CN101670578B - Arm extending type braking multi-CCD full-angle route inspecting robot - Google Patents

Arm extending type braking multi-CCD full-angle route inspecting robot Download PDF

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Publication number
CN101670578B
CN101670578B CN2009100930298A CN200910093029A CN101670578B CN 101670578 B CN101670578 B CN 101670578B CN 2009100930298 A CN2009100930298 A CN 2009100930298A CN 200910093029 A CN200910093029 A CN 200910093029A CN 101670578 B CN101670578 B CN 101670578B
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China
Prior art keywords
pulley
ccd
control
arm extending
control module
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CN2009100930298A
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Chinese (zh)
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CN101670578A (en
Inventor
何守印
张立燕
陈泉柱
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北京深浪电子技术有限公司
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Priority to CN2009100930298A priority Critical patent/CN101670578B/en
Publication of CN101670578A publication Critical patent/CN101670578A/en
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Publication of CN101670578B publication Critical patent/CN101670578B/en

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Abstract

The invention discloses an arm extending type braking multi-CCD full-angle route inspecting robot, comprising an on-line walk vehicle body part and an automatic control part. A drive wheel is provided with a tightening brake device; the vehicle body is provided with a two-degree freedom rotation infrared camera device and a double-track extension mechanism; the double-track extension mechanism comprises a fixed perpendicular short-focus lens extension mechanism and a rotatable oblique long-focus lens extension mechanism; and the fixed perpendicular short-focus lens and the rotatable oblique long-focus lens are respectively provided with an automatic focusing mechanism. The automatic control part comprises a plurality of control modules to control the plurality of electric motors; the each electric motor is provided with a feedback element of a photoelectric encoder; and the plurality of the control modules are connected with each other by a CAN bus, to realize the closed loop feedback control of the plurality of the electric motors. When automatically walking on a ground wire of a high-voltage power transmission line, the robot has the functions of climbing, braking, arm extending and multi-angle observing, automatic focusing and the like, and can be applicable to visual fault detection for a ground wire, a lead wire, a pole tower, ironware and the like, in the high-voltage overhead power transmission line.

Description

The arm extending type braking multi-CCD full-angle route inspecting robot
Technical field
The present invention relates to a kind of transmission line automatic polling device, relate in particular to a kind of arm extending type braking multi-CCD full-angle route inspecting robot.
Background technology
Ultra-high-tension power transmission line is the lifeline of modern industrial society and people's lives, and the long range performance of its transmission of electric energy and residing open-air complex environment cause parts of appliance such as lead, gold utensil, wire clamp and insulator chain to damage easily.Need people in time to find and reparation, otherwise dodge at the alternation mechanical load, the electrical equipment that continue, will cause comparatively serious power outage and personal life security hidden danger under the comprehensive function of factors such as material aging and natural calamity, thereby influence the normal operation of national economy, even bring enormous economic loss.Therefore, electric equipment elements such as the lead on the transmission line of electricity, gold utensil, insulator are carried out initial failure and potential safety hazard monitoring and reparation, accident potential is eliminated in bud, the safe operation of guaranteeing power circuit is had crucial meaning.
At present, Chang Yong patrolling method has: telescope line walking method, helicopter line walking method, the personnel observation etc. of reaching the standard grade.These method labour intensity are big, line walking expense height, strict to weather conditions, and have defectives such as line walking " blind area ", potential safety hazard.
In the prior art,, have closely omnibearing observation, accuracy of detection height by the robot line walking, do not exist patrol and examine the blind area, expense is lower, has saved advantages such as labour greatly.
There is following shortcoming at least in inspection robot of the prior art:
Can not obstacle detouring, can not climb Da Po (slope angle>30 degree), thereby between the bigger shaft tower of the mountain area discrepancy in elevation, can't carry out ground wire patrol checking; Can not automatic focusing change aperture size, can't realize that lead, shaft tower, gold utensil etc. beyond the ground wire patrol and examine the detection of object.
Summary of the invention
The purpose of this invention is to provide a kind of arm extending type braking multi-CCD full-angle route inspecting robot that possesses climbing, brake, semi-girder and functions such as multi-angle observation, automatic focusing.
The objective of the invention is to be achieved through the following technical solutions:
Arm extending type braking multi-CCD full-angle route inspecting robot of the present invention, comprise up mule carriage body portion of line and automatic control section, walking vehicle body comprises the support and connection body on the described line, described support and connection body is provided with driving wheel, driven pulley, described driving wheel is connected with drive unit, and described driving wheel place is provided with the stretching brake gear;
Described support and connection body is provided with two degrees of freedom rotation infrared photography head unit, double track stretches out mechanism;
Described double track stretches out mechanism and comprises that fixed vertical short-focus mirror head stretches out mechanism and the oblique telephoto lens of rotary type is stretched out mechanism;
Described fixed vertical short-focus mirror head and the oblique telephoto lens of rotary type are respectively equipped with automatic focusing mechanism.
As seen from the above technical solution provided by the invention, arm extending type braking multi-CCD full-angle route inspecting robot of the present invention is because the driving wheel place is provided with the stretching brake gear; The support and connection body is provided with two degrees of freedom rotation infrared photography head unit, double track stretches out mechanism; Double track stretches out mechanism and comprises that fixed vertical short-focus mirror head stretches out mechanism and the oblique telephoto lens of rotary type is stretched out mechanism; Fixed vertical short-focus mirror head and the oblique telephoto lens of rotary type are respectively equipped with automatic focusing mechanism.When on the ultra-high-tension power transmission line ground wire, walking automatically, possess climbing, brake, semi-girder and functions such as multi-angle observation, automatic focusing, can be used for high-tension overhead line ground wire, lead, shaft tower and gold utensil etc. and carry out visual flaw detection.
Description of drawings
Fig. 1 is walking test section master's TV structure schematic diagram on the line of arm extending type braking multi-CCD full-angle route inspecting robot of the present invention;
Fig. 2 is a left side, walking test section TV structure schematic diagram on the line of arm extending type braking multi-CCD full-angle route inspecting robot of the present invention;
Fig. 3 is walking test section plan structure schematic diagram on the line of arm extending type braking multi-CCD full-angle route inspecting robot of the present invention;
Fig. 4 is stretching brake gear structural representation among the present invention;
Fig. 5 a rotates the structural representation of infrared photography head unit for two degrees of freedom among the present invention;
Fig. 5 b is the vertical view of Fig. 5 a;
Fixed vertical short-focus mirror head stretches out the structural representation of mechanism among Fig. 6 a the present invention;
Fig. 6 b is the vertical view of Fig. 6 a;
Robot modularized combination controlling party block diagram among Fig. 7 the present invention;
Brake control among Fig. 8 the present invention, car body walking control, node control block diagram;
Semi-girder control among Fig. 9 the present invention, suspention CCD two degree of freedom control block diagram;
Two-way CCD automatic focusing controlling party block diagram among Figure 10 the present invention.
The specific embodiment
Arm extending type braking multi-CCD full-angle route inspecting robot of the present invention, its preferable specific embodiment is shown in Fig. 1 to Fig. 6 b:
Comprise up mule carriage body portion of line and automatic control section, walking vehicle body comprises the support and connection body on the described line, and described support and connection body is provided with driving wheel, driven pulley, and described driving wheel is connected with drive unit, and described driving wheel place is provided with the stretching brake gear;
Described support and connection body is provided with two degrees of freedom rotation infrared photography head unit, double track stretches out mechanism;
Described double track stretches out mechanism and comprises that fixed vertical short-focus mirror head stretches out mechanism and the oblique telephoto lens of rotary type is stretched out mechanism;
Described fixed vertical short-focus mirror head and the oblique telephoto lens of rotary type are respectively equipped with automatic focusing mechanism.
Described stretching brake gear comprises:
Be located at the slide block on the linear slide rail, described slide block drives along described linear slide rail and slides by screw rod, nut body;
On the described slide block push rod is housed, an end and the described slide block of described push rod are hinged, and and described slide block between be provided with back-moving spring, the other end is upturned under the effect of described back-moving spring;
The middle part of described push rod is fixed with pulley base, on the described pulley base pulley is housed, and described pulley is positioned at the below of described driving wheel, and is connected with described pulley base by small rod;
The middle part of described small rod and described pulley base are hinged, are provided with holddown spring between one end and the described pulley base, and the other end and described pulley are hinged;
The below of described driving wheel, an end that is upturned of close described push rod is provided with block, and when described push rod drove rising by slide block, an end that is upturned of described push rod just can be crossed described block; When described push rod rises to described pulley and withstands on the ground wire, the end that described push rod is upturned is rotated down and is pressed on the described link stopper, forms a leverage, makes described pulley compress ground wire, increase the pressure between described active driving wheel and ground wire, realize improving climbing capacity;
When described push rod drove the continuation rising by slide block, described pulley rotated described small rod, and the lower end of described pulley is pressed on the described pulley base under the effect of pressure, realizes brake.
The stretching brake gear is used for realizing robot car body heavy grade (>30 degree) walking on line, and can guarantee that robot car body can rest on the line of slope circuit is detected in detail.The stretching brake gear specifically can comprise: drive motors, holder, nut-screw group, micro linear slide rail, push rod, spring wheel.Be installed in the driving motor supplies power on the holder, the gear of interference fit is housed on the drive motors output shaft, by gear driving pair, sliding spiral pair, rotatablely moving of motor is converted to the upwards rectilinear motion of linear slide rail top shoe, thus promote slide block and on push rod move upward along slide rail.When push rod rises,, its angle avoids block because of being inclined upwardly.When the pulley on rising to spring wheel withstands on the ground wire,, when rising, push rod is rotated down, thereby the other end of push rod is pressed on the link stopper, form a leverage because downward pressure overcomes the pulling force of spring.The stretching brake gear has increased pressure between scroll wheel and ground wire by compressing ground wire around the pulley that self rotates at this moment, thereby improves the climbing capacity of walking testing agency.When needs braked, drive motors was rotated further, and made push rod further compress ground wire, pulley overcomes the pulling force of spring under the effect of pressure, sway, the lower end of pulley is pressed on the pulley base and can't rotates, make the detector brake thereby compress ground wire by the movable pulley that can't rotate.
Described double track stretches out on the linear slide rail that mechanism is located at described support and connection body both sides respectively, and it is flexible by gear, rack drives, described tooth bar is fixed on described double track and stretches out in the mechanism, and described gear drives by worm and gear, and the section portion that described double track stretches out mechanism is provided with the camera lens fixed mount.
The oblique telephoto lens of described rotary type is stretched out mechanism and under described camera lens fixed mount automatic rotational structure is installed.
Double track stretches out mechanism and is used for realizing that disconnected strand of ground wire or broken lot cause car body can not pass through the broken lot section, thereby realizes the detailed vision-based detection at broken lot section place by the form of cantilever arm.Double track stretches out mechanism and stretches out mechanism and the oblique telephoto lens of rotary type by fixed vertical short-focus mirror head and stretch out mechanism and constitute.Fixed vertical short-focus mirror head is observed perpendicular to the ground wire direction, comprises drive motors, fixture, linear slide rail, Worm and worm-wheel gearing, rack and pinion drive mechanism, camera lens fixed mount, camera lens brightness regulating apparatus, lens focus adjusting device, manual displacement adjusting platform.Fixture is installed on the car body, and the slide block of drive motors and linear slide rail is installed on the fixture, on the track of linear slide rail tooth bar is housed, and the track front end is installed the camera lens fixed mount, and camera lens and adjusting device thereof are installed on the fixed mount.For preventing that track from skidding off fully, limited block is installed below track.Base area linear diameter before tower in the walking testing agency is regulated platform by manual displacement and is regulated the camera lens height, and ground wire occupy camera lens central authorities when making observation.The brightness of camera lens and focal length are regulated by camera lens brightness regulating apparatus and lens focus adjusting device on the ground automatically then according to the actual conditions in the walking mechanism motion process.When running into obstacle, walking mechanism can't pass through, and when need observing the place ahead concrete condition, drive motors rotates, by Worm and worm-wheel gearing and rack and pinion drive mechanism, the camera lens supporting seat of drive track and front end thereof is finished the motion of stretching out of camera lens supporting seat to front slide.The oblique telephoto lens of rotary type is stretched out mechanism and fixed vertical short-focus mirror head, and to stretch out mechanism similar, difference is to be equipped with an automatic rotational structure under the camera lens fixed mount, camera lens can be rotated in the horizontal direction, cooperate the telephoto lens of automatic focusing, viewing distance is farther.
Described automatic focusing mechanism comprises:
The preset aperture ring and the focus adjustment ring of described fixed vertical short-focus mirror head and the oblique telephoto lens of rotary type are connected with micro-stepping motors by gear respectively.
The CCD automatic focusing mechanism is used for realizing being fixed on the automatic focusing and the aperture size adjustment of the two-way CCD camera lens of both sides cantilever arm, the focal length adjustment when this just can guarantee that the power of open-air light changes when controlling corresponding motor and realize the change of aperture size and watch far and near different object.Mainly comprise gear drive and elements such as motor and motor fixing seat.Low-angle by motor rotates preset aperture ring and the rotation of focus adjustment ring that realizes on the gear driven camera lens, and then realizes the automatic adjusting of aperture and focal length.
Described two degrees of freedom is rotated infrared lens infrared photography head unit and is comprised:
X to rotary drive motor, X to rotation holder, X to turntable, Y to rotary drive motor, Y to rotation holder, Y to turntable, swinging mounting;
Described X is to rotating the front end that holder is installed in described support and connection body, and described X is installed in X to rotary drive motor and X on holder to turntable;
Described swinging mounting one end can rotate to turntable with X, and the other end is fixed with described Y to the rotation holder, and described Y is installed in described Y to rotary drive motor and Y on the rotation holder to turntable;
Described infrared camera fixing described at Y on turntable.
Two degrees of freedom is rotated the long-range detection that infrared lens infrared photography head unit is used for realizing suspending in midair long burnt CCD, comprises shaft tower, gold utensil and lead etc. at a distance.It mainly is the comprehensive detection that realizes circuit by the double freedom rotation.Comprise: X to rotary drive motor, X to rotation holder, X to turntable, Y to rotary drive motor, Y to rotation holder, Y to turntable, swinging mounting.Wherein, X is installed in the car body front end to the rotation holder, X is installed on the holder to turntable to rotary drive motor and X, swinging mounting one end can rotate to turntable around X, the other end is installed Y to the rotation holder, Y is installed on this holder to turntable to rotary drive motor and Y, and infrared camera is fixed on Y on turntable.When X when rotary drive motor rotates, by the endless screw-worm gear transmission, make swinging mounting around X to rotation, thereby drive Y to turntable and go up the infrared camera that connects and rotate together, observe car body the place ahead, rear pylon and Square wire down.When Y when rotary drive motor rotates, by the endless screw-worm gear transmission, drive Y and rotate to turntable, then can observe ground wire both sides lead.
Described automatic control section comprises robot modularized combined control system, specifically comprises following a plurality of control module:
As shown in Figure 7, comprise brake control module, semi-girder control module, two-way CCD automatic focusing control module, the two angle control modules of suspention CCD and car body walking control module, wherein each control module comprises 1 Electric Machine Control at least, and each motor all has the photoelectric encoder feedback element;
Described a plurality of control module couples together by the CAN bus, realizes the closed loop feedback control of a plurality of motors.
The whole control system realizes the closed loop feedback control of 11 motors in order to realize that robot control by the modularized design thinking, couples together many MCU by the CAN bus.Comprise the brake control module, semi-girder control module, two-way CCD automatic focusing module, two angle control modules of suspention CCD and car body walking module.Wherein, the brake control module comprises 1 Electric Machine Control, the semi-girder control module comprises 2 Electric Machine Control, two-way CCD automatic focusing module comprises 5 Electric Machine Control, the two angle control modules of suspention CCD comprise 2 Electric Machine Control, the walking vehicle body control module comprises 1 special Electric Machine Control, and each motor all has the photoelectric encoder feedback element, and each module comprises 1 high-performance MCU that can realize the CAN bus.Like this, whole system couples together by the CAN bus and realizes system communication and mutual.
As shown in Figure 8, described brake control module realizes the position feedback of motor by the photoelectric encoder on the drive motors of described stretching brake gear;
Described car body walking control module realizes position, the speed feedback of motor by the photoelectric encoder on the movable motor.
Direct current generator of brake module control drives ball-screw and transmits clamping force, its Internal control structure figure as shown in Figure 8, photoelectric encoder is realized the position feedback of motor.And car body walking control module also is direct current generator of control, realizes position, speed feedback.
As shown in Figure 9, two direct current generators of described semi-girder control module control, by closed loop feedback to two motors, realize to double track stretch out mechanism mechanical arm stretch into the control of stretching out;
Two motors of the two angle control module controls of described suspention CCD are realized the X of described two degrees of freedom rotation infrared photography head unit and the rotation of Y both direction.
Two direct current generators of semi-girder control module control, here except the design of needs motor-driven, also need MCU to possess stronger disposal ability, can realize the closed loop feedback of two motors, thereby realize the accurate control of stretching out of stretching into the mechanical arm that constitutes by rack-and-pinion.The two angle control modules of suspention CCD are owing to also be the rotation that two motors of control are realized X and Y both direction, therefore Internal control structure is suitable with the semi-girder control module, but, need the angle control of more accurate motor shaft, thereby guarantee that motor can drive the vision-based detection that suspention CCD realizes wider, more accurate circuit, shaft tower, gold utensil.
As shown in figure 10,5 motors of described two-way CCD automatic focusing module controls are respectively:
The aperture of described fixed vertical short-focus mirror head and the oblique telephoto lens of rotary type and focal length are adjusted motor, and the support electric rotating machine of the oblique telephoto lens of described rotary type.
Two-way CCD automatic focusing module comprises 5 motors, comprises that the aperture of both sides and focal length adjustment motor are respectively MR1, MR2 and ML1, and ML2, wherein MR1 is the adjustment that realizes right side CCD aperture, MR2 is used for realizing right side CCD focal length adjustment; And ML1 realizes left side CCD aperture adjustment, and ML2 realizes left side CCD focal length adjustment; MRe realizes left side CCD support rotation, it is farther that the rotation of this motor has guaranteed that the left side telescopic arm can forwards be seen, have bigger object distance, thereby can not can detect the concrete condition of broken lot for broken lot situation lower body equally by CCD by the broken lot section.Here need to prove that 4 apertures and focal length are adjusted the angle control precision of motor must be high, thereby guarantee to adjust precision.
Arm extending type braking multi-CCD full-angle route inspecting robot of the present invention, on the basis of existing ground wire patrol checking robot of high voltage power line, increase functions such as brake, semi-girder, automatic focusing, realization is only carried out surperficial visual detection to the vision-based detection to complete lines such as ground wire, lead, shaft tower, gold utensils to ground wire by original, has designed new body construction and has proposed the modular combination control method of the many MCU of many motors.
The specific embodiment:
Among the present invention, the walking test section comprises walking vehicle body on the line and online up electronic equipment two parts of walking in the car body is installed on the line.
Walking vehicle body adopts the two-wheel both arms to hang on the line, and motor synchronous drives, and has increased brake gear, double track stretches out mechanism and the first-class Module Design of infrared photography.Make robot running gear compact to design, in light weight, be easy to carry, climbing capacity is strong, meets barrier semi-girder, lens automatic focusing.
As shown in Figure 1, on the described formation robot line on the line of walking test section walking vehicle body comprise that mainly driving wheel 3, driven pulley 4, support and connection body 5, drive unit 6, stretching brake gear 7, two degrees of freedom rotates infrared photography head unit 8, double track and stretch out mechanism 9 and be installed in formations such as position sensor on the support and connection body 5.
Driving wheel 3 links to each other with support and connection body 5 by driving wheel support arm 10, and driven pulley 4 links to each other with support and connection body 5 by driven pulley support arm 11; The design of driving wheel 3 and driven pulley 4 conllinear levels makes that the walking test section has two impetus on the robot line.Driving wheel 3 and driven pulley 4 ride on the ultra-high-tension power transmission line ground wire, driving wheel 3 and driven pulley 4 link to each other with walking test section on the robot line by driving wheel support arm 10 and driven pulley support arm 11, and the test section of walking on the robot line is suspended on the ultra-high-tension power transmission line by driving wheel 3, driven pulley 4.
As shown in Figure 1 and Figure 2, walking vehicle body comprises at the drive unit 6 of creeping on the ultra-high-tension power transmission line ground wire on the driven machine people line: be installed in direct current generator 12 on the support and connection body, main synchronous pulley 13, from synchronous pulley 14, driving wheel power transmission shaft 15, drive sprocket axle 16 be with 17 synchronously.Robot motion's power source direct current generator 12 is positioned at a side of support and connection body, be fixed on the support and connection body by motor flange 18, the output shaft of direct current generator 12 and driving wheel power transmission shaft 15 link by shaft coupling 19, at main synchronous pulley 13, be tied with from synchronous pulley 14 and be with 17 synchronously, rotatablely moving of direct current generator output by driving wheel power transmission shaft 15, main synchronous pulley 13, be with 17 synchronously, from synchronous pulley 14, drive sprocket axle 16 passes to driving wheel 3, driving wheel 3 is creeped on the ultra-high-tension power transmission line ground wire, and driving wheel 3 drives driven pulley 4 and walks along the ultra-high-tension power transmission line ground wire together.Because driving wheel 3 and driven pulley 4 link to each other by the support and connection body of walking vehicle body on support arm and the robot line, so,, in the walking of ultra-high-tension power transmission line ground wire, drive the robot line car part of swashing and on the ultra-high-tension power transmission line ground wire, walk at driving wheel 3 and driven pulley 4.
On the line of the present invention walking vehicle body be exactly by single motor synchronous drive driving wheel 3, driven pulley 4 rotates, and drives that walking vehicle body moves on ultra-high-tension power transmission line on the robot line, make robot running gear compact to design, in light weight, be easy to carry.In establish brake gear, double track stretches out mechanism and the first-class module of infrared photography, makes the robot climbing capacity strong, can meet barrier semi-girder, lens automatic focusing.
Shown in Figure 3 as Fig. 2, the support and connection body 5 that constitutes walking vehicle body on the robot line comprises steel construction pedestal 20, be fixed by bolts to two support plates 21 being used to support drive sprocket axle 16 on it, be fixed by bolts to two support plates 23 that are used to support follower shaft 22 on it, the drive sprocket axle bearing 24 that is used for fixing drive sprocket axle 16 that is clipped in two support plate tops and follower shaft bearing 25 and be used for fixing the motor flange 18 of direct current generator 12 on steel construction pedestal 20.Driving wheel 3 is by two bearings 26 and be clipped in drive sprocket axle bearing 24 immovable fitting between two support plates 21, the follower shaft bearing 25 that is clipped between two support plates 23 is connected with support plate by screw, and driven pulley 4 is by two bearings 27 and follower shaft bearing 25 immovable fitting.
Driving wheel power transmission shaft 15 passes through the left end immovable fitting to ball bearing 28 with the shaft coupling 19 of shoulder placement, and synchronous pulley comes the band that falls of limits synchronization band 17 by the belt wheel back-up ring 29 of its both sides.
Driven pulley 4 supports by follower shaft 22, and follower shaft 22 1 ends are connected with driven pulley 4 by flat key 30, and the other end is embedded in 25 li of follower shaft bearings by ball bearing 27.
For increasing the climbing capacity of walking testing agency on the robot line, it can be braked in maximum ramp angle at any time, on the online car car body that swashes of the present invention the stretching brake gear has been installed.
As shown in Figure 4, stretching brake gear 7 comprises: drive motors 31, gear 32, gear 33, rotation nut 34, screw rod 36, take-up housing 37, push rod 46, micro linear slide rail 38, block 41, pulley 42, spring 47.The stepper motor 31 that is installed on the holder provides power, gear 32 is housed on the stepper motor 31, and gear 33 meshes with gear 32, and is linked together by key 35 with nut 34, nut 34 is installed on the holder by the bearing at two ends, forms sliding spiral pair with screw rod 36.The top of screw rod 36 connects take-up housing 37, slides up and down along slide rail 38, and slide rail 38 is installed on the support plate 40.Push rod 46 is fixed on the take-up housing 37, and can relatively rotate around take-up housing 37, by the spring on the take-up housing 37 47 it is up drawn, and forms certain angle.The spring support wheel is fixed on the push rod 46, and pulley 42 is installed on the pulley base 44 by axle 43, and the other end is held by spring 45.
When motor 31 rotated, by 33 transmissions of gear 32-gear, drive nut 34 rotated, and by sliding spiral pair screw rod 36 straight lines is risen, thus promote take-up housing 37 and on push rod 46 move upward along slide rail 38.When push rod 46 rises, avoid link stopper 41. when rising to pulley 42 and withstand on the ground wire because of its angle is inclined upwardly,, when rising, push rod 46 is rotated down because downward pressure overcomes the pulling force of spring 47, thereby the other end that makes push rod is pressed on the link stopper 41, forms a leverage.Support tightening mechanism this moment by compressing ground wire, increased pressure between scroll wheel 39 and ground wire, thereby improve the climbing capacity of detector around the pulley 42 that self rotates.When detector need brake, motor 31 is rotated further, make push rod further compress ground wire, pulley overcomes the pulling force of spring 45 under the effect of pressure, rotate around axle 43, the lower end of pulley 42 is pressed on the pulley base 44 and can't rotates, make the detector brake thereby compress ground wire by the movable pulley 42 that can't rotate.Scroll wheel 39 wherein can be a driving wheel 3, also can be driven pulley 4 or other brake wheel that is provided with separately.
Walking vehicle body is mainly used to detect ultra-high-tension power transmission line ground wire epidermis and whether has phenomenons such as damage, disconnected strand and corrosion on the line, so the present invention is equipped with two cameras 90,97 and infrared camera 56 on the walking vehicle body on line.
Shown in Figure 3 as Fig. 1, the present invention is furnished with two CCD camera lenses at the detector front end, and one the tunnel is short-focus mirror head 90, observes perpendicular to ground wire.Another road is a telephoto lens 97, can rotate around worm-wheel shaft 93, becomes certain angle of inclination with ground wire, and oblique observation the place ahead is ground wire surface damage situation at a distance.Two set of shots are installed on the extensible arm, and when detector ran into obstacle and can't advance, extended arm was observed, and maximum outreach can reach 500mm.
Infrared camera 56 rotates infrared photography head unit 8 by two degrees of freedom online up walking in the testing agency is installed, and can detect a flaw to lead, pylon etc., and the design of two degrees of freedom rotating mechanism has guaranteed the omnibearing observation of ultra-high-tension power transmission line.
Shown in Fig. 5 a, Fig. 5 b, two degrees of freedom is rotated infrared photography head unit 8 and is comprised: Y to rotary drive motor 48, X to rotary drive motor 58, worm screw 49, worm screw 59, worm gear 50, worm gear 60, rotating shaft 52, rotating shaft 62, rotation seat 54, fixed head 55, camera lens 56, dwang 57 etc.
Rotating stepper motor 48 is installed on the dwang 57 by holder, and worm screw 49 is fixed on the motor shaft, cooperates with worm gear 50.Rotating shaft 52 is installed on the rotation seat 54 by bearing 53, and is by nut 51 that worm gear 50 is fixing with rotating shaft 52.Rotation seat 54 other ends and dwang 57 install and fix.On the fixed head 55 CCD is installed, fixed head 55 is fixed on the rotating shaft 52, and can be around its relative motion.
Rotating stepper motor 58 is installed on the car body by holder, and worm screw 59 is fixed on the motor shaft, cooperates rotating shaft 62 to be installed on the rotation seat 65 by bearing 63 with worm gear 60, and is by pin 61 that worm gear 60 is fixing with rotating shaft 62.The other end is withstood on the rotation holder 65 by sleeve 64.Dwang 57 two ends in addition is installed in the rotating shaft 62, and can be around its relative motion.
When Y when rotary drive motor 48 rotates, by 50 transmissions of worm screw 49 worm gears, drive rotating shaft 52 and rotate.Thereby drive fixed head 55 and go up the camera lens that connects 56 around Y to rotation.
When X when rotary drive motor 58 rotates, by 60 transmissions of worm screw 59-worm gear, drive rotating shaft 62 and rotate.Thereby drive dwang 57 and go up the camera lens that connects 56 around X to rotation.
Double track stretches out mechanism 9 and comprises that fixed vertical short-focus mirror head stretches out mechanism and the oblique telephoto lens of rotary type is stretched out mechanism:
Shown in Fig. 6 a, Fig. 6 b, fixed vertical short-focus mirror head stretches out mechanism and comprises: flexible motor 66, worm screw 67, worm gear 68, worm gear drive shaft 70, stretch out transmission holder 72, gear 74, tooth bar 75, linear slide rail 76, postioning abutment 77, camera lens supporting seat 78, bracing frame 79, slide up and down holder 80, slide down motion block 81, highly regulate boom 82, Vertical camera lens holder 83, two-phase micro-stepping motor 84, motor fixing seat 85, adjusting gear 86, two-phase micro-stepping motor 87, motor fixing seat 88, adjusting gear 89, vertical short-focus mirror head 90.
Stepper motor 66 is installed on the detector car body by holder 72, and worm screw 67 is fixed on the motor shaft, cooperates with worm gear 68.Power transmission shaft 70 is installed on the holder by bearing 71, and by pin 69 that worm gear 68 is fixing with power transmission shaft 70, gear 74 is fixed tightly in the other end of power transmission shaft 70 by nut 73.Tooth bar 75 and gear 84 engagements, and with the linear slide rail 76 composition adjutage that is fixed together.The linear slide rail bottom is equipped with postioning abutment 77, and the linear slide block that matches with linear slide rail is fixed on the detector car body.Bracing frame 79 bottoms are installed on above the camera lens supporting seat 78 that is fixed on the linear slide rail 76.Slide up and down holder 80 and fix, in order to fixing slide down motion block 81 with bracing frame 79 sides.Highly regulating boom 82 sees through slide down motion block 81 and withstands on and slide up and down on the holder 80.Slide down motion block 81 can slide up and down along sliding up and down holder 80.Vertical camera lens holder 83 is installed on the slide down motion block 81, a side fixes two-phase micro-stepping motor 84 by motor fixing seat 85 above Vertical camera lens holder 83 1 ends, opposite side fixes two-phase micro-stepping motor 87 by motor fixing seat 88, and the other end is used for tightening up vertical short-focus mirror head 90.Adjusting gear 86, adjusting gear 89 are installed on respectively on two-phase micro-stepping motor 84, the two-phase micro-stepping motor 87.
The motion process of this structure is: when flexible motor 66 rotates, by 68 transmissions of worm screw 67-worm gear, worm gear turning cylinder 70 rotates, by 75 transmissions of driven wheel 74-tooth bar, drive adjutage 76 and on camera lens supporting seat 78 property slide track seats 77 along the line laterally slide, finish the motion of stretching out of camera lens supporting seat.The up-down adjustment of camera lens is finished by highly regulating boom 82, and its brightness and focal length are regulated automatically by two-phase micro-stepping motor 84 and 87.
The oblique telephoto lens of rotary type is stretched out mechanism and fixed vertical short-focus mirror head, and to stretch out mechanism similar, difference is to be equipped with an automatic rotational structure under the camera lens fixed mount, camera lens can be rotated in the horizontal direction, cooperate the telephoto lens of automatic focusing, viewing distance is farther.
As Fig. 2, shown in Figure 3, rotational structure comprises automatically: drive motors 91, rotation seat 92, worm-wheel shaft 93, rotary worm 94, rotating end cap 95, rotation camera lens supporting seat 96, telephoto lens 97.Drive motors 91 is installed in and is fixed in camera lens and stretches out on the rotation seat 92 in the mechanism, and rotary worm 94 is installed on the drive motors 91, cooperates with worm gear 93.93 on worm gear is installed in by bearing and rotates on the camera lens supporting seat 96, fixes with nut.Rotating end cap 95 withstands bearing, is fixed on the rotation seat 92.
The motion process of this structure is: when drive motors 91 rotates, by 93 transmissions of worm screw 94-worm gear, drive rotate camera lens supporting seat 96 and on telephoto lens 97 rotate in the horizontal direction.
For walking vehicle body on the better control line is creeped along the ultra-high-tension power transmission line ground wire, to the end whether operation on detection machine people's car body line, the present invention's front end of walking vehicle body on line is provided with a front position sensor, position sensor after the rear end of walking vehicle body is provided with one on line, the signal output part of forward and backward position sensor links to each other with electronic equipment.When walking vehicle body was creeped on ultra-high-tension power transmission line on the line, when its front and back ends was run into stockbridge damper on the high-voltage line, the position sensor of its front and back ends just sent control signal.
Can creep along ultra-high-tension power transmission line stably in order to make robot, the present invention adopts symmetric arrangement, mirror-image arrangement, a line to arrange on the geometrical body layout of entire machine people body construction design, thereby makes the robot line car part frame for movement of swashing reach dynamics, static balance.So-called symmetric arrangement is meant that walking vehicle body laterally, vertically all has the weight and the overall dimensions of symmetrical distribution on the robot line.
As shown in Figure 3, the driving wheel 3 of steel construction pedestal 20 and support plate thereof, driven pulley 4 and support plate thereof are symmetrically distributed with two center lines (vertically center line and horizontal central line) of the steel construction pedestal 20 of rectangle.And the symmetrical distribution had here both comprised distribution of weight, comprised that also physical dimension distributes.Mirror-image arrangement is meant in order to guarantee that robot does not come off from line, with two linear slide rails 77, the module that module that drive sprocket axle 16, driving wheel 3 and support plate 21 thereof constitute and follower shaft 22, driven pulley 4 and support plate 23 thereof constitute distributes along the accurate mirror image of the horizontal central line of steel construction pedestal 20.Thereby realized that detected cable passes in car body, guaranteed that robot car body is difficult for coming off from line.A so-called line is arranged, is meant driving wheel 3 race lower surface horizontal sections and driven pulley 4 race lower surface horizontal section coplanes, has so just guaranteed three some conllinear in the space, on the center line of cable.
The above; only for the preferable specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, and anyly is familiar with those skilled in the art in the technical scope that the present invention discloses; the variation that can expect easily or replacement all should be encompassed within protection scope of the present invention.

Claims (9)

1. arm extending type braking multi-CCD full-angle route inspecting robot, comprise up mule carriage body portion of line and automatic control section, the up mule carriage body portion of described line comprises the support and connection body, described support and connection body is provided with driving wheel, driven pulley, described driving wheel is connected with drive unit, it is characterized in that described driving wheel place is provided with the stretching brake gear;
Described support and connection body is provided with two degrees of freedom rotation infrared photography head unit, double track stretches out mechanism;
Described double track stretches out mechanism and comprises and be used for fixing stretching out mechanism and being used for the mechanism of stretching out of the oblique telephoto lens of rotary type of the vertical short-focus mirror head of formula;
Described fixed vertical short-focus mirror head and the oblique telephoto lens of rotary type are respectively equipped with automatic focusing mechanism;
Described stretching brake gear comprises:
Be located at the slide block on the linear slide rail, described slide block drives along described linear slide rail and slides by screw rod, nut body;
On the described slide block push rod is housed, an end and the described slide block of described push rod are hinged, and and described slide block between be provided with back-moving spring, the other end is upturned under the effect of described back-moving spring;
The middle part of described push rod is fixed with pulley base, on the described pulley base pulley is housed, and described pulley is positioned at the below of described driving wheel, and is connected with described pulley base by small rod;
The middle part of described small rod and described pulley base are hinged, are provided with holddown spring between one end and the described pulley base, and the other end and described pulley are hinged;
The below of described driving wheel, an end that is upturned of close described push rod is provided with block, and when described push rod drove rising by slide block, an end that is upturned of described push rod just can be crossed described block; When described push rod rises to described pulley and withstands on the ground wire, the end that described push rod is upturned is rotated down and is pressed on the described link stopper, forms a leverage, makes described pulley compress ground wire, increase the pressure between described driving wheel and ground wire, realize improving climbing capacity;
When described push rod drove the continuation rising by slide block, described pulley rotated described small rod, and the lower end of described pulley is pressed on the described pulley base under the effect of pressure, realizes brake.
2. arm extending type braking multi-CCD full-angle route inspecting robot according to claim 1, it is characterized in that, described double track stretches out on the linear slide rail that mechanism is located at described support and connection body both sides respectively, and it is flexible by gear, rack drives, described tooth bar is fixed on described double track and stretches out in the mechanism, described gear drives by worm and gear, and the end that described double track stretches out mechanism is provided with the camera lens fixed mount.
3. arm extending type braking multi-CCD full-angle route inspecting robot according to claim 2 is characterized in that, under the camera lens fixed mount that stretches out mechanism of the oblique telephoto lens of described rotary type automatic rotational structure is installed.
4. arm extending type braking multi-CCD full-angle route inspecting robot according to claim 1, it is characterized in that, described automatic focusing mechanism comprises micro-stepping motors, and the preset aperture ring of described fixed vertical short-focus mirror head and the oblique telephoto lens of rotary type is connected with described micro-stepping motors by gear respectively with the focus adjustment ring.
5. arm extending type braking multi-CCD full-angle route inspecting robot according to claim 1 is characterized in that, described two degrees of freedom is rotated the infrared photography head unit and comprised:
X to rotary drive motor, X to rotation holder, X to turntable, Y to rotary drive motor, Y to rotation holder, Y to turntable, swinging mounting;
Described X is to rotating the front end that holder is installed in described support and connection body, and described X is installed in X to rotary drive motor and X on holder to turntable;
Described swinging mounting one end can rotate to turntable with X, and the other end is fixed with described Y to the rotation holder, and described Y is installed in described Y to rotary drive motor and Y on the rotation holder to turntable;
Described infrared camera is fixed on described Y on turntable.
6. arm extending type braking multi-CCD full-angle route inspecting robot according to claim 1 is characterized in that, described automatic control section comprises robot modularized combined control system, specifically comprises following a plurality of control module:
Brake control module, semi-girder control module, two-way CCD automatic focusing control module, the two angle control modules of suspention CCD and car body walking control module, wherein each control module comprises 1 Electric Machine Control at least, and each motor all has the photoelectric encoder feedback element;
Described a plurality of control module couples together by the CAN bus, realizes the closed loop feedback control of a plurality of motors.
7. arm extending type braking multi-CCD full-angle route inspecting robot according to claim 6 is characterized in that, described brake control module realizes the position feedback of motor by the photoelectric encoder on the drive motors of described stretching brake gear;
Described car body walking control module realizes position, the speed feedback of motor by the photoelectric encoder on the movable motor.
8. arm extending type braking multi-CCD full-angle route inspecting robot according to claim 6, it is characterized in that, two direct current generators of described semi-girder control module control, by closed loop feedback to two motors, realize to double track stretch out mechanism mechanical arm stretch into the control of stretching out;
Two motors of the two angle control module controls of described suspention CCD are realized the X of described two degrees of freedom rotation infrared photography head unit and the rotation of Y both direction.
9. arm extending type braking multi-CCD full-angle route inspecting robot according to claim 6 is characterized in that, 5 motors of described two-way CCD automatic focusing module controls are respectively:
The aperture of described fixed vertical short-focus mirror head and the oblique telephoto lens of rotary type and focal length are adjusted motor, and the support electric rotating machine of the oblique telephoto lens of described rotary type.
CN2009100930298A 2009-09-17 2009-09-17 Arm extending type braking multi-CCD full-angle route inspecting robot CN101670578B (en)

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