CN100502181C - Robot of autonomous moving along 110KV transmission line and its working method - Google Patents

Robot of autonomous moving along 110KV transmission line and its working method Download PDF

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Publication number
CN100502181C
CN100502181C CNB2005100425695A CN200510042569A CN100502181C CN 100502181 C CN100502181 C CN 100502181C CN B2005100425695 A CNB2005100425695 A CN B2005100425695A CN 200510042569 A CN200510042569 A CN 200510042569A CN 100502181 C CN100502181 C CN 100502181C
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China
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robot
line
hand
walking
power transmission
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Expired - Fee Related
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CNB2005100425695A
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CN1658460A (en
Inventor
周风余
李贻斌
王吉岱
荣学文
宋锐
肖海荣
魏军英
梁自泽
李恩
谭民
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Shandong University
Shangdong University
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Shandong University
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Publication of CN100502181C publication Critical patent/CN100502181C/en
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Abstract

This invention is a robot walking automatically along 110kV transmitting wire and its operational method. It is composed of the robot reality, the control device, the sensor, the detecting device and wireless image transmitting device; the control device and the wireless image transmitting device are set in the control box in the middle of the robot reality, the position sensors are equipped at the terminals of every joint, the visual sensor CCD measuring the distance of sensors and obstacle is equipped in the front of every hand, the detecting device includes high speed vidicon and the hot imaging device connected to the robot reality through the platform. It can walk stably on the 110kV transmitting wire and automatically span all kinds of obstacles on the wire, and it replaces the human to patrol the transmitting wire and reduces the working amount of patrolling, and improves the working efficiency and detecting precision to assure the safe operation of the electric wire.

Description

Robot and method of work thereof along the autonomous walking of 110kV power transmission line
Technical field
The present invention relates to a kind of robot, particularly a kind of robot and method of work thereof along the autonomous walking of 110kV power transmission line.
Background technology
Electric power transfer must rely on ultra-high-tension power transmission line, and its safe and stable operation directly has influence on the reliability of electric power system, because the transmission line distribution is multi-point and wide-ranging, much is in away from cities and towns, and of living in a varied topography, natural environment is abominable.Power line and shaft tower annex long term exposure are in the open air, because of the influence of the mechanical tension that is continued, electric flashover, material aging produces disconnected strand, wearing and tearing, corrosion equivalent damage, change as untimely reparation, originally small breakage and defective just may enlarge, finally cause serious accident, cause large-area power-cuts, thereby cause great economic loss and serious social influence.So, must carry out the periodical inspection inspection to transmission line, grasp at any time and understand the ruuning situation of transmission line and the situation of change in circuit surrounding environment and route protection district, so that in time find and remove a hidden danger, power supply safety is guaranteed in trouble-saving generation.
Traditional safety inspection is called line walking, mainly comprises manpower line walking, vehicle line walking and helicopter line walking.Manpower line walking efficient is low, and labour intensity is big, also is subjected to great river, great river, the restriction of geographical conditions such as high mountain; The vehicle line walking is subjected to the restriction of traffic above-ground, and the vehicle line walking can't be realized in a lot of places; The expense of helicopter line walking is higher, is difficult to reach the tour precision that needs.Many at present employing manpowers are estimated or are observed the line walking work of finishing by telescope.
The fast development of Robotics for patrolling and examining of ultra-high-tension power transmission line provides new approach, makes and adopts robot to replace the manpower line walking to become possibility.
Summary of the invention
For overcoming the deficiencies in the prior art, the invention provides a kind of can be on the 110kV transmission line steadily walking, independently cross over various obstacles on the power transmission line, can replace manually carrying out transmission line line walking, alleviate power transmission line inspection workload, increase work efficiency and accuracy of detection, reach robot and the method for work thereof of guaranteeing the transmission line safe operation along the autonomous walking of 110kV power transmission line.
A kind of robot along the autonomous walking of 110kV power transmission line is made up of robot body, control device, transducer, checkout gear and wireless image transmission equipment; Control device and wireless image transmission equipment are installed in the middle control cabinet of robot body, position transducer is installed in the end of each joint motor of robot, the vision sensor CCD that distance measuring sensor and detection obstacle are used is installed in the place ahead of every hand, and checkout gear comprises that the clipping the ball video camera links to each other with robot body by The Cloud Terrace with thermal imaging system.
Described robot body is made up of control cabinet, front and back flexible arm, drive unit, brake gear, palm closing device, as shown in Figure 1.Before and after the flexible arm structure identical, be positioned at the control cabinet both sides and become symmetrical structure, the control cabinet top is an arm with Telescopic, former and later two flexible arms are connected on the control cabinet by the turbine and worm decelerator respectively; Every hand is made of two palms, and the palm closing device is installed in the wrist place, and drive unit and brake gear are installed on the palm.
Described front and back flexible arm is formed by shoulder joint, big arm, elbow joint, forearm, wrist joint and hand, and wherein preceding flexible arm as shown in Figure 2.Preceding shoulder joint is fixedlyed connected with control cabinet, on the shoulder joint, preceding big arm linked to each other by the preceding elbow joint that is made of motor-driven decelerator with preceding forearm before preceding big arm was connected, and preceding forearm links to each other with preceding wrist joint with remote holder, back flexible arm is identical with preceding flexible arm structure, as shown in Figure 1; Shoulder joint is made up of motor and accurate worm type of reduction gearing, horizontal rotating disc and vertical dial, and motor is connected with vertical dial with horizontal rotating disc by accurate worm type of reduction gearing.
Described drive unit comprises the identical back hand driving device of structure, preceding hand driving device and middle hand driving device, and each drive unit is made up of drive motors, bevel gear decelerator and driving wheel, and its structural representation as shown in Figure 3.Drive motors links to each other with the power transmission shaft of driving wheel by the bevel gear decelerator, and the input and output shaft of bevel gear is vertical relation, and drive unit is installed on the palm rest; Crossing over wire clamp, dangle and can open, realize that the driving wheel of crossing over is middle separate type during wire jumper, driving wheel adopts high strength, high resiliency, high coefficient of friction material.
Described brake gear comprises the identical back lever brake of structure, middle lever brake and preceding lever brake, and brake gear is installed on the palm rest, and this device is by the brake motor, and screw mechanism and slider-crank mechanism are formed, as shown in Figure 4.The brake motor directly links to each other with screw mechanism, and slider-crank mechanism is by a gear and screw mechanism engagement.
Described palm closing device is made up of screw mechanism and triangle force-increasing mechanism 26, shown in Fig. 4 the latter half.Drive motors is installed in the bottom of screw mechanism, and screw mechanism links to each other with the triangle force-increasing mechanism, and leg-of-mutton two hypotenuses are equipped with slide block respectively.
Described control device is installed in the middle control cabinet of robot body, is made up of management level, planning layer and execution level, and management level are connected by wireless channel with planning layer, and planning layer links to each other by the serial communication line with execution level (slave computer); Its overall structure block diagram as shown in Figure 5.Management level are made up of ground monitoring computer and wireless device, and the ground monitoring computer is formed with wireless device and is connected by order wire; Planning layer is by robot body master computer PC104 and image pick-up card, I/O card, sonac, CCD, clipping the ball video camera and infrared thermography are formed, sonac, CCD, clipping the ball video camera and infrared thermography are by image pick-up card, and the I/O card is connected with computer PC 104; Execution level (slave computer) is made up of single chip computer AT 89S52, the motor of being with encoder and driver module, limit switch, and motor is connected with single chip computer AT 89S52 by driver module, and limit switch is installed in two extreme position of lowering or hoisting gear and closing device.
In the described transducer, ultrasonic range finder sensor produces PID#615078-6500 with the U.S., and the vision sensor CCD of aid identification barrier type produces STC-635CC with Japan; The joint position transducer produces MAXON500 line 3 passages numeral MR encoder with Switzerland; The small-sized limit switch 1LS-J700 of extra long life.
Described checkout gear adopts HS-PT480C intelligent high-speed ball video camera and hermaCAM E2 thermal imaging system, all links to each other with robot body by The Cloud Terrace; The wireless image transmission equipment is installed in the middle control cabinet of robot body, and the antenna of wireless device stretches out outside the control cabinet; The wireless image transmission equipment is with homemade Transvideo 900 serial mobile wireless vision facilitiess.
Method of work along the autonomous robot of walking of 110kV power transmission line is as follows:
The first step: robot reaches the standard grade;
Second step: the ground monitoring computer sends the start control command, and robot body computer PC 104 is after receiving action command, and drive machines people walks along the power transmission line phase line;
The 3rd step: in the walking process, checkout gear constantly detects the situation of the place ahead barrier, the clipping the ball video camera is taken the operating state of circuit and robot body simultaneously, the image that photographed is real-time transmitted to the ground handling base station by wireless device, the ground handling base station judges to the situation of circuit whether decision is safeguarded circuit; Simultaneously the operating state of robot itself is monitored, whether decision is intervened the motion of robot;
The 4th step: when robot detected the place ahead stockbridge damper is arranged, because palm adopts hollow design, so robot need not to do any adjustment, directly ascends;
The 5th step: when detecting suspension clamp, robot stops walking, adjusts; At first, arm held upward is connected the drive motors of palm closing device then until the driving wheel off-line before making, and makes two palms separately, and its folding degree is greater than spread; Afterwards, connect the drive motors of two hands in back, robot is walked on, when middle hand during near suspension clamp, stop walking, regulate forearm, circuit is separated between the driving wheel two, and startup palm closing device closes up two palms and allows driving wheel hang on line; Hand in the middle of opening then, the drive motors of two hands walks on before and after connecting; When defensive position during near suspension clamp, stop walking, make defensive position embrace line, robot finishes the task of crossing over suspension clamp, continues to move ahead;
The 6th step: when detecting the straight line jumper clamp, the off-line of hand and embrace line method and the same during the leap suspension clamp; At first, the remote holder off-line is adjusted the forearm attitude and is made remote holder catch wire jumper, then, middle hand off-line, the drive motors of hand makes robot ambulation before and after starting; Middle hand stops walking during near jumper clamp, flexible arm before and after adjusting, and hand is caught wire jumper in the middle of making, and starts walking; When defensive position during, stop walking, the defensive position off-line near wire jumper; Walk on remote holder and middle hand drive robot, cross jumper clamp after, stop walking, adjust flexible arm, make defensive position catch wire jumper, finish the leap from the straight line to the wire jumper; Robot is identical with said process to the crossing method of straight line by wire jumper, owing to be a upward slope process, comes in order to make robot be unlikely to slide, and needs the apply the brakes device, behind the middle hand brake, after opening the remote holder remote holder and embracing line, opens brake gear again;
The 7th step: when detecting the turning wire jumper, the motion process place different with crossing over the straight line wire jumper be the attitude of flexible arm except adjustment up and down, also need horizontal adjusting, all the other are identical.
The present invention has reasonable in design, can on the 110kV transmission line, steadily walk, independently cross over the various obstacles on the power transmission line, replace the people to carry out the line walking work of transmission line, alleviate the workload of power transmission line inspection, the precision of increasing work efficiency and detecting reaches the outstanding feature of guaranteeing the transmission line safe operation.
Description of drawings
Fig. 1 body construction schematic diagram of the present invention.
Flexible arm structural representation among Fig. 2 the present invention.
Driving device structure schematic diagram among Fig. 3 the present invention.
Skidding and palm closing device structural representation among Fig. 4 the present invention.
Fig. 5 middle controller overall structure of the present invention block diagram.
Robot workflow diagram among Fig. 6 the present invention.
Wherein, 1, back hand driving device, 2, back lever brake, 3, middle hand driving device, 4, middle lever brake, 5, preceding hand driving device, 6, preceding lever brake, 7, back wrist joint, 8, back forearm, 9, back elbow joint, 10, the big arm in back, 11, back shoulder joint, 12, control cabinet, 13, preceding shoulder joint, 14, preceding big arm, 15, preceding elbow joint, 16, preceding forearm, 17, preceding wrist joint, 18, locker, 19, left side driving wheel half 20, right driving wheel half, 21, the bevel gear decelerator, 22, drive motors, 23, the abnormity brake block, 24, slider-crank mechanism, 25, the brake motor, 26, the triangle force-increasing mechanism, 27, power transmission line, 28, shoulder joint turbine and worm decelerator, 29, the brake gear screw mechanism, 30, the closing device screw mechanism.
Embodiment
Embodiment: structure of the present invention such as Fig. 1, Fig. 2, Fig. 3, Fig. 4 and shown in Figure 5, a kind of robot along the autonomous walking of 110kV power transmission line is made up of robot body, control device, transducer, checkout gear and wireless image transmission equipment; Control device and wireless image transmission equipment are installed in the middle control cabinet 12 of robot body, position transducer is installed in the end of each joint motor of robot, the vision sensor CCD that distance measuring sensor and detection obstacle are used is installed in the place ahead of every hand, and checkout gear comprises that video camera links to each other with robot body by The Cloud Terrace with thermal imaging system.
Described robot body is made up of control cabinet 12, front and back flexible arm, drive unit 1,3,5, brake gear 2,4,6, palm closing device, as shown in Figure 1.Before and after the flexible arm structure identical, be positioned at control cabinet 12 both sides and become symmetrical structure, control cabinet 12 tops are the arms with Telescopic, former and later two flexible arms are connected on the control cabinet 12 by shoulder joint turbine and worm decelerator 28 respectively; Every hand is made of two palms, and the palm closing device is installed in the wrist place, and drive unit 1,3,5 and brake gear 2,4,6 are installed on the palm.
Described front and back flexible arm is formed by shoulder joint 11,13, big arm 10,14, elbow joint 9,15, forearm 8,16, wrist joint 7,17 and hand, and wherein preceding flexible arm as shown in Figure 2.Preceding shoulder joint 13 is fixedlyed connected with control cabinet 12, preceding big arm 14 is connected on the preceding shoulder joint 13, preceding big arm 14 links to each other by the preceding elbow joint 15 that is made of motor-driven decelerator with preceding forearm 16, preceding forearm 16 links to each other with preceding wrist joint 17 with remote holder, back flexible arm is identical with preceding flexible arm structure, as shown in Figure 1; Shoulder joint is made up of motor and accurate worm type of reduction gearing, horizontal rotating disc and vertical dial, and motor is connected with vertical dial with horizontal rotating disc by accurate worm type of reduction gearing.
Described drive unit comprises the identical back hand driving device 1 of structure, preceding hand driving device 5 and middle hand driving device 3, and each drive unit is made up of drive motors 22, bevel gear decelerator 21 and driving wheel 19,20, and its structural representation as shown in Figure 3.Drive motors 22 links to each other with the power transmission shaft of driving wheel 19,20 by bevel gear decelerator 21, and the input and output shaft of bevel gear is vertical relation, and drive unit is installed on the palm rest; Crossing over wire clamp, dangle and can open, realize that the driving wheel of crossing over 19,20 is middle separate type during wire jumper, driving wheel 19,20 adopts high strength, high resiliency, high coefficient of friction material.
Described brake gear comprises the identical back lever brake 2 of structure, middle lever brake 4 and preceding lever brake 6, brake gear is installed on the palm rest, this device is by brake motor 25, and screw mechanism 29,30 and slider-crank mechanism 24 are formed, as shown in Figure 4.Brake motor 25 directly links to each other with screw mechanism 29,30, and slider-crank mechanism 24 is by a gear and screw mechanism 29,30 engagements.
Described palm closing device is made up of screw mechanism 29,30 and triangle force-increasing mechanism 26, shown in Fig. 4 the latter half.Drive motors 22 is installed in the bottom of brake gear screw mechanism 29, and closing device screw mechanism 30 links to each other with triangle force-increasing mechanism 26, and leg-of-mutton two hypotenuses are equipped with slide block respectively.
Described control device is installed in the middle control cabinet of robot body, is made up of management level, planning layer and execution level, and management level connect by wireless channel with planning layer, and planning layer links to each other by the serial communication line with execution level (slave computer); Its overall structure block diagram as shown in Figure 5.Management level are made up of ground monitoring computer and wireless device, and the ground monitoring computer is formed with wireless device and is connected by order wire; Planning layer is by robot body master computer PC104 and image pick-up card, I/O card, sonac, CCD, clipping the ball video camera and infrared thermography are formed, sonac, CCD, clipping the ball video camera and infrared thermography are by image pick-up card, and the I/O card is connected with computer PC 104; Execution level (slave computer) is made up of single chip computer AT 89S52, the motor of being with encoder and driver module, limit switch, and motor is connected with single chip computer AT 89S52 by driver module, and limit switch is installed in two extreme position of lowering or hoisting gear and closing device.
In the described transducer, ultrasonic range finder sensor produces PID#615078-6500 with the U.S., and the vision sensor CCD of aid identification barrier type produces STC-635CC with Japan; The joint position transducer produces MAXON with Switzerland
500 lines, 3 passages numeral MR encoder; The small-sized limit switch 1LS-J700 of extra long life.
Described checkout gear adopts HS-PT480C intelligent high-speed ball video camera and hermaCAM E2 thermal imaging system, all links to each other with robot body by The Cloud Terrace; The wireless image transmission equipment is installed in the middle control cabinet of robot body, and the antenna of wireless device stretches out outside the control cabinet; The wireless image transmission equipment is with homemade Transvideo 900 serial mobile wireless vision facilitiess.
Method of work along the autonomous robot of walking of 110kV power transmission line is as follows:
The first step: robot reaches the standard grade;
Second step: the ground monitoring computer sends the start control command, and robot body computer PC 104 is after receiving action command, and drive machines people walks along the power transmission line phase line;
The 3rd step: in the walking process, checkout gear constantly detects the situation of the place ahead barrier, the clipping the ball video camera is taken the operating state of circuit and robot body simultaneously, the image that photographed is real-time transmitted to the ground handling base station by wireless device, the ground handling base station judges to the situation of circuit whether decision is safeguarded circuit; Simultaneously the operating state of robot itself is monitored, whether decision is intervened the motion of robot;
The 4th step: when robot detected the place ahead stockbridge damper is arranged, because palm adopts hollow design, so robot need not to do any adjustment, directly ascends;
The 5th step: when detecting suspension clamp, robot stops walking, adjusts; At first, arm held upward is connected the drive motors of palm closing device then until the driving wheel off-line before making, and makes two palms separately, and its folding degree is greater than spread; Afterwards, connect the drive motors of two hands in back, robot is walked on, when middle hand during near suspension clamp, stop walking, regulate forearm, circuit is separated between the driving wheel two, and startup palm closing device closes up two palms and allows driving wheel hang on line; Hand in the middle of opening then, the drive motors of two hands walks on before and after connecting; When defensive position during near suspension clamp, stop walking, make defensive position embrace line, robot finishes the task of crossing over suspension clamp, continues to move ahead;
The 6th step: when detecting the straight line jumper clamp, the off-line of hand and embrace line method and the same during the leap suspension clamp; At first, the remote holder off-line is adjusted the forearm attitude and is made remote holder catch wire jumper, then, middle hand off-line, the drive motors of hand makes robot ambulation before and after starting; Middle hand stops walking during near jumper clamp, flexible arm before and after adjusting, and hand is caught wire jumper in the middle of making, and starts walking; When defensive position during, stop walking, the defensive position off-line near wire jumper; Walk on remote holder and middle hand drive robot, cross jumper clamp after, stop walking, adjust flexible arm, make defensive position catch wire jumper, finish the leap from the straight line to the wire jumper; Robot is identical with said process to the crossing method of straight line by wire jumper, owing to be a upward slope process, comes in order to make robot be unlikely to slide, and needs the apply the brakes device, behind the middle hand brake, after opening the remote holder remote holder and embracing line, opens brake gear again;
The 7th step: when detecting the turning wire jumper, the motion process place different with crossing over the straight line wire jumper be the attitude of flexible arm except adjustment up and down, also need horizontal adjusting, all the other are identical.

Claims (8)

1, a kind of robot along the autonomous walking of 110kV power transmission line is characterized in that robot is made up of robot body, control device, transducer, checkout gear and wireless image transmission equipment; Control device and wireless image transmission equipment are installed in the middle control cabinet of robot body, position transducer is installed in the end of each joint motor of robot, the vision sensor CCD that distance measuring sensor and detection obstacle are used is installed in the place ahead of back hand driving device, middle hand driving device and preceding hand driving device, checkout gear comprises clipping the ball video camera and thermal imaging system, and the clipping the ball video camera links to each other with robot body by The Cloud Terrace with thermal imaging system.
2, the robot along the autonomous walking of 110kV power transmission line as claimed in claim 1, it is characterized in that, described robot body is made up of control cabinet, front and back flexible arm, drive unit, brake gear, palm closing device, before and after the flexible arm structure identical, be positioned at the control cabinet both sides and become symmetrical structure, the control cabinet top is an arm with Telescopic, former and later two flexible arms are connected on the control cabinet by the turbine and worm decelerator respectively; Every hand is made of two palms, and the palm closing device is installed in the wrist place, and drive unit and brake gear are installed on the palm.
3, robot along the autonomous walking of 110kV power transmission line as claimed in claim 2, it is characterized in that, described front and back flexible arm is by shoulder joint, big arm, elbow joint; forearm; wrist joint and hand are formed; preceding shoulder joint is fixedlyed connected with control cabinet; preceding big arm is connected on the preceding shoulder joint; preceding big arm links to each other by the preceding elbow joint that is made of motor-driven decelerator with preceding forearm; preceding forearm links to each other with preceding wrist joint with remote holder; the back flexible arm is identical with preceding flexible arm structure; shoulder joint is by motor and accurate worm type of reduction gearing; horizontal rotating disc and vertical dial are formed, and motor is connected with vertical dial with horizontal rotating disc by accurate worm type of reduction gearing.
4, the robot along the autonomous walking of 110kV power transmission line as claimed in claim 2, it is characterized in that, described drive unit comprises the identical back hand driving device of structure, preceding hand driving device and middle hand driving device, each drive unit is made up of drive motors, bevel gear decelerator and driving wheel, drive motors links to each other with the power transmission shaft of driving wheel by the bevel gear decelerator, the input and output shaft of bevel gear is vertical relation, and drive unit is installed on the palm rest; Crossing over wire clamp, dangling and can open, realize that the driving wheel of crossing over is middle separate type during wire jumper.
5, the robot along the autonomous walking of 110kV power transmission line as claimed in claim 2, it is characterized in that, described brake gear comprises the identical back lever brake of structure, middle lever brake and preceding lever brake, brake gear is installed on the palm rest, this device is by the brake motor, screw mechanism and slider-crank mechanism are formed, and the brake motor directly links to each other with screw mechanism, and slider-crank mechanism is by a gear and screw mechanism engagement.
6, the robot along the autonomous walking of 110kV power transmission line as claimed in claim 2, it is characterized in that, described palm closing device is made up of screw mechanism and triangle force-increasing mechanism (26), drive motors is installed in the bottom of screw mechanism, screw mechanism links to each other with the triangle force-increasing mechanism, and leg-of-mutton two hypotenuses are equipped with slide block respectively.
7, the robot along the autonomous walking of 110kV power transmission line as claimed in claim 1, it is characterized in that, described control device is installed in the middle control cabinet of robot body, form by management level, planning layer and execution level, management level are connected by wireless channel with planning layer, and planning layer links to each other by the serial communication line with execution level; Management level are made up of ground monitoring computer and wireless device, and the ground monitoring computer is formed with wireless device and is connected by order wire; Planning layer is by robot body master computer PC104 and image pick-up card, I/O card, sonac, CCD, clipping the ball video camera and infrared thermography are formed, sonac, CCD, clipping the ball video camera and infrared thermography are by image pick-up card, and the I/O card is connected with computer PC 104; Execution level is made up of single chip computer AT 89S52, the motor of being with encoder and driver module, limit switch, and motor is connected with single chip computer AT 89S52 by driver module, and limit switch is installed in two extreme position of lowering or hoisting gear and closing device.
8, the method for work along the autonomous robot of walking of 110kV power transmission line as claimed in claim 1 is characterized in that method of work is as follows:
The first step: robot reaches the standard grade;
Second step: the ground monitoring computer sends the start control command, and robot body computer PC 104 is after receiving action command, and drive machines people walks along the power transmission line phase line;
The 3rd step: in the walking process, checkout gear constantly detects the situation of the place ahead barrier, the clipping the ball video camera is taken the operating state of circuit and robot body simultaneously, the image that photographed is real-time transmitted to the ground handling base station by wireless device, the ground handling base station judges to the situation of circuit whether decision is safeguarded circuit; Simultaneously the operating state of robot itself is monitored, whether decision is intervened the motion of robot;
The 4th step: when robot detected the place ahead stockbridge damper is arranged, because palm adopts hollow design, so robot need not to do any adjustment, directly ascends;
The 5th step: when detecting suspension clamp, robot stops walking, adjusts; At first, arm held upward is connected the drive motors of palm closing device then until the driving wheel off-line before making, and makes two palms separately, and its folding degree is greater than spread; Afterwards, connect the drive motors of two hands in back, robot is walked on, when middle hand during near suspension clamp, stop walking, regulate forearm, circuit is separated between the driving wheel two, and startup palm closing device closes up two palms and allows driving wheel hang on line; Hand in the middle of opening then, the drive motors of two hands walks on before and after connecting; When defensive position during near suspension clamp, stop walking, make defensive position embrace line, robot finishes the task of crossing over suspension clamp, continues to move ahead;
The 6th step: when detecting the straight line jumper clamp, the off-line of hand and embrace line method and the same during the leap suspension clamp; At first, the remote holder off-line is adjusted the forearm attitude and is made remote holder catch wire jumper, then, middle hand off-line, the drive motors of hand makes robot ambulation before and after starting; Middle hand stops walking during near jumper clamp, flexible arm before and after adjusting, and hand is caught wire jumper in the middle of making, and starts walking; When defensive position during, stop walking, the defensive position off-line near wire jumper; Walk on remote holder and middle hand drive robot, cross jumper clamp after, stop walking, adjust flexible arm, make defensive position catch wire jumper, finish the leap from the straight line to the wire jumper; Robot is identical with said process to the crossing method of straight line by wire jumper, owing to be a upward slope process, comes in order to make robot be unlikely to slide, and needs the apply the brakes device, behind the middle hand brake, after opening the remote holder remote holder and embracing line, opens brake gear again;
The 7th step: when detecting the turning wire jumper, the motion process place different with crossing over the straight line wire jumper be the attitude of flexible arm except adjustment up and down, also need horizontal adjusting, all the other are identical.
CNB2005100425695A 2005-03-18 2005-03-18 Robot of autonomous moving along 110KV transmission line and its working method Expired - Fee Related CN100502181C (en)

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