CN100357068C - Body of robot for automatic polling high-tension transmission line - Google Patents
Body of robot for automatic polling high-tension transmission line Download PDFInfo
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- CN100357068C CN100357068C CNB2004100377377A CN200410037737A CN100357068C CN 100357068 C CN100357068 C CN 100357068C CN B2004100377377 A CNB2004100377377 A CN B2004100377377A CN 200410037737 A CN200410037737 A CN 200410037737A CN 100357068 C CN100357068 C CN 100357068C
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Abstract
The present invention relates to the technical field of robots, which relates to a body of a robot for an automatic polling high-tension transmission line. The present invention is composed of a plurality of robot monomers and coupling joints; the robot monomers have same structure, the body is formed by connecting the coupling joints reciprocally, wherein a drive wheel is driven by a drive motor, which causes the robots to walk on lines; the drive wheel is opened and closed by a switching motor, which causes the robots to disengage from or hang on the lines; the lift of the monomer is controlled by a jacking motor; the coupling joints comprise top and bottom pitching joints and right-left arm swing joints; the top and bottom pitching joints are composed of a pitching motor, a pitching gate, a coupler and a connecting rod; the right-left arm swing joints are composed of an arm swing motor, an arm swing gate, a coupler and a connecting rod; the soft and rigid switchover of the gate is carried out by an electromagnet. The present invention can realize the functions of walking on the transmission lines steadily, crossing obstacles, braking sharply, etc., which can replace manual polling in the high-tension transmission line.
Description
Technical field
The present invention relates to the robot field, be meant the body part of 110kv high voltage transmission line automatic polling robot.
Background technology
Transmission line of electricity is the main artery of power system, and its safe and stable operation directly has influence on the reliability of power system, must drop into the work of patrolling and examining that lot of manpower and material resources removes to carry out circuit.Generally adopt the manual inspection method to patrol and examine at present, not only workload is big, dangerous high, and a lot of dangerous places detect less than, cause certain hidden danger.For this reason, be necessary to develop a kind of automatic polling robot for transmission lines that can replace manual inspection,, improve working efficiency, reach and guarantee the transmission line of electricity purpose of safe operation in the hope of reaching the workload that alleviates polling transmission line.
Summary of the invention
The body that the purpose of this invention is to provide a kind of 110kv automatic polling robot for transmission lines, replace manually carrying out the work of patrolling and examining of transmission line of electricity, not only can alleviate the workload of polling transmission line, can also in time find earlier damage and defective and assessed, then according to the order of importance and emergency of defective, with rational expense and correct priority, in time arrange necessary maintenance and reparation, thereby guarantee power supply reliability, improve working efficiency, reach and guarantee the transmission line of electricity purpose of safe operation.
For achieving the above object, technical solution of the present invention is:
A kind of high voltage transmission line automatic polling robot body is provided, and it is connected the joint by several robot monomers with several and forms; The structure of robot monomer is identical, is interconnected to body by connecting the joint.
Described high voltage transmission line automatic polling robot body, its described robot monomer, form by drive motors, driving wheel, folding motor, folding bolt and nut, lifting motor, lifting screw, armful cable brake and support, wherein, the support upper end vertically is connected with the drive motors support along the axis extension, be fixed with drive motors on the drive motors support, support and driving wheel junction level are fixed with embraces cable brake; Driving wheel can separate from the centre; The support lower end vertically is fixed on folding screw rod upper end along axis direction, the folding screw rod vertically places pipe middle and upper part in the folding sleeve, and contact with the folding sleeve is moving, the pipe middle and lower part is equipped with the folding motor in the folding sleeve, folding motor housing and folding sleeve lining are connected, and folding sleeve upper limb periphery is connected with clasp nut; Rib-loop and folding screw rod external screw thread engagement in the clasp nut, folding screw rod lower end are vertically affixed along axis direction and folding machine shaft upper end; Folding sleeve periphery circle is round suitable with interior week of jacking sleeve, and the folding sleeve vertically places in the jacking sleeve, and contacts with jacking sleeve is moving; Folding sleeve lower end vertically is connected along axis direction and lifting screw, the interior rib-loop engagement on the external screw thread of lifting screw and the jacking sleeve inwall, and the lifting screw lower end is vertically affixed along axis direction and lifting motor rotating shaft upper end; Lifting motor shell upper end is fixed in the jacking sleeve lower end; Be connected with the connection joint on the jacking sleeve sidewall of robot monomer, connecting the joint is that pitching connects the joint or swing arm connects the joint.
Described high voltage transmission line automatic polling robot body, its described pitching connects the joint, comprises pitch link, pitching motor, pitching lock and pitching shaft joint; The jacking sleeve sidewall of robot monomer is connected the end level of pitch link in joint with pitching affixed, and the pitch link other end and pitching shaft joint are dynamically connected; Vertically be connected with pitching motor on the pitching shaft joint shell; The input of pitching shaft coupling is the output shaft of pitching motor, and output is the break-in output shaft, and output shaft links to each other with pitch link; The pitching water seal is flat to be provided with, and pitching lock one end ring is embraced on the power transmission shaft periphery circle of pitching motor, and the output shaft of the pitching lock other end and pitching shaft joint is dynamically connected.
Described high voltage transmission line automatic polling robot body, its described swing arm connects the joint, comprises connecting rod, swing arm motor, swing arm lock, swing arm shaft joint and swing arm connecting rod; The one end level of swing arm connecting rod and the sidewall of jacking sleeve are affixed, and the swing arm connecting rod is affixed away from the other end and the swing arm shaft joint of jacking sleeve, and swing arm shaft joint level stretches out connecting rod is set; The shell of the shell of swing arm shaft joint and swing arm motor is affixed, swing arm motor and the vertical setting mutually on horizontal plane of swing arm shaft joint; The input of swing arm shaft coupling is the output shaft of swing arm motor, and output is the break-in output shaft, and output shaft links to each other with the swing arm connecting rod; The swing arm water seal is flat to be provided with, and swing arm lock one end ring is embraced on swing arm drive axle of motor periphery circle, and the output shaft of the swing arm lock other end and swing arm shaft joint is dynamically connected.
Described high voltage transmission line automatic polling robot body, its described pitching lock is held tightly or is unclamped by magnet control pitching lock and pitching motor output shaft, thereby realizes that pitching connects joint rigidity and flexible switching; When pitching lock and pitching motor output shaft were held tightly, pitching connected the joint and becomes the rigidity joint, by control pitching motor, control connection joint action; When pitching lock and pitching motor output shaft unclamped, pitching connected the joint and becomes flexible joint, and pitching this moment connects the joint and carries out the self adaptation adjustment with the position and the attitude of monomer on transmission line of electricity.
Described high voltage transmission line automatic polling robot body, its described swing arm lock is held tightly or is unclamped by magnet control swing arm lock and swing arm motor output shaft, thereby realizes that swing arm connects joint rigidity and flexible switching; When swing arm lock and swing arm motor output shaft were held tightly, swing arm connected the joint and becomes the rigidity joint, by control swing arm motor, control joint action; When swing arm lock and swing arm motor output shaft unclamped, swing arm connected the joint and becomes flexible joint, and swing arm this moment connects the joint and carries out the self adaptation adjustment with the position and the attitude of monomer on transmission line of electricity.
Described high voltage transmission line automatic polling robot body, its described armful of cable brake and support are connected, and when the robot snub, this armful cable brake applies one to driving wheel and steps up power, makes driving wheel hold power transmission line securely tightly.
Described high voltage transmission line automatic polling robot body, it is characterized in that: described pitching shaft joint, two changes that rotatablely move direction have been realized, promptly under the acquiescence cartesian coordinate, realize from the change that rotatablely moves of rotating to around Y-axis (pitching motor 13) around Z axle (pitching connects joint 104a, 104b).
Described high voltage transmission line automatic polling robot body, it is characterized in that, described swing arm shaft joint, two changes that rotatablely move direction have been realized, promptly under the acquiescence cartesian coordinate, realize from rotating to around X-axis (swing arm motor 17) around the change that rotatablely moves of (swing arm connects joint 105a, 105b) of Z axle.
Described high voltage transmission line automatic polling robot body, its described body is connected and composed by several robot monomers, when across obstacle, remained 〉=2 robot monomers are affiliated on power transmission line, to keep its balance and to improve its reliability.
Automatic crusing robot body of the present invention can be implemented in the function of stabilized walking on the power transmission line, across obstacle, snub, has replaced the manual inspection ultra-high-tension power transmission line.
Description of drawings
Fig. 1 is a 110kv automatic polling robot for transmission lines main body structure schematic diagram of the present invention;
Fig. 2 is the utility model 110kv automatic polling robot for transmission lines drive bulk wheel construction schematic diagram;
Fig. 3 is armful cable brake and the support connecting portion schematic diagram of the utility model 110kv automatic polling robot for transmission lines body.
Specific embodiments
At first see also Fig. 1, the utility model 110kv automatic polling robot for transmission lines body 100, by three robot monomers 101,102,103 be connected joint 104a, 104b with four, 105a, 105b form.Three robot monomers 101,102 are identical with 103 structures, interconnect by four connection joint 104a, 104b, 105a, 105b.Robot monomer 101,102 and 103 is made up of drive motors and decelerator 2, driving wheel 3, folding motor and decelerator 8, folding bolt and nut, lifting motor and decelerator 11, lifting screw 10, armful cable brake 1 and support 4.Wherein, support 4 upper ends vertically are connected with drive motors and reducer stent 21 along the axis extension, are fixed with drive motors and decelerator 2 on drive motors and the reducer stent 21.Support 4 and driving wheel 3 junctions, level is equipped with and embraces cable brake 1 on support 4.Support 4 lower ends vertically are fixed on folding screw rod 6 upper ends along axis direction.Folding screw rod 6 vertically places pipe middle and upper part in the folding sleeve 7, and with folding sleeve 7 moving contacts, the pipe middle and lower part is equipped with folding motor and decelerator 8 in the folding sleeve 7, and folding motor and decelerator 8 shells and folding sleeve 7 inwalls are connected, and folding sleeve 7 upper limb peripheries are connected with clasp nut 5; Rib-loops and the engagement of folding screw rod 6 external screw threads in the clasp nut 5, folding screw rod 6 lower ends are vertically affixed on axis direction and folding motor and decelerator 8 rotating shafts.Circle is suitable week in folding sleeve 7 peripheries circles and the jacking sleeve 9, and folding sleeve 7 vertically places in the jacking sleeve 9, and with jacking sleeve 9 moving contacts.Folding sleeve 7 lower ends vertically are connected along axis direction and lifting screw 10.Interior rib-loop engagement on the external screw thread of lifting screw 10 and jacking sleeve 9 inwalls, lifting screw 10 lower ends are vertically affixed on axis direction and lifting motor and decelerator 11 rotating shafts.Lifting motor and decelerator 11 shells upper end are fixed in jacking sleeve 9 lower ends.
Be connected with pitching on robot monomer 101 and 103 jacking sleeve 9 sidewalls and be connected joint 104a or 104b.
It is identical with the 104b structure that pitching connects joint 104a, comprises pitch link 12, pitching motor and decelerator 13, pitching lock 14 and pitching shaft joint 15. Robot monomer 101 or 103 jacking sleeve 9 sidewalls are connected the end level of pitch link 12 of joint 104a or 104b with pitching affixed, and pitch link 12 other ends and 15 outputs of pitching shaft joint are affixed; Vertically be connected with pitching motor and decelerator 13 on pitching shaft joint 15 shells; The input of pitching shaft coupling 15 is the output shaft of pitching motor and decelerator 13, and output is the break-in output shaft, and this output shaft links to each other with pitch link 12; Pitching lock 14 is horizontally disposed with, and pitching lock 14 is encircled on the power transmission shaft periphery circle of pitching motor and decelerator 13 by spring leaf, and pitching lock 14 is fixed on the bottom of pitching shaft joint 15.
It is identical with the 105b structure that swing arm connects joint 105a, comprises connecting rod 16, swing arm motor and decelerator 17, swing arm lock 18, swing arm shaft joint 19 and swing arm connecting rod 20.The one end level of swing arm connecting rod 20 and the sidewall of jacking sleeve 9 are affixed, and swing arm connecting rod 20 is affixed away from the output shaft of the other end of jacking sleeve 9 and swing arm shaft joint 19, and swing arm shaft joint 19 levels stretch out connecting rod 16 is set.The shell of the shell of swing arm shaft joint 19 and swing arm motor and decelerator 17 is affixed, swing arm motor and decelerator 17 and swing arm shaft joint 19 vertical setting mutually on horizontal plane.The input of swing arm shaft coupling 19 is the output shaft of swing arm motor and decelerator 17, and output is the break-in output shaft, and this output shaft links to each other with swing arm connecting rod 20; Swing arm lock 18 is horizontally disposed with, and swing arm lock 18 is encircled on the power transmission shaft periphery circle of swing arm motor and decelerator 17 by spring leaf, and swing arm lock 18 is fixed on the bottom of swing arm shaft joint 19.
Connecting rod 16 1 ends and swing arm shaft joint 19 are dynamically connected, and the other end and pitching shaft joint 15 are dynamically connected, and robot monomer 101,102 and 103 is connected into a 110kv automatic polling robot for transmission lines body 100.
See Fig. 2, driving wheel 3 is divided into two parts by the median plane vertical with live axle 22 directions, each part is step-like truncated cone, the middle part is a disk, disk one side central part is the frustum of a cone, be provided with a circle friction plate 23 at disk and frustum of a cone connecting portion, disk opposite side central part is a live axle 22; The live axle 22 of a part is dynamically connected with decelerator 2 output shafts of drive motors, and the live axle 22 and the support 4 of another part are dynamically connected; The groove at driving wheel 3 side periphery centers contacts with high-voltage line is moving.
See Fig. 3, for embracing cable brake 1 and support 4 connecting portion schematic diagrames.Embrace cable brake 1 and be horizontally disposed with, overall U-shaped, the two ends of its U-shaped is connected with support 4 by four springs, and clamps driving wheel 3 from both sides by support 4.
Drive motors and reducer stent 21, support 4, clasp nut 5, folding screw rod 6, folding sleeve 7, folding motor and decelerator 8, jacking sleeve 9, lifting screw 10 and lifting motor and decelerator 11 all are vertical settings, and totally one central axis.
The course of work of the present utility model is:
When drive motors and decelerator 2 drivings, directly drive driving wheel 3 rotations, rely on the friction between driving wheel 3 and the power transmission line, drive robot monomer 101,102 and 103 and on power transmission line, walk.
When folding motor and decelerator 8 drove, clasp nut 5 and folding screw rod 6 engaged transmission, thereby the opening and close up of control driving wheel 3 were affiliated to robot monomer 101,102 or 103 or are broken away from power transmission line.
When lifting motor and decelerator 11 drivings, the rising and the decline of robot monomer 101,102 or 103 are controlled in lifting screw 10 transmissions.
When in case of emergency, 100 snubs of automatic crusing robot body, this moment drive motors and decelerator 2 stalls, stop to drive driving wheel 3, and embrace the spring compression support 4 of cable brake 1, apply one for driving wheel 3 and step up power, driving wheel 3 is affiliated on line securely, is unlikely to landing.
Pitching lock 14 can be held tightly or unclamps by magnet control lock 14 and pitching motor and decelerator 13 output shafts, and when pitching lock 14 was held pitching motor and decelerator 13 tightly by electromagnet, pitching connected joint 104a and 104b becomes the rigidity joint.This moment, pitching shaft joint 15 was converted into the elevating movement up and down that pitching connects joint 104a and 104b with rotatablely moving of pitching motor and decelerator 13, does elevating movement thereby drive connecting rod 16 when pitching motor and decelerator 13 drivings.When pitching lock 14 unclamps pitching motor and decelerator 13 by electromagnet, pitching connects joint 104a and 104b becomes flexible joint, but pitching this moment connects joint 104a and position and the attitude of 104b random device people monomer 101,102 and 103 on transmission line of electricity carried out the self adaptation adjustment.
When running into barrier (stockbridge damper on the power transmission line and wire clamp etc.), according to the obstacle detouring action planning, robot monomer 101,102 and 103 is across obstacle successively, has remained two monomers to be affiliated on power transmission line, to keep its balance and to improve its reliability.
Claims (9)
1. a high voltage transmission line automatic polling robot body is characterized in that: be connected the joint by several robot monomers with several and form; The structure of robot monomer is identical, is interconnected to body by connecting the joint; Wherein:
Described robot monomer, form by drive motors, driving wheel, folding motor, folding bolt and nut, lifting motor, lifting screw, armful cable brake and support, wherein, the support upper end vertically is connected with the drive motors support along the axis extension, be fixed with drive motors on the drive motors support, support and driving wheel junction level are fixed with embraces cable brake; Driving wheel can separate from the centre; The support lower end vertically is fixed on folding screw rod upper end along axis direction, the folding screw rod vertically places pipe middle and upper part in the folding sleeve, and contact with the folding sleeve is moving, the pipe middle and lower part is equipped with the folding motor in the folding sleeve, folding motor housing and folding sleeve lining are connected, and folding sleeve upper limb periphery is connected with clasp nut; Clasp nut internal thread and the engagement of folding screw rod external screw thread, folding screw rod lower end are vertically affixed along axis direction and folding machine shaft upper end; Folding sleeve periphery circle is round suitable with interior week of jacking sleeve, and the folding sleeve vertically places in the jacking sleeve, and contacts with jacking sleeve is moving; Folding sleeve lower end vertically is connected along axis direction and lifting screw, the interior rib-loop engagement on the external screw thread of lifting screw and the jacking sleeve inwall, and the lifting screw lower end is vertically affixed along axis direction and lifting motor rotating shaft upper end; Lifting motor shell upper end is fixed in the jacking sleeve lower end; Be connected with the connection joint on the jacking sleeve sidewall of robot monomer, connecting the joint is that pitching connects the joint or swing arm connects the joint.
2. high voltage transmission line automatic polling robot body as claimed in claim 1 is characterized in that: described pitching connects the joint, comprises pitch link, pitching motor, pitching lock and pitching shaft joint; The jacking sleeve sidewall of robot monomer is connected the end level of pitch link in joint with pitching affixed, and the pitch link other end and pitching shaft joint are dynamically connected; Vertically be connected with pitching motor on the pitching shaft joint shell; The input of pitching shaft coupling is the output shaft of pitching motor, and output is the break-in output shaft, and output shaft links to each other with pitch link; The pitching water seal is flat to be provided with, and pitching lock one end ring is embraced on the power transmission shaft periphery circle of pitching motor, and the output shaft of the pitching lock other end and pitching shaft joint is dynamically connected.
3. high voltage transmission line automatic polling robot body as claimed in claim 1 is characterized in that: described swing arm connects the joint, comprises connecting rod, swing arm motor, swing arm lock, swing arm shaft joint and swing arm connecting rod; The one end level of swing arm connecting rod and the sidewall of jacking sleeve are affixed, and the swing arm connecting rod is affixed away from the other end and the swing arm shaft joint of jacking sleeve, and swing arm shaft joint level stretches out connecting rod is set; The shell of the shell of swing arm shaft joint and swing arm motor is affixed, swing arm motor and the vertical setting mutually on horizontal plane of swing arm shaft joint; The input of swing arm shaft coupling is the output shaft of swing arm motor, and output is the break-in output shaft, and output shaft links to each other with the swing arm connecting rod; The swing arm water seal is flat to be provided with, and swing arm lock one end ring is embraced on swing arm drive axle of motor periphery circle, and the output shaft of the swing arm lock other end and swing arm shaft joint is dynamically connected.
4. high voltage transmission line automatic polling robot body as claimed in claim 2 is characterized in that: described pitching lock, and hold tightly or unclamp by magnet control pitching lock and pitching motor output shaft, thereby realize that pitching connects joint rigidity and flexible switching; When pitching lock and pitching motor output shaft were held tightly, pitching connected the joint and becomes the rigidity joint, by control pitching motor, control connection joint action; When pitching lock and pitching motor output shaft unclamped, pitching connected the joint and becomes flexible joint, and pitching this moment connects the joint and carries out the self adaptation adjustment with the position and the attitude of monomer on transmission line of electricity.
5. high voltage transmission line automatic polling robot body as claimed in claim 3 is characterized in that: described swing arm lock, and hold tightly or unclamp by magnet control swing arm lock and swing arm motor output shaft, thereby realize that swing arm connects joint rigidity and flexible switching; When swing arm lock and swing arm motor output shaft were held tightly, swing arm connected the joint and becomes the rigidity joint, by control swing arm motor, control joint action; When swing arm lock and swing arm motor output shaft unclamped, swing arm connected the joint and becomes flexible joint, and swing arm this moment connects the joint and carries out the self adaptation adjustment with the position and the attitude of monomer on transmission line of electricity.
6. high voltage transmission line automatic polling robot body as claimed in claim 1 is characterized in that: described armful of cable brake and support are connected, and when the robot snub, this armful cable brake applies one to driving wheel and steps up power, makes driving wheel hold power transmission line securely tightly.
7. high voltage transmission line automatic polling robot body as claimed in claim 2, it is characterized in that: described pitching shaft joint, realized two changes that rotatablely move direction, promptly under the acquiescence cartesian coordinate, realized from the change that rotatablely moves around Y-axis of rotating to around the Z axle.
8. high voltage transmission line automatic polling robot body as claimed in claim 3, it is characterized in that described swing arm shaft joint has been realized two changes that rotatablely move direction, promptly under the acquiescence cartesian coordinate, realize from the change that rotatablely moves of rotating to around the Z axle around X-axis.
9. high voltage transmission line automatic polling robot body as claimed in claim 1, it is characterized in that: described body is connected and composed by several robot monomers, when across obstacle, remained 〉=2 robot monomers are affiliated on power transmission line, to keep its balance and to improve its reliability.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100377377A CN100357068C (en) | 2004-05-10 | 2004-05-10 | Body of robot for automatic polling high-tension transmission line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100377377A CN100357068C (en) | 2004-05-10 | 2004-05-10 | Body of robot for automatic polling high-tension transmission line |
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| Publication Number | Publication Date |
|---|---|
| CN1695907A CN1695907A (en) | 2005-11-16 |
| CN100357068C true CN100357068C (en) | 2007-12-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB2004100377377A Expired - Fee Related CN100357068C (en) | 2004-05-10 | 2004-05-10 | Body of robot for automatic polling high-tension transmission line |
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| CN2171933Y (en) * | 1993-09-04 | 1994-07-13 | 无锡供电局 | Double-driven rotary frame expanding corner flying carriage |
| JPH09308034A (en) * | 1996-05-10 | 1997-11-28 | Nippon Denwa Shisetsu Kk | Cable laying robot |
| JPH1132410A (en) * | 1997-07-09 | 1999-02-02 | Chubu Electric Power Co Inc | Steel tower crossover mechanism for overhead power transmission line travel working machine |
| JP2002018749A (en) * | 2000-07-11 | 2002-01-22 | Shinryo Corp | Vertically travelable patrol robot system |
| CN2721339Y (en) * | 2004-05-10 | 2005-08-31 | 中国科学院自动化研究所 | Automatic cyclic checking robot body of high-voltage transmission line |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017096989A1 (en) * | 2015-12-10 | 2017-06-15 | 深圳市施罗德工业测控设备有限公司 | Inspection robot travelling on rail |
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| Publication number | Publication date |
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| CN1695907A (en) | 2005-11-16 |
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