Overhead line coating robot walking device

Abstract

The utility model discloses a walking device of an overhead line coating robot. The walking device comprises a walking mechanism and a walking support. The walking mechanism comprises a horizontally-arranged walking crawler belt, a driving wheel and a driven wheel are arranged on the inner side of the walking crawler belt in a front-back spaced mode, and the driving wheel is in transmission connection with a motor module fixed to the walking support. The walking mechanism provided by the utility model adopts the walking track to be in contact with the overhead cable, the walking track forms a synchronous driving mechanism through the driving wheel and the driven wheel, the walking is stable and not easy to slip, the gradeability is obviously improved, and compared with a transmission pulley type crawler-type structure, the contact area and the friction force with the cable can be increased; the contact grooves formed in the surfaces of the walking tracks can further improve the contact stability, and the technical problem that due to slipping, the running speed is smaller than the normal speed during uphill, and the speed is larger than the normal speed during downhill, so that work is unstable is solved.

Description

Technical Field

[0001] The utility model relates to the technical field of overhead cable maintenance, in particular to a walking device of an overhead line coating robot. Background Art

[0002] Overhead lines are generally responsible for the transmission of long-distance electrical energy and are often located high in the sky in the suburbs. Troubleshooting overhead conductors not only faces harsh environments (strong winds, ice, dirt, etc.), but also involves certain risks.

[0003] With the development of automation technology, overhead line maintenance has evolved from manual inspections performed by intelligent inspection robots to multifunctional ones. Intelligent inspection devices are replacing manual high-risk operations, significantly improving work efficiency while ensuring safety. Currently, wheeled walking robots are widely used and come in a variety of styles. However, wheeled walking mechanisms are prone to slipping when climbing steep slopes. This slippage can cause speeds to drop below normal when climbing uphill and exceed normal speeds when descending. For example, for coating robots, which are required to operate at a constant speed, the actual operating speed may not match the theoretical speed. This can result in uneven thickness of the sprayed insulating coating layer. Utility Model Content

[0004] In view of the defects in the prior art, the purpose of the present invention is to provide an overhead line coating robot walking device, which can increase the contact area with the conductor during operation, increase friction and improve climbing ability.

[0005] The technical solution adopted by the utility model is: a walking device of an overhead line coating robot, including a walking mechanism and a walking bracket; the walking mechanism includes a horizontally arranged walking track, the outer peripheral surface of the walking track is provided with a contact groove with a V-shaped cross-section, the inner side of the walking track is provided with a driving wheel and a driven wheel arranged in a front-to-rear interval, and the driving wheel is transmission-connected to a motor module fixed on the walking bracket; the upper end of the walking bracket is provided with a hanging part with an inverted U-shaped longitudinal cross-section, and the walking mechanism is arranged on the inner side of the hanging part.

[0006] The walking mechanism of the walking device in this technical solution adopts a walking crawler to contact the overhead cable. Compared with the transmission pulley structure, the crawler structure can increase the contact area and friction with the cable, and the contact groove arranged on the surface of the walking crawler can further increase the stability of the contact. The walking crawler is composed of a driving wheel and a driven wheel to form a synchronous drive mechanism. The walking is stable and not easy to slip, and the climbing ability is significantly improved. It solves the technical problems of the existing walking structure due to slippage, such as the driving speed is lower than the normal speed when going uphill and the speed is higher than the normal speed when going downhill, resulting in uneven thickness of the sprayed insulating coating layer.

[0007] Preferably, the walking track includes a transmission layer and a walking layer arranged from the inside to the outside, the inner circumference of the transmission layer is provided with evenly arranged transmission tooth grooves, the tooth grooves are adapted to the transmission teeth provided on the outer circumference of the driving wheel and the driven wheel, and the contact grooves are provided on the outer surface of the walking layer.

[0008] Preferably, both ends of the driving wheel and the driven wheel are provided with limiting parts that abut against the end surface of the transmission layer of the walking track, and the limiting parts are in a disc structure.

[0009] Preferably, the output end of the motor module is connected to a transmission shaft, the driving wheel is mounted on the transmission shaft, and driving wheel bearings mounted on the inner side of the hanging portion are provided at both ends of the transmission shaft corresponding to the driving wheel.

[0010] Preferably, one end of the transmission shaft is provided with a connection disk fixedly connected to the output end of the motor module, and the connection disk is provided with fixing bolts arranged around the transmission shaft.

[0011] Preferably, a through hole is provided at the upper end of the traveling bracket for the transmission shaft to pass through, and the driving wheel bearing and the connecting plate located at the end of the transmission shaft are assembled and fixed in the through hole.

[0012] Preferably, the driven wheel is equipped with a driven shaft, and driven wheel bearings are provided at both ends of the driven shaft, and the driven wheel bearings are installed in bearing grooves on the side walls of the hanging portion.

[0013] The beneficial effects of the present invention are as follows: the walking mechanism provided by the present invention adopts a walking crawler to contact the overhead cable, and the walking crawler is composed of a driving wheel and a driven wheel to form a synchronous drive mechanism, which is stable and not easy to slip, and the climbing ability is significantly improved. Compared with the transmission pulley type structure, the crawler type structure can increase the contact area and friction with the cable, and the contact groove arranged on the surface of the walking crawler can further increase the contact stability, which solves the technical problem of the existing walking structure that the driving speed is lower than the normal speed when going uphill and the speed is higher than the normal speed when going downhill, resulting in working instability due to slipping; it has high practical value. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly describes the drawings required for the specific embodiments or the description of the prior art. Similar elements or parts are generally identified by similar reference numerals throughout the drawings. Elements or parts in the drawings are not necessarily drawn to scale.

[0015] Figure 1 The three-dimensional structure of the overhead line coating robot walking device provided in the embodiment of the utility model Figure 1 .

[0016] Figure 2The three-dimensional structure of the overhead line coating robot walking device provided in the embodiment of the utility model Figure 2 .

[0017] Figure 3 This is a side view of the walking device of the overhead line coating robot provided in an embodiment of the present utility model.

[0018] Figure 4 This is a schematic diagram of the transmission structure of the overhead line coating robot walking device provided in an embodiment of the utility model.

[0019] Figure 5 This is a schematic diagram of the installation of the motor module of the overhead line coating robot walking device provided in an embodiment of the present utility model.

[0020] Figure markings: walking bracket 100, hanging part 110, through hole 120, walking track 200, contact groove 210, transmission layer 220, walking layer 230, driving wheel 300, driven wheel 400, motor module 500, limiting part 600, transmission shaft 700, connecting plate 710, fixing bolt 720, driven shaft 800. DETAILED DESCRIPTION

[0021] The following embodiments of the technical solution of the present invention are described in detail with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention and are therefore only examples and are not intended to limit the scope of protection of the present invention.

[0022] It should be noted that, unless otherwise specified, the technical terms or scientific terms used in this application should have the common meanings understood by those skilled in the art to which this utility model belongs.

[0023] like Figures 1 to 5 As shown, a specific embodiment of the utility model provides a walking device of an overhead line coating robot, including a walking mechanism and a walking bracket 100; the walking mechanism includes a horizontally arranged walking track 200, the outer peripheral surface of the walking track 200 is provided with a contact groove 210 with a V-shaped cross-section, and the inner side of the walking track 200 is provided with a driving wheel 300 and a driven wheel 400 arranged in a front-to-rear interval, and the driving wheel 300 is transmission-connected to a motor module 500 fixed on the walking bracket 100; the upper end of the walking bracket 100 is provided with a hanging portion 110 with an inverted U-shaped longitudinal cross-section, and the walking mechanism is arranged on the inner side of the hanging portion 110.

[0024] like Figures 1 to 5As shown, through the above-mentioned arrangement, the walking mechanism of the walking device in this embodiment adopts a walking track 200 to contact the overhead cable. Compared with the transmission pulley structure, the crawler structure can increase the contact area and friction with the cable, and the contact groove 210 arranged on the surface of the walking track 200 can further increase the stability of the contact. The walking track 200 is composed of a driving wheel 300 and a driven wheel 400 to form a synchronous drive mechanism. The walking is stable and not easy to slip, and the climbing ability is significantly improved; cable robots equipped with wheeled walking devices in the prior art are widely used and have various styles. This device can solve the problem that the existing walking structure has a travel speed lower than the normal speed when going uphill and a speed higher than the normal speed when going downhill due to slipping. It can be applied to overhead line coating robots to solve the problem of uneven thickness of the sprayed insulating coating layer due to slipping of the walking device in the prior art.

[0025] like Figures 1 to 5 As shown, this embodiment further optimizes the structure of the walking track 200 to improve walking stability. The walking track 200 includes a transmission layer 220 and a walking layer 230 arranged from the inside to the outside. The inner circumference of the transmission layer 220 is provided with evenly arranged transmission grooves, which are adapted to the transmission teeth provided on the outer periphery of the driving wheel 300 and the driven wheel 400. The contact groove 210 is provided on the outer surface of the walking layer 230. The inner layer of the track structure, serving as the transmission layer 220, can be adapted through the tooth grooves and the latch teeth, so that the track structure, the driving wheel 300, and the driven wheel 400 form a synchronous pulley structure, thereby improving the stability of the walking track 200. At the same time, the walking layer 230 of the outer layer of the track structure increases the contact area between the walking structure and the cable by means of the contact groove 210, further improving the contact friction of the walking track 200 and preventing the cable from slipping during travel. To further improve the stability of the track and wheel body and prevent the track structure from falling off, this embodiment is provided with a limit portion 600 at both ends of the driving wheel 300 and the driven wheel 400, which abuts against the end surface of the transmission layer 220 of the walking track 200. The limit portion 600 is a disc-shaped structure. In this way, the edge of the walking track 200 is located inside the limit portion 600, and the limit portion 600 prevents the walking track 200 from falling off from the driving wheel 300 or the driven wheel 400.

[0026] Example 2

[0027] like Figures 1 to 5As shown, this embodiment further optimizes the transmission structure. The output end of the motor module 500 is connected to a transmission shaft 700, and the driving wheel 300 is mounted on the transmission shaft 700. The transmission shaft 700 is provided with driving wheel bearings mounted on the inner side of the hanging portion 110 at both ends of the driving wheel 300. The transmission shaft 700 is assembled on the inner side of the hanging portion 110 through the driving wheel bearings. The transmission shaft 700 is directly driven by the output end of the motor module 500, improving the transmission efficiency. In order to improve the stability of the transmission connection, this embodiment is provided with a connecting plate 710 fixedly connected to the output end of the motor module 500 at one end of the transmission shaft 700. The connecting plate 710 is provided with a fixing bolt 720 arranged around the transmission shaft 700. The end of the transmission shaft 700 is connected to the output end of the motor using the connecting plate 710 structure, and a stable connection is formed by the fixing bolt 720. At the same time, the upper end of the traveling bracket 100 is provided with a through hole 120 for the transmission shaft 700 to pass through. The driving wheel bearing located at the end of the transmission shaft 700 is assembled with the connecting plate 710 and fixed in the through hole 120. The through-hole 120 provided on the traveling support 100 ensures stable operation of the transmission structure. The placement of a driving wheel bearing within this through-hole further enhances transmission stability at the assembly position and prevents vibration at the connection point. Furthermore, the driven wheel 400 is assembled with a driven shaft 800, with driven wheel bearings at both ends. These driven wheel bearings are mounted in bearing grooves on the sidewalls of the mounting portion 110. The driven wheel 400 structure is assembled using the driven shaft 800 and mounted to the traveling support 100 via the bearing structure, ensuring stability.

[0028] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and description of the present invention.

Claims

1. A walking device for an overhead line coating robot, characterized in that; It includes a walking mechanism and a walking support (100); The walking mechanism comprises a horizontally arranged walking track (200), the outer peripheral surface of the walking track (200) being provided with a contact groove (210) with a V-shaped cross section, the inner side of the walking track (200) being provided with a driving wheel (300) and a driven wheel (400) arranged in a front-to-rear spacing, and the driving wheel (300) being drivingly connected to a motor module (500) fixed on a walking bracket (100); The upper end of the walking bracket (100) is provided with a hanging portion (110) having an inverted U-shaped longitudinal cross section, and the walking mechanism is arranged inside the hanging portion (110).

2. The overhead line coating robot walking device according to claim 1, characterized in that: The walking crawler (200) comprises a transmission layer (220) and a walking layer (230) arranged from the inside outward, the inner circumference of the transmission layer (220) is provided with evenly arranged transmission tooth grooves, the tooth grooves are adapted to transmission teeth provided on the outer circumferences of the driving wheel (300) and the driven wheel (400), and the contact groove (210) is provided on the outer surface of the walking layer (230).

3. The overhead line coating robot walking device according to claim 2, characterized in that: Both ends of the driving wheel (300) and the driven wheel (400) are provided with a limiting portion (600) that abuts against the end surface of the transmission layer (220) of the walking track (200), and the limiting portion (600) is in a disc structure.

4. The overhead line coating robot walking device according to claim 1, characterized in that: The output end of the motor module (500) is connected to a transmission shaft (700), the driving wheel (300) is mounted on the transmission shaft (700), and driving wheel bearings mounted on the inner side of the hanging portion (110) are provided at both ends of the transmission shaft (700) corresponding to the driving wheel (300).

5. The overhead line coating robot walking device according to claim 4, characterized in that: One end of the transmission shaft (700) is provided with a connection disk (710) fixedly connected to the output end of the motor module (500), and the connection disk (710) is provided with a fixing bolt (720) arranged around the transmission shaft (700).

6. The overhead line coating robot walking device according to claim 4, characterized in that: The upper end of the traveling bracket (100) is provided with a through hole (120) for the transmission shaft (700) to pass through, and the driving wheel bearing and the connecting plate (710) located at the end of the transmission shaft (700) are assembled and fixed in the through hole (120).

7. The overhead line coating robot walking device according to claim 1, characterized in that: The driven wheel (400) is equipped with a driven shaft (800), and driven wheel bearings are provided at both ends of the driven shaft (800). The driven wheel bearings are installed in bearing grooves on the side walls of the hanging portion (110).

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