A walking clamping mechanism for high-voltage line inspection robot

Abstract

A kind of walking clamping mechanism for high-voltage line inspection robot, including connecting support, clamping mechanism, walking mechanism, the walking wheel shaft of walking mechanism passes through the walking wheel shaft long slot hole and walking wheel shaft through-hole of clamping mechanism, fixedly installed in the walking wheel shaft mounting hole of connecting support.This walking clamping mechanism is simple in structure, powerful, clamping mechanism can rotate freely around walking wheel shaft, automatically adapt to the slope change of high-voltage line;The upper end of clamping jaw is hook-shaped structure and can clamp insulator string and tower and other obstacles, the lower end of clamping jaw mechanism can clamp high-voltage transmission line by pressing wheel, which not only ensures the safety and stability of walking, but also improves the obstacle-crossing ability of robot;By using the self-locking property of screw rod and nut, clamping mechanism still clamps the line in the case of power failure of inspection robot, to ensure the safety of high-voltage line inspection robot.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of high-voltage line inspection robot, and particularly relates to a walking clamping mechanism for a high-voltage line inspection robot. BACKGROUND

[0002] Since the high-voltage line is exposed to the wild for a long time, it often appears to be damaged, such as abrasion and corrosion, and thus needs to be regularly inspected. The high-voltage line inspection work is currently mainly relied on manual inspection, but the manual inspection has high labor intensity, high risk, and low inspection efficiency, and even some lines are difficult to be inspected. In order to solve the above problems, relevant technical personnel has developed a high-voltage line inspection robot to replace manual inspection work. The walking clamping mechanism of the high-voltage line inspection robot is a key component to ensure the normal inspection work of the robot, and most of the existing walking clamping mechanisms clamp the line along the arm direction, and generally have the problems of poor adaptability to the angle change of the line, and the inability to clamp the insulator string and the tower. SUMMARY

[0003] In view of the problems in the prior art, the present application provides a walking clamping mechanism for a high-voltage line inspection robot, which has simple structure, strong adaptability to the angle change of the high-voltage line, and can clamp the line and the tower.

[0004] The technical scheme adopted by the present application is as follows: a walking clamping mechanism for a high-voltage line inspection robot, comprising a connecting bracket, a clamping mechanism and a walking mechanism, characterized in that a walking wheel shaft of the walking mechanism passes through a walking wheel shaft long slot hole and a walking wheel shaft through hole of the clamping mechanism, and is fixedly installed in a walking wheel shaft mounting hole of the connecting bracket;

[0005] The connecting bracket adopts an L-shaped structure, an upper end of the connecting bracket is provided with a walking wheel shaft mounting hole, and a lower end of the connecting bracket is provided with an arm mounting hole connected with an arm of the inspection robot;

[0006] The clamping motor support and the screw rod bearing support of the clamping mechanism are fixedly installed on the clamping jaw support through a clamping motor support mounting hole and a screw rod bearing support mounting hole of the clamping jaw support, respectively, a clamping motor is fixedly installed in a clamping motor mounting hole of the clamping motor support, the clamping motor is connected with a screw rod through a shaft coupling, the screw rod is installed in a screw rod bearing mounting hole of the screw rod bearing support through a screw rod bearing, the screw rod passes through a screw nut to form a screw transmission pair, the screw nut is fixedly installed in a screw nut mounting hole of the clamping jaw, a pressing wheel shaft is fixedly installed in a pressing wheel shaft mounting hole of the clamping jaw, and a pressing wheel is installed on the pressing wheel shaft; the clamping jaw support is a groove-shaped structure, the bottom surface of the clamping jaw support is provided with a walking wheel shaft through hole, and the side wall of the clamping jaw support is provided with a screw rod bearing support mounting hole and a clamping motor support mounting hole;

[0007] The clamping motor support is a rectangular structure, and a clamping motor mounting hole is arranged at a middle position of the clamping motor support;

[0008] The screw rod bearing support is of rectangular structure, and a screw rod bearing mounting hole is arranged at the middle position;

[0009] The upper end of the clamping jaw is of hook structure, a traveling wheel shaft long slot hole is arranged at the middle position, and a screw rod nut mounting hole and a pressing wheel shaft mounting hole are arranged at the lower end;

[0010] The stop ring of the traveling mechanism is sleeved on the middle position of the traveling wheel shaft, the traveling motor support is fixedly installed at one end of the traveling wheel shaft, the traveling wheel is supported and installed on the traveling wheel shaft through the traveling wheel bearing, and is located in the traveling motor support, the shaft sleeve is sleeved on the traveling wheel shaft, one end of the shaft sleeve is in contact with the inner ring of the traveling wheel bearing, the other end of the shaft sleeve is in contact with the traveling motor support, the driven gear is fixedly installed on one side surface of the traveling wheel, the driving gear is fixedly installed on the traveling motor shaft, the driving gear is engaged with the driven gear, and the traveling motor is fixedly installed in the traveling motor mounting hole of the traveling motor support;

[0011] The traveling wheel is of groove curved surface structure, the groove curved surface is matched with the high-voltage transmission line, the traveling wheel center is provided with a traveling wheel bearing mounting hole matched with the cylindrical surface of the outer ring of the traveling wheel bearing, and a traveling wheel bearing limiting boss in contact with the end surface of the outer ring of the traveling wheel bearing is arranged in the hole;

[0012] The traveling motor support is of groove structure, the upper surface is of circular arc surface, the traveling wheel shaft mounting holes are arranged on the two side walls, and the traveling motor mounting hole is arranged on the outer side of one side wall.

[0013] The beneficial effects of the present application are:

[0014] Compared with the prior art, the structure is simpler, the function is more, the clamping mechanism and the traveling wheel shaft are gap matched, can rotate freely around the traveling wheel shaft, so as to adapt to high-voltage lines of different angles, the hook structure of the upper end of the clamping jaw is combined with the traveling motor support, can clamp the insulator string and the tower, the pressing wheel at the lower end of the clamping jaw is combined with the traveling wheel, can clamp the transmission line, when in the semi-clamping state, the walking state can be maintained, both the safety and stability of walking are ensured, and the climbing ability of the robot is improved; the clamping mechanism adopts the screw rod and the nut transmission pair, and the self-locking property of the screw rod and the nut is utilized, if the high-voltage line inspection robot fails to power off, the clamping mechanism will not be loosened, and the safety of the high-voltage line inspection robot is ensured to the maximum extent. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is a traveling and clamping mechanism structure diagram of a high-voltage line inspection robot.

[0016] Figure 2 It is a connecting support structure diagram of a traveling and clamping mechanism of a high-voltage line inspection robot.

[0017] Figure 3It is a kind of walking clamping mechanism structure diagram for high-voltage line inspection robot walking clamping mechanism.

[0018] Figure 4 It is a kind of walking mechanism structure diagram for high-voltage line inspection robot walking clamping mechanism.

[0019] Figure 5 It is a kind of cross-sectional view of walking clamping mechanism for high-voltage line inspection robot.

[0020] Figure 6 It is a kind of clamping jaw bracket structure diagram for high-voltage line inspection robot walking clamping mechanism.

[0021] Figure 7 It is a kind of clamping motor support structure diagram for high-voltage line inspection robot walking clamping mechanism.

[0022] Figure 8 It is a kind of screw bearing support structure diagram for high-voltage line inspection robot walking clamping mechanism.

[0023] Figure 9 It is a kind of clamping jaw structure diagram for high-voltage line inspection robot walking clamping mechanism.

[0024] Figure 10 It is a kind of walking wheel structure diagram for high-voltage line inspection robot walking clamping mechanism.

[0025] Figure 11 It is a kind of walking motor support structure diagram for high-voltage line inspection robot walking clamping mechanism.

[0026] Figure 12 It is a kind of schematic diagram of clamping wire for high-voltage line inspection robot walking clamping mechanism.

[0027] Figure 13 It is a kind of schematic diagram of clamping pole tower for high-voltage line inspection robot walking clamping mechanism.

[0028] In the figure, 1, connecting bracket, 2, clamping mechanism, 3, walking mechanism, 1-1, walking wheel shaft mounting hole, 1-2, arm mounting hole, 2-1, clamping motor, 2-2, clamping motor support, 2-2-1, clamping motor mounting hole 2-3, clamping jaw support, 2-3-1, walking wheel shaft through hole, 2-3-2, screw bearing support mounting hole, 2-3-3, clamping motor support mounting hole, 2-4, coupling, 2-5, screw rod, 2-6, screw nut, 2-7, screw bearing, 2-8, screw bearing support, 2-8-1, screw bearing mounting hole, 2-9, clamping jaw, 2-9-1, compression wheel shaft mounting hole, 2-9-2, screw nut mounting hole, 2-9-3, walking wheel shaft long slot hole, 2-10, compression wheel, 2-11, compression wheel shaft, 3-1, walking wheel shaft, 3-2, check ring, 3-3, walking motor support, 3-3-1, walking motor mounting hole, 3-3-2, walking wheel shaft mounting hole, 3-4, driving gear, 3-5, walking motor, 3-6, shaft sleeve, 3-7, driven gear, 3-8, walking wheel, 3-8-1, walking wheel bearing limiting boss, 3-8-2, walking wheel bearing mounting hole, 3-8-3, recessed groove curved surface, 3-9, walking wheel bearing, 4, high-voltage transmission line, 5, pole tower. DETAILED DESCRIPTION

[0029] The application will be further described in detail below with reference to the drawings. In the description of the application, it should be noted that the terms "upper end", "lower end", "side wall", "side surface", "bottom surface", "one end", "the other end" and the like indicate the orientation or positional relationship shown in the drawings, and are only used for the purpose of facilitating the description of the application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the application. Unless otherwise explicitly specified and limited, the terms "mounting", "provided with", "connected" and the like should be understood broadly. For those skilled in the art, the specific meanings of the above terms in the application can be understood according to the specific circumstances.

[0030] As shown in the drawings, a walking and clamping mechanism for a high-voltage line inspection robot comprises a connecting bracket 1, a clamping mechanism 2 and a walking mechanism 3, characterized in that the walking wheel shaft 3-1 of the walking mechanism passes through the walking wheel shaft long slot hole 2-9-3 and the walking wheel shaft through hole 2-3-1 of the clamping mechanism 2, and is fixedly installed in the walking wheel shaft mounting hole 1-1 of the connecting bracket 1.

[0031] The connecting bracket 1 adopts an L-shaped structure, the upper end is provided with a walking wheel shaft mounting hole 1-1, and the lower end is provided with an arm mounting hole 1-2 connected with the arm of the inspection robot.

[0032] The clamping mechanism of the clamping motor support 2-2 and the screw rod bearing support 2-8 are respectively fixedly installed on the clamping jaw support 2-3 through the clamping motor support mounting hole 2-3-3 and the screw rod bearing support mounting hole 2-3-2 of the clamping jaw support 2-3, the clamping motor 2-1 is fixedly installed in the clamping motor mounting hole of the clamping motor support 2-2, the clamping motor 2-1 is connected with the screw rod 2-5 through the shaft coupling 2-4, the screw rod 2-5 is installed in the screw rod bearing mounting hole 2-8-1 of the screw rod bearing support 2-8 through the screw rod bearing 2-7, the screw rod 2-5 passes through the screw rod nut 2-6 to form a screw transmission pair, the screw rod nut 2-6 is fixedly installed in the screw rod nut mounting hole 2-9-2 of the clamping jaw 2-9, the pressing wheel shaft 2-11 is fixedly installed in the pressing wheel shaft mounting hole 2-9-1 of the clamping jaw, and the pressing wheel 2-10 is installed on the pressing wheel shaft 2-11;

[0033] The clamping jaw support 2-3 is a groove-shaped structure, the bottom surface is provided with a walking wheel shaft through hole 2-3-1, and the side wall is provided with a screw rod bearing support mounting hole 2-3-2 and a clamping motor support mounting hole 2-3-3;

[0034] The clamping motor support 2-2 is a rectangular structure, and the middle position is provided with a clamping motor mounting hole 2-2-1;

[0035] The screw rod bearing support 2-8 is a rectangular structure, and the middle position is provided with a screw rod bearing mounting hole 2-8-1;

[0036] The upper end of the clamping jaw 2-9 is a hook-shaped structure, the middle position is provided with a walking wheel shaft long slot hole 2-9-3, and the lower end is provided with a screw rod nut mounting hole 2-9-2 and a pressing wheel shaft mounting hole 2-9-1;

[0037] The retainer 3-2 of the walking mechanism is sleeved on the middle position of the walking wheel shaft 3-1, the walking motor support 3-3 is fixedly installed on one end of the walking wheel shaft 3-1, the walking wheel 3-8 is supported and installed on the walking wheel shaft 3-1 through the walking wheel bearing 3-9 and is located inside the walking motor support 3-3, the shaft sleeve 3-6 is sleeved on the walking wheel shaft, one end of the shaft sleeve 3-6 is in contact with the inner ring of the walking wheel bearing 3-9, the other end of the shaft sleeve 3-6 is in contact with the walking motor support 3-3, the driven gear 3-7 is fixedly installed on one side surface of the walking wheel 3-8, the driving gear 3-4 is fixedly installed on the shaft of the walking motor 3-5, the driving gear 3-4 is engaged with the driven gear 3-7, and the walking motor 3-5 is fixedly installed in the walking motor mounting hole 3-3-1 of the walking motor support 3-3;

[0038] The walking wheel 3-8 is a groove curved surface 3-8-3 structure, the groove curved surface 3-8-3 is in line with the high-voltage transmission line 4, the walking wheel 3-8 is provided with a walking wheel bearing mounting hole 3-8-2 matched with the outer ring cylindrical surface of the walking wheel bearing 3-9, and the hole is provided with a walking wheel bearing limiting boss 3-8-1 in contact with the outer ring end surface of the walking wheel bearing 3-9;

[0039] The walking motor support 3-3 is a groove-shaped structure, the upper surface is a circular arc surface, the walking wheel shaft mounting holes 3-3-2 are arranged on the two side walls, and the walking motor mounting hole 3-3-1 is arranged on the outer side of one side wall.

[0040] The working principle of the present application will be described below in combination with the drawings:

[0041] The high-voltage line inspection robot adopting the present application is hung on the line, at this time, the clamping mechanism is in an open state, the high-voltage line inspection robot only contacts the high-voltage transmission line 4 through the walking wheel 3-8, when the slope of the high-voltage line is small, the clamping mechanism can be kept in an open state or a semi-clamping state, through the forward and reverse rotation of the walking motor 3-5, the walking wheel 3-8 is driven to rotate forward and reversely, so that the high-voltage line inspection robot advances or retreats on the high-voltage line to perform the inspection operation.

[0042] When encountering a large slope of the high-voltage line, as shown in Figure 5 and Figure 12 To avoid the slipping phenomenon of the walking wheel 3-8 of the inspection robot due to insufficient friction, the clamping motor 2-1 drives the screw rod 2-5 to rotate through the shaft coupling 2-4, and then drives the clamping jaw 2-9 connected with the screw rod nut 2-6 to move upward, so that the pressing wheel 2-10 appropriately clamps the high-voltage transmission line 4, and the friction between the walking wheel and the line is increased, so as to ensure the normal inspection operation of the robot, when the slope of the high-voltage transmission line 4 changes, the clamping mechanism 2 will automatically rotate around the walking wheel shaft 3-1, so that the inspection robot can completely adapt to the angle change of the high-voltage line.

[0043] When it is necessary to cross obstacles such as towers, as shown in Figure 5 and Figure 13 The clamping motor 2-1 is reversely rotated, the screw rod 2-5 is driven to rotate through the shaft coupling 2-4, and then the clamping jaw 2-9 connected with the screw rod nut 2-6 is driven to move downward, the tower is clamped by the clamping jaw 2-9 and the walking motor support 3-3, and the circular arc upper surface of the walking motor support 3-3 can ensure that the clamping force always passes through the walking wheel shaft 3-1.

Claims

1. A walking and gripping mechanism for a high-voltage line inspection robot, comprising a connecting bracket (1), a gripping mechanism (2), and a walking mechanism (3), characterized in that... The walking wheel axle (3-1) of the walking mechanism (3) passes through the long slot (2-9-3) and through hole (2-3-1) of the walking wheel axle of the clamping mechanism (2) and is fixedly installed in the walking wheel axle mounting hole (1-1) of the connecting bracket (1). The clamping mechanism (2) and the walking wheel axle (3-1) are clearance fit, and can rotate freely around the walking wheel axle (3-1) to adapt to high-voltage transmission lines (4) at different angles. The clamping motor (2-1) of the clamping mechanism (2) drives the lead screw (2-5) and lead screw nut (2-6) through the coupling (2-4) to form a spiral. The rotation of the transmission pair drives the gripper (2-9) to move downward. The hook-shaped structure at the upper end of the gripper (2-9) cooperates with the arc-shaped upper surface of the walking motor bracket (3-3) to clamp the tower (5). The clamping motor (2-1) of the clamping mechanism (2) drives the lead screw (2-5) and lead screw nut (2-6) to rotate through the coupling (2-4), which forms a helical transmission pair to drive the gripper (2-9) to move upward. The pressure wheel (2-10) at the lower end of the gripper (2-9) cooperates with the groove curved surface (3-8-3) of the walking wheel (3-8) to clamp the high-voltage transmission line (4).

2. The walking and gripping mechanism for a high-voltage line inspection robot according to claim 1, characterized in that... The clamping motor support (2-2) and the lead screw bearing support (2-8) of the clamping mechanism (2) are fixedly installed on the clamping bracket (2-3) through the clamping motor support mounting hole (2-3-3) and the lead screw bearing support mounting hole (2-3-2) of the clamping bracket (2-3), respectively. The clamping motor (2-1) is fixedly installed in the clamping motor mounting hole (2-2-1) of the clamping motor support (2-2). -1) Connected to the lead screw (2-5) via coupling (2-4), the lead screw (2-5) is installed in the lead screw bearing mounting hole (2-8-1) of the lead screw bearing support (2-8) via lead screw bearing (2-7), the lead screw (2-5) passes through the lead screw nut (2-6) to form a helical drive pair, the lead screw nut (2-6) is fixedly installed in the lead screw nut mounting hole (2-9-2) of the clamp (2-9), and the clamping wheel shaft (2- 11) The clamping wheel shaft mounting hole (2-9-1) is fixedly installed in the clamping jaw (2-9), and the clamping wheel (2-10) is installed on the clamping wheel shaft (2-11); the clamping jaw bracket (2-3) has a groove-shaped structure, with a traveling wheel shaft through hole (2-3-1) on the bottom surface, and a lead screw bearing support mounting hole (2-3-2) and a clamping motor support mounting hole (2-3-3) on the side wall; the clamping motor support (2- 2) It has a rectangular structure with a clamping motor mounting hole (2-2-1) in the middle; the lead screw bearing support (2-8) has a rectangular structure with a lead screw bearing mounting hole (2-8-1) in the middle; the upper end of the gripper (2-9) has a hook-shaped structure with a long slot hole for the traveling wheel axle (2-9-3) in the middle, and a lead screw nut mounting hole (2-9-2) and a clamping wheel axle mounting hole (2-9-1) at the lower end.

3. The walking and gripping mechanism for a high-voltage line inspection robot according to claim 1, characterized in that... The retaining ring (3-2) of the traveling mechanism (3) is fitted onto the middle position of the traveling wheel axle (3-1). The traveling motor bracket (3-3) is fixedly installed on one end of the traveling wheel axle (3-1). The traveling wheel (3-8) is supported and installed on the traveling wheel axle (3-1) by the traveling wheel bearing (3-9) and is located inside the traveling motor bracket (3-3). The bushing (3-6) is fitted onto the traveling wheel axle (3-1), with one end contacting the inner ring of the traveling wheel bearing (3-9) and the other end contacting the traveling motor bracket (3-3). The driven gear (3-7) is fixedly installed on one side of the traveling wheel (3-8), and the driving gear (3-4) is fixedly installed on the traveling motor axle. The driving gear (3-4) and the driven gear (3-7) are connected. The walking motor (3-5) is fixedly installed in the walking motor mounting hole (3-3-1) of the walking motor bracket (3-3); the walking wheel (3-8) has a grooved curved surface structure, the grooved curved surface matches the high voltage transmission line (4), the center of the walking wheel (3-8) is provided with a walking wheel bearing mounting hole (3-8-2) that matches the outer cylindrical surface of the walking wheel bearing (3-9), and the hole is provided with a walking wheel bearing limiting boss (3-8-1) that contacts the end face of the outer ring of the walking wheel bearing (3-9); the walking motor bracket (3-3) has a grooved structure, the two side walls are provided with walking wheel shaft mounting holes (3-3-2), and the outer side of one side wall is provided with a walking motor mounting hole (3-3-1).

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