阅读说明：本技术 一种水平绝缘子行走机构 (horizontal insulator running gear ) 是由 郭丽娟 黄锋 蒋圣超 谢植飚 刘辉 杨兴华 唐捷 郭金明 罗传胜 许武 于 2019-09-23 设计创作，主要内容包括：本发明公开了一种水平绝缘子行走机构,包括有多个弧形框架,多个所述弧形框架首尾相连并形成一个开环结构,两个所述弧形框架之间设置有框架电机以实现两个所述弧形框架之间的转动连接,每个所述弧形框架的内侧设有行走轮以及驱动所述行走轮转动的驱动电机。本发明提供的水平绝缘子行走机构,通过多个弧形框架以及框架电机,使多个行走轮可靠地压在绝缘子串表面,即使绝缘子尺寸有差异,也不影响行走轮在绝缘子上的压紧和行走,驱动电机驱动行走轮转动为行走提供牵引力,具有爬行速度快、适应性好且爬行过程平稳的优点。(The invention discloses an horizontal insulator travelling mechanism which comprises a plurality of arc-shaped frames, wherein the arc-shaped frames are connected end to form open-loop structures, a frame motor is arranged between the two arc-shaped frames to realize the rotary connection between the two arc-shaped frames, and a travelling wheel and a driving motor for driving the travelling wheel to rotate are arranged on the inner side of each arc-shaped frame.)

The horizontal insulator walking mechanism is characterized by comprising a plurality of arc-shaped frames, wherein the arc-shaped frames are connected end to form open-loop structures, a frame motor is arranged between the two arc-shaped frames to realize the rotary connection between the two arc-shaped frames, and a walking wheel and a driving motor for driving the walking wheel to rotate are arranged on the inner side of each arc-shaped frame.

2. The horizontal insulator traveling mechanism according to claim 1, characterized in that: the number of the arc-shaped frames is 3-5.

3. The horizontal insulator traveling mechanism according to claim 1, characterized in that: the radii of the arc-shaped frames are equal.

4. The horizontal insulator walking mechanism according to claim 3, wherein when the plurality of arc-shaped frames form circles, the plurality of walking wheels are simultaneously positioned on circles, and the wheel shafts of the walking wheels are perpendicular to the radial direction of the arc-shaped frame.

5. The horizontal insulator running gear according to claim 1, wherein a gondola is hung on arc-shaped frames.

6. The horizontal insulator traveling mechanism according to claim 1, characterized in that: the nacelle is hung on the arc-shaped frame in a rotating connection mode.

Technical Field

The invention relates to the technical field of electric power detection equipment, in particular to horizontal insulator traveling mechanisms.

Background

Scientific research institutions and companies at home and abroad have developed various insulator crawling robots which can be divided into various forms according to the principle, wherein a crawling type walking mechanism crawls along a suspension insulator string by utilizing the principle of bionics, the mechanism is stable and reliable in motion but complex in gait control, a crawler type walking mechanism mainly depends on a crawler to crawl along the surface of an insulator in a rolling mode, the crawler type walking mechanism is high in bearing capacity and high in surface adaptability, is widely applied to various obstacle-surmounting robots but is complex in structure and heavy in size, a wheel-leg type walking mechanism is , multiple groups of wheel legs are alternately contacted with insulator ceramic skirts to achieve motion along the suspension insulator string, the mechanism is simple in principle, continuous in motion and light in size, and the mechanism is slightly insufficient in the aspects of adaptability, motion stability, bearing capacity and the like of different insulator strings.

Disclosure of Invention

In view of the above-described disadvantages, the present invention provides types of horizontal insulator traveling mechanisms that can travel on a horizontal insulator in a simple manner.

In order to achieve the purpose, the invention adopts the following technical scheme:

horizontal insulator running gear, it is including a plurality of arc frame, a plurality of arc frame end to end and form open loop structure, two be provided with the frame motor between the arc frame in order to realize two rotation between the arc frame is connected, every the inboard of arc frame is equipped with walking wheel and drive walking wheel pivoted driving motor.

, the number of the arc frames is 3-5.

, the radii of the arc frames are equal.

, when the arc frames form circles, the multiple road wheels are located on circles at the same time, and the wheel axles of the road wheels are perpendicular to the radial direction of the arc frame.

, a gondola is hung on arc-shaped frames.

, the nacelle is hung on the arc frame by a rotary connection.

Compared with the prior art, the invention has the beneficial effects that:

1. according to the horizontal insulator walking mechanism provided by the invention, the plurality of walking wheels are reliably pressed on the surface of the insulator string through the plurality of arc-shaped frames and the frame motor, so that the compaction and walking of the walking wheels on the insulator are not influenced even if the sizes of the insulators are different, the walking wheels are driven by the driving motor to rotate to provide traction force for walking, and the horizontal insulator walking mechanism has the advantages of high crawling speed, good adaptability and more stable crawling process;

2. the invention has simple structure, is beneficial to realizing light weight, can be realized in a smaller weight range, and is convenient for workers to carry about when climbing the tower;

3. the automatic adjustment device is strong in automatic adjustment capacity, the arc-shaped frames are adjusted by independent frame motors, each walking wheel is driven by an independent driving motor, and when special obstacles or uncoordinated movement are encountered, the coordination of the movement can be realized by adjusting each motor;

4. the invention is not easy to be blocked when walking on the insulator string, each walking wheel is respectively and independently controlled, when a certain walking wheel slips and can not follow other walking wheels, the slipping walking wheel can be adjusted to be pressed on the surface of the insulator string again, thereby avoiding the blocking.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below.

FIG. 1 is a schematic structural diagram of aspects of the present invention;

FIG. 2 is a schematic structural diagram of another aspects of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, it is obvious that the described embodiments are only partial embodiments of the of the present invention, rather than all embodiments.

Referring to fig. 1 and 2, a preferred embodiment of the present invention provides horizontal insulator traveling mechanisms, which include a plurality of arc frames 2, the arc frames 2 are connected end to form open-loop structures, a frame motor 3 is disposed between the two arc frames 2 to realize the rotational connection between the two arc frames 2, and a traveling wheel 4 and a driving motor 5 for driving the traveling wheel 4 to rotate are disposed inside each arc frame 2.

Referring to fig. 1 and 2, in the preferred embodiment, 3 arc frames 2 are provided, open-loop structures are formed between 3 arc frames 2, frame motors 3 are provided between two arc frames 2, specifically, the end portions of arc frames 2 are U-shaped structures, the end portions of arc frames 2 are located in the U-shaped structures, the frame motors 3 are fixedly disposed outside the U-shaped structures of the arc frames 2, and output shafts of the frame motors extend into the U-shaped structures and are fixedly connected with the end portions of other arc frames 2, so that when the frame motors 3 are operated, other arc frames 2 can be driven to rotate, so as to adjust the angle between the two arc frames 2, and the rotating plane of the arc frames 2 is parallel to the radial plane of the arc frames 2.

In a preferred embodiment, the radii of the arc frames 2 are equal, so that the arc frames 2 can be located on the same circles to achieve good compression of the insulator string, avoid slipping, and have the advantages of strong compression force, uniform compression force and the like.

When the plurality of arc-shaped frames 2 form circles (the fingers are positioned on the same circles), the plurality of walking wheels 4 are positioned on circles at the same time, and the wheel shafts of the walking wheels 4 are perpendicular to the radial direction of the arc-shaped frame 2 where the walking wheels are positioned, in the preferred embodiment, the number of the arc-shaped frames 2 is 3, so that the number of the walking wheels 4 and the number of the driving motors 5 are 3 respectively, namely, each arc-shaped frame 2 is provided with walking wheels 4 and driving motors 5, the driving motors 5 are fixedly arranged on the arc-shaped frames 2, the walking wheels 4 are arranged on the output shafts of the driving motors 5, the driving motors 5 drive the walking wheels 4 to rotate when in operation, when the plurality of arc-shaped frames 2 form circles, the plurality of walking wheels 4 are positioned on circles at the same time, and the wheel shafts of the walking wheels 4 are perpendicular to the radial direction of the arc-shaped frame 2 where the walking wheels are positioned, so that the walking wheels 4 are pressed on insulators conveniently, good pressing.

In preferred embodiments, layers of anti-slip layers can be arranged on the periphery of the road wheel 4, the anti-slip layers can be preferably made of rubber materials, the anti-slip layers have determined plastic toughness and have large friction force when in contact with the insulator, therefore, when the anti-slip layers are arranged, can better adapt to the insulator with size difference, can deepen the anti-slip effect by , and smooth crawling is ensured.

In preferred embodiments, the walking mechanism mainly comprises an arc-shaped frame 2, a driving motor 5, a walking wheel 4 and a frame motor 3, so the walking mechanism has simple structure, is beneficial to realizing light weight, can be realized in a smaller weight range, and is convenient for workers to carry about when climbing the tower.

In the preferred embodiment, the pod 1 is suspended from arc frames 2.

electric devices such as motors are provided with corresponding controllers, batteries and the like, walking mechanism integrates detection functions such as image detection, infrared detection and the like, cameras and the like, the nacelle 1 is provided in the preferred embodiment and is hung on the arc-shaped frame 2 in a rotating connection mode, and in order to enable walking to be smooth, the nacelle 1 is located at the bottom of the walking mechanism in implementation.

In the horizontal insulator walking mechanism provided by the invention, the arc-shaped frames 2 and the frame motors 3 ensure that the plurality of walking wheels 4 reliably press the surfaces of the insulator strings even if the sizes of the insulators are different, the walking wheels 4 do not influence the compression and walking of the walking wheels 4 on the insulators, the driving motors 5 drive the walking wheels 4 to rotate to provide traction force for walking, the creeping speed is high, the adaptability is good, and the creeping process is more stable.

The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.