CN100387405C - Active obstacle travelling robot walking clipping mechanism - Google Patents

Active obstacle travelling robot walking clipping mechanism Download PDF

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Publication number
CN100387405C
CN100387405C CNB2005100462923A CN200510046292A CN100387405C CN 100387405 C CN100387405 C CN 100387405C CN B2005100462923 A CNB2005100462923 A CN B2005100462923A CN 200510046292 A CN200510046292 A CN 200510046292A CN 100387405 C CN100387405 C CN 100387405C
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Prior art keywords
eccentric
flange
support plate
clipping
walking
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CN1853873A (en
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王洪光
朱兴龙
房立金
赵明扬
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Shenyang Institute of Automation of CAS
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Shenyang Institute of Automation of CAS
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Abstract

The present invention relates to a moving robot mechanism, particularly to an active obstacle surmounting line travelling robot walking clipping mechanism, which is a structure of a composite wheel claw. The present invention is composed of a walking mechanism, a front clipping mechanism, a back clipping mechanism and an eccentrical mechanism, wherein the front and the back clipping mechanisms are supported between a front and a back eccentric support plates of the eccentric mechanism; the front and the back eccentric support plates are arranged on a front and a back eccentric shafts of a left flange and a right flange of the walking mechanism. The walking mechanism of the present invention can realize movement; the clipping mechanisms can realize a clipping function, a loosening function, a half hoop function, etc.; a walking wheel and a clipping claw are clamped with a line. The present invention has the advantages of large work space, light weight, low energy consumption, strong obstacle surmounting ability, strong self adaptive ability, and safe and protective functions.

Description

Active obstacle travelling robot walking clipping mechanism
Technical field
The present invention relates to mobile robot mechanism, specifically a kind of active obstacle travelling robot walking clipping 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; the angle that can not adapt to aerial earth wire changes, and security protection is poor when walking, and the extent of damage to line is big simultaneously; therefore, be 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 control; the angle that can not adapt to aerial earth wire changes; security protection is poor when walking; the big grade of the extent of damage to line is not enough simultaneously; the invention provides that a kind of working space is big, in light weight, energy consumption is low and obstacle climbing ability is strong, the angle that can adapt to aerial earth wire changes; good, little to the extent of damage of the line simultaneously active obstacle travelling robot walking clipping mechanism of security protection when walking.
To achieve these goals, the technical solution used in the present invention is as follows:
Be compound tire structure, form by walking mechanism, front clamp mechanism, rear grip mechanism, eccentric stiffener, front clamp mechanism, rear grip mechanism are supported on the pre-eccentric support plate of eccentric stiffener, between the eccentric support plate in back, pre-eccentric support plate, back eccentric support plate are installed on the pre-eccentric axle of the left flange of walking mechanism, right flange, the back eccentric shaft;
Wherein: described walking mechanism is made up of movable motor, road wheel, left flange, road wheel bracing frame, row power transmission shaft, bearing, right flange, movable motor is installed on the left flange, left side flange links to each other with robot arm by the sleeve on it, left side flange is installed on the road wheel bracing frame, road wheel is installed on the power transmission shaft, power transmission shaft is installed on the bracing frame by bearing, and an end of power transmission shaft is connected with the movable motor axle, and right flange is installed on the road wheel bracing frame;
Described front clamp mechanism is identical with the rear grip mechanism structure, by leading screw, top guide bar, lower guide rod is supported on the pre-eccentric support plate of eccentric stiffener, and between the eccentric support plate in back, described front clamp mechanism is respectively by left jaw, right jaw, leading screw, top guide bar, lower guide rod, driving pulley, clamping motor, motor supporting seat, driven pulley, synchronous band are formed, left side jaw, right jaw are installed on leading screw, top guide bar, the lower guide rod, and leading screw, top guide bar, lower guide rod are installed on the eccentric stiffener; One end of the leading screw of described front clamp mechanism links to each other with driven pulley, and driven pulley links to each other with driving pulley by band synchronously, and driving pulley links to each other with clamping motor, and the motor supporting seat is installed on the connecting plate of eccentric stiffener;
Described eccentric stiffener is by the pre-eccentric support plate, the eccentric support plate in back, connecting plate, pre-eccentric hole, pre-eccentric axle, back eccentric orfice, back eccentric shaft are formed, and the pre-eccentric support plate is provided with the pre-eccentric hole, the pre-eccentric axle is located on the left flange, cooperate installation with the pre-eccentric hole, back eccentric orfice is located on the eccentric support plate in back, and back eccentric shaft is located on the right flange, cooperate installation with the back eccentric orfice, the pre-eccentric support plate of described eccentric stiffener, the eccentric support plate in back connect by connecting plate.
The present invention is based on wheel, the compound principle of pawl, adopt and move the working method that combines with creeping continuously, have 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-claw compound mechanism, 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 is in conjunction with the arm and the moving body coordinated movement of various economic factors, and the tire carrying also drives the moving body leaping over obstacles, and can cross over various disorders in the extra high voltage network (stockbridge damper, insulator, overhanging golden tool and aluminium hydraulic pressed connecting pipe etc.).
3, adaptive ability is strong.Because clamping device floats on walking mechanism, the clamping device mechanism of can detouring away makes self adaptation and rotates, and to adapt to the aerial earth wire of different angle, guarantees that the jaw attitude is parallel with aerial earth wire all the time in the clamping device.
4, security is good.Because in this mechanism's walking process, online below is provided with safety pin, makes that robot is unlikely to fall down from line, plays the safeguard protection effect.
5. range of application is wider.Walking mechanism of the present invention can realize locomotive function, and clamping device can realize clamping, unclamps, function such as half armful, and road wheel grasps with line mutually with jaw.Its working space is big, in light weight, energy consumption is low, obstacle climbing ability and adaptive ability are strong, has safety protection function simultaneously, is with a wide range of applications, and 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 walking mechanism front view of the present invention.
Fig. 2 is the vertical view of Fig. 1.
Fig. 3 is the left view of Fig. 1.
Fig. 4 is the right view of Fig. 1.
Fig. 5 is an embodiment clamped condition of a clamping device of the present invention schematic diagram.
Fig. 6 is half armful of view of embodiment of clamping device of the present invention.
Fig. 7 is an embodiment releasing orientation of a clamping device of the present invention schematic diagram.
Fig. 8 is the barrier on the supertension line.
Fig. 9 a for clamping device of the present invention in conjunction with the arm and the moving body coordinated movement of various economic factors, obstacle detouring process first element is described schematic diagram on supertension line.
Fig. 9 b for clamping device of the present invention in conjunction with arm and the moving body coordinated movement of various economic factors, at second action description schematic diagram of obstacle detouring process.
Fig. 9 c for clamping device of the present invention in conjunction with arm and the moving body coordinated movement of various economic factors, at the 3rd action description schematic diagram of obstacle detouring process.
Fig. 9 d for clamping device of the present invention in conjunction with arm and the moving body coordinated movement of various economic factors, at the 4th action description schematic diagram of obstacle detouring process.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is described in further detail.
Embodiment 1
As Fig. 1, Fig. 2, Fig. 3, shown in Figure 4, the present invention is made up of walking mechanism 1, front clamp mechanism 2, rear grip mechanism 3, eccentric stiffener 4; Described walking mechanism 1 is made up of movable motor 11, road wheel 12, left flange 13, road wheel bracing frame 14, power transmission shaft 15, bearing 16, pin 17, right flange 18, wherein movable motor 11 is installed on the left flange 13, the sleeve 19 that left side flange 13 passes through on it links to each other with robot arm, left side flange 13 is installed on the road wheel bracing frame 14, road wheel 12 is installed on the power transmission shaft 15, power transmission shaft 15 is installed on the bracing frame 14 by bearing 16, one end of power transmission shaft 15 is connected by pin 17 with the movable motor axle, and right flange 18 is installed on the road wheel bracing frame 14.
Described front clamp mechanism 2 is identical with rear grip mechanism 3 structures, by leading screw 23, top guide bar 24, lower guide rod 25 is supported on the pre-eccentric support plate 40 of eccentric stiffener 4, between the eccentric support plate 41 in back, described front clamp mechanism 2 is respectively by left jaw 21, right jaw 22, leading screw 23, top guide bar 24, lower guide rod 25, left side safety pin 26, right safety pin 27, driving pulley 28, clamping motor 29, motor supporting seat 30, driven pulley 31, be with 32 to form synchronously, left side jaw 21, be respectively equipped with left safety pin 26 on the right jaw 22, right safety pin 27, left side jaw 21, right jaw 22 is installed in leading screw 23, top guide bar 24, on the lower guide rod 25, leading screw 23, top guide bar 24, lower guide rod 25 is installed on the eccentric stiffener 4; One end of the leading screw 23 of described front clamp mechanism links to each other with driven pulley 31, driven pulley 31 is by being with 32 to link to each other with driving pulley 28 synchronously, driving pulley 28 links to each other with clamping motor 29, clamping motor 29 is installed on the motor supporting seat 30, and motor supporting seat 30 is installed on the connecting plate 42 of eccentric stiffener 4.
Described eccentric stiffener 4 is by pre-eccentric support plate 40, the eccentric support plate 41 in back, connecting plate 42, pre-eccentric hole 43, pre-eccentric axle 44, back eccentric orfice 45, back eccentric shaft 46 are formed, pre-eccentric support plate 40 is provided with pre-eccentric hole 43, pre-eccentric axle 44 is located on the left flange 13, cooperate installation with pre-eccentric hole 43, back eccentric orfice 45 is located on the eccentric support plate 41 in back, back eccentric shaft 46 is located on the right flange 18, cooperate installation with back eccentric orfice 45, the pre-eccentric support plate 40 of described eccentric stiffener 4, the eccentric support plate 41 in back connect by connecting plate 42.
Operation principle of the present invention:
Movable motor 11 drives power transmission shaft 15, rotates thereby drive road wheel 12, and the realization robot advances on aerial earth wire 20 or retreats.Clamping motor 29 is with 32 to drive driven pulley 31 rotations by driving pulley 28 synchronously, thereby realizes that leading screw 23 rotates, because the rotation of leading screw 23 under the guiding of top guide bar 24, lower guide rod 25, realizes that left jaw 21, right jaw 22 straight lines move.There are three states the shift position, is respectively clamping, half armful and releasing orientation, sees Fig. 5, Fig. 6, Fig. 7.
Wherein: pre-eccentric support plate 40 is by on the 43 unsteady pre-eccentric axles 44 that are supported on the left flange 13 of pre-eccentric hole, and the eccentric support plate 41 in back is by on the back eccentric orfice 45 unsteady back eccentric shafts 46 that are supported on the right flange 18.
Figure 8 shows that extra high voltage network obstacle environment, the major obstacle thing on aerial earth wire 20 is damper 51, insulator 52, overhanging golden tool and wire clamp 53 etc.This mechanism is by motor-driven, and by moving body, arm coordination, the also barrier at crossing pole place of can advancing along the line is referring to Fig. 9 a, 9b, 9c, 9d.
When walking mechanism is stopped (shown in Fig. 9 a) at left damper 51 places, walking mechanism and clamping device are under the effect of arm, and raising breaks away from aerial earth wire 20, and at this moment another walking mechanism drives car body and arm is walked forward, stops to left damper 51 places.This moment, arm was crossed the left damper 51 of below, and walking mechanism and clamping device are under the effect of arm, and descending falls back to (shown in Fig. 9 b) on the aerial earth wire 20.It is similar with arm that another arm is crossed over the process of left damper 51.
When walking mechanism is stopped at overhanging golden tool 53 places, walking mechanism and clamping device are under the effect of arm, raise and break away from aerial earth wire 20, and around the biasing mechanism Rotate 180 of forearm °, to avoid overhanging golden tool 53, at this moment another walking mechanism driving car body and arm are walked forward, and 53 places stop to overhanging golden tool.This moment, arm was crossed the overhanging golden tool 53 of below, and walking mechanism and clamping device are under the effect of arm, and descending falls back to (shown in Fig. 9 c) on the aerial earth wire 20.The process of another arm leap overhanging golden tool 53 is similar with arm.
The process of crossing over right damper is similar substantially with the process of crossing over left damper, and the state after surmounting obstacles is shown in Fig. 9 d.

Claims (7)

1. active obstacle travelling robot walking clipping mechanism, it is characterized in that: be compound tire structure, form by walking mechanism (1), front clamp mechanism (2), rear grip mechanism (3), eccentric stiffener (4), front clamp mechanism (2), rear grip mechanism (3) are supported on the pre-eccentric support plate (40) of eccentric stiffener (4), between the eccentric support plate in back (41), pre-eccentric support plate (40), the eccentric support plate in back (41) are installed on the pre-eccentric axle (44), back eccentric shaft (46) of the left flange (13) of walking mechanism (1), right flange (18).
2. by the described active obstacle travelling robot walking clipping mechanism of claim 1, it is characterized in that: described walking mechanism (1) is by movable motor (11), road wheel (12), left side flange (13), road wheel bracing frame (14), power transmission shaft (15), bearing (16), right flange (18) is formed, movable motor (11) is installed on the left flange (13), left side flange (13) links to each other with robot arm by the sleeve (19) on it, left side flange (13) is installed on the road wheel bracing frame (14), road wheel (12) is installed on the power transmission shaft (15), power transmission shaft (15) is installed on the bracing frame (14) by bearing (16), one end of power transmission shaft (15) is connected with the movable motor axle, and right flange (18) is installed on the road wheel bracing frame (14).
3. by the described active obstacle travelling robot walking clipping mechanism of claim 1, it is characterized in that: described front clamp mechanism (2) is identical with rear grip mechanism (3) structure, by leading screw (23), top guide bar (24), lower guide rod (25) is supported on the pre-eccentric support plate (40) of eccentric stiffener (4), between the eccentric support plate in back (41), described front clamp mechanism (2) is respectively by left jaw (21), right jaw (22), leading screw (23), top guide bar (24), lower guide rod (25), driving pulley (28), clamping motor (29), motor supporting seat (30), driven pulley (31), band (32) is formed synchronously, left side jaw (21), right jaw (22) is installed in leading screw (23), top guide bar (24), on the lower guide rod (25), leading screw (23), top guide bar (24), lower guide rod (25) is installed on the eccentric stiffener (4); One end of the leading screw (23) of described front clamp mechanism links to each other with driven pulley (31), driven pulley (31) links to each other with driving pulley (28) by being with (32) synchronously, driving pulley (28) links to each other with clamping motor (29), and motor supporting seat (30) is installed on the connecting plate (42) of eccentric stiffener (4).
4. by the described active obstacle travelling robot walking clipping mechanism of claim 1, it is characterized in that: described eccentric stiffener (4) is by pre-eccentric support plate (40), back eccentric support plate (41), connecting plate (42), pre-eccentric hole (43), pre-eccentric axle (44), back eccentric orfice (45), back eccentric shaft (46) is formed, pre-eccentric support plate (40) is provided with pre-eccentric hole (43), pre-eccentric axle (44) is located on the left flange (13), cooperate installation with pre-eccentric hole (43), back eccentric orfice (45) is located on the eccentric support plate in back (41), back eccentric shaft (46) is located on the right flange (18), cooperate installation, the pre-eccentric support plate (40) of described eccentric stiffener (4) with back eccentric orfice (45), the eccentric support plate in back (41) connects by connecting plate (42).
5. by the described active obstacle travelling robot walking clipping mechanism of claim 2, it is characterized in that: an end of described power transmission shaft (15) is connected by pin (17) with the movable motor axle.
6. by the described active obstacle travelling robot walking clipping mechanism of claim 3, it is characterized in that: be respectively equipped with left safety pin (26), right safety pin (27) on described left jaw (21), the right jaw (22).
7. by the described active obstacle travelling robot walking clipping mechanism of claim 3, it is characterized in that: described clamping motor (29) is installed on the motor supporting seat (30).
CNB2005100462923A 2005-04-20 2005-04-20 Active obstacle travelling robot walking clipping mechanism Active CN100387405C (en)

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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

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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
CN101574983B (en) * 2009-06-12 2013-03-13 中国电力科学研究院 Lead obstacle-crossing robot walking device
CN101859990B (en) * 2010-06-02 2012-07-25 武汉大学 Robot for polling transmission line
CN103895724B (en) * 2012-12-28 2016-04-06 中国科学院沈阳自动化研究所 A kind of differential double fastener pawl travelling robot walking clipping mechanism
CN110921227B (en) * 2019-11-08 2020-10-16 中国科学院自动化研究所 Carrying mechanism for on-line walking

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