CN100391771C - Autonomous obstacles surmounting mechanism of grip hook composite type tour inspection robot - Google Patents

Autonomous obstacles surmounting mechanism of grip hook composite type tour inspection robot Download PDF

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Publication number
CN100391771C
CN100391771C CNB2006100456452A CN200610045645A CN100391771C CN 100391771 C CN100391771 C CN 100391771C CN B2006100456452 A CNB2006100456452 A CN B2006100456452A CN 200610045645 A CN200610045645 A CN 200610045645A CN 100391771 C CN100391771 C CN 100391771C
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motor
links
backward
casing
transmission shaft
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CN100999216A (en
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王洪光
房立金
朱兴龙
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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 discloses an EHV transmission line patrol robot mechanism. It is formed from mass centre regulation mechanism, front arm, forwards-travelling holding mechanism, rear arm and backwards-travelling holding mechanism. Said invention also provides its working principle and its concrete operation method.

Description

A kind of autonomous obstacles surmounting mechanism of grip hook composite type tour inspection robot
Technical field
The present invention relates to mobile robot mechanism, specifically a kind ofly be applied to the autonomous obstacles surmounting mechanism of grip hook composite type tour inspection robot that extra high voltage network is patrolled and examined.
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, 1991, Vol.9, No.4, pp..457-463), multiple degree of freedom travel mechanism (document 3:Shin-ichi Aoshima, the Takeshi Tsujimura that perhaps adopts many group mobile units to be composed in series, TetsuroYabuta, " 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, big energy-consuming, obstacle climbing ability is limited and be not easy to control, therefore, is difficult to be applied to actual extra high voltage network active obstacle and patrols and examines 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 ultra high-tension transmission line crusing robot active obstacle mechanism of the tire combined type that a kind of working space is big, energy consumption is low and obstacle climbing ability is strong.
To achieve these goals, technical solution of the present invention is: it is made up of barycenter regulating mechanism, preceding arm, preceding walking clipping mechanism, back arm, back walking clipping mechanism, and an end of described forward and backward arm adopts screw retention on the barycenter regulating mechanism; The other end directly links to each other with forward and backward walking clipping mechanism, described arm has two degree of freedom, form by forward and backward swing type mechanism, forward and backward vertical telescoping mechanism respectively, wherein forward and backward swing type mechanism one end links to each other with forward and backward walking clipping mechanism, and the other end links to each other with the barycenter regulating mechanism behind forward and backward vertical telescoping mechanism; Described walking clipping mechanism is positioned on the aerial earth wire; Described forward and backward arm, forward and backward walking clipping mechanism structure is identical.
The present invention is based on wheel, the compound principle of pawl, the mode of operation that employing is moved continuously and the wriggling walking combines has the function of walking and crossing over obstacle 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 the advantage of wheeled travel mechanism, clamping device and articulated type arm, both can walk fast along the line, but also leaping over obstacles.
2. obstacle climbing ability is strong.The present invention utilizes walking and clamping device, arm and the coordinated movement of various economic factors of barycenter regulating mechanism, drives the robot 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, has the bigger elongation and the anglec of rotation, and the operating range that arm is touched is bigger.
4. energy consumption is low.The present invention adopts the barycenter control method, motor driving moment is reduced, thereby reduced energy consumption.
5. field 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 barycenter regulating mechanism structure of the present invention travel mechanism scheme drawing.
Fig. 3 is a swing type mechanism scheme drawing of the present invention.
Fig. 4 is the vertical telescoping mechanism scheme drawing of the present invention.
Fig. 5 is a walking clipping mechanism scheme drawing of the present invention.
Fig. 6 is an obstacle environment scheme drawing.
Fig. 7 a is that obstacle detouring process first element is described scheme drawing.
Fig. 7 b is second action description scheme drawing of obstacle detouring process.
Fig. 7 c is the 3rd action description scheme drawing of obstacle detouring process.
Fig. 7 d is the 4th action description scheme drawing of obstacle detouring process.
Fig. 8 is another embodiment of the present 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, physical construction of the present invention is made up of barycenter regulating mechanism 1, preceding arm 2, preceding walking clipping mechanism 3, back arm 4, back walking clipping mechanism 5, and an end of described forward and backward arm 2,4 adopts screw retention on barycenter regulating mechanism 1; The other end links to each other with forward and backward walking clipping mechanism 3,5, described arm 2,4 is made up of forward and backward swing type mechanism 22,52, forward and backward vertical telescoping mechanism 23,53 respectively, wherein forward and backward swing type mechanism 22,52 1 ends directly link to each other with forward and backward walking clipping mechanism 3,5, and the other end links to each other with barycenter regulating mechanism 1 behind forward and backward vertical telescoping mechanism 23,53; Described walking clipping mechanism is positioned on the aerial earth wire; Described forward and backward walking clipping mechanism 3,5 and forward and backward arm 2,4 structures are identical, and present embodiment is that example elaborates with one of them.
Described barycenter regulating mechanism is made up of electrical equipment box 11, leading screw 12, slider nut 14, first roller 13, second roller 15, loading plate 16 and first motor 17, sees Fig. 2.First motor 17, leading screw 12 are installed on the loading plate 16, slider nut 14, first roller 13, second roller 15 are installed on the electrical equipment box 11, slider nut 14 moves with leading screw 12 formation spirals and is connected, and an end of leading screw 12 links to each other with first motor 17, and the other end is bearing on the loading plate 16; Loading plate 16 links to each other with first casing 82 in the swing type mechanism.First motor 17 drives leading screw 12 and rotates, and drives electrical equipment box 11 by slider nut 14 and moves, thereby realize the barycenter adjusting, improves the strained condition of walking clipping mechanism.The weight of electrical equipment box 11 is delivered on the loading plate 16 by roller 13,15.
Before described, swing type mechanism is an example before in the back swing type mechanism: referring to Fig. 3, its structure is by the 3rd transmission shaft 81, first casing 82, second driven gear 83, second driving gear 84, the 4th transmission shaft 85 and the 5th motor 86 are formed, the 3rd transmission shaft 81, the 4th transmission shaft 85 and the 5th motor 86 are supported on first casing 82, second driven gear 83 is installed on the 3rd transmission shaft 81, second driving gear 84 is installed on the 4th transmission shaft 85, with 83 engagements of second driven gear, one end of the 4th transmission shaft 85 links to each other with the 5th motor 86, and the other end is supported on first casing 82; One end of the 3rd transmission shaft 81 is supported on first casing (82), and the other end links to each other with stay bearing plate 96 in the vertical telescoping mechanism.The 5th motor 86 drives the 4th transmission shaft 85 and second driving gear 84 rotates, and second driving gear 84 drives the 3rd transmission shaft 81 by second driven gear 83 and rotates, and the stay bearing plate 96 that drives in the vertical telescoping mechanism rotates.
Before described, vertical telescoping mechanism is an example before in the vertical telescoping mechanism in back, its structure (referring to Fig. 4): by hollow shaft 91, bearing 92, elevating screw 93, lifting nut 94, stay bearing plate 96 and the 6th motor 95 are formed, bearing 92 is supported on hollow shaft 91 inwalls, be installed in elevating screw 93 1 ends (being used for supporting), the other end of elevating screw 93 be installed in stay bearing plate 96 on the 6th motor 95 link to each other, the lifting nut 94 that is combined on elevating screw 93 is connected in the hollow shaft 91, stay bearing plate 96 links to each other with the 3rd transmission shaft 81 on the swing type mechanism, and hollow shaft 91 links to each other with second casing 41 in the walking clipping mechanism.The 6th motor 95 drives elevating screw 93 and rotates, and drives hollow shaft 91 by lifting nut 94 and realizes vertical lift.
Before described, back walking clipping mechanism 3,5 structures are identical, walking clipping mechanism (referring to Fig. 5) in the past: by 31, driving gear 32, the road wheel 33 and the shaft shoulder 34, first, two thrust bearings 35,36, circular nut 37, second casing 41, clamp leading screw 42, left side jaw 40, right jaw 43, guide rod 44 and the 7th motor 45 are formed, the 3rd motor 31, the 7th motor 45, clamp leading screw 42, guide rod 44 is installed on second casing 41, guide rod 44 two ends are installed in second casing 41, road wheel 33 is installed on the clamping leading screw 42 that joins with the 7th motor 45, and by the shaft shoulder 34, first thrust bearing 35, second thrust bearing 36, adopt circular nut 37 that road wheel 33 axial location are being clamped on the leading screw 42, between road wheel 33 and the clamping leading screw 42 is friction of rolling, driving gear 32 links to each other with the 3rd motor 31 on the one hand, on the other hand with road wheel 33 engagements.Left and right jaw 40,43 is installed on the guide rod 44, and forms spiral by its left and right screw thread and left and right screw thread on clamping leading screw 42 and move and be connected; Specifically: the screw thread that clamps on the leading screw 42 is divided into two sections, be respectively left-hand thread 46 and right-hand thread 47, correspond respectively to the left-hand thread 48 of left jaw 40 and the right-hand thread 49 of right jaw 43, one end of clamping leading screw 42 links to each other with the 7th motor 45, the other end is installed on second casing 41, and second casing 41 links to each other with hollow shaft 91 in the telescoping mechanism.The 3rd motor 31 rotates, and drive driving gear 32 and rotate, thereby realization road wheel 33 is walked on aerial earth wire 70.The 7th motor 45 rotates, and drives 42 rotations of clamping leading screw, under the effect of guide rod 44, make left and right jaw 40,43 mutually near and separately, thereby realize that 40,43 pairs of aerial earth wires of left and right jaw 70 clamp and release functions.
Figure 6 shows that extra high voltage network obstacle environment, the major obstacle thing on aerial earth wire 70 is damper 71, insulator 72, overhanging golden tool and wire clamp 73 etc.This mechanism is by driven by servomotor, and by barycenter regulating mechanism, arm coordination, the also obstacle at crossing pole place of can advancing along the line is referring to Fig. 7 .a, 7.b, 7.c, 7.d.
Current walking clipping mechanism 3 stop at left damper 71 places (shown in Fig. 7 .a), at this moment barycenter regulating mechanism 1 drives electrical equipment box 11 near back arm 4, preceding walking clipping mechanism 3 is under the effect of preceding arm 2, raise and break away from aerial earth wire 70, back walking clipping mechanism 5 drives barycenter regulating mechanism 1 and preceding arm 2 is walked forward, stops to left damper 71 places.Arm 2 has been crossed the left damper 71 of below before this moment, and preceding walking clipping mechanism 3 is under the effect of preceding arm 2, and descending falls back to (shown in Fig. 7 .b) on the aerial earth wire 70.It is similar that back arm 4 is crossed over the same arm of the process of left damper 71 2.
Current walking clipping mechanism 3 stops at overhanging golden tool 73 places, at this moment barycenter regulating mechanism 1 drives electrical equipment box 11 near preceding arm 2, back walking clipping mechanism 5 is under the effect of back arm 4, raise and break away from aerial earth wire 70, and around the rotating mechanism Rotate 180 of preceding arm 2 °, to avoid overhanging golden tool 73, back walking clipping mechanism 5 descends and falls back to aerial earth wire 70 again under the effect of back arm 4 then.Barycenter regulating mechanism 1 drives electrical equipment box 11 near back arm 4, preceding walking clipping mechanism 3 is under the effect of preceding arm 2, raise and break away from aerial earth wire 70, and around the rotating mechanism Rotate 180 ° of back arm 4, to avoid overhanging golden tool 73, preceding then walking clipping mechanism 3 descends and falls back to aerial earth wire 70 (shown in Fig. 7 .c) again under the effect of preceding arm 2.
The process of crossing over right damper is similar substantially with the process of crossing over left damper, and the state behind the clear an obstacle is shown in Fig. 7 .d.
Embodiment 2
Difference from Example 1 is: as shown in Figure 8, in barycenter regulating mechanism 1, with active spool 121, passive spool 131, gentle rope 141 have replaced original leading screw screw mechanism, have further alleviated weight.Gentle rope 141 two ends are through active spool 121, and passive spool 131 is connected with electrical equipment box 11, and initiatively the spool 121 and first motor 17 drive gentle rope 141 and move, and move on loading plate 16 thereby drive electrical equipment box 11.

Claims (6)

1. autonomous obstacles surmounting mechanism of grip hook composite type tour inspection robot, it is characterized in that: be made up of barycenter regulating mechanism (1), preceding arm (2), preceding walking clipping mechanism (3), back arm (4), back walking clipping mechanism (5), an end of described forward and backward arm (2,4) adopts screw retention on barycenter regulating mechanism (1); The other end directly links to each other with forward and backward walking clipping mechanism (3,5), described arm (2,4) is made up of forward and backward swing type mechanism (22,52), forward and backward vertical telescoping mechanism (23,53) respectively, wherein forward and backward swing type mechanism (22, a 52) end links to each other with forward and backward walking clipping mechanism (3,5), and the other end links to each other with barycenter regulating mechanism 1 behind forward and backward vertical telescoping mechanism (23,53); Described walking clipping mechanism is positioned on the aerial earth wire.
2. by the described autonomous obstacles surmounting mechanism of grip hook composite type tour inspection robot of claim 1, it is characterized in that: described barycenter regulating mechanism is by electrical equipment box (11), leading screw (12), slider nut (14), first, second wheel (13,15), loading plate (16) and first motor (17) are formed, first motor (17), leading screw (12) is installed on the loading plate (16), slider nut (14), first, second wheel (13,15) be installed on the electrical equipment box (11), slider nut (14) moves with leading screw (12) formation spiral and is connected, one end of leading screw (12) links to each other with first motor (17), and the other end is bearing on the loading plate (16); Loading plate (16) links to each other with swing type mechanism.
3. by the described autonomous obstacles surmounting mechanism of grip hook composite type tour inspection robot of claim 2, it is characterized in that: in the described barycenter regulating mechanism (1), with active spool (121), passive spool (131), gentle rope (141), place of lead screw screw mechanism, gentle rope (141) two ends are connected with electrical equipment box (11) through active spool (121), passive spool (131), and initiatively spool (121) links to each other with first motor (17).
4. by the described autonomous obstacles surmounting mechanism of grip hook composite type tour inspection robot of claim 1, it is characterized in that: described swing type mechanism is by the 3rd transmission shaft (81), first casing (82), second driven gear (83), second driving gear (84), the 4th transmission shaft (85) and the 5th motor (86) are formed, the 3rd transmission shaft (81), the 4th transmission shaft (85) and the 5th motor (86) are supported on first casing (82), second driven gear (83) is installed on the 3rd transmission shaft (81), second driving gear (84) is installed on the 4th transmission shaft (85), mesh with second driven gear (83), one end of the 4th transmission shaft (85) links to each other with the 5th motor (86), and the other end is supported on first casing (82); One end of the 3rd transmission shaft (81) is supported on first casing (82), and the other end links to each other with stay bearing plate (96) in the vertical telescoping mechanism.
5. by the described autonomous obstacles surmounting mechanism of grip hook composite type tour inspection robot of claim 1, it is characterized in that: described vertical telescoping mechanism is by hollow shaft (91), bearing (92), elevating screw (93), lifting nut (94), stay bearing plate (96) and the 6th motor (95) are formed, bearing (92) is supported on hollow shaft (91) inwall, be installed in elevating screw (93) one ends, the other end of elevating screw (93) be installed in last the 6th motor of stay bearing plate (96) (95) and link to each other, be combined on the lifting nut (94) of elevating screw (93), and be connected in the hollow shaft (91), stay bearing plate (96) links to each other with the 3rd transmission shaft (81) on the swing type mechanism, and hollow shaft (91) links to each other with second casing (41) in the walking clipping mechanism.
6. by the described autonomous obstacles surmounting mechanism of grip hook composite type tour inspection robot of claim 1, it is characterized in that: before described, back walking clipping mechanism (3,5) structure is identical, one of them is by the 3rd motor (31), driving gear (32), the road wheel (33) and the shaft shoulder (34), first, two thrust bearings (35,36), circular nut (37), second casing (41), clamp leading screw (42), left side jaw (40), right jaw (43), guide rod (44) and the 7th motor (45) are formed, the 3rd, seven motors (31,45), clamp leading screw (42), guide rod (44) is installed on second casing (41), guide rod (44) two ends are installed in second casing (41), road wheel (33) and driving gear (32) engagement, be installed on the clamping leading screw (42) that joins with the 7th motor (45), road wheel (33) is connected for friction of rolling with clamping between the leading screw (42), driving gear (32) links to each other with the 3rd motor (31) on the one hand, mesh with road wheel (33) on the other hand, a left side, right jaw (40,43) be installed in guide rod (44), and by its left side, a right-hand thread and a left side that clamps on the leading screw (42), right-hand thread forms spiral and moves connection; Link to each other with telescoping mechanism by second casing (41) respectively between forward and backward walking clipping mechanism (3,5) and the forward and backward arm (2,4).
CNB2006100456452A 2006-01-13 2006-01-13 Autonomous obstacles surmounting mechanism of grip hook composite type tour inspection robot Active CN100391771C (en)

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