CN101168254A - Swinging arm type transmission line polling robot - Google Patents

Swinging arm type transmission line polling robot Download PDF

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Publication number
CN101168254A
CN101168254A CNA2006101175085A CN200610117508A CN101168254A CN 101168254 A CN101168254 A CN 101168254A CN A2006101175085 A CNA2006101175085 A CN A2006101175085A CN 200610117508 A CN200610117508 A CN 200610117508A CN 101168254 A CN101168254 A CN 101168254A
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CN
China
Prior art keywords
robot
transmission line
arm
power transmission
guide rail
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CNA2006101175085A
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Chinese (zh)
Inventor
张国贤
金健
张廷羽
吴白羽
古丰元
游锋
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SHANGHAI QIUSHI ROBOT CO Ltd
Original Assignee
SHANGHAI QIUSHI ROBOT CO Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SHANGHAI QIUSHI ROBOT CO Ltd filed Critical SHANGHAI QIUSHI ROBOT CO Ltd
Priority to CNA2006101175085A priority Critical patent/CN101168254A/en
Publication of CN101168254A publication Critical patent/CN101168254A/en
Pending legal-status Critical Current

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Abstract

Provided is a robot used to ride on power transmission lines or climb between power transmission steel towers, comprising a pair of mechanical arms. The upper ends of the mechanical arms are equipped with a clamping device which is capable of rotating around a mounting shaft, and the clamping device is provided with a gripping jaw which is capable of clamping a strain tower angle-bar and directing lines, and a roller which can be hung on the directing lines. Lower ends of the mechanical arms are installed on a slipway which can relatively slide along a guide rail, arms are capable of rotating around the mounting shaft and can do swaying movement, a control and driving unit is installed in an electric box which is arranged at the bottom portion of a hanger and the slipway, and the control and driving unit can slide along the guide rail, playing a key role in regulating the center-of-gravity position of the robot. The invention is compact in structure, the articulated linkwork is capable of accomplishing complex operation among different vertical planes, and the invention can climb over all structural forms of steel towers and has wide using range, being capable of realizing the automatic inspection on the full power transmission lines and replacing human workers.

Description

Swinging arm type transmission line polling robot
Technical field
The present invention is a kind of high voltage transmission line automatic polling robot device, belongs to the Robotics field.
Background technology
Transmission line of electricity is the important component part of high-voltage fence, for guaranteeing its security and stability in running, need the regular work of patrolling and examining of carrying out, generally adopt manual inspection at present, patrol and examine inefficiency, dangerous high, its accuracy also is difficult to guarantee, if transmission line of electricity is located in some special geographical environment and then is difficult to carry out the work of patrolling and examining, has certain hidden danger.Therefore, need exploitation a kind ofly to have certain versatility, can replace the robot that manually can patrol and examine automatically,, guarantee the safe operation of transmission line of electricity in the hope of increasing work efficiency.In order to realize patrolling and examining fully automatically, robot also wants the barriers such as stockbridge damper, insulator, anchor support on can span line except the function that has road along the line and slide.Because the pylon of carrying ultra-high-tension power transmission line is various informative, designs the robot that can cross over all kinds of pylons and be stranded energy more in addition, this requires robot to have multiple degrees of freedom, and flexible movements.
Summary of the invention
The present invention aims to provide a kind of universal power transmission line crusing robot, it can travel along power transmission line, under no external force helps voluntarily on the span line as stockbridge damper, insulator at interior various barriers, and can utilize its clamping device, in conjunction with the motion in each joint, climb to the other end from an end of electric power line steel tower.Do not need artificial livewire work, can save human cost greatly, and saved the time that power transmission line is patrolled and examined, improved efficient, ensured the operation that transmission system is safe and reliable.
For reaching above purpose, technical scheme of the present invention is:
Design a kind of robot that is used for polling transmission line, comprise a pair of mechanical arm structure, the lower end of mechanical arm is bound up on can be along on the slide unit of guide rail slip, a clamping device is equipped with in the upper end of arm, but the driving wheel that can be suspended on the lead and can cleat angle and the multipurpose jaw of lead is housed in the clamping device.
The robot body of described polling transmission line, drive unit is housed in arm structure, can make arm carry out wobbling action, arm adopts parallelogram formula quadric chain, can keep arm in the oscillating motion process, the attitude of upper end clamping device remains unchanged, so that the independent control of attitude.Can be and between arm and clamping device, adopt around the pitching articulation of single axle rotation, the rotation in joint can be adjusted the attitude of clamping device independently.
The robot of described polling transmission line, its arm lower end and slide unit are with connecting around the cradle head that vertical axis is rotated, drive unit is placed in the slide unit, move with slide unit, two slide units are placed in the both sides of carriage rail width respectively, and can rely on drive unit separately to make relative sliding motion in the screw mandrel stroke range along carriage rail.
The robot of described polling transmission line, its power supply, driving governor and infrared detection system etc. are installed in the electric appliance box, electric appliance box is suspended on the below of frame guide rail, can do sliding motion along frame guide rail by drive unit, in the built on stilts operation process of robot, the slip of electric appliance box can be played the balanced action of the center of gravity of regulating robot.
Robot of the present invention has a plurality of frees degree, can carry out multiple-freedom linking control, can realize the various complex operations between the different vertical plane, obstacle climbing ability is strong, can satisfy under the situation that no external force is intervened, can not only cross over automatically may run into when on power transmission line, patrolling and examining as barriers such as insulator, stockbridge dampers, and can utilize its multipurpose jaw to climb various electric power line steel towers, be a kind of universal power transmission line crusing robot.This robot arm also can slide along guide rail except having rotation and swing function relatively, extends the arm job area.Utilize this robot, it is high to solve the degree of accuracy that manual inspection brings, and inefficiency is subjected to problems such as weather and geographical environment restriction.
Description of drawings
Accompanying drawing 1-6 is the structural representation of one embodiment of the invention.
The specific embodiment
1-6 with reference to the accompanying drawings illustrates that the embodiment of swinging arm type transmission line automatic crusing robot structure is as follows:
Power transmission line crusing robot of the present invention comprises a pair of arm 9, clamping device 10 is equipped with in arm 9 upper ends, this device comprises roller 12 that can hang on the power transmission line and the multipurpose jaw 2 that can firmly grasp angle steel and power transmission line, the lower end of arm is connected can be along on the slide unit 8 of guide rail slip, arm also can rotate around connecting axle in the vertical plane; forearm respectively has 3 frees degree, and arm and clamping device junction comprise the pitching joint of an energy around single axle rotation.
In the clamping device 10, jaw drive motors 1 drives screw mandrel-rack and wheel and rotates, and realizes unclamping and clamping of jaw.Roller 12 directly drives by roller drive motors 11.
In the arm 9, arm connecting rod 18, stopper 20 is connected with arm base 19 by connecting axle 25 lower ends, the upper end is connected with arm upper bracket 27, one end of arm screw mandrel 21 also is connected with the arm base by connecting axle 25, a pair of arm gear 22 is installed on the arm gear support 23, and arm gear support 23 is connected with stopper 20 by short connecting axle 24.The arms swing drive motors drives arm gear 22 and rotates, thereby drive arm bearing 23 and move up and down along arm screw mandrel 21, because arm bearing 23 and stopper 20 annexations, arm bearing 23 has caused that in the change of arm screw mandrel 21 relative positions stopper 20 rotates around the connecting axle 25 of itself and arm base 19, thereby produces the oscillating motion of arm.
In the slide unit 8, arm sliding screw 28 and electric appliance box sliding screw 32 all are installed on the guide rail 30, drive by slide unit pan drive motor 3 and electric appliance box pan drive motor 5 respectively, arm base 19 links to each other with the output shaft of the worm gear case 34 of rolling over, the drive motors 7 of rolling over rotates around vertical axes by turbine box 34 control arms, arm bearing 29 is cemented on the arm slide 33 with worm gear case 34, and the drive motors 7 of rolling over, worm gear case 34, arm bearing 29 and arm slide 33 have been formed the transmission system of slide unit 8.Independent or the interlock control by three DC servo motors respectively of two arm slides and electric appliance box slide is to reach expansion robot arm scope of activities.
Robot of the present invention major function is in the high-altitude transmission line of electricity to be patrolled and examined, and its typical action process is as follows:
When robot at power transmission line sagging and mild up section on when travelling, its attitude is (electric appliance box 4 is positioned at the centre of frame guide rail 6) as shown in Figure 1, jaw 2 place's releasing orientations, a pair of roller 12 that hangs on the power transmission line advances fast under the driving of DC servo motor 11 or retreats.
Electrolevel in electric appliance box 4 perceives robot and has been in the power transmission line abrupt slope during the ascent stage, and electric appliance box 4 built-in computers can send the instruction of switching the artificial operation mode of machine, promptly change the climbing progression into by the rolling mode of travelling.It is motionless that jaw is firmly grasped power transmission line, the jaw of another hand still is in releasing orientation, and Wrist mechanism 13, the controls that link such as swinging arm 9 and arm translation slide 8, so that this paw moves forward along power transmission line, draw close with the jaw that another and power transmission line clamp, then this jaw is clamped, and the jaw that will clamp originally unclamps, again by Wrist mechanism 13, the controls that link such as swinging arm 9 and arm translation slide 8, so that this paw moves forward along power transmission line, the distance of the jaw that clamps with another and power transmission line constantly enlarges to maximum position, clamps the jaw that unclamped originally then, unclamp the jaw of original clamping, finished once climbing.So go round and begin again, robot is advanced on one step of power transmission line abrupt slope ascent stage previous step ground.Fig. 4 has represented the attitude of robot in the climbing process.
When damper on the power transmission line is crossed by robot, during barriers such as strain insulator folder, at first adopt above-mentioned motion mode to make two jaws draw close as far as possible and be in the rear end of frame guide rail 6, clamp wherein jaw then, the jaw that swing mechanism by arm 9 will unclamp upwards promotes, make roller 12 and jaw 2 break away from power transmission line, drive the rotating mechanism of swinging arm 9 again, make clip claw mechanism turn over 180 degree, driving this arm by motor 3 then moves forward to cross the damper on the power transmission line along the body guide rail, barriers such as strain insulator folder, drive the rotating mechanism of swinging arm 9 again, make clip claw mechanism turn over 180 degree, swing mechanism by arm 9 descends this jaw downwards then, roller 14 and paw 12 are suspended on the power transmission line again, clamp this paw again.Unclamp the another jaw then, swing mechanism by arm 9 upwards promotes this jaw, make roller 12 and jaw 2 break away from power transmission line, drive the rotating mechanism of swinging arm 9 again, make clip claw mechanism turn over 180 degree, driving this arm by motor 3 then moves forward along the body guide rail, thereby make second arm also cross damper on the power transmission line, barriers such as strain insulator folder, drive the rotating mechanism of swinging arm 9 again, make clip claw mechanism turn over 180 degree, the swing mechanism by arm 9 descends this paw downwards then, makes roller 12 and jaw 2 be suspended on the power transmission line again, clamp this paw again, finished a robot obstacle detouring operation.In aforesaid operations, owing to adopted the parallelogram oscillating arm mechanisms, the attitude of jaw can not change in the arms swing up downward process, has simplified operating procedure.
When iron tower is crossed by robot, at first will clamp power transmission line near the jaw of barrier and become stiff end, along the parallel mobile of frame guide rail the robot center of gravity is adjusted to the fixing arm end with electric appliance box 4 by swinging arm 9, interlock control by arm 9 rotations and swing elevating function makes another arm of robot move towards iron tower below angle bar direction then, as shown in Figure 6.Enter new vertical and elevation plane, each mechanism freedom of integrated use robot finds new extracting point and firmly grasps, and unclamp former fixing arm this moment, uses same principle to seek new extracting point once more, carry out so repeatedly up to crossing whole pylon, climb outstanding to the power transmission line of pylon opposite side.Cross in the process at pylon, it is condition with electric appliance box 4, frame guide rail 6 and another 9 pairs of fixing arm places of movable arm resultant moment minimum that the interior two-way electrolevel of electric appliance box and the real-time detection and the closed-loop control----of each drive motors drive current are arranged, the decision electric appliance box is along the position on the rail length direction, adjusting robot position of centre of gravity is positioned at the flat clamping of paw, prevent that robot from turning on one's side when arm vertical axis rotates, reduce torsional moment reduction power consumption to the full extent.
The iron tower that has various different types of structure on same transmission line of electricity, but the succession that they are in this circuit is known, thereby can be by the mode of robot teaching study, robot manipulation's rules of crossing the iron tower of various different types of structure are left in the computer, when robot patrols and examines on this transmission line of electricity, only need mode by the iron tower counting, call the corresponding robot manipulation's rules that leave in the computer one by one and operate, in operating process, need only and finely tune according to the sensor real measured data.

Claims (5)

1. transmission line polling robot, can realize comprising travelling and patrol and examine, cross over barrier on the vehicle line, cross over function such as electric power line steel tower along ultra-high-tension power transmission line, it is characterized in that comprising clamping device, can be along the relative establishment formations such as electric appliance box of sliding and can do the mechanical arm structure of wobbling action and can slide, be equipped with power supply and electric control unit of guide rail along guide rail.
2. robot according to claim 1, it is characterized in that two arms are installed on the slide unit, rotating drive motor on the slide unit makes arm to rotate around vertical axes, and slide unit links to each other with guide rail, and does horizontal direction by driven in translation motor driving arm along guide rail and slide.
3. robot according to claim 1 and 2, device of rotation driving is housed in the mechanical arm mechanism, can makes the mechanical arm band clamping device and do oscillating motion, in the mechanical arm upper end device of rotation driving is housed in addition, make clamping device also can rotate, realize the adjustment of wrist attitude around coupking shaft.
4. according to claim 1 or 2 or 3 described robots, but it is characterized in that being equipped with in the clamping device multipurpose jaw of cleat angle or lead, and the roller that CD-ROM drive motor is housed, can be suspended on the power transmission line and rolls along power transmission line.
5. according to the described robot of claim 1 to 4, the control module of drive unit and power supply all are installed in the electric appliance box, and electric appliance box itself can slide along guide rail.The outer surface of electric appliance box and robot body all scribbles the high pressure resistant insulation material.
CNA2006101175085A 2006-10-25 2006-10-25 Swinging arm type transmission line polling robot Pending CN101168254A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CNA2006101175085A CN101168254A (en) 2006-10-25 2006-10-25 Swinging arm type transmission line polling robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CNA2006101175085A CN101168254A (en) 2006-10-25 2006-10-25 Swinging arm type transmission line polling robot

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CN101168254A true CN101168254A (en) 2008-04-30

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Cited By (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101859990A (en) * 2010-06-02 2010-10-13 武汉大学 Robot for polling transmission line
CN102059704A (en) * 2010-10-08 2011-05-18 四川大学 Novel iron tower climbing robot manipulator device
CN102136696A (en) * 2010-12-30 2011-07-27 中国电力科学研究院 Transmission line patrolling or deicing robot
CN101695835B (en) * 2009-10-29 2012-05-09 哈尔滨工程大学 Intelligent turn-over type climbing robot
CN102039590B (en) * 2009-10-13 2012-07-25 中国科学院沈阳自动化研究所 Double-arm four-wheel polling robot mechanism
CN102632505A (en) * 2012-04-23 2012-08-15 哈尔滨工程大学 Clamping type integral shrinking and overturning climbing robot
CN102709859A (en) * 2012-05-30 2012-10-03 哈尔滨工程大学 Deicing robot for transmission line
CN102873676A (en) * 2012-09-13 2013-01-16 上海大学 Novel metamorphic mechanism
CN103318285A (en) * 2012-03-21 2013-09-25 天津市威风科技发展有限公司 Remote sensing robot for overhead electric power wiring
WO2014086086A1 (en) * 2012-12-05 2014-06-12 国网山东省电力公司电力科学研究院 Inspection robot platform of 500kv split conductors
CN104029205A (en) * 2014-06-06 2014-09-10 上海瑞猫自动化控制技术有限公司 System for adjusting torque required by robot driving device
CN104408786A (en) * 2014-12-15 2015-03-11 国网冀北电力有限公司廊坊供电公司 Inspection equipment
CN104608112A (en) * 2014-12-03 2015-05-13 上海交通大学 Power line inspection robot and obstacle surmounting method thereof
CN104626155A (en) * 2014-12-25 2015-05-20 哈尔滨工程大学 Pneumatic type clamping turnover robot
CN104909294A (en) * 2015-06-03 2015-09-16 广东电网有限责任公司电力科学研究院 Hoisting device applied to automatic loading and unloading of overhead high-voltage transmission line inspection robot
CN105207158A (en) * 2015-09-07 2015-12-30 湖南大学 High-voltage electric wire deicing robot
CN105364925A (en) * 2015-11-25 2016-03-02 长春理工大学 Servo driving-based high-voltage electricity transmission line patrol and operation robot arm
CN106193640A (en) * 2016-07-13 2016-12-07 国家电网公司 A kind of steel tower inspecting robot and method of work thereof
CN106476547A (en) * 2016-12-15 2017-03-08 济南舜风科技有限公司 One kind can flight formula power circuit walking operation robot and its method
CN108512119A (en) * 2018-05-17 2018-09-07 安徽工业大学 A kind of HV Transmission Line Routing Inspection robot
CN109167297A (en) * 2018-10-09 2019-01-08 华北电力大学(保定) A kind of high stability high pressure inspection mobile robot device
CN110605738A (en) * 2019-08-16 2019-12-24 中国南方电网有限责任公司超高压输电公司曲靖局 Anti-seismic device of valve hall infrared inspection robot

Cited By (32)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102039590B (en) * 2009-10-13 2012-07-25 中国科学院沈阳自动化研究所 Double-arm four-wheel polling robot mechanism
CN101695835B (en) * 2009-10-29 2012-05-09 哈尔滨工程大学 Intelligent turn-over type climbing robot
CN101859990B (en) * 2010-06-02 2012-07-25 武汉大学 Robot for polling transmission line
CN101859990A (en) * 2010-06-02 2010-10-13 武汉大学 Robot for polling transmission line
CN102059704B (en) * 2010-10-08 2012-07-25 四川大学 Novel iron tower climbing robot manipulator device
CN102059704A (en) * 2010-10-08 2011-05-18 四川大学 Novel iron tower climbing robot manipulator device
CN102136696A (en) * 2010-12-30 2011-07-27 中国电力科学研究院 Transmission line patrolling or deicing robot
CN102136696B (en) * 2010-12-30 2015-09-23 中国电力科学研究院 A kind of polling transmission line or deicing robot
CN103318285A (en) * 2012-03-21 2013-09-25 天津市威风科技发展有限公司 Remote sensing robot for overhead electric power wiring
CN102632505A (en) * 2012-04-23 2012-08-15 哈尔滨工程大学 Clamping type integral shrinking and overturning climbing robot
CN102709859A (en) * 2012-05-30 2012-10-03 哈尔滨工程大学 Deicing robot for transmission line
CN102709859B (en) * 2012-05-30 2014-12-03 哈尔滨工程大学 Deicing robot for transmission line
CN102873676B (en) * 2012-09-13 2015-07-29 上海大学 Novel metamorphic mechanism
CN102873676A (en) * 2012-09-13 2013-01-16 上海大学 Novel metamorphic mechanism
WO2014086086A1 (en) * 2012-12-05 2014-06-12 国网山东省电力公司电力科学研究院 Inspection robot platform of 500kv split conductors
CN104029205A (en) * 2014-06-06 2014-09-10 上海瑞猫自动化控制技术有限公司 System for adjusting torque required by robot driving device
CN104029205B (en) * 2014-06-06 2016-12-07 上海弈猫科技有限公司 A kind of system regulating robot driving device required torque
CN104608112A (en) * 2014-12-03 2015-05-13 上海交通大学 Power line inspection robot and obstacle surmounting method thereof
CN104408786A (en) * 2014-12-15 2015-03-11 国网冀北电力有限公司廊坊供电公司 Inspection equipment
CN104626155A (en) * 2014-12-25 2015-05-20 哈尔滨工程大学 Pneumatic type clamping turnover robot
CN104909294A (en) * 2015-06-03 2015-09-16 广东电网有限责任公司电力科学研究院 Hoisting device applied to automatic loading and unloading of overhead high-voltage transmission line inspection robot
CN104909294B (en) * 2015-06-03 2017-02-22 广东电网有限责任公司电力科学研究院 Hoisting device applied to automatic loading and unloading of overhead high-voltage transmission line inspection robot
CN105207158A (en) * 2015-09-07 2015-12-30 湖南大学 High-voltage electric wire deicing robot
CN105364925A (en) * 2015-11-25 2016-03-02 长春理工大学 Servo driving-based high-voltage electricity transmission line patrol and operation robot arm
CN106193640A (en) * 2016-07-13 2016-12-07 国家电网公司 A kind of steel tower inspecting robot and method of work thereof
CN106193640B (en) * 2016-07-13 2018-10-02 合肥龙图腾信息技术有限公司 A kind of steel tower inspecting robot and its working method
CN106476547A (en) * 2016-12-15 2017-03-08 济南舜风科技有限公司 One kind can flight formula power circuit walking operation robot and its method
CN106476547B (en) * 2016-12-15 2019-07-09 济南舜风科技有限公司 One kind can flight formula power circuit walking operation robot and its method
CN108512119A (en) * 2018-05-17 2018-09-07 安徽工业大学 A kind of HV Transmission Line Routing Inspection robot
CN109167297A (en) * 2018-10-09 2019-01-08 华北电力大学(保定) A kind of high stability high pressure inspection mobile robot device
CN110605738A (en) * 2019-08-16 2019-12-24 中国南方电网有限责任公司超高压输电公司曲靖局 Anti-seismic device of valve hall infrared inspection robot
CN110605738B (en) * 2019-08-16 2021-06-25 中国南方电网有限责任公司超高压输电公司曲靖局 Anti-seismic device of valve hall infrared inspection robot

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