CN100337794C - Super-voltage transmission line monitoring and detecting robot mechanism - Google Patents

Super-voltage transmission line monitoring and detecting robot mechanism Download PDF

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Publication number
CN100337794C
CN100337794C CNB2004100204908A CN200410020490A CN100337794C CN 100337794 C CN100337794 C CN 100337794C CN B2004100204908 A CNB2004100204908 A CN B2004100204908A CN 200410020490 A CN200410020490 A CN 200410020490A CN 100337794 C CN100337794 C CN 100337794C
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CN
China
Prior art keywords
arm
transmission line
paw
road wheel
patrol robot
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CNB2004100204908A
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Chinese (zh)
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CN1689769A (en
Inventor
王洪光
房立金
赵明扬
徐志刚
曲艳丽
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中国科学院沈阳自动化研究所
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Priority to CNB2004100204908A priority Critical patent/CN100337794C/en
Publication of CN1689769A publication Critical patent/CN1689769A/en
Application granted granted Critical
Publication of CN100337794C publication Critical patent/CN100337794C/en

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Abstract

The present invention relates to a mobile robot mechanism, particularly to a supervoltage transmission line patrolling robot mechanism. The mechanism is composed of a mobile body, a back arm and a front arm, wherein the mobile body is composed of a main body and road wheels, and the road wheels are arranged on the main body by a horizontal revolute pair and a horizontal mobile pair and are grasped with wires; the main body is respectively connected with the back arm and the front arm through the revolute pair; the tail ends of the arms are paws; the front arm and the back arm have the same structure, each arm is composed of an upper arm and a lower arm; the upper arm is a composite structure of a connecting rod, a ball screw and a slide block, and is connected with the lower arm by the horizontal revolute pair; the lower arm is a telescopic mechanism with a big stroke. The present invention has the advantages of big working space, light weight, low energy consumption and strong obstacle clearing capability.

Description

A kind of EHV transmission line patrol robot mechanism
Technical field
The present invention relates to mobile robot mechanism, specifically a kind of EHV transmission line patrol robot mechanism.
Background technology
In existing EHV transmission line patrol robot mechanism, the most of employing by wheeled composite moving mechanism (the document 1:Jun Sawada that combines with composite rod mechanism that moves, KazuyukiKusumoto, Tadashi Munakata, Yasuhisa Maikawa, Yoshinobu Ishikawa, " AMobile Robot For Inspection of Power Transmission Lines ", IEEE Trans.PowerDelivery, 1991, Vol.6, No.1:pp..309-315; Document 2:Mineo Higuchi, YoichiroMaeda, Sadahiro Tsutani, Shiro Hagihara, " Development of a Mobile InspectionRobot for Power Transmission Lines ", J.of the Robotics Society of Japan, Japan, Vol.9, No.4, pp.457-463,1991), (the document 3:Shin-ichi Aoshima of multiple degrees of freedom travel mechanism that perhaps adopts many group mobile units to be composed in series, Takeshi Tsujimura, Tetsuro Yabuta, " A Wire Mobile Robot with Multi-unit Structure ", IEEE/RSJIntermational Workshop on Intelligent Robots and Systems ' 89, Sep.4-6,1989, Tsukuba, Japan, pp.414-421).The complex structure of these mechanisms, weight are big, big energy-consuming, obstacle climbing ability is limited and be not easy to control, therefore, are difficult to be applied to actual extra high voltage network and patrol and examine operation.
Summary of the invention
Above-mentioned travel mechanism complex structure, weight are big in order to overcome, big energy-consuming, obstacle climbing ability is limited and be not easy to the deficiency of control, the invention provides the compound EHV transmission line patrol robot mechanism of wheel hand that a kind of working space is big, in light weight, energy consumption is low and obstacle climbing ability is strong.
To achieve these goals, EHV transmission line patrol robot mechanism of the present invention is made up of moving body, back arm, preceding arm, wherein: moving body is made up of body and road wheel, road wheel is installed on the body by horizontally rotating pair and moving sets, and grasp mutually with line, body links to each other with forward and backward arm respectively by revolute pair, and the arm end is a paw;
Wherein: of the present invention before arm, the back arm structure identical, link to each other with drive motors respectively; Wherein each arm is made up of upper arm, underarm two parts, and upper arm is connecting rod and ball-screw and slide block combining structure, is connected with underarm by horizontally rotating pair, and underarm is big stroke telescoping mechanism; Paw, back paw grasp mutually with line before described, can adopt conventional clipping paw structure, or the composite structure of clamping and walking combination, or the compound clamping device of road wheel combination; Described road wheel links to each other with drive motors;
In addition, on the body reel can be installed, connect body and former and later two arms by gentle rope; Described reel links to each other with drive motors.
This is invented based on wheel, the compound principle of hand, adopts and moves the working method that combines with creeping continuously, has the function of walking and crossing over barrier on it along ultra high-tension transmission line.
The present invention has following advantage:
1. the present invention adopts wheel hand composite structure, is beneficial to walking and obstacle detouring.This structure combines wheeled moving and the advantage of creeping mechanism, both can walk fast along the line, but also leaping over obstacles.
2. obstacle climbing ability is strong.The present invention utilizes the arm and the moving body coordinated movement of various economic factors, and gentle rope carrying also drives the moving body leaping over obstacles, and can cross over various disorders in the extra high voltage network (damper, insulator, overhanging golden tool and aluminium hydraulic pressed connecting pipe etc.).
3. working space is big.The front and back arm has flexible and rotary joint (stretch and can pass through big stroke telescoping mechanism realization), has the bigger elongation and the anglec of rotation, and the working range that arm is touched is bigger.
4. in light weight.The present invention adopts gentle rope carrying and drives the body leaping over obstacles, and the front and back arm does not need too high intensity, thereby has reduced entire mechanism weight, is more suitable for the field work and the needs of circuit up and down.
5. energy consumption is low.The present invention adopts gentle rope carrying that motor driving moment is reduced, thereby has reduced energy consumption.
6. range of application is wider.The present invention can be used as the crusing robot travel mechanism of ultra-high-tension power transmission line and telephone line.
Description of drawings
Fig. 1 is a structural scheme of mechanism of the present invention.
Fig. 2 is an obstacle environment schematic diagram.
Fig. 3 a is that obstacle detouring process first element is described schematic diagram.
Fig. 3 b is second action description schematic diagram of obstacle detouring process.
Fig. 3 c is the 3rd action description schematic diagram of obstacle detouring process.
Fig. 4 is another embodiment of the present invention structural scheme of mechanism.
Fig. 5 is further embodiment of this invention structural scheme of mechanism.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is described in further detail.
Embodiment 1
As shown in Figure 1, frame for movement of the present invention is made up of body 1, back arm 2, road wheel 4, preceding arm 6, gentle rope 7 and reel 8, wherein: moving body is made up of body 1 and road wheel 4, and road wheel 4 is installed on the body 1 by horizontally rotating pair and moving sets, and grasps mutually with line; Body 1 links to each other with forward and backward arm 6,2 respectively by revolute pair, and the arm end is a paw; Before arm 6, back arm 2 structures identical, wherein each arm is made up of upper arm, underarm two parts, and upper arm is connecting rod and ball-screw and slide block combining structure, is connected with underarm by horizontally rotating pair, underarm is big stroke telescoping mechanism, can adopt in the routine any; Described forward and backward paw 5,3 can be conventional clipping paw structure, grasps mutually with line respectively, is linked to each other by the gentle rope 7 that is around on the reel 8 between the two; Reel 8 is installed on the body 1; Road wheel 4, reel 8 and forward and backward arm are driven by drive motors respectively.
Front and back of the present invention arm has four frees degree respectively, can realize that two-dimensional translation and two dimension rotate, i.e. realization level is flexible, pitching, deflection and vertical direction move.Moving body can be walked along the line, and road wheel 4 can realize with respect to body 1 that vertical direction moves and around the horizontal direction flip-flop movement.Utilize gentle rope 7 to connect body 1 and two arms, arm end be paw, and control front and back arm and paw move, and be securable, unclamp gentle rope.In the obstacle detouring process, utilize and to bear moving body weight by gentle rope 7, guide moving body simultaneously and move forward and backward along gentle rope 7.
Figure 2 shows that extra high voltage network obstacle environment, the major obstacle thing on aerial earth wire 11 is damper 12, insulator 13, overhanging golden tool and wire clamp 14 etc., and at the shaft tower place, two power transmission lines become the space different surface beeline, along level and vertical angle are arranged all.This mechanism is by driven by servomotor, and by coordination between moving body, arm and gentle rope, the also barrier at crossing pole place of can advancing along the line is implemented in the two space different surface beeline span overtaking of shaft tower place and walks.Referring to Fig. 3 a, 3b, 3c, in the detailed process of walking along the line, two arms are thrown off and are retracted near the car body from line, and complete machine hangs on the line.Drive motors drives road wheel 4 revolutions, and the realization complete machine is walked along the line.In the obstacle detouring process, the front and back arm stretches out, and paw is grabbed line respectively, gentle rope 7 tensionings, and road wheel 4 off-lines utilize gentle rope 7 to bear complete machine weight.Drive motors drives reel 8 and rotates, and then moving body moves along gentle rope 7, and after surmounting obstacles, road wheel 4 is hung to line, and two arm off-lines are also regained, and continue walking along the line.
Embodiment 2
As shown in Figure 4, mechanism of the present invention difference from Example 1 is: remove gentle rope and reel, the paw of two arms becomes clamping and the composite structure of walking and making up, this mechanism is made up of driving wheel and clamping device, that is: preceding paw 5, back paw 3 are a driving wheel and are positioned at the structure that line top, a clamping device are positioned at line bottom, can walk along the line, can grab line again.Walking process along the line is identical with embodiment 1.In the obstacle detouring process, forward and backward arm 6,2 stretches out, and complete machine is advanced along the line, and when current paw 5 ran into barrier, off-line drove moving body by back paw 3, road wheel 4 and advances, and after surmounting obstacles, the driving wheel of preceding paw 5 is hung on the line.By identical method, road wheel 4, the off-line successively of back paw 3, hanging wire, and the barrier on the crossover track.
Embodiment 3
Difference from Example 2 is: as shown in Figure 5, preceding paw 5, back paw 3 are the compound clamping device of road wheel combination, i.e. a bull wheel (being positioned at the line top), two steamboats (being positioned at line bottom) combining structure.

Claims (6)

1. EHV transmission line patrol robot mechanism, it is characterized in that: form by moving body, back arm (2), preceding arm (6), wherein: moving body is made up of body (1) and road wheel (4), road wheel (4) is installed on the body (1) by horizontally rotating pair and moving sets, and grasp mutually with line, body (1) links to each other with forward and backward arm (6,2) respectively by revolute pair, and the arm end is a paw; Arm (6) before described, back arm (2) structure are identical, and wherein each arm is made up of upper arm, underarm two parts, and upper arm is connecting rod and ball-screw and slide block combining structure, is connected with underarm by horizontally rotating pair, and underarm is big stroke telescoping mechanism.
2. according to the described EHV transmission line patrol robot mechanism of claim 1, it is characterized in that: described forward and backward arm (6,2) links to each other with drive motors respectively.
3. according to the described EHV transmission line patrol robot mechanism of claim 1, it is characterized in that: paw (5), back paw (3) grasp mutually with line before described, adopt clipping paw structure, or the composite structure of clamping and walking combination, or the compound clamping device of road wheel combination.
4. according to the described EHV transmission line patrol robot mechanism of claim 1, it is characterized in that: described road wheel (4) links to each other with drive motors.
5. according to the described EHV transmission line patrol robot mechanism of claim 1, it is characterized in that: body (1) is gone up reel (8) is installed, and connects body (1) and former and later two arms by gentle rope (7).
6. according to the described EHV transmission line patrol robot mechanism of claim 5, it is characterized in that: described reel (8) links to each other with drive motors.
CNB2004100204908A 2004-04-30 2004-04-30 Super-voltage transmission line monitoring and detecting robot mechanism CN100337794C (en)

Priority Applications (1)

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Application Number Priority Date Filing Date Title
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CN100337794C true CN100337794C (en) 2007-09-19

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Publication number Priority date Publication date Assignee Title
CN101299523B (en) * 2008-03-13 2010-04-21 汤靖邦 Deicing robot for transmission distribution line

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CN100379529C (en) * 2004-12-10 2008-04-09 武汉大学 Robot travelling along overhead high voltage transmission line
CN100391771C (en) * 2006-01-13 2008-06-04 中国科学院沈阳自动化研究所 Autonomous obstacles surmounting mechanism of grip hook composite type tour inspection robot
CN101247030B (en) * 2007-08-01 2010-06-09 北京深浪电子技术有限公司 Overhead line obstacle detouring inspection robot and its obstacle detouring control method
CN101471547B (en) * 2007-12-26 2010-09-01 中国科学院沈阳自动化研究所 Mechanism for releasing patrolling robot fault
CN101471546B (en) * 2007-12-26 2011-05-11 中国科学院沈阳自动化研究所 Gripper mechanism with fault release function for walking of patrolling robot
CN101590646B (en) * 2009-04-23 2011-04-27 昆山市工业技术研究院有限责任公司 Overhead cable climbing robot walking and obstacle spanning mechanism
CN101574983B (en) * 2009-06-12 2013-03-13 中国电力科学研究院 Lead obstacle-crossing robot walking device
CN101665128B (en) * 2009-09-04 2012-07-11 重庆市电力公司超高压局 Robot used for detecting high voltage transmission lines
CN101698298B (en) * 2009-10-21 2011-07-27 昆山市工业技术研究院有限责任公司 Inspection robot wheel-claw compound mechanism
CN101859989B (en) * 2010-04-26 2012-07-18 华南理工大学 Three-wheel inspection robot mechanism capable of crossing over catenary of pole and tower
CN101882765B (en) * 2010-05-11 2012-08-22 湖南大学 Traveling mechanism of robot on high voltage transmission line
CN101938095B (en) * 2010-08-18 2012-05-30 山东科技大学 Novel structure of deicing robot based on pneumatic type electric transmission line
CN102227076B (en) * 2011-04-14 2013-10-09 三峡大学 Robot used for automatically deicing high tension transmission line
CN102709838B (en) * 2011-12-15 2014-12-10 东北大学 High-voltage power transmission line inspection robot mechanism
CN102931615A (en) * 2012-12-03 2013-02-13 苏州金纳信息技术有限公司 Implementation device for realizing electric transmission line repairing and maintaining robot
CN103594969B (en) * 2013-11-26 2017-02-15 国家电网公司 Traveling wheel set mechanism
CN103586861B (en) * 2013-11-26 2016-05-11 国家电网公司 A kind of inspection robot
CN104648508B (en) * 2015-02-06 2017-03-29 国家电网公司 A kind of electrically operated auxiliary manipulator of high pressure
CN105818140B (en) * 2016-05-12 2018-04-03 山东大学 Imitative insect creeping motion type inspection robot mechanical structure and its obstacle-detouring method
CN107947025B (en) * 2016-05-12 2020-03-03 山东大学 Line inspection robot mechanical structure based on split wheel and mechanical arm and obstacle crossing method thereof
CN105945891B (en) * 2016-05-12 2018-02-09 山东大学 Road wheel and mechanical arm combined type inspection robot mechanical structure and its obstacle-detouring method
CN105798901B (en) * 2016-05-12 2018-11-23 山东大学 Imitative insect creeping motion type two-wheel two-arm inspection robot mechanical structure and its obstacle-detouring method
CN108483023A (en) * 2018-03-01 2018-09-04 浙江理工大学 A kind of electric wire inspection mechanical gripper
CN109048842A (en) * 2018-09-12 2018-12-21 中信重工开诚智能装备有限公司 A kind of three shaft moving devices for rail polling robot

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