A walking wheel variable pitch mechanism

Abstract

The utility model discloses a kind of variable distance mechanisms of travelling wheel, including fixed frame, electric push rod, travelling wheel support, guide pulley and travelling wheel, the fixed frame is used to be fixedly connected with detection robot, two guide pulleys are respectively installed in fixed frame both sides and can slide in fixed frame, travelling wheel is installed on each guide pulley, the travelling wheel is used to make detection robot walk on overhead line under motor drive, travelling wheel support is installed between two travelling wheels, the electric push rod is fixedly connected with fixed frame, the telescopic rod of electric push rod is fixedly connected with travelling wheel support. To reach simple structure, easily control, the effect of high adjustment precision and good stability, and can make robot quickly adapt to different span overhead line, improve the versatility and on-site adaptability of robot.

Description

Technical Field

[0001] This utility model relates to the technical field of overhead line detection equipment, specifically to a variable pitch mechanism for walking wheels. Background Technology

[0002] With the continuous development of power systems, the inspection and maintenance of overhead lines have become increasingly important. To ensure the safe and stable operation of power systems, overhead line inspections need to be conducted regularly. Traditional overhead line inspections mainly rely on manual inspections or observations using ground-based auxiliary equipment. Manual inspections are inefficient, requiring significant manpower, time, and resources. Inspectors must walk along the overhead lines, and due to terrain and environmental limitations, rapid and comprehensive inspections are difficult, especially in remote mountainous areas or in inclement weather, resulting in high workload and significantly reduced efficiency. Simultaneously, manual inspections are highly dangerous; inspectors face the risk of electric shock when approaching or touching high-voltage energized overhead lines; and when working at heights, there is a risk of falls due to equipment failure or operational errors. Furthermore, manual inspections and ground observations are conducted at considerable distances from the lines, limiting visibility and making it difficult to accurately identify minor damage, internal defects, and hidden faults. Insufficient inspection accuracy easily leads to missed detections and misjudgments, posing hidden dangers to the safe operation of the power system. Therefore, overhead line inspection robots have emerged.

[0003] However, most existing inspection robot locomotion mechanisms have fixed wheelbases, making it difficult to adapt to variations in overhead line spans of different specifications. Overhead line spans vary due to differences in terrain, voltage levels, and design standards. Fixed wheelbase designs limit the robot's versatility, making it difficult to operate stably on lines with varying spans. This restricts its applicability and makes it unable to flexibly adjust to diverse overhead line environments. Often, it requires separate design or modification for specific lines, hindering its large-scale and widespread application. Utility Model Content

[0004] To overcome the shortcomings of the above-mentioned related technologies, this utility model provides a variable pitch mechanism for walking wheels, which has the characteristics of relatively simple structure, easy control, high adjustment accuracy and good stability. It enables the robot to quickly adapt to overhead lines with different spans, thereby improving the robot's versatility and on-site adaptability.

[0005] This utility model provides a system comprising a fixed frame, an electric actuator, a wheel support, guide pulleys, and wheels. The fixed frame is used to fix the inspection robot to the system. Two guide pulleys are respectively installed on both sides of the fixed frame and can slide within the frame. Each guide pulley is equipped with a wheel, which, driven by a motor, allows the inspection robot to move along an overhead line. A wheel support is installed between the two wheels. The electric actuator is fixedly connected to the fixed frame, and its telescopic rod is fixedly connected to the wheel support. When wheel spacing needs to be adjusted, the electric actuator begins to extend or retract upon receiving a command from the control system. Its extension and retraction motion is transmitted to the wheel support via a mechanical connection, thereby driving the wheels and guide pulleys to move along the trajectory set by the guide pulleys, achieving precise adjustment of the wheel spacing. The guide pulleys, installed on the fixed frame, provide guidance and limit for the movement of the wheels, ensuring the stability and accuracy of the movement.

[0006] Preferably, a wheel support is provided between the two wheels. The wheel support includes a first connector, a connecting rod, and a second connector. The first connector is fixedly connected to the wheel, and one end of the first connector is hinged to the connecting rod. The other end of the connecting rod is hinged to the second connector.

[0007] Preferably, the fixed frame includes a crossbar and a fixed frame, two guide pulleys are respectively installed on both sides of the crossbar and can slide on the crossbar, and the fixed frame is fixedly connected to the inspection robot.

[0008] Preferably, the crossbar is square, and the guide pulley is equipped with four sets of rollers, each set of rollers contacting one face of the square crossbar. This provides guidance and limiting for the movement of the traveling wheels, ensuring the stability and accuracy of the movement.

[0009] Preferably, the fixing frame further includes contact feet, with two contact feet respectively disposed at both ends of the crossbar. The contact feet can be used to provide stable support when the robot lands on the ground.

[0010] Preferably, the traveling wheel is provided with an internal ring gear, the motor is mounted on the traveling wheel bracket, the motor is connected to a transmission gear, the transmission gear meshes with the internal ring gear, and the transmission gear is an external gear. The motor drives the transmission gear to rotate, the transmission gear drives the internal ring gear to rotate, and the internal ring gear drives the traveling wheel to rotate, thereby driving the traveling wheel to travel on the overhead line.

[0011] Preferably, a metal brush is provided in front of the traveling wheel in the direction of travel. The metal brush includes metal bristles, a clamp, and a connecting frame. Multiple metal bristles are fixedly mounted on the clamp, and the connecting frame is mounted on the clamp. The connecting frame is fixedly connected to the guide pulley. When the walking mechanism travels on the overhead line, the metal bristles come into contact with the overhead line. The metal bristles maintain constant contact with the overhead line, further ensuring that the robot is in an equipotential state, further reducing the risk of arc discharge due to potential difference, and ensuring the safe operation of the robot in a high-voltage environment.

[0012] Compared with related technologies, this invention has the following advantages: The design of variable wheel pitch via electric actuators and guide pulleys results in a relatively simple structure, easy control, high adjustment accuracy, and good stability. It enables the robot to quickly adapt to overhead lines with different spans, improving the robot's versatility and on-site adaptability. Simultaneously, the use of electric actuators automates the wheel pitch adjustment process, making operation simple; adjustments can be completed simply by issuing commands through the control system, eliminating the need for manual intervention and saving time and labor costs. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the structure of Example 1; Figure 2 yes Figure 1 Explosion diagram; Figure 3 This is a schematic diagram of the walking wheel bracket in Embodiment 1; Figure 4 This is a schematic diagram of the guide pulley in Example 1; Figure 5 This is a schematic diagram of the walking wheel structure in Example 1; Figure 6 This is a schematic diagram of the structure of the metal brush in Example 1.

[0014] In the diagram: fixed frame 1, crossbar 11, fixed frame 12, contact foot 13, electric push rod 2, telescopic rod 21, traveling wheel bracket 3, guide pulley 4, roller 41, traveling wheel 5, motor 51, ring internal gear 52, transmission gear 53, metal brush 6, metal brush bristles 61, clamp 62, connecting frame 63. Detailed Implementation

[0015] First, those skilled in the art should understand that these embodiments are merely used to explain the technical principles of the embodiments of this application and are not intended to limit the scope of protection of the embodiments of this application. Those skilled in the art can make adjustments as needed to adapt to specific application scenarios.

[0016] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0017] Example 1 like Figures 1-6 As shown, a variable-pitch walking wheel mechanism includes a fixed frame 1, an electric actuator 2, a walking wheel bracket 3, guide pulleys 4, and walking wheels 5. The fixed frame 1 includes a crossbar 11, a fixed frame 12, and contact feet 13. Two guide pulleys 4 are respectively installed on both sides of the crossbar 11 and can slide on it. The fixed frame 12 is fixedly connected to the inspection robot. Two contact feet 13 are respectively located at both ends of the crossbar 11. The crossbar 11 is square, and the guide pulleys 4 are equipped with four sets of rollers 41, each set of rollers 41 contacting one face of the square crossbar. Each guide pulley 4 is equipped with a walking wheel 5, which is used to move the inspection robot on the overhead line under the drive of a motor 51. A walking wheel bracket 3 is installed between two walking wheels. The electric actuator 2 is fixedly connected to the fixed frame 1, and the telescopic rod 21 of the electric actuator 2 is fixedly connected to the walking wheel bracket 3. When the wheel pitch needs to be adjusted, the electric actuator 2 begins to extend or retract after receiving a command from the control system. Its telescopic movement is transmitted to the traveling wheel bracket 3 via a mechanical connection, which in turn drives the traveling wheel 5 and the guide pulley 4 to move along the trajectory set by the guide pulley, thereby achieving precise adjustment of the wheel gauge. The guide pulley 4 is mounted on the fixed frame 1 to provide guidance and limit the movement of the traveling wheel 5, ensuring the stability and accuracy of the movement.

[0018] Specifically, the walking wheel bracket 3 includes two first connecting members 31, two connecting rods 32, and a second connecting member 33. Each first connecting member 31 is fixedly connected to the walking wheel 5, and each first connecting member 31 is hinged to one end of one of the connecting rods 32. The other ends of the two connecting rods 32 are respectively hinged to both ends of the second connecting member 33. When the two walking wheels 5 slide on the fixed frame 1, the movement distance of the two walking wheels 5 remains consistent.

[0019] Specifically, the traveling wheel 5 is equipped with an internal ring gear 52, and the motor 51 is mounted on the traveling wheel bracket 3. The motor 51 is connected to the transmission gear 53, which meshes with the internal ring gear 52. The transmission gear 53 is an external gear. The motor 51 drives the transmission gear 53 to rotate, which in turn drives the internal ring gear 52 to rotate. The internal ring gear 52 then drives the traveling wheel 5 to rotate, thus propelling the traveling wheel 5 to travel on the overhead line.

[0020] In another embodiment, a metal brush 6 is positioned in front of the traveling wheel 5 in the direction of travel. The metal brush 6 includes metal bristles 61, a clamp 62, and a connecting frame 63. Multiple metal bristles 61 are fixedly mounted on the clamp 62, which is fixedly connected to the connecting frame 63. The connecting frame 63 is fixedly connected to the guide pulley 4. When the walking mechanism travels on the overhead line, the metal bristles 61 come into contact with the overhead line. The metal bristles 61 maintain constant contact with the overhead line, further ensuring that the robot is in an equipotential state, further reducing the risk of arc discharge due to potential difference, and ensuring the safe operation of the robot in a high-voltage environment.

[0021] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A variable pitch mechanism for a traveling wheel, characterized in that, The device includes a fixed frame, an electric actuator, a walking wheel bracket, guide pulleys, and walking wheels. The fixed frame is used to fix the inspection robot to the device. Two guide pulleys are respectively installed on both sides of the fixed frame and can slide on the fixed frame. Each guide pulley is equipped with a walking wheel. The walking wheels are used to make the inspection robot move on the overhead line under the drive of a motor. A walking wheel bracket is installed between the two walking wheels. The electric actuator is fixedly connected to the fixed frame, and the telescopic rod of the electric actuator is fixedly connected to the walking wheel bracket.

2. The variable pitch mechanism for a traveling wheel according to claim 1, characterized in that, The walking wheel bracket includes a first connector, a connecting rod, and a second connector. The first connector is fixedly connected to the walking wheel, and one end of the first connector is hinged to the connecting rod, while the other end of the connecting rod is hinged to the second connector.

3. The variable pitch mechanism for a traveling wheel according to claim 1, characterized in that, The fixed frame includes a crossbar and a fixed frame. Two guide pulleys are respectively installed on both sides of the crossbar and can slide on the crossbar. The fixed frame is fixedly connected to the inspection robot.

4. The variable pitch mechanism for a traveling wheel according to claim 3, characterized in that, The crossbar is square, and the guide pulley is equipped with four sets of rollers, each set of rollers contacting one side of the square crossbar.

5. The variable pitch mechanism for a traveling wheel according to claim 3, characterized in that, The fixed frame also includes contact feet, with two contact feet respectively located at both ends of the crossbar.

6. The variable pitch mechanism for a traveling wheel according to claim 1, characterized in that, The walking wheel is equipped with an internal ring gear, the motor is mounted on the walking wheel bracket, the motor is connected to the transmission gear, the transmission gear meshes with the ring gear, and the transmission gear is an external gear.

7. The variable pitch mechanism for a traveling wheel according to claim 1, characterized in that, A metal brush is provided in front of the traveling wheel in the direction of travel. The metal brush includes metal bristles, a clamp, and a connecting frame. Multiple metal bristles are fixedly installed on the clamp, and a connecting frame is installed on the clamp. The connecting frame is fixedly connected to the guide pulley. When the traveling mechanism travels on the overhead line, the metal bristles come into contact with the overhead line.

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