Unmanned tower-climbing hot-line work robot

Abstract

The utility model discloses an unmanned tower-climbing hot-line work robot, which belongs to the technical field of electric power robots and comprises a driving box body, and a nested walking mechanism is arranged on the top surface of the driving box body. The sleeved type walking mechanism comprises a locking ring fixedly connected with the top face of the driving box body, the locking ring is composed of a ring body A and a ring body B which are movably connected, a wire clamping cavity is defined by inner cavities of the ring body A and the ring body B, and a ring type driving assembly is arranged in the wire clamping cavity. According to the utility model, the sleeving type walking mechanism is arranged on the driving box body, so that the hot-line work robot can be sleeved on the outer side of a power transmission line, and the ring type driving assembly is arranged in the sleeving type walking mechanism, so that the hot-line work robot can be contacted with the power transmission line in multiple directions in the walking process; compared with a traditional suspension type structure, the power transmission line protection device is locked on the outer side of the power transmission line in a sleeved mode, safety is improved, meanwhile, the body length of the robot is reduced, and obstacle crossing is facilitated.

Description

TECHNICAL FIELD

[0001] The utility model relates to power robot technical field more specifically, relate to a kind of unmanned tower climbing live working robot. BACKGROUND

[0002] At present, the live working robot for high-voltage transmission line operation mainly includes control handle type live working robot and remote control type live working robot. Among them, the operator of the control handle type live working robot controls the working arm of the robot in the high-altitude operation room by using the operation handle; and the operator of the remote control type live working robot remotely controls the robot in the high altitude on the ground.

[0003] The conventional unmanned tower climbing live working robot is usually of a suspension type structure, such as the Chinese utility model patents with publication numbers CN206105824U or CN214238252U. Although this suspension type structure is easy to install, it has low safety and obstacle-crossing ability. When working in high altitude, it is easy to swing due to strong wind, and there is a risk of falling. Moreover, the long body is not conducive to crossing obstacles on the transmission line. In view of this, we propose an unmanned tower climbing live working robot. SUMMARY

[0004] 1. Technical problem to be solved

[0005] The utility model aims to provide an unmanned tower climbing live working robot to solve the problems raised in the above background.

[0006] 2. Technical scheme

[0007] An unmanned tower climbing live working robot comprises a driving box body, and a sleeve-in type walking mechanism is arranged on the top surface of the driving box body.

[0008] The sleeve-in type walking mechanism comprises a locking ring fixedly connected to the top surface of the driving box body, the locking ring is composed of a movablely connected ring body A and a ring body B, a wire clamping cavity is formed by the inner cavities of the ring body A and the ring body B, and a ring type driving assembly is arranged in the wire clamping cavity.

[0009] Preferably, one side of the ring body A and the ring body B is hingedly connected, and the other side thereof is movably connected by a buckle.

[0010] Preferably, a plurality of wheel grooves are uniformly arranged on the inner diameters of the locking ring.

[0011] Preferably, arc-shaped limiting grooves are arranged on the inner diameters of the ring body A and the ring body B, respectively, two limiting grooves are connected to form an annular limiting cavity, and a guide groove is arranged on the outer diameter of the limiting cavity.

[0012] Preferably, the ring type driving assembly comprises a driving motor arranged in the driving box body, a driving gear is sleeved on the output end of the driving motor, and the driving gear is in meshing connection with the driven gear in one of the wheel grooves.

[0013] Preferably, the ring type driving assembly further comprises a driving ring limited in the annular limiting cavity, a plurality of walking wheels are sleeved outside the driving ring, the plurality of walking wheels are in position correspondence with the plurality of wheel grooves, rotating protrusions are arranged on the two side end faces of the walking wheels and the driven gear, shaft rings are sleeved outside the rotating protrusions, and the shaft rings are in fixed connection with the wheel grooves.

[0014] Preferably, inclined tooth grooves are formed in the middle portions of the walking wheels and the driven gear, a plurality of tooth columns are arranged in an annular and equidistant manner on one side end face of the driving ring, and the tooth columns are in meshing connection with the inclined tooth grooves.

[0015] Preferably, the driving ring is formed by splicing two semicircular rings, and guide protrusions are arranged on the circumferences of the semicircular rings, and the guide protrusions are in sliding connection with the guide grooves.

[0016] 3. Beneficial effects

[0017] Compared with the prior art, the utility model has the advantages that:

[0018] The utility model discloses a walking structure of a suspension type live working robot, and the walking structure comprises a driving box body, a sleeve type walking mechanism arranged on the driving box body, a plurality of wheel grooves arranged on the sleeve type walking mechanism, a plurality of walking wheels sleeved outside the wheel grooves, a plurality of driven gears sleeved in the wheel grooves, a driving ring sleeved in the sleeve type walking mechanism, a plurality of driving gears sleeved on the driving ring, and a plurality of shaft rings sleeved outside the driving gears. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is an overall structure schematic view of the utility model;

[0020] Figure 2 It is a structure split schematic view of the sleeve type walking mechanism in the utility model;

[0021] Figure 3 It is an enlarged schematic view of a partial structure of the utility model;

[0022] Figure 4 It is a structure schematic view of a lock ring in the utility model;

[0023] Figure 5 It is a partial structure split schematic view of the utility model;

[0024] The figure label explanation: 1, drive box; 2, sleeve into walking mechanism; 3, lock ring; 4, ring body A; 5, ring body B; 6, wire clamping cavity; 7, ring type drive assembly;

[0025] 301, wheel groove; 302, limiting groove; 303, annular limiting cavity; 304, guide groove;

[0026] 701, drive motor; 702, drive teeth; 703, driven teeth; 704, walking wheel; 705, rotating protrusion; 706, shaft ring; 707, bevel gear slot; 708, drive ring; 709, tooth column; 710, semicircular ring; 711, guide protrusion. DETAILED DESCRIPTION

[0027] In the description of the utility model, it is understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the utility model and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the utility model.

[0028] In the description of the utility model, the meaning of "multiple" is two or more than two, unless otherwise specifically limited.

[0029] In the description of the utility model, it should be noted that, unless otherwise specifically specified and limited, the terms "mounting", "provided with", "sleeved / connected", "connected" and the like should be understood broadly, for example, "connected" can be fixedly connected, can be detachably connected, or integrally connected; can be mechanically connected, can be electrically connected; can be directly connected, can be indirectly connected through an intermediate medium, and can be connected inside two elements. For ordinary skilled persons in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0030] Please refer to Figures 1-5 The utility model provides a technical scheme:

[0031] An unmanned tower climbing live working robot, comprising a drive box 1, the top surface of the drive box 1 is provided with a sleeve into walking mechanism 2;

[0032] The telescopic walking mechanism 2 includes a locking ring 3 fixed to the top surface of the drive housing 1. The locking ring 3 is composed of a ring body A4 and a ring body B5 that are movably connected. The inner cavities of the ring bodies A4 and B5 enclose a wire clamping cavity 6, and a ring-type drive assembly 7 is provided in the wire clamping cavity. The present utility model improves the walking structure of the existing suspended live-working robot. By providing a telescopic walking mechanism 2 on the drive housing 1, the live-working robot of the present utility model can be sleeved on the outside of the power transmission line. By providing a ring-type drive assembly 7 in the telescopic walking mechanism 2, the present utility model can contact the power transmission line in multiple directions during walking, thereby improving friction strength, walking stability, and walking speed. Compared with the traditional suspended structure, the present utility model is sleeved on the outside of the power transmission line, which improves safety while reducing the length of the robot, making it easier to cross obstacles.

[0033] Specifically, the ring body A4 and the ring body B5 are hinged on one side, and the other side of the ring body A4 and the ring body B5 are movably connected by a buckle. The buckle facilitates the locking and opening of the locking ring 3 composed of the ring body A4 and the ring body B5, thereby facilitating the locking of the live working robot of the present invention to the outside of the power transmission line.

[0034] Furthermore, a plurality of wheel grooves 301 are evenly formed on the inner diameter of the lock ring 3 .

[0035] Furthermore, the inner diameters of the ring bodies A4 and B5 are respectively provided with arc-shaped limiting grooves 302 , and the two limiting grooves 302 are connected to form an annular limiting cavity 303 , and the outer diameter of the limiting cavity 303 is provided with a guide groove 304 .

[0036] Furthermore, the ring-type drive assembly 7 includes a drive motor 701 disposed within the drive housing 1. Drive teeth 702 are sleeved onto the output end of the drive motor 701. These teeth engage with driven teeth 703 within one of the wheel grooves 301. By providing the ring-type drive assembly 7, the present invention requires only a single drive structure to enable the robot to travel on power lines. Compared to the multiple drive structures of conventional suspended robots, the present invention reduces production costs while improving the robot's flexibility and walking stability.

[0037] It is worth mentioning that the driving ring 708 is limited in the annular limiting cavity 303, the plurality of walking wheels 704 are sleeved outside the driving ring 708, the plurality of walking wheels 704 are in position correspondence with the plurality of wheel grooves 301, the walking wheels 704 are provided with rotating protrusions 705 on both sides of the end face of the driven tooth 703, the rotating protrusions 705 are sleeved outside the shaft ring 706, and the shaft ring 706 is fixedly connected with the wheel groove 301. The driven tooth 703 of the utility model is smaller than the size of the walking wheel 704, and does not contact the surface of the power transmission line, so that the power transmission line is avoided from being scratched, and the design purpose of the driven tooth 703 is to drive the driving ring 708 by the power output of the driving motor 701, so that the plurality of walking wheels 704 engaged with the driving ring 708 are synchronously rotated, and the balance of the power output is improved.

[0038] It is worth noting that the walking wheel 704 and the driven tooth 703 are provided with inclined tooth grooves 707 in the middle, and the driving ring 708 is provided with a plurality of tooth columns 709 in the annular equidistant side end face, and the tooth columns 709 are engaged with the inclined tooth grooves 707.

[0039] In addition, the driving ring 708 is composed of two semicircular rings 710 and is provided with a guide protrusion 711 on the circumference of the semicircular ring 710, and the guide protrusion 711 is slidably connected with the guide groove 304. In the utility model, when the driving ring 708 composed of two semicircular rings 710 is installed with the lock ring 3, independent penetration type installation is adopted, that is, the two semicircular rings 710 are respectively penetrated in the limiting grooves 302 in the inner diameters of the ring body A4 and the ring body B5, and are sequentially penetrated out of the inclined tooth grooves 707 of each walking wheel 704 in the penetration process, and finally the ring body A4 and the ring body B5 are covered to realize the splicing of the two semicircular rings 710, and the installation is simple.

[0040] The basic principle, main features and advantages of the utility model are shown and described. It should be understood by those skilled in the art that the utility model is not limited by the above examples, and the above examples and descriptions in the specification are only preferred examples of the utility model and are not used to limit the utility model, various changes and improvements of the utility model can be made without departing from the spirit and scope of the utility model, and these changes and improvements all fall within the scope of the claimed utility model. The protection scope of the utility model is defined by the appended claims and their equivalents.

Claims

1. An unmanned tower climbing live working robot comprising a drive cabinet (1), characterised in that: The driving box (1) top surface is provided with a sleeve type walking mechanism (2); The sleeve type walking mechanism (2) includes a locking ring (3) fixedly connected with the top surface of the driving box (1), the locking ring (3) is composed of a movablely connected ring body A (4) and a ring body B (5), the inner cavities of the ring body A (4) and the ring body B (5) are surrounded to form a wire clamping cavity (6), and a ring type driving assembly (7) is arranged in the wire clamping cavity.

2. The unmanned tower climbing live working robot according to claim 1, characterized in that: The ring body A (4) and the ring body B (5) are hingedly connected on one side, and are movably connected through buckles on the other side.

3. The unmanned tower climbing live working robot according to claim 1, characterized in that: The locking ring (3) is uniformly provided with a plurality of wheel grooves (301) in the inner diameter.

4. The unmanned tower climbing live working robot according to claim 3, characterized in that: The ring body A (4) and the ring body B (5) are respectively provided with a limiting groove (302) in the form of a circular arc in the inner diameter, two limiting grooves (302) are communicated to form an annular limiting cavity (303), and a guide groove (304) is formed in the outer diameter of the limiting cavity (303).

5. The unmanned tower climbing live working robot according to claim 4, characterized in that: The ring type driving assembly (7) includes a driving motor (701) arranged in the driving box (1), a driving tooth (702) is sleeved on the output end of the driving motor (701), and the driving tooth (702) is in meshing connection with a driven tooth (703) in one of the wheel grooves (301).

6. The unmanned tower climbing live working robot according to claim 5, characterized in that: The ring type driving assembly (7) further includes a driving ring (708) limited in the annular limiting cavity (303), a plurality of walking wheels (704) are sleeved on the outer side of the driving ring (708), a plurality of the walking wheels (704) are in position correspondence with a plurality of the wheel grooves (301), rotating protrusions (705) are arranged on both side end faces of the walking wheel (704) and the driven tooth (703), shaft rings (706) are sleeved on the outer sides of the rotating protrusions (705), and the shaft rings (706) are fixedly connected with the wheel grooves (301).

7. The unmanned tower climbing live working robot according to claim 6, characterized in that: The walking wheel (704) and the driven tooth (703) are respectively provided with a bevel tooth groove (707) in the middle part, a plurality of tooth columns (709) are annularly and equidistantly arranged on one side end face of the driving ring (708), and the tooth columns (709) are in meshing connection with the bevel tooth grooves (707).

8. The unmanned tower climbing live working robot according to claim 6, characterized in that: The driving ring (708) is composed of two semicircular rings (710) and is provided with a guide protrusion (711) on the circumference of the semicircular ring (710), and the guide protrusion (711) is in sliding connection with the guide groove (304).

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