CN101471547B - Mechanism for releasing patrolling robot fault - Google Patents
Mechanism for releasing patrolling robot fault Download PDFInfo
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- CN101471547B CN101471547B CN2007101592143A CN200710159214A CN101471547B CN 101471547 B CN101471547 B CN 101471547B CN 2007101592143 A CN2007101592143 A CN 2007101592143A CN 200710159214 A CN200710159214 A CN 200710159214A CN 101471547 B CN101471547 B CN 101471547B
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Abstract
An inspection robot fault releasing mechanism, which belongs to the technical field of mobile robot, comprises a suspension device, a hook, lifting devices, transmission devices, a lifting motor and a line releasing device, wherein the suspension device is suspended on a line, the upper end thereof is connected with a robot walking and clamping mechanism, and the other end is connected with the hook through a revolute pair; the hook is arranged opposite to two hook openings of a draw hook in the lifting device; the hook is connected with the lifting devices when a fault occurs, and one of the lifting devices is connected with the output shaft of the lifting motor through the first transmission device and then connected with the other lifting device through the second transmision device; the line releasing device is connected with the lower end of the suspension device and is provided with safety rope therein so as to release the safety rope when the fault occurs. The robot can be lifted and lowered according to the principle of fixed pulley so as to obviate the risk caused by manually taking the robot. The inspection robot fault releasing mechanism has the advantages of simple structure and wide application range, and can be arranged on inspection robot mechanisms on high-voltage and ultra-high-voltage power lines and telephone lines.
Description
Technical field
The invention belongs to the mobile robot technology field, particularly relate to a kind of mechanism for releasing patrolling robot fault.
Background technology
Transmission line is the main artery of electric power system, and its stable operation directly has influence on the reliability of electric power system, must drop into the work of patrolling and examining that lot of manpower and material resources removes to carry out circuit.Generally adopt the manual inspection method that transmission line is patrolled and examined at present, substitute the people circuit is patrolled and examined but many research institutions have developed inspection robot.These inspection robots can be along transmission line or overhead ground wire walking, also can cross over the barrier on the transmission line, when but the inspection robot that all these are developed is patrolled and examined on transmission line or overhead ground wire, in case when breaking down, robot is parked on transmission line or the overhead ground wire, and the terrestrial operation personnel can't operate, and robot can not come to ground up and down from circuit automatically, can only make coaster by the ground staff and reach the standard grade and take off robot, so that maintenance.Transmission line that has or overhead ground wire do not allow people's operation of reaching the standard grade, even and the people climbs up charged transmission line, danger is very big, be easy to occur security incident, therefore, in the time of should avoiding using this breaking down, charged the reaching the standard grade of people taken off the method for robot as far as possible, do not need the people to reach the standard grade when being necessary to design a kind of breaking down, the fault relieving mechanism that just can take off robot discharges the mobile robot and rolls off the production line.
Summary of the invention
There is not lower thread mechanism for overcoming above-mentioned crusing robot, can not be automatically when breaking down from circuit up and down to ground, needing the people to reach the standard grade takes off, to personal safety threaten big wait not enough, the invention provides a kind of little to the personal safety menace, need not a kind of mechanism for releasing patrolling robot fault that the people reaches the standard grade and just robot can be discharged from line when breaking down.
Technical scheme of the present invention: comprise suspension arrangement, hook, lowering or hoisting gear, transmission device, lifting motor and coil inserting apparatus, suspension arrangement is hung on the circuit, the upper end is connected with the walking clipping mechanism of robot, the lower end is connected with hook by revolute pair, drag hook two mouths of hook are being oppositely arranged on the orientation up and down in hook and the lowering or hoisting gear, when breaking down, hook is connected with lowering or hoisting gear, one of them lowering or hoisting gear is connected with the lifting motor output shaft by first transmission device, and be connected with another lowering or hoisting gear by second transmission device, coil inserting apparatus is connected the suspension arrangement lower end, and built-in releasable rescue rope discharges the rescue rope when breaking down.
Described suspension arrangement comprises spring, side plate and roller bearing, the roller bearing axis normal is installed in circuit, lie in a horizontal plane in circuit directly over, the roller bearing two ends by revolute pair each be connected with a side plate, circuit is folded between two side plates, and side plate is connected with walking clipping mechanism by spring.Described lowering or hoisting gear comprises drag hook and support, and drag hook and support are the nut screw auxiliary structure.Described first transmission device is with synchronously by first driven pulley, first and driving pulley constitutes, and first driven pulley is coaxial with a lowering or hoisting gear medium-height trestle, is with driving pulley synchronously by first to be installed together, and driving pulley links to each other with the lifting motor output shaft.Described second transmission device is with synchronously by second driven pulley, second and the 3rd driven pulley constitutes, second driven pulley and first driven pulley are coaxial, be installed together with the 3rd driven pulley by the second synchronous band, the 3rd driven pulley is coaxial with the support of another lowering or hoisting gear.Described coil inserting apparatus comprises pulley base, fixed pulley, rescue rope, rope roll, opens a motor and motor mount, the pulley base that fixed pulley is installed is connected the suspension arrangement lower end, rescue rope one end is fixed on the casing, the other end places the rope roll that is installed in bottom half by fixed pulley, and the cover of rope roll links to each other with the motor output shaft of opening on the motor mount by the nut screw pair.
The present invention has following advantage:
1. fault release function is arranged.When the present invention breaks down at inspection robot, the paw of robot can be lifted to the circuit top from circuit, the back that rotates to an angle just can discharge robot rolls off the production line, and has avoided the people to reach the standard grade and has got the danger that robot brings.
2. in light weight.The present invention utilizes the lifting of fixed pulley principle, transfers robot, and is simple in structure, the needs that are fit to field work and roll off the production line.
3. simple to operate.The present invention utilizes the fixed pulley operation principle, adopts automatically and the working method that manually combines, and only needs the ground handling personnel to pull the rescue rope on ground and robot be need not the people under the transmission line release reaches the standard grade, and is simple and convenient.
4. energy consumption is low.The degree of freedom of fault relieving mechanism of the present invention is few, and used number of motors is also few, thereby saves energy.
5. applied range.The present invention can be installed on the inspection robot mechanism of high pressure, extra high voltage network and telephone line, and robot is rolled off the production line.
Description of drawings
Fig. 1 is a front view of the present invention.
Fig. 2 is the vertical view of Fig. 1.
Fig. 3 is the left view of Fig. 1.
Embodiment
Below in conjunction with drawings and Examples the present invention is described in further detail.
Embodiment:
As Fig. 1, Fig. 2, shown in Figure 3, the present invention includes suspension arrangement, hook 4, lowering or hoisting gear, transmission device, lifting motor 11 and coil inserting apparatus, suspension arrangement is hung on the circuit 8, its upper end is connected with the walking clipping mechanism 7 of robot, the lower end is connected with hook 4 by a revolute pair of being made up of bearing, 5 liang of mouths of hook of drag hook are being oppositely arranged on the orientation up and down in hook 4 and the lowering or hoisting gear, when breaking down, linking up with 4 two ends is connected with lowering or hoisting gear respectively, one of them lowering or hoisting gear is connected with lifting motor 11 output shafts by first transmission device, and be connected with another lowering or hoisting gear by second transmission device, coil inserting apparatus is connected the suspension arrangement lower end, built-in releasable rescue rope 19 discharges rescue rope 19 when breaking down.
This routine suspension arrangement comprises spring 1, side plate 2 and roller bearing 3, roller bearing 3 axis normal are installed in circuit 8, lie in a horizontal plane in circuit 8 directly over, roller bearing 3 two ends respectively are connected with a side plate 2 by the revolute pair of being made up of bearing, circuit 8 is folded between two side plates 2, and side plate 2 is connected with walking clipping mechanism 7 by spring 1.Lowering or hoisting gear comprises drag hook 5 and support 6, and drag hook 5 is the nut screw auxiliary structure with support 6, and promptly drag hook 5 is a nut structure with support 6 links, and the link of support 6 is a screw structure, and drag hook 5 can be moved up and down relatively with support 6.When breaking down, two drag hooks 5 are connected with hook 4 two ends that are connected side plate 2 lower ends respectively.First transmission device by first driven pulley 9, first be with synchronously 13 and driving pulley 10 constitute, first driven pulley 9 is coaxial with a lowering or hoisting gear medium-height trestle 6, be with 13 to be installed together with driving pulley 10 synchronously by first, driving pulley 10 links to each other with lifting motor 11 output shafts.Second transmission device is with the 15 and the 3rd driven pulley 16 to constitute by second driven pulley 14, second synchronously, second driven pulley 14 and first driven pulley 9 are coaxial, be with the 15 and the 3rd driven pulley 16 to be installed together synchronously by second, the 3rd driven pulley 16 is coaxial with the support 6 of another lowering or hoisting gear.Two transmission mechanisms drive two lowering or hoisting gears and are synchronized with the movement.Coil inserting apparatus comprises pulley base 18, fixed pulley 17, rescue rope 19, rope roll 20, opens a motor 21 and motor mount 22, the pulley base 18 that fixed pulley 17 is installed is connected side plate 2 lower ends, rescue rope 19 1 ends are fixed on the casing 23, the other end is walked around fixed pulley 17 and is packed in the rope roll 20 of casing 23 bottoms, the cover 24 of rope roll 20 links to each other with a motor 21 output shafts of opening on the motor mount 22 by the nut screw pair, and control cover 24 opens and closes.
The operation principle of the present invention and the course of work:
Mechanism for releasing patrolling robot fault of the present invention is in when work, the supporting base 12 of its support 6 and lifting motor 11 be installed on the robot arm or casing 23 on.Inspection robot moves when patrolling and examining on overhead ground wire; break down suddenly; stop on the overhead ground wire; this moment, the safety protection mechanism of inspection robot paw was opened; lifting motor 11 drives; driving connected driving pulley 10 rotates; be with 13 synchronously by first; second is with 15 synchronously; the nut screw auxiliary driving that support 6 and drag hook are 5; driving drag hook 5 moves down; after both sides drag hook 5 hangs up hook 4; haul hook 4; side plate 2; roller bearing 3 moves down always; roller bearing 3 is ridden on the overhead ground wire; two drag hooks 5 continue to haul hook 4 and move down; this just makes two paws of inspection robot break away from ground wire; casing 23 and arm be lifting certain altitude up all; after this; driving a motor 21 drives; by connected nut screw auxiliary driving rope roll lid 24 is opened, the rescue rope of depositing 19 is fallen down, ground handling personnel tightly hold it; lifting motor 11 drive by synchronous belt two drag hooks 5 unclamp the hook 4 after; ground handling personnel rotate to an angle robot, make the paw of inspection robot depart from overhead ground wire directly over, slowly loosen rescue rope 19 again; robot is slowly fallen, weigh down disconnected spring 1 back safety and roll off the production line.
Claims (6)
1. mechanism for releasing patrolling robot fault, it is characterized in that: comprise suspension arrangement, hook (4), lowering or hoisting gear, transmission device, lifting motor (11) and coil inserting apparatus, suspension arrangement is hung on the circuit (8), the upper end is connected with the walking clipping mechanism (7) of robot, the lower end is connected with hook (4) by revolute pair, two mouths of hook of drag hook (5) are being oppositely arranged respectively on the orientation up and down in two mouths of hook of hook (4) and the lowering or hoisting gear, when breaking down, hook (4) is connected with lowering or hoisting gear, one of them lowering or hoisting gear is connected with lifting motor (11) output shaft by first transmission device, and be connected with another lowering or hoisting gear by second transmission device, coil inserting apparatus is connected the suspension arrangement lower end, built-in releasable rescue rope (19) discharges rescue rope (19) when breaking down.
2. according to the described mechanism for releasing patrolling robot fault of claim 1, it is characterized in that: described suspension arrangement comprises spring (1), side plate (2) and roller bearing (3), roller bearing (3) axis normal is installed in circuit (8), lie in a horizontal plane in circuit (8) directly over, each is connected with a side plate (2) by revolute pair at roller bearing (3) two ends, circuit (8) is folded between two side plates (2), and side plate (2) is connected with walking clipping mechanism (7) by spring (1).
3. according to the described mechanism for releasing patrolling robot fault of claim 1, it is characterized in that: described lowering or hoisting gear comprises drag hook (5) and support (6), and drag hook (5) is the nut screw auxiliary structure with support (6).
4. according to the described mechanism for releasing patrolling robot fault of claim 1, it is characterized in that: described first transmission device is with (13) and driving pulley (10) to constitute by first driven pulley (9), first synchronously, first driven pulley (9) is coaxial with a lowering or hoisting gear medium-height trestle (6), by first synchronously band (13) and driving pulley (10) be installed together, driving pulley (10) links to each other with lifting motor (11) output shaft.
5. according to the described mechanism for releasing patrolling robot fault of claim 1, it is characterized in that: described second transmission device is with (15) and the 3rd driven pulley (16) to constitute by second driven pulley (14), second synchronously, second driven pulley (14) and first driven pulley (9) are coaxial, by second synchronously band (15) and the 3rd driven pulley (16) be installed together, the 3rd driven pulley (16) is coaxial with the support (6) of another lowering or hoisting gear.
6. according to the described mechanism for releasing patrolling robot fault of claim 1, it is characterized in that: described coil inserting apparatus comprises pulley base (18), fixed pulley (17), rescue rope (19), rope roll (20), open a motor (21) and motor mount (22), the pulley base (18) that fixed pulley (17) are installed is connected the suspension arrangement lower end, rescue rope (19) one ends are fixed on the casing (23), the other end places the rope roll (20) that is installed in casing (23) bottom by fixed pulley (17), and the cover (24) of rope roll (a 20) motor (21) output shaft of opening secondary by nut screw and on the motor mount (22) links to each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2007101592143A CN101471547B (en) | 2007-12-26 | 2007-12-26 | Mechanism for releasing patrolling robot fault |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2007101592143A CN101471547B (en) | 2007-12-26 | 2007-12-26 | Mechanism for releasing patrolling robot fault |
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| Publication Number | Publication Date |
|---|---|
| CN101471547A CN101471547A (en) | 2009-07-01 |
| CN101471547B true CN101471547B (en) | 2010-09-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2007101592143A Active CN101471547B (en) | 2007-12-26 | 2007-12-26 | Mechanism for releasing patrolling robot fault |
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| CN (1) | CN101471547B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102394480B (en) * | 2011-10-06 | 2015-07-15 | 哈尔滨理工大学 | Cable robot driving carrier |
| CN106142049B (en) * | 2016-08-18 | 2017-09-29 | 国网湖南省电力公司带电作业中心 | Hot line robot |
| CN106965188B (en) * | 2017-05-25 | 2023-09-29 | 国网湖南省电力公司带电作业中心 | Wire feeding device of high-voltage wire live working robot |
| CN107720065B (en) * | 2017-09-15 | 2023-09-08 | 上海有个机器人有限公司 | Storage device for robot |
| CN108297067B (en) * | 2018-04-02 | 2024-04-05 | 浙江弘安智能科技有限公司 | Wire walking robot with lifting rope |
| CN112008764B (en) * | 2020-09-01 | 2021-07-20 | 亿嘉和科技股份有限公司 | Robot air escaping mechanism |
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| CN1658460A (en) * | 2005-03-18 | 2005-08-24 | 山东大学 | Robot of autonomous moving along 110KV transmission line and its working method |
| CN1689769A (en) * | 2004-04-30 | 2005-11-02 | 中国科学院沈阳自动化研究所 | Super high voltage transmission line inspection robot mechanism |
| CN2818332Y (en) * | 2005-07-12 | 2006-09-20 | 华中科技大学 | Self-saving underwater operational releaser |
| CN201134643Y (en) * | 2007-12-26 | 2008-10-15 | 中国科学院沈阳自动化研究所 | Fault releasing mechanism of inspection robot |
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2007
- 2007-12-26 CN CN2007101592143A patent/CN101471547B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1689769A (en) * | 2004-04-30 | 2005-11-02 | 中国科学院沈阳自动化研究所 | Super high voltage transmission line inspection robot mechanism |
| CN1658460A (en) * | 2005-03-18 | 2005-08-24 | 山东大学 | Robot of autonomous moving along 110KV transmission line and its working method |
| CN2818332Y (en) * | 2005-07-12 | 2006-09-20 | 华中科技大学 | Self-saving underwater operational releaser |
| CN201134643Y (en) * | 2007-12-26 | 2008-10-15 | 中国科学院沈阳自动化研究所 | Fault releasing mechanism of inspection robot |
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| JP平2-136006A 1990.05.24 |
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| CN101471547A (en) | 2009-07-01 |
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