CN207039062U - Compound clamping device and the cable crusing robot that cable crusing robot uses - Google Patents
Compound clamping device and the cable crusing robot that cable crusing robot uses Download PDFInfo
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- CN207039062U CN207039062U CN201720798284.2U CN201720798284U CN207039062U CN 207039062 U CN207039062 U CN 207039062U CN 201720798284 U CN201720798284 U CN 201720798284U CN 207039062 U CN207039062 U CN 207039062U
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- 150000001875 compounds Chemical class 0.000 title claims abstract description 17
- 238000007689 inspection Methods 0.000 claims abstract description 30
- 239000002131 composite material Substances 0.000 claims description 21
- 230000006835 compression Effects 0.000 claims description 19
- 238000007906 compression Methods 0.000 claims description 19
- 230000003068 static effect Effects 0.000 claims description 12
- 230000003287 optical effect Effects 0.000 claims description 9
- 230000001360 synchronised effect Effects 0.000 claims description 2
- 230000004888 barrier function Effects 0.000 abstract description 16
- 230000003044 adaptive effect Effects 0.000 abstract 1
- 230000007246 mechanism Effects 0.000 description 10
- 238000000034 method Methods 0.000 description 9
- 230000005484 gravity Effects 0.000 description 6
- 230000008569 process Effects 0.000 description 4
- 241000221535 Pucciniales Species 0.000 description 1
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- 230000005540 biological transmission Effects 0.000 description 1
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Abstract
The utility model is applied to cable inspection device technical field, discloses compound clamping device and the cable crusing robot that a kind of cable crusing robot uses.Compound clamping device includes support, the bracket slide is connected with portable plate, the portable plate is connected with the driving part for driving the portable plate, the support also slidably connects at least two clamping cantilever arms, the front end for clamping cantilever arm is rotatably connected to pinch wheels, and standing balance part is respectively arranged between the rear end of each clamping cantilever arm and the portable plate.The cable crusing robot has above-mentioned compound clamping device.Compound clamping device and the cable crusing robot that a kind of cable crusing robot provided by the utility model uses, can the adaptive slope of different barrier size and different angle, adaptability and security are improved, application cost is low, use easy to spread.
Description
Technical Field
The utility model belongs to the technical field of the equipment is patrolled and examined to the cable, especially, relate to a compound clamping device and cable that robot used are patrolled and examined to the cable and patrol and examine the robot.
Background
The robot is patrolled and examined to current high-voltage line need rely on driving motor initiative regulation clamping distance at the in-process of patrolling and examining, can not adapt to passively, when meetting for example when the obstacle surface is uneven or the circuit rusts to freeze the complex line condition such as, need adjust clamping mechanism repeatedly, seriously influences and patrols and examines efficiency, or because the adjusting error makes the robot receive the interference and can't advance.
In order to reduce the difficulty of the routing inspection task, the existing research provides a method for modifying a high-voltage line tower: under the condition of not influencing the line work, a special track for the robot to inspect is additionally laid on the peripheries of the tangent tower and the tension tower. Although the method can reduce the difficulty of crossing the tower, the complex line condition still cannot be completely improved, the existing clamping mechanism based on active adjustment cannot adapt to the working condition, and the cost is high.
The high-voltage line inspection robot can not avoid passing through a slope road section in the inspection process. The robot is patrolled and examined to current high-voltage line can make fuselage and domatic looks perpendicular through clamping device on the ramp, becomes the slope angle with the direction of gravity, and this can make the mechanism focus slope, and the front and back robotic arm atress is uneven, can influence the mechanism transmission and the motion process of robot to a certain extent, and adaptability is poor.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome above-mentioned prior art not enough, provide a compound clamping device and cable that robot used are patrolled and examined to cable, it has effectively simplified the operation, has strengthened efficiency to improve adaptability and security, and need not to reform transform relevant line tower, the application cost is low, easily uses widely.
The technical scheme of the utility model is that: the utility model provides a cable patrols and examines compound clamping device that robot used, includes the support, support sliding connection has the fly leaf, the fly leaf is connected with and is used for the drive the driver part of fly leaf, support still sliding connection has two at least clamp tightly to stretch out the arm, the front end that presss from both sides tightly to stretch out the arm rotates and is connected with the pinch roller, each the rear end that presss from both sides tightly to stretch out the arm with be provided with static balance part between the fly leaf respectively.
Optionally, the driving part comprises a screw rod screwed to the movable plate and a driving motor for driving the screw rod; or,
the driving part comprises a rack fixedly connected with the movable plate, a gear meshed with the rack and a rotating motor used for driving the gear,
the driving part comprises a motor and a synchronous belt connected with the motor and used for driving the movable plate.
Optionally, the bracket is provided with two sets of guide shafts facing each other, one of the clamping extending arms is slidably connected to one of the sets of guide shafts, the other of the clamping extending arms is slidably connected to the other set of guide shafts, and two ends of the movable plate are respectively slidably connected to the two sets of guide shafts.
Optionally, the static balancing component includes a set of compression springs and a set of tension springs, and two ends of the tension springs are respectively connected to the clamping extending arm and the movable plate.
Optionally, the static balancing means comprises a cylinder or an elastic bladder connected between the clamping projecting arm and the movable plate.
Optionally, each set of the guide shafts includes at least two optical axes, each set of the compression springs includes at least two compression springs, and each compression spring is sleeved on one of the optical axes.
Optionally, the number of the clamping extending arms is two, and the two clamping extending arms are arranged obliquely upwards from the left side and the right side of the bracket respectively.
Optionally, a driving power wheel is arranged above the bracket.
The utility model also provides a cable inspection robot, the cable inspection robot has foretell composite clamping device.
Optionally, at least two sets of the composite clamping devices are provided, and adjacent composite clamping devices are connected through a connecting arm.
The utility model provides a robot is patrolled and examined to compound clamping device and cable that robot was patrolled and examined to cable uses, and its compound clamping device can laminate the barrier, guarantees the unanimity of fuselage direction and the stability of mechanism, and the barrier is crossed on the slope of the different barrier size of accessible self-adaptation and different angles even, has effectively simplified the operation, has strengthened efficiency to adaptability and security have been improved, and the application cost is low, easily uses widely.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic perspective view of a composite clamping device used by a cable inspection robot according to an embodiment of the present invention;
fig. 2 is a schematic plan view of a composite clamping device used by a cable inspection robot according to an embodiment of the present invention when crossing an obstacle;
fig. 3 is a schematic perspective view of a composite clamping device used by a cable inspection robot according to an embodiment of the present invention when passing through a slope;
fig. 4 is the embodiment of the utility model provides a fuselage atress analysis sketch map when compound clamping device that robot used is patrolled and examined to cable passes through the slope.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or intervening elements may also be present.
It should be noted that the terms of orientation such as left, right, up and down in the embodiments of the present invention are only relative to each other or are referred to the normal use state of the product, and should not be considered as limiting.
As shown in fig. 1 and 2, the embodiment of the utility model provides a compound clamping device that cable inspection robot used, including support 1, 1 sliding connection of support has fly leaf 2, fly leaf 2 is connected with and is used for the drive fly leaf 2's drive unit, support 1 still sliding connection has two at least clamp to stretch out arm 31, 32, the front end that presss from both sides tight cantilever arm 31, 32 rotates respectively and is connected with pinch roller 41, 42, each press from both sides the rear end that stretches out arm 31, 32 tightly with be provided with static balance part between the fly leaf 2 respectively, drive unit can the active adjustment press from both sides the height that tightly stretches out arm 31, 32. Static balance part can be according to the angle passive adjustment on slope corresponding tight cantilever 31, 32 height of tight, with different barriers of self-adaptation and complicated line condition, make the cable patrol and examine the robot fuselage unanimous with the gravity direction, the stability of mechanism's moment has been guaranteed, not only can simplify mechanical structure, the cable is patrolled and examined the robot and is crossing the in-process of barrier, compound clamping device can laminate the barrier, guarantee the unanimity of fuselage direction and the stability of mechanism, can also the slope of different barrier sizes of self-adaptation and different angles, the barrier is crossed on the slope even, the operation has effectively been simplified, the efficiency has been strengthened, and adaptability and security have been improved, application cost is low, and the device is easy to popularize and use.
Specifically, the driving means includes a screw 40 threadedly coupled to the movable plate 2 and a driving motor for driving the screw 40.
Or, as an alternative to the above screw rod driving, the driving part may include a rack fixedly connected to the movable plate 2, a gear engaged with the rack, and a rotating motor for driving the gear, and in a specific application, a threaded hole or a connecting nut pair may be provided in the center of the movable plate 2.
Alternatively, as an alternative to the above-described screw rod driving and rack and pinion driving, the driving means includes a motor and a timing belt connected to the motor for driving the movable plate 2. Of course, the drive member may also be driven in other ways, such as cam drive, etc.
Specifically, in the present embodiment, two clamping extending arms 31, 32 are provided, the bracket 1 is provided with two sets of opposite guide shafts 51, 52, one of the clamping extending arms 31 is slidably connected to one of the guide shafts 51, the other of the clamping extending arms 32 is slidably connected to the other of the guide shafts 52, two ends of the movable plate 2 are slidably connected to the two sets of guide shafts 51, 52, and the same movable plate 2 can drive the two clamping extending arms 31, 32 simultaneously.
Specifically, each set of the static balance components includes a set of compression springs 61 and a set of tension springs 62, and two ends of each tension spring 62 are respectively connected to the clamping projecting arm 31 and the movable plate 2, and the clamping projecting arm 32 and the movable plate 2.
Alternatively, the static balancing means may comprise a cylinder or an elastic bladder or the like connected between the clamping projecting arms 31, 32 and the movable plate 2.
In this embodiment, each set of the guide shafts 51 and 52 includes at least two optical axes, each set of the compression springs 61 includes at least two compression springs, and each compression spring 61 is sleeved on the optical axis.
Specifically, the two clamping projecting arms 31 and 32 are respectively arranged obliquely upwards from the left side and the right side of the bracket 1, so that the reliability is good.
In this embodiment, the optical axis is fixed to the support 1 by the bearing with mount 71, and the mounting bushing 72 is fitted through the clamping projecting arms 31, 32 and the movable plate 2. The clamping extending arms 31 and 32 and the movable plate 2 can move axially along the optical axis, the clamping extending arms 31 and 32 on the left side and the right side are respectively connected with the movable plate 2 through four springs, two of the clamping extending arms are tension springs 62 and are directly connected with two ends, and the other two clamping extending arms are compression springs 61 and are sleeved on the outer side of the optical axis to be connected with two ends. Due to the balance of the acting forces of the tension spring 62 and the compression spring 61, the movable plate 2 and the clamping projecting arms 31 and 32 can keep moving at a fixed distance, and when any one of the clamping wheels 41 or 42 encounters an obstacle, the distance between the movable plate 2 and the clamping projecting arms 31 or 32 can be passively shortened due to the flexible (elastic) property of the tension spring and the compression spring, and the obstacle can be clamped passively. In specific application, the number and the installation mode of the pressure spring 61 and the tension spring 62 can be adjusted according to actual requirements, and the pretightening force of the spring can also be adjusted according to actual line conditions.
As shown in fig. 2, in the process of routing inspection, the cable routing inspection robot always positions the clamping extending arms 31 and 32 below the cable 90, and when the clamping extending arm 31 on the front side is positioned below the shockproof hammer 91, the motor (screw motor) driving the screw 40 is started, and the screw 40 is controlled to convert the rotary motion of the motor into linear motion, so as to drive the movable plate 2 to ascend. Due to the balance of the forces of the tension spring 62 and the compression spring 61, the clamping extending arms 31 and 32 will rise until the front clamping wheel 41 hits the lower end of the damper 91. The motor continues to control the elevation, and due to the flexible (elastic) property of the tension spring and the compression spring, the spring is passively compressed, so that the clamping wheel 41 of the front side clamping extension arm 31 passively clamps the cable 90. When the clamping wheel 42 on the rear clamping extension arm 32 contacts the cable 90 and continues to clamp until the cable cannot rise, the screw motor is stopped, and the clamping wheel 41 on the front clamping extension arm 31 clamps the shockproof hammer 91 and the clamping wheel 42 on the rear clamping extension arm 32 clamps the electric wire, so that the cable inspection robot can conveniently cross the obstacle (shockproof hammer 91).
As shown in fig. 3, when the inspection robot encounters a slope, the screw motor is started, and the screw 40 is controlled to convert the rotary motion of the motor into linear motion, so as to drive the movable plate 2 to ascend. Because the acting forces of the tension spring 62 and the compression spring 61 are balanced, the clamping extending arms 31 and 32 can ascend along with the tension spring, the clamping wheel 41 positioned on the lower side of the slope firstly touches the electric wire, and the spring compresses and clamps the electric wire; the movable plate 2 continues to ascend until the clamp wheel 42 on the upper side of the slope clamps the electric wire. At this time, both the gripping wheels 41 and 42 on both sides can passively grip the electric wire. Because the height of the clamping extending arms 31 and 32 can be adjusted according to the slope gradient, the moment balance at two sides is ensured, the direction of the machine body is consistent with the gravity direction, and the mechanism keeps balance.
Specifically, a driving power wheel 8 is arranged above the bracket 1, and the driving power wheel 8 can be connected with a driving motor.
The embodiment of the utility model provides a robot is patrolled and examined to cable still is provided, the robot is patrolled and examined to cable has foretell composite clamping device. The clamping extending arms 31 and 32 can be passively adapted to different line conditions and obstacles, for example, when complex line conditions such as uneven surface of an obstacle or rusting and icing of a line occur, clamping and fitting can still be achieved, the consistency of the direction of the machine body and the stability of the mechanism are guaranteed, operation is effectively simplified, efficiency is enhanced, adaptability and safety are improved, application cost is low, and popularization and use are easy.
Specifically, the composite clamping devices are provided with at least two groups, the adjacent composite clamping devices can be connected through the connecting arm, and the two groups of composite clamping devices can successively cross over the barrier, so that the reliability and the stability are further improved.
The embodiment of the utility model provides a compound clamping device and cable inspection robot that cable inspection robot used, fly leaf 2 can be through screw-nut, motor drive, press from both sides tight cantilever arm 31, 32 and link with fly leaf 2 through the spring assembly (static balance part), press from both sides tight cantilever arm 31, 32 and can move along with fly leaf 2, press from both sides tight cantilever arm 31, 32 and can actively drive fly leaf 2 through the motor and press from both sides tightly, can also through the passive clamping under the flexible (elasticity) compression effect of the spring in the static balance part, the clamping action is compound motion, the motor drives fly leaf 2 and actively adjusts the clamping distance, the spring assembly between tight cantilever arm 31, 32 and fly leaf 2 can produce certain degree of adaptivity based on the flexibility (elasticity) of self simultaneously, can laminate the barrier better when crossing over the barrier, cable inspection robot fuselage and gravity direction can be adjusted to unanimity (shown as fuselage and gravity direction are inconsistent in the dotted line in figure 4), so that moment balance can still be maintained when encountering a slope. When the inspection robot crosses over obstacles such as the vibration damper 91 and the like, the clamping wheels 41 and 42 can clamp the obstacles passively according to the size of the obstacles, and the inspection robot is ensured to be attached to the obstacles and clamped in the crossing process. When the robot that patrols and examines runs into the slope, the tight pulley 41 of the clamp of both sides, 42 can initiatively press from both sides tightly, press from both sides tight electric wire according to slope angle passively again, make the robot fuselage unanimous all the time with the direction of gravity, mechanical structure not only can be simplified, the cable is patrolled and examined the robot and is crossing the in-process of barrier, compound clamping device can laminate the barrier, guarantee the unanimity of fuselage direction and the stability of mechanism, the slope of the different barrier size of self-adaptation and different angles can also be passed, the barrier is crossed on the slope even, the operation has effectively been simplified, the efficiency has been strengthened, and adaptability and security have been improved, application cost is low, and the.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modification, equivalent replacement or improvement made within the spirit and principle of the present invention should be included in the present invention.
Claims (10)
1. The utility model provides a cable patrols and examines compound clamping device that robot used which characterized in that, includes the support, support sliding connection has the fly leaf, the fly leaf is connected with and is used for the drive unit of fly leaf, support still sliding connection has two at least clamp tightly to stretch out the arm, the front end that presss from both sides tightly to stretch out the arm rotates and is connected with the pinch roller, each the rear end that presss from both sides tightly to stretch out the arm with be provided with static balance part between the fly leaf respectively.
2. The composite clamping device for a cable inspection robot according to claim 1, wherein the driving means includes a lead screw threadedly coupled to the movable plate and a driving motor for driving the lead screw; or,
the driving part comprises a rack fixedly connected with the movable plate, a gear meshed with the rack and a rotating motor used for driving the gear,
the driving part comprises a motor and a synchronous belt connected with the motor and used for driving the movable plate.
3. The composite clamping device for the cable inspection robot according to claim 1, wherein the bracket is provided with two sets of guide shafts facing each other, one of the clamping projecting arms is slidably connected to one of the guide shafts, the other of the clamping projecting arms is slidably connected to the other of the guide shafts, and both ends of the movable plate are slidably connected to the two sets of guide shafts, respectively.
4. The composite clamping device for a cable inspection robot according to claim 3, wherein the static balancing component includes a set of compression springs and a set of tension springs, the tension springs having ends coupled to the clamping cantilever arm and the movable plate, respectively.
5. The composite clamping device for a cable inspection robot according to claim 1, wherein the static balancing component includes a pneumatic cylinder or an elastomeric bladder coupled between the clamping projecting arm and the movable plate.
6. The composite clamping device for the cable inspection robot according to claim 4, wherein each set of the guide shafts includes at least two optical axes, each set of the compression springs includes at least two compression springs, and each compression spring is sleeved on one of the optical axes.
7. The composite clamping device for the cable inspection robot according to any one of claims 1 to 6, wherein there are two clamping projecting arms, and the two clamping projecting arms are respectively disposed obliquely upward from left and right sides of the bracket.
8. The composite clamping device for a cable inspection robot according to claim 1, wherein a drive power wheel is disposed above the support.
9. A cable inspection robot having a composite clamping device according to any one of claims 1 to 8.
10. The cable inspection robot according to claim 9, wherein at least two sets of the composite clamps are provided, adjacent ones of the composite clamps being connected by a connecting arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720798284.2U CN207039062U (en) | 2017-07-04 | 2017-07-04 | Compound clamping device and the cable crusing robot that cable crusing robot uses |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720798284.2U CN207039062U (en) | 2017-07-04 | 2017-07-04 | Compound clamping device and the cable crusing robot that cable crusing robot uses |
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| CN207039062U true CN207039062U (en) | 2018-02-23 |
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| CN201720798284.2U Active CN207039062U (en) | 2017-07-04 | 2017-07-04 | Compound clamping device and the cable crusing robot that cable crusing robot uses |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108344454A (en) * | 2018-04-21 | 2018-07-31 | 国网四川省电力公司电力科学研究院 | A kind of intelligent substation patrol positioning system based on UWB |
| CN109217167A (en) * | 2017-07-04 | 2019-01-15 | 克诺有限公司 | The compound clamping device and cable crusing robot that cable crusing robot uses |
| CN109607130A (en) * | 2018-12-24 | 2019-04-12 | 上海俏舜新能源科技有限公司 | Flexible normalizing device |
| CN110380365A (en) * | 2019-07-08 | 2019-10-25 | 武汉科技大学 | A kind of device installing cable insulation wrapper additional |
| CN111463704A (en) * | 2020-04-02 | 2020-07-28 | 梁大波 | On-spot insulating formula construction equipment of power equipment maintenance usefulness |
| CN111745655A (en) * | 2019-03-26 | 2020-10-09 | 沈阳新松机器人自动化股份有限公司 | Intelligent inspection robot |
| CN114899784A (en) * | 2022-07-14 | 2022-08-12 | 杭州申昊科技股份有限公司 | Transmission line walking deicing robot with compress tightly subassembly |
-
2017
- 2017-07-04 CN CN201720798284.2U patent/CN207039062U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109217167A (en) * | 2017-07-04 | 2019-01-15 | 克诺有限公司 | The compound clamping device and cable crusing robot that cable crusing robot uses |
| CN108344454A (en) * | 2018-04-21 | 2018-07-31 | 国网四川省电力公司电力科学研究院 | A kind of intelligent substation patrol positioning system based on UWB |
| CN108344454B (en) * | 2018-04-21 | 2023-12-08 | 国网四川省电力公司电力科学研究院 | UWB-based intelligent substation inspection positioning system |
| CN109607130A (en) * | 2018-12-24 | 2019-04-12 | 上海俏舜新能源科技有限公司 | Flexible normalizing device |
| CN111745655A (en) * | 2019-03-26 | 2020-10-09 | 沈阳新松机器人自动化股份有限公司 | Intelligent inspection robot |
| CN110380365A (en) * | 2019-07-08 | 2019-10-25 | 武汉科技大学 | A kind of device installing cable insulation wrapper additional |
| CN111463704A (en) * | 2020-04-02 | 2020-07-28 | 梁大波 | On-spot insulating formula construction equipment of power equipment maintenance usefulness |
| CN114899784A (en) * | 2022-07-14 | 2022-08-12 | 杭州申昊科技股份有限公司 | Transmission line walking deicing robot with compress tightly subassembly |
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