CN101574983B - Lead obstacle-crossing robot walking device - Google Patents
Lead obstacle-crossing robot walking device Download PDFInfo
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- CN101574983B CN101574983B CN 200910086442 CN200910086442A CN101574983B CN 101574983 B CN101574983 B CN 101574983B CN 200910086442 CN200910086442 CN 200910086442 CN 200910086442 A CN200910086442 A CN 200910086442A CN 101574983 B CN101574983 B CN 101574983B
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Abstract
The invention provides a lead obstacle-crossing robot walking device, which adopts a dual-arm and three-joint wheeled structure; the two arms alternately hold the line to avoid the obstacle when crossing the obstacle, the device adopts wheels to ensure the running speed during the walking process and comprises a front walking wheel 1, a rear walking wheel 2, a front compacting wheel 3, a rear compacting wheel 4, a front walking wheel arm 5, a rear walking wheel arm 6, a front compacting wheel arm 7, a rear compacting wheel arm 8, four front motors 9, four rear motors 10, a front joint arm 11, a rear joint arm 12 and a body 13. The robot walking device can cross typical lead obstacles such as an anti-vibration hammer, a compression pipe, a spacing rod, a suspension clamp and the like, and can be used as high-voltage transmission line inspection robot walking device or lead deicing robot walking device. The platform has the advantages of simple mechanism, simple control type, low controlprecision requirement, fast walking and obstacle-crossing speed and the like.
Description
Technical field
The present invention relates to line walking and the protection field of high voltage transmission line, but especially in regard to a kind of obstacle crossing type single conductor and multiple fission conductor robot walking device.
Background technology
In order to ensure the normal operation of electric power circuit, need to carry out periodical maintenance to transmission line of electricity.Patrol and examine and not only understand the operation conditions of grasping circuit, also can in time find the variation of defective and the ambient environment situation of circuit and equipment, safeguard for maintenance of track and give information.It at present mainly is the mode that adopts the artificial visually examine to check, but China's transmission line of electricity mileage is long, wide coverage, some circuit is also crossed over mountain area, great river, meadow and virgin forest etc., and this just makes, and to patrol and examine labor intensity large and be difficult to guarantee that cyclic in-position measuring rate and impact patrol and examine quality.In order to remedy the deficiency of manual inspection on these circuits, just in the urgent need to using the inspection robot based on Robotics to come the indirect labor to patrol and examine.This has not only guaranteed to patrol and examine efficient, patrol and examine quality, has also reduced routing inspection cost.
, wide coverage long for China's transmission line of electricity mileage, circuit need to be through areas such as high mountain great river virgin forests greatly, actual conditions that the manual inspection difficulty is large etc., also along with the continuous progress of Robotics, adopt inspection robot based on Robotics to come the indirect labor to patrol and examine and the replacing manual inspection has become trend of the times.This improves and patrols and examines operating personnel's labor condition for improving power department automated job degree, improves and patrols and examines level of operation, and improve and patrol and examine operation quality and all have great importance, and the good operation that guarantees China's transmission line of electricity is had positive effect.
Lead obstacle-crossing robot walking device of the present invention can become inspection robot after carrying video transmission equipment, carrying deicing mechanism can become deicing robot.
Summary of the invention
Technical matters to be solved by this invention is: robot will run into various gold utensils when wire is walked, such as stockbridge damper, aluminium hydraulic pressed connecting pipe, suspension clamp etc.In order to increase work efficiency, robot will have the ability of the above-mentioned obstacle of independent technological leapfrogging.The present invention proposes a kind of rotary machine human arm of passing through with the method for avoiding obstacles, make quick, stable the clearing the jumps of robot.
Therefore, the present invention proposes a kind of lead obstacle-crossing robot walking device, it adopts both arms three joint wheeled constructions, both arms are alternately held line to avoid obstacle during obstacle detouring, comprise front walking wheel 1, rear walking wheel 2, front contact roller 3, rear contact roller 4, front walking wheel arm 5, rear walking wheel arm 6, front contact roller arm 7, rear contact roller arm 8, four front motors 9, four rear motors 10, front joint arm 11, posterior joint arm 12 and bodies 13, described body 13 is elliposoidal, and described body 13 comprises drive motor, drop-gear box, control system and the power supply of driving joint arm motion.
Wherein, body 13 is symmetrical arranged the mechanical arm in described two three joints along the side front and back of wire direction: front joint arm 11 and posterior joint arm 12, described front joint arm 11 and posterior joint arm 12 are made of the first joint arm, second joint arm and the 3rd joint arm respectively, the first joint arm is the joint arm that is extended out by body 13, the first joint arm can be along the drive motor rotation that is fixedly installed on body interior, the drive motor output shaft in the first joint is perpendicular to wire, and whole running gear lifting and putting down when finishing obstacle detouring; The second joint arm is made of the axle that connects row front and back traveling wheel arm and the first joint arm, the second joint arm drives by drive motor, the drive motor output shaft of second joint arm is parallel to wire, and the road wheel arm was around the axle rotation parallel with wire, to put down or to lift road wheel before and after this joint can make; The 3rd joint arm is made of the axle of contact roller arm before and after connecting and front and back road wheel arm, the drive motor output shaft of the 3rd joint arm is parallel to wire, can realize contact roller around the axis rotation that is parallel to wire, with the compression action of finishing contact roller and increase the friction force of road wheel and guarantee that road wheel is non-off-line.
Wherein, the obstacle detouring mode of this device may further comprise the steps:
(1) when near obstacle, the front walking wheel off-line;
(2) then front walking wheel rotates to an angle with avoiding obstacles around the axis that is parallel to wire;
(3) rear walking wheel moves on, until front walking wheel clears the jumps;
(4) front walking wheel is reached the standard grade;
(5) rear walking wheel off-line, and rotate to an angle avoiding obstacles around the axis that is parallel to wire;
(6) front walking wheel advances, until rear walking wheel clears the jumps;
(7) rear walking wheel is reached the standard grade, so far, and robot success obstacle detouring.
Wherein, the cross-sectional profile of described body 13, front walking wheel arm 5, rear walking wheel arm 6, front contact roller arm 7 and rear contact roller arm 8 is circle, the corona phenomenon that produces when can actv. preventing charging operation.
Wherein, described front walking wheel 1 and rear walking wheel 2 are provided with the plastic material that increases friction force with the mating surfaces of wire 14.
Wherein, front contact roller 3 and rear contact roller 4 adopt the metallic material manufacturing, and all parts of whole device all adopts the aluminum alloy thin shell structure, thereby realizes body fuselage and wire equipotential.
Wherein, the center of gravity of body 13 be positioned at front walking wheel 1 and rear walking wheel 2 under, thereby the stability when assurance device walking and obstacle detouring.
Wherein, described four front motors 9 and four rear motors 10 all have auto-lock function.
Wherein, also have power supply in the described body 13, described power supply can be that storage battery or electrical generator or high pressure take out can device.
Wherein, also have approach switch or contact pickup in the described body 13, be used for judging arriving obstacle and leaving obstacle.
Wherein, thereby the module that different purposes also can be installed in the described body 13 realizes different functions, when picture pick-up device and video transmission equipment are installed, as inspection robot, maybe when the installation deicing mechanism as deicing robot.
The invention has the beneficial effects as follows:
1) complete machine structure is arc modeling, can carry out operation in the charged situation of wire;
2) speed of travel in the time of can guaranteeing work is walked in wheel arm convolution design with wheel during clear;
3) the new type plastic material is set in the road wheel, but actv. improves the friction force of wire and wheel, improve the whole angle of creeping;
4) the obstacle detouring wide adaptability of robot, but actv. is dodged the obstacle on most specification wires, back and forth walking in a strain section;
5) body all adopts the aluminum alloy thin shell structure, and overall weight is light;
6) motor adopts storage battery power supply or wire to take out the power supply of energy device, and a plurality of strain sections of can walking once charge;
7) maximum ramp angle is larger, is not less than 30 °;
8) speed of travel is fast, and the speed of travel is not less than 15m/min during non-obstacle detouring.
Description of drawings
The present invention is further described below in conjunction with accompanying drawing.
But Fig. 1 is the integral structure schematic perspective view according to obstacle crossing type single conductor of the present invention and multiple fission conductor robot walking device;
Fig. 2 is the front view of device shown in Figure 1;
Fig. 3 is the left view of device shown in Figure 1;
Fig. 4 is the A-A section-drawing of device shown in Figure 2;
Fig. 5 is the structural representation after joint arm 21 extends out from body 13 among Fig. 4;
But Fig. 6 is the axonometric drawing of obstacle crossing type single conductor of the present invention and multiple fission conductor robot walking device;
Fig. 7 is that scheme drawing is beaten in the vibrationproof in the typical obstacle;
Fig. 8 is the spacer bar scheme drawing in the typical obstacle;
Fig. 9 is the suspension clamp scheme drawing in the typical obstacle;
Figure 10 is the scheme drawing of device of the present invention during near obstacle;
Figure 11 is that contact roller reverses the scheme drawing that moves downward by the drive of contact roller arm before the device of the present invention;
Figure 12 is that contact roller reverses the schematic perspective view that moves downward by the drive of contact roller arm before the device of the present invention;
Figure 13 is device posterior joint arm rotation of the present invention, the scheme drawing that body upwards lifts;
Figure 14 is that joint arm rotates the scheme drawing that front walking wheel puts down to the inside before the device of the present invention;
Figure 15 is that joint arm rotates the schematic perspective view that front walking wheel puts down to the inside before the device of the present invention;
Figure 16 is near scheme drawing before the device rear walking wheel drive machines people integral body of the present invention;
Figure 17 is that device front walking wheel of the present invention resets the scheme drawing that contact roller resets;
Figure 18 is joint arm clockwise direction rotation before the device of the present invention, and lift the body rear end, puts down the scheme drawing of rear contact roller;
Figure 19 is the scheme drawing that device of the present invention puts down rear walking wheel;
Figure 20 is the scheme drawing that device front walking wheel drive machines people of the present invention moves ahead;
Figure 21 is that device rear walking wheel of the present invention resets, and contact roller resets, and finishes the scheme drawing of obstacle detouring;
Figure 22 is the obstacle detouring process flow diagram flow chart of apparatus of the present invention;
Figure 23 is the system principle scheme drawing of apparatus of the present invention.
The specific embodiment
But be illustrated in figure 1 as the integral structure schematic perspective view of obstacle crossing type single conductor of the present invention and multiple fission conductor robot walking device, Fig. 2 is the front view of this device, Fig. 3 is the left view of this device, but obstacle crossing type single conductor of the present invention and multiple fission conductor robot walking device comprise front walking wheel 1, rear walking wheel 2, front contact roller 3, rear contact roller 4, front walking wheel arm 5, rear walking wheel arm 6, front contact roller arm 7, rear contact roller arm 8, four front motors 9, four rear motors 10, front joint arm 11, posterior joint arm 12 and body 13, described body 13 is elliposoidal, and described body 13 comprises the drive motor of driving joint arm motion, drop-gear box, control system and power supply.The lower end of front joint arm 11 and posterior joint arm 12 links to each other with the body 13 of device by rotary joint, and the upper end of front walking wheel arm 5, rear walking wheel arm 6 links to each other with the road wheel of device.Arm is comprised of joint arm and the road wheel arm that a rotary joint connects arm.Wheel clamping is comprised of contact roller and contact roller arm, and an end of wheel clamping links to each other with the road wheel arm by rotary joint.
Fig. 4 is the A-A section-drawing of device shown in Figure 2, has shown the body 13 inner structure scheme drawings of apparatus of the present invention, and motor 16 is connected on the robot body 13, and joint arm 21 is fixed together with the output shaft of motor 16.Rotation by motor 16 can drive whole joint arm and coupled mechanism rotatablely moves with respect to robot body, among Fig. 4 15 is motor output shaft and flat key, the 16th, drive motor and drop-gear box, control unit 18 and storage battery 20 are installed on the device fixed mount 19, and device fixed mount 19 is connected on the body 13.
Fig. 5 is the structural representation after joint arm 21 extends out from body 13 among Fig. 4, and motor and retarder 24 are fixedly connected on the joint arm 23, and road wheel arm 25 is captiveed joint with the output shaft 26 of motor and retarder 24.The axis of motor 24 is parallel with wire 14, and the rotation by motor 24 can make road wheel arm and coupled road wheel, contact roller rotatablely move, thereby away from obstacle.
But Fig. 6 is the axonometric drawing of obstacle crossing type single conductor of the present invention and multiple fission conductor robot walking device;
Fig. 7 is that scheme drawing is beaten in the vibrationproof in the typical obstacle.
Fig. 8 is the spacer bar scheme drawing in the typical obstacle.
Fig. 9 is the suspension clamp scheme drawing in the typical obstacle.
The below is to cross stockbridge damper on the wire as the obstacle detouring process of example explanation apparatus of the present invention, device of the present invention hangs on the solid conductor, then hang on for multiple fission conductor on the bottom sub-conductor of split conductor: 1) judged to arrive obstacle robot halt (Figure 10) by approach switch or contact pickup; 2) front contact roller is driven by the contact roller arm and reverses downwards (Figure 11, Figure 12); 3) (because road wheel has groove, need road wheel to lift certain altitude and just can unclamp wire and put down), front walking wheel off-line, Figure 13 are upwards lifted in shoulder joint 12 anticlockwise directions rotation after, robot body; 4) front shoulder joint 2 rotates to the inside, puts down front walking wheel, Figure 14, Figure 15; 5) near before the rear walking wheel drive machines people integral body, sensor stops Figure 16 when judging trailing wheel near obstacle; 6) front walking wheel resets, and contact roller resets, Figure 17; 7) front shoulder joint 11 clockwise directions rotation, lift the body rear end, puts down rear contact roller, Figure 18; 8) put down rear walking wheel, Figure 19; 9) front walking wheel drive machines people moves ahead, and sensor stops after judging complete clear an obstacle, Figure 20; 10) rear walking wheel resets, and contact roller resets, and finishes obstacle detouring, Figure 21.
Figure 22 is the obstacle detouring process flow diagram flow chart of device of the present invention.
Figure 23 is the system principle scheme drawing of apparatus of the present invention, by control setup control motor and power supply, motor-driven wire crawling device, robot takes out the energy device by high pressure or electrical generator provides power supply, and be stored in the storage battery, electrical generator or storage battery both can be given system power supply, switch as required adjustment.Control setup is responsible for communication and Task-decomposing, the action of control motor, and the drive machines people finishes exercises.
Also have approach switch or contact pickup in the described body 13 of device of the present invention in addition, be used for judging arriving obstacle and leaving obstacle.Picture pick-up device and video transmission equipment are set in described body 13 just can be used device of the present invention as inspection robot.At described body 13 existing various deicing mechanism being set just can be with device of the present invention as using.
Invention has been described according to specific exemplary embodiment herein.It will be apparent carrying out to one skilled in the art suitable replacement or revise under not departing from the scope of the present invention.Exemplary embodiment only is illustrative, rather than to the restriction of scope of the present invention, scope of the present invention is by appended claim definition.
Claims (11)
1. lead obstacle-crossing robot walking device, it adopts both arms three joint wheeled constructions, both arms are alternately held line to avoid obstacle during obstacle detouring, by front walking wheel (1), rear walking wheel (2), front contact roller (3), rear contact roller (4), front walking wheel arm (5), rear walking wheel arm (6), front contact roller arm (7), rear contact roller arm (8), four front motors (9), four rear motors (10), front joint arm (11), posterior joint arm (12) and body (13) consist of, described body (13) is elliposoidal, and described body (13) comprises the drive motor of driving joint arm motion, drop-gear box, control system and power supply.
2. device as claimed in claim 1, it is characterized in that being symmetrical arranged along the side front and back of wire direction at body (13) mechanical arm in described two three joints: front joint arm (11) and posterior joint arm (12), described front joint arm (11) and posterior joint arm (12) are respectively by the first joint arm, second joint arm and the 3rd joint arm consist of, the first joint arm is the joint arm that is extended out by body (13), the first joint arm can be along the drive motor rotation that is fixedly installed on body interior, the drive motor output shaft of the first joint arm is perpendicular to wire, and whole running gear lifting and putting down when finishing obstacle detouring; The second joint arm is made of the axle of road wheel arm before and after connecting and the first joint arm, the second joint arm drives by drive motor, the drive motor output shaft of second joint arm is parallel to wire, and the road wheel arm was around the axle rotation parallel with wire, to put down or to lift road wheel before and after this joint arm can make; The 3rd joint arm is made of the axle of contact roller arm before and after connecting and front and back road wheel arm, the drive motor output shaft of the 3rd joint arm is parallel to wire, can realize contact roller around the axis rotation that is parallel to wire, with the compression action of finishing contact roller and increase the friction force of road wheel and guarantee that road wheel is non-off-line.
3. such as the arbitrary described device of claim 1-2, it is characterized in that the obstacle detouring mode of this device may further comprise the steps:
(1) when near obstacle, the front walking wheel off-line;
(2) then front walking wheel rotates to an angle with avoiding obstacles around the axis that is parallel to wire;
(3) rear walking wheel moves on, until front walking wheel clears the jumps;
(4) front walking wheel is reached the standard grade;
(5) rear walking wheel off-line, and rotate to an angle avoiding obstacles around the axis that is parallel to wire;
(6) front walking wheel advances, until rear walking wheel clears the jumps;
(7) rear walking wheel is reached the standard grade, so far, and robot success obstacle detouring.
4. device as claimed in claim 3, the cross-sectional profile that it is characterized in that described body (13), front walking wheel arm (5), rear walking wheel arm (6), front contact roller arm (7) and rear contact roller arm (8) is circle, the corona phenomenon that produces when can actv. preventing charging operation.
5. device as claimed in claim 4 is characterized in that described front walking wheel (1) and rear walking wheel (2) and the mating surfaces of wire (14) are provided with the plastic material that increases friction force.
6. device as claimed in claim 5 is characterized in that front contact roller (3) and rear contact roller (4) adopt the metallic material manufacturing, and all parts of whole device all adopts the aluminum alloy thin shell structure, thereby realizes body fuselage and wire equipotential.
7. device as claimed in claim 6, the center of gravity that it is characterized in that body (13) be positioned at front walking wheel (1) and rear walking wheel (2) under, thereby the stability when assurance device walking and obstacle detouring.
8. device as claimed in claim 7 is characterized in that described four front motors (9) and four rear motors (10) all have auto-lock function.
9. device as claimed in claim 8 is characterized in that also having power supply in the described body (13), and described power supply can be that storage battery or electrical generator or high pressure take out can device.
10. device as claimed in claim 9 is characterized in that also having proximity transducer or contact pickup in the described body (13), is used for judging arriving obstacle and leaving obstacle.
11. device as claimed in claim 10, it is characterized in that described body (13) thus in different purposes also can be installed module realize different functions, when picture pick-up device and video transmission equipment are installed, as inspection robot, maybe when the installation deicing mechanism as deicing robot.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200910086442 CN101574983B (en) | 2009-06-12 | 2009-06-12 | Lead obstacle-crossing robot walking device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200910086442 CN101574983B (en) | 2009-06-12 | 2009-06-12 | Lead obstacle-crossing robot walking device |
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| CN101574983A CN101574983A (en) | 2009-11-11 |
| CN101574983B true CN101574983B (en) | 2013-03-13 |
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| CN 200910086442 Active CN101574983B (en) | 2009-06-12 | 2009-06-12 | Lead obstacle-crossing robot walking device |
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