 17. After the roller 13 is installed on the roller 22, the roller 13 is in the groove formed by the two jaws and will not contact or rub with the jaws. When the wheel clamp module is working, the roller 13 is hooked on the high-voltage cable, and the first jaw 14 and the second jaw 15 are not completely closed, that is, the cable is not clamped, and rapid movement on the cable can also be achieved.

[0038] In addition, the axial hole of the first synchronous wheel 20 is a D-shaped hole, and the end of the roller 22 close to the first synchronous wheel 20 is D-shaped and matches the D-shaped hole. The roller 22 is provided with a retaining spring on the contact surface with the roller 13 and the bearing seat to prevent its axial movement.

[0039] In one of the embodiments, the wheel clamp module is used as the end of the line patrol robot and is installed at both ends of the line patrol robot. When the line patrol robot encounters obstacles such as anti-vibration hammers, hanging wire clamps and spacer bars, the first clamp 14 and the second clamp 15 will close and clamp the cable under the action of the clamping transmission assembly, so as to enable the line patrol robot to cross the obstacles.

[0040] The wheel clamp module, under the action of the robot body, makes the roller 13 hook on the power transmission cable, and the clamping part works to make the first clamping jaw 14 and the second clamping jaw 15 move towards each other and gradually approach each other. When the first clamping jaw 14 and the second clamping jaw 15 are at a certain distance, the clamping transmission assembly stops working.

[0041] See also Figure 4 and Figure 5 When the clamping transmission assembly stops working, the motor 16 starts working, which transmits power to the second synchronous wheel 18. The second synchronous wheel 18 transmits power to the roller 22 through the linkage of the synchronous belt 19 and the first synchronous wheel 20. The roller 22 transmits power to the roller 13 under the action of the key, and the roller 13 realizes rolling walking on the cable.

[0042] When the line patrol robot needs to brake when going downhill or needs to prevent slipping when going uphill, the first clamp 14 and the second clamp 15 are driven by the clamping transmission component to move closer, and the first clamp 14 and the second clamp 15 are in contact with the cable to increase friction, thereby achieving the effect of braking and preventing slipping; when the line patrol robot encounters an obstacle, the first clamp 14 and the second clamp 15 are driven by the clamping transmission component to move closer and clamp the cable, so that the line patrol robot can complete the obstacle crossing.

[0043] When the line patrol robot encounters debris such as plastic bags, cloth strips and kite strings on the line, the motor 16 drives the cutting saw blade 22 on the roller 13 to rotate, and the cutting saw blade 22 contacts the debris to remove the debris on the line; when the anti-vibration hammer nut or other nuts on the line are loose, the second side of the roller 13 with the hexagonal groove 24 is aligned with the nut, and the motor 16 drives the roller 13 to rotate to tighten the nut.

[0044] The wheel clamp module of this embodiment has a simple and compact structure, and includes a clamping transmission assembly, a clamping assembly and a roller assembly. The three parts can be disassembled and assembled conveniently and quickly, and can realize the inspection function on the high-voltage transmission line. It can avoid obstacles when encountering obstacles, remove debris when encountering debris on the line, and tighten the loose nuts on the line. It can be very conveniently combined with other robot components to efficiently complete the inspection and maintenance of high-voltage transmission lines. It can realize two movement modes of rolling walking and grasping, and is equipped with obstacle clearing and nut tightening operation functions, and can be extremely conveniently combined and paired with other components of the robot.

[0045] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A wheel clamp module, characterized in that: The invention comprises a clamping transmission assembly, a clamping assembly and a roller assembly, wherein the output end of the clamping transmission assembly is connected to the clamping assembly, the roller assembly is fixed on the top of the clamping assembly, the roller assembly comprises a roller and a motor 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 arranged on the periphery of the first side surface, and a hexagonal groove for tightening a nut is arranged at the axis of the second side surface, The clamping transmission assembly includes a disc motor, a base, a coupling, a harmonic reducer assembly, a harmonic reducer output disc, a worm bearing end cover and a worm connected in sequence. The worm is provided with a base frame outside, and the first worm wheel and the second worm wheel with arms are meshed on both sides of the worm. The first worm wheel and the second worm wheel are both rotatably arranged on the base frame through their bosses, and the clamping assembly is located on the arms of the first worm wheel and the second worm wheel. The clamping assembly comprises a first clamping jaw and a second clamping jaw respectively hinged on the arm of the first worm gear and the arm of the second worm gear, and the roller assembly is fixed on the first clamping jaw or the second clamping jaw. The base frame is also provided with a first follower rod and a second follower rod, one end of each of the first follower rod and the second follower rod is movably connected to the base frame, and the other ends of the first follower rod and the second follower rod are respectively movably hinged with the first clamping jaw and the second clamping jaw through a pin, and the first follower rod and the second follower rod follow the arm rod of the first worm gear and the arm rod of the second worm gear to drive the first clamping jaw and the second clamping jaw to complete the opening and closing movement. The roller assembly also includes a support frame and a synchronous belt transmission component. A bearing seat is provided at one end of the support frame, and a motor seat is provided at the other end. The roller is connected to the bearing seat via a roller, and the motor is fixed on the motor seat. One end of the synchronous belt transmission component is connected to the output shaft of the motor, and the other end is connected to the roller.

2. A wheel clamp module according to claim 1, characterized in that: The synchronous belt transmission component includes a first synchronous wheel, a synchronous belt and a second synchronous wheel. The diameter of the first synchronous wheel is greater than the diameter of the second synchronous wheel. The second synchronous wheel is sleeved on the output shaft of the motor, and the first synchronous wheel is sleeved on the roller. The synchronous belt connects the first synchronous wheel and the second synchronous wheel.

3. A wheel clamp module according to claim 2, characterized in that: The shaft hole of the first synchronous wheel is a D-shaped hole, and one end of the roller close to the first synchronous wheel is in a D-shape and matches the D-shaped hole.

4. A wheel clamp module according to claim 1, characterized in that: The contact surfaces of the roller, the roller and the bearing seat are all provided with retaining springs to prevent axial movement.

5. The wheel clamp module according to claim 1, characterized in that: The cutting saw blade is fixed on the periphery of the first side surface by screws.

6. The wheel clamp module according to claim 1, characterized in that: A V-shaped groove is provided between the first side surface and the second side surface of the roller.

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