Walking mechanism of cable maintenance robot

Abstract

The utility model discloses a walking mechanism of a cable maintenance robot. The walking mechanism comprises a machine body, a support, a connecting block, idler wheels, a sliding rod, a sliding frame and a guide frame. The bracket and the guide frame are arranged at the top of the machine body; a positioning block is arranged on the side face of the support, a sliding cavity is formed in the positioning block from top to bottom, the connecting block is connected with the sliding cavity in a sliding mode, and the sliding rod is inserted into the positioning block and the connecting block in a penetrating mode; the guide frame is arranged on the sliding frame; one side of the cable is slidably connected with the roller and the other side is slidably connected with the guide frame. When the robot is used for overhauling, the cable is located between the roller assembly and the limiting assembly, and the whole device is driven to walk through the roller assembly. When the roller assembly needs to be disassembled, the insertion assembly is pulled out to complete separation of the roller assembly and the positioning block to complete disassembly of the roller, and the whole operation process is convenient and fast.

Description

Technical Field

[0001] This utility model relates to the field of high-altitude operation technology, specifically to a walking mechanism for a cable maintenance robot. Background Technology

[0002] As the most important means of power transmission, cables are widely used in daily life. However, as time goes by, the outer surface of cables will also age, especially after encountering severe weather such as acid rain, rainstorms, and typhoons. Cable inspection is required. Since cables are generally located at high altitudes, manual inspection carries the risk of working at heights. To avoid the risks of working at heights, robots are used to inspect cables.

[0003] For example, Chinese patent CN107528254A, entitled "A Power Cable Repair Device," describes a technical solution that includes a walking frame, a base plate, a support, a drive wheel, and a driven wheel. A lifting ring is located at the upper middle position of the walking frame; a power unit is located to the right of the lifting ring; the motor is a three-phase asynchronous motor connected to a reducer via a transmission belt; a drive gear and a driven gear are installed inside the reducer; the drive wheel is mounted on a lifting device; the lifting device is mounted on the walking frame; rubber rings are installed on the rim surfaces of the drive wheel and the driven wheel; a camera is located below the lifting ring; supports are welded to the lower sides of both ends of the walking frame; a guardrail is installed on the upper side of the base plate; a toolbox is located on the upper left side of the guardrail; and a communication device is installed on the top left side of the support. In this solution, the entire device moves via the drive wheel; however, if the drive wheel is damaged, it is inconvenient to disassemble because it is located inside the device. Therefore, a mechanism for easy disassembly of the roller needs to be designed. Utility Model Content

[0004] This invention provides a walking mechanism for a cable repair robot, solving the problem of the inability to quickly install or remove rollers in existing cable repair robots. By designing a specific structure, the rollers can be easily installed and removed, reducing the transport volume and weight of the robot when moving it between different work locations, lowering transportation costs and difficulties, and preventing damage to the rollers due to long-term pressure during storage; details are described below.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A walking mechanism for a cable repair robot includes a body, a support, a connecting block, rollers, a sliding rod, a sliding frame, and a guide frame. The support and guide frame are located on the top of the body. A positioning block is provided on the side of the support, and a sliding cavity is provided on the positioning block from top to bottom. The connecting block is slidably connected to the sliding cavity, and the sliding rod is inserted inside the positioning block and the connecting block. The guide frame is mounted on the sliding frame. One side of the cable is slidably connected to the rollers, and the other side is slidably connected to the guide frame.

[0007] In the above technical solution: when workers need to perform high-altitude operations, they can move the cable maintenance robot to a designated height, hang the guide frame on the wire or cable, insert the connecting block into the positioning block, and finally insert the sliding rod into the positioning block and the connecting block, thus completing the installation of the device's rollers and body. When the entire device is in operation, the rotation of the rollers drives the entire device to move on the wire or cable, and the guide frame guides the movement during the process. In addition, the guide frame also ensures that the entire device will not detach from the wire or cable during operation.

[0008] Preferably, the connecting block includes a sliding end and a connecting end, the sliding end being slidably connected to the sliding cavity, and a positioning hole being provided on the sliding end, through which the insertion component passes; it also includes a drive motor, the drive motor being connected to the connecting end, and the output end of the drive motor being connected to the roller.

[0009] Preferably, the end of the sliding rod is provided with a connecting plate; the sliding rod has multiple mounting holes, and a snap-fit ​​block is slidably connected in the mounting holes, with a snap-fit ​​spring between the snap-fit ​​block and the bottom of the mounting hole; the positioning block has an insertion hole, and the inner wall of the insertion hole has a fixing hole; the sliding rod passes through the insertion hole and the positioning hole, and when the sliding rod is inserted into the insertion hole, the snap-fit ​​block is inserted into the fixing hole under the action of the snap-fit ​​spring.

[0010] Preferably, at least two sliding rods are provided.

[0011] Preferably, the top of the snap-fit ​​block is semi-cylindrical.

[0012] Preferably, it further includes a sliding block and a track spring; the sliding frame is connected to the machine body, the sliding frame has a sliding groove, and the sliding block is slidably connected to the sliding groove; the track spring is disposed in the sliding groove, and the two ends of the track spring abut against the ends of the sliding block and the sliding groove respectively; the guide frame is disposed at the bottom of the sliding block, and the guide frame is in contact with the cable under the elastic force of the track spring.

[0013] Preferably, the guide frame is provided with a bayonet, which is semi-circular.

[0014] Preferably, the guide frame is further provided with a lubricating block, and the side of the lubricating block near the cable is provided with a plurality of balls.

[0015] Preferably, the lubricating block has a storage chamber inside, and a feed pipe is connected to the storage chamber for adding lubricant into the storage chamber.

[0016] Preferably, the feed pipe is provided with a sealing plug.

[0017] The beneficial effects of this utility model are:

[0018] 1. In this utility model, the roller assembly and positioning block are used to quickly install or remove the roller. When the robot needs to be quickly moved to different high-altitude work positions, the roller can be quickly installed so that the robot can quickly reach the designated location and start working along the moving structure such as the power line. When the work is completed or the roller needs to be inspected, it can also be quickly removed to reduce the robot's idle waiting time.

[0019] 2. In this invention, by setting a guide frame, the walking roller mechanism ensures that the cable is pre-guided onto the roller's walking path during robot movement, preventing the roller from failing to drive the robot. The storage compartment, in conjunction with the ball bearings, automatically adds lubricating oil to the outside of the cable. When the robot moves along the cable via the internal drive motor of the roller, friction between the cable and the ball bearings is unavoidable. This automatic lubrication mechanism effectively reduces this friction. Reduced friction means less wear, which helps extend the service life of both the cable and the ball bearings. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0021] Figure 2 This is a schematic diagram of the connection between the roller assembly and the machine body of this utility model.

[0022] Figure 3 This is a schematic diagram of the connection between the guide frame and the machine body of this utility model;

[0023] Figure 4 This is a schematic diagram of the connecting block structure of this utility model;

[0024] Figure 5 This is a schematic diagram of the connection between the roller assembly and the positioning block of this utility model;

[0025] Figure 6 This is a utility model Figure 2 A magnified view of part A;

[0026] Figure 7This is a utility model Figure 2 A magnified view of section B;

[0027] Figure 8 This is a utility model Figure 3 A magnified view of a portion of point C.

[0028] The annotations in the attached figures are explained as follows:

[0029] 1. Body; 11. Bracket; 12. Positioning block; 120. Sliding cavity; 121. Insertion hole; 122. Fixing hole;

[0030] 21. Connecting block; 211. Sliding end; 2111. Positioning hole; 212. Connecting end; 22. Drive motor; 23. Roller;

[0031] 31. Sliding rod; 32. Mounting hole; 33. Snap-fit ​​block; 34. Snap-fit ​​spring; 35. Connecting plate;

[0032] 41. Sliding frame; 42. Slide groove; 43. Sliding block; 44. Track spring; 45. Guide frame; 451. Bayonet; 46. Lubricating block; 461. Storage compartment; 47. Ball bearing; 48. Feed pipe; 481. Sealing plug. Detailed Implementation

[0033] The accompanying drawings are for illustrative purposes only and should not be construed as limiting this patent. To better illustrate this embodiment, some components in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings. The positional relationships described in the drawings are for illustrative purposes only and should not be construed as limiting this patent.

[0034] In the accompanying drawings of this utility model, the same or similar reference numerals correspond to the same or similar components. In the description of this utility model, it should be understood that if terms such as "upper," "lower," "left," "right," "long," and "short" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting this patent. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0035] The technical solution of this utility model will be further described in detail below through specific embodiments and with reference to the accompanying drawings:

[0036] Example 1

[0037] like Figure 1-3As shown, the device includes a body 1, a bracket 11, a connecting block 21, a roller 23, a sliding rod 31, a sliding frame 41, and a guide frame 45. The bracket 11 and the guide frame 45 are located on the top of the body 1. A positioning block 12 is provided on the side of the bracket 11, and a sliding cavity 120 is provided from the top downwards in the positioning block 12. The connecting block 21 is slidably connected to the sliding cavity 120, and the sliding rod 31 is inserted inside the positioning block 12 and the connecting block 21. The guide frame 45 is provided on the sliding frame 41. One side of the cable is slidably connected to the roller 23, and the other side is slidably connected to the guide frame 45.

[0038] The working principle of this embodiment is as follows: When workers need to perform high-altitude operations, they can move the cable repair robot to a designated height, hang the guide frame 45 on the wire or cable, insert the connecting block 21 into the positioning block 12, and finally insert the sliding rod into the positioning block 12 and the connecting block 21, thus completing the installation of the device roller 23 and the body 1. When the entire device is in operation, the rotation of the roller 23 drives the entire device to move on the wire or cable, and the guide frame 45 guides the movement during the process. In addition, the guide frame 45 also ensures that the entire device will not detach from the wire or cable during operation.

[0039] The beneficial effects of this embodiment are: the connecting block 21 and the positioning block 12 are slidably connected, and the position is fixed by inserting the sliding rod 31 between them, which ensures the quick assembly and disassembly of the roller 23; by setting the guide frame 45, it can be ensured that the entire device will not fall off the wire or cable, thereby avoiding falls from height and ensuring the safety of personnel.

[0040] Example 2

[0041] like Figure 2 , 4 As shown in Figure 6, a walking mechanism for a cable repair robot differs from that of Embodiment 1 in that the connecting block 21 includes a sliding end 211 and a connecting end 212. The sliding end 211 is slidably connected to the sliding cavity 120, and a positioning hole 2111 is provided on the sliding end 211. The sliding rod 31 passes through the positioning block 12 and the positioning hole 2111. The robot also includes a drive motor 22, which is connected to the connecting end 212. The output end of the drive motor 22 is connected to the roller 23.

[0042] The sliding rod 31 has a connecting plate 35 at its end; the sliding rod 31 has multiple mounting holes 32, and a snap-fit ​​block 33 is slidably connected in the mounting holes 32. A snap-fit ​​spring 34 is provided between the snap-fit ​​block 33 and the bottom of the mounting hole 32; the positioning block 12 has an insertion hole 121, and the inner wall of the insertion hole 121 has a fixing hole 122; the sliding rod 31 passes through the insertion hole 121 and the positioning hole 2111. When the sliding rod 31 is inserted into the insertion hole 121, the snap-fit ​​block 33 is inserted into the fixing hole 122 under the action of the snap-fit ​​spring 34.

[0043] At least two sliding rods 31 are provided, and the end of the snap-fit ​​block 33 is semi-cylindrical.

[0044] Working principle of the embodiment: After the guide frame 45 is hung on the wire or cable, the connecting end 212 is inserted into the interior of the positioning block 12. Then, by pushing the connecting plate 35, the sliding rod 31 is inserted into the insertion hole. During the insertion process, the end of the locking block 33 first contacts the insertion hole 121. The inner wall of the insertion hole 121 will press the locking block 33 to move downward along the inner wall of the mounting hole 32. As the sliding rod 31 moves a greater distance inside the insertion hole 121, the locking block 33 will move to the position of the fixing hole 122. The locking block 33 is then engaged by the elastic force of the locking spring 34. The sliding rod 31 is moved along the inner wall of the mounting hole 32 into the fixing hole 122. At this time, the position of the sliding rod 31 is fixed and cannot be disengaged from the insertion hole 211, thus fixing the position between the connecting block 21 and the positioning block 12, and consequently fixing the position between the roller 23 and the positioning block 12. In addition, after the sliding rod 31 is inserted, since there are at least two sliding rods 31, it is avoided that a single sliding rod 31 rotates in the insertion hole 211 after being inserted, which would cause the locking block 33 to be compressed and the sliding rod 31 to disengage, further ensuring the stability of the insertion. During the installation of the roller assembly 2, it is necessary to ensure that the wire or cable is between the roller 23 and the guide frame 45. After the installation is completed, the drive motor 22 is started to drive the roller 23 to rotate. The roller 23 moves the entire device by friction with the wire or cable. During the operation of the device, the forward or backward movement of the entire device can be achieved by the forward and reverse rotation of the drive motor 22. When the roller 23 needs to be disassembled, pull the connecting plate 35 outward. During the pulling process, a certain force needs to be applied. Because the end face of the snap-fit ​​block 33 is semi-cylindrical, when the applied force can overcome the elastic force of the snap-fit ​​spring 34, the friction between the snap-fit ​​block 33 and the mounting hole 32, and the friction between the snap-fit ​​block 33 and the fixing hole, the semi-cylindrical end will be subjected to a decrease in force. When the entire snap-fit ​​block 33 is disengaged from the fixing hole, the entire sliding rod 31 is disengaged from the insertion hole under the action of the connecting plate 35. At this time, the connecting block can be moved from the positioning block 12, thereby realizing the disassembly of the roller 23.

[0045] The beneficial effects of this embodiment are: the connection plate 35 drives the sliding rod 31 to be inserted into or separated from the positioning block 12, making the assembly and disassembly of the roller 23 more convenient and quick.

[0046] The remaining technical features and working principles are the same as in Example 1.

[0047] Example 3

[0048] like Figure 3 , 8 As shown, a walking mechanism for a cable repair robot, based on Embodiment 1, differs from Embodiment 1 in that it further includes a sliding block 43 and a track spring 44; the sliding frame 41 is connected to the body 1, and a sliding groove 42 is provided on the sliding frame 41, with the sliding block 43 slidably connected to the sliding groove 42; the track spring 44 is disposed in the sliding groove 42, and both ends of the track spring 44 abut against the ends of the sliding block 43 and the sliding groove 42 respectively; the guide frame 45 is disposed at the bottom of the sliding block 43, and the guide frame 45 is in contact with the cable under the elastic force of the track spring 44.

[0049] The limiting component 4 includes a sliding frame 41 connected to the body 1. The sliding frame 41 has a sliding groove 42. A sliding block 43 is slidably connected to the sliding groove 42. A track spring 44 is provided between the slider and the end of the sliding groove 42. A guide frame 45 is provided at the bottom of the sliding block 43. A bayonet 451 is provided on the guide frame 45. The bayonet 451 is semi-circular. The cable is located between the bayonet 451 of the moving component.

[0050] The working principle of this embodiment is as follows: When the entire device is hung on the wire or cable, the guide frame 45 and the lubricating block 46 first come into contact with the wire or cable. After the guide frame 45 is in place, it will compress the track spring 44, and the track spring 44 will also support the sliding block 43, preventing the sliding block 43 from moving to the limit position of the slide groove 42. At this time, the connecting block 21 is connected to the positioning block 12. During the connection process, it is necessary to ensure that the wire or cable is between the bayonet 451 and the roller 23. After installation, the track spring 44 will also apply pressure to make the wire or cable fit with the roller 23, ensuring that the roller 23 can drive the entire device to move when it moves. During the movement, the guide frame 45 and the lubricating block 46 play a guiding role to prevent the wire or cable from detaching from the roller 23.

[0051] The beneficial effects of this embodiment are: by setting the track spring 44, it can be ensured that the guide frame 45 can be in contact with the cable in real time; in addition, the guide frame 45 ensures that the walking roller 23 mechanism can guide the cable to the walking path of the roller 23 in advance when the robot is walking.

[0052] Example 4

[0053] like Figure 3 , 7 As shown in Figure 8, the walking mechanism of a cable repair robot differs from that of Embodiment 1 in that a lubrication block 46 is also provided inside the guide frame 45, and a plurality of balls 47 are provided on the side of the lubrication block 46 near the cable.

[0054] The lubricating block 46 has a storage chamber 461 inside, and a feed pipe 48 is connected to the storage chamber 461. The feed pipe 48 is used to add lubricant into the storage chamber 461. A sealing plug 481 is provided on the feed pipe 48.

[0055] The working principle of this embodiment is as follows: When the guide frame 45 is hung on the cable, the side of the lubricating block 47 with the ball bearings 47 is in contact with the cable. When the entire device moves, the ball bearings 47 also roll, and while rolling, they also carry out the lubricant in the storage chamber 461. Some of the lubricant will be coated on the upper surface of the wire or cable, thereby preventing the lubricating block 46 from excessively rubbing against the wire or cable for a long time and reducing the service life of the guide frame 45. After a period of use, the lubricant in the storage chamber 461 will be consumed. When it is necessary to replenish the lubricant, the sealing plug 481 is removed, and the lubricant is injected into the feed pipe 48. The lubricant will enter the storage chamber 461 through the feed pipe 48. After the lubricant injection is completed, the feed port 48 is sealed again by the sealing plug 481 to prevent dust from entering the storage chamber 461.

[0056] The beneficial effects of this embodiment are as follows: Through the storage compartment 461 and the ball bearing 47, lubricating oil is automatically applied to the outer side of the wire. When the robot moves along the wire via the internal drive motor 22 of the roller 23, friction between the wire and the ball bearing 47 is unavoidable. This automatic lubrication mechanism effectively reduces the friction between the wire and the ball bearing 47. Reduced friction means reduced wear, which helps extend the service life of both the wire and the ball bearing 47.

[0057] The remaining technical features and effects are consistent with those of Embodiment 1.

[0058] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating this utility model, and are not intended to limit the implementation of this utility model. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A traveling mechanism of a cable inspection robot, characterized by comprising: The system includes a body (1), a bracket (11), a connecting block (21), a roller (23), a sliding rod (31), a sliding frame (41), and a guide frame (45). The bracket (11) and the guide frame (45) are located on the top of the body (1). A positioning block (12) is provided on the side of the bracket (11). The positioning block (12) has a sliding cavity (120) from top to bottom. The connecting block (21) is slidably connected to the sliding cavity (120). The sliding rod (31) is inserted inside the positioning block (12) and the connecting block (21). The guide frame (45) is located on the sliding frame (41). One side of the cable is slidably connected to the roller (23) and the other side is slidably connected to the guide frame (45).

2. The walking mechanism of the cable maintenance robot according to claim 1, characterized in that, The connecting block (21) includes a sliding end (211) and a connecting end (212). The sliding end (211) is slidably connected to the sliding cavity (120). The sliding end (211) is provided with a positioning hole (2111). The sliding rod (31) passes through the positioning block (12) and the positioning hole (2111). It also includes a drive motor (22). The drive motor (22) is connected to the connecting end (212). The output end of the drive motor (22) is connected to the roller (23).

3. The walking mechanism of the cable maintenance robot according to claim 2, characterized in that, The sliding rod (31) has a connecting plate (35) at its end; the sliding rod (31) has multiple mounting holes (32), and a snap-fit ​​block (33) is slidably connected in the mounting hole (32). A snap-fit ​​spring (34) is provided between the snap-fit ​​block (33) and the bottom of the mounting hole (32); the positioning block (12) has an insertion hole (121), and the inner wall of the insertion hole (121) has a fixing hole (122); the sliding rod (31) passes through the insertion hole (121) and the positioning hole (2111). When the sliding rod (31) is inserted into the insertion hole (121), the snap-fit ​​block (33) is inserted into the fixing hole (122) under the action of the snap-fit ​​spring (34).

4. The walking mechanism of a cable repair robot according to claim 3, characterized in that, At least two sliding rods (31) are provided.

5. The walking mechanism of the cable maintenance robot according to claim 3, wherein, The end of the snap-fit ​​block (33) is semi-cylindrical.

6. The walking mechanism of the cable maintenance robot according to claim 1, wherein, It also includes a sliding block (43) and a track spring (44); the sliding frame (41) is connected to the body (1), and a sliding groove (42) is provided on the sliding frame (41), and the sliding block (43) is slidably connected to the sliding groove (42); the track spring (44) is set in the sliding groove (42), and the two ends of the track spring (44) abut against the ends of the sliding block (43) and the sliding groove (42) respectively; the guide frame (45) is set at the bottom of the sliding block (43), and the guide frame (45) is in contact with the cable under the elastic force of the track spring (44).

7. The walking mechanism of the cable maintenance robot according to claim 6, characterized in that, The guide frame (45) is provided with a bayonet (451), which is semi-circular.

8. The walking mechanism of a cable maintenance robot according to any one of claims 1 to 7, characterized in that, The guide frame (45) is also provided with a lubricating block (46), and the side of the lubricating block (46) near the cable is provided with a plurality of balls (47).

9. The cable inspection robot of claim 8, wherein, The lubricating block (46) has a storage chamber (461) inside, and a feed pipe (48) is connected to the storage chamber (461). The feed pipe (48) is used to add lubricant into the storage chamber (461).

10. The cable inspection robot of claim 9, wherein, A sealing plug (481) is provided on the feed pipe (48).

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