CN101752804B - Two-arm swing obstacle-clearing type line walking robot body - Google Patents
Two-arm swing obstacle-clearing type line walking robot body Download PDFInfo
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- CN101752804B CN101752804B CN2008102388745A CN200810238874A CN101752804B CN 101752804 B CN101752804 B CN 101752804B CN 2008102388745 A CN2008102388745 A CN 2008102388745A CN 200810238874 A CN200810238874 A CN 200810238874A CN 101752804 B CN101752804 B CN 101752804B
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Abstract
The invention provides a two-arm swing obstacle-clearing type line walking robot body, relating to a technique of robots. The invention is designed based on the scheme that an arm is fixed in cables and the other arm rotates around a fixed arm along with a body with counterweight movement in the main obstacle-clearing procedure. The two-arm swing obstacle-clearing type line walking robot body is characterized by comprising a body, a balance movable body and two working arms, wherein the body is composed of a stand and two sets of arm span adjusting components; the balance movable body consists of a counterweight component and a control box with a storage battery; the two working arms are respectively composed of the same rotating component, swinging component, traveling component and clamping component; the working arms are respectively mounted on two movable bodies of the body, wherein five degrees of freedom included in the movable bodies and one degree of freedom included in the balance movably body can provide all functions for check and obstacle clearance. The invention is suitable for the polling operation of high-voltage transmission line multi-line stage, and can prevent obstacles of shockproof hammers, suspension clamps, strain clamps, insulator chains, towers, and the like.
Description
Technical field
The present invention relates to the Robotics field, particularly about a kind of two-arm swing obstacle-clearing type line walking robot body that is used for ultra-high-tension power transmission line.
Background technology
The main artery that ultra-high-tension power transmission line is carried as electric power, its safe and reliable operation is the important leverage of social production and people's lives.To patrolling and examining of ultra-high-tension power transmission line, mainly still adopt manual type at present, its inefficiency and dangerous high.Along with the continuous development of Robotics and artificial intelligence, the inspection robot that designs a kind of high efficiency and good stability is possible.
The research of inspection robot starts from the end of the eighties, and states such as the U.S., Canada, Japan have obtained advanced achievement, and China also begins the research of this respect in the nineties.Whether have the ability of across obstacle at work according to inspection robot, can be divided into the robot and the robot that obstacle climbing ability is arranged of no obstacle climbing ability.The robot of no obstacle climbing ability can only be in the part of path work between two shaft towers, and it is ripe that the research of present this robot has become, and have relevant product to occur.There is the robot of obstacle climbing ability to want to cross over barriers such as stockbridge damper, suspension clamp, strain clamp, insulator string, shaft tower, thereby finish the work of patrolling and examining of multistage circuit, the research work of this robot has very big difficulty, up to the present, though the appearance of some embryos is arranged, does not also have the ripe prototype that can use in practice.
Summary of the invention
The purpose of this invention is to provide a kind of two-arm swing obstacle-clearing type line walking robot body,, but provide another approach of development obstacle detouring inspection robot, to promote the birth of the ripe prototype that can use in practice with the peculiar scheme of its obstacle detouring master operation.
For achieving the above object, the present invention takes following technical scheme:
A kind of two-arm swing obstacle-clearing type line walking robot body, it comprises fuselage, balance kinetoplast, two working arms; Wherein, fuselage comprises shaped as frame frame and two cover arms apart from adjustment component, and the shaped as frame frame is horizontally disposed with, and its vertical frame bottom surface is provided with two guide rails, two cover arms set up stands longitudinal separately apart from adjustment component two ends; The balance kinetoplast is positioned at the frame below, comprise a planker, a control cabinet, the planker upper surface is provided with the roller component sets, and is dynamically connected with two guide rails of frame respectively through the roller component sets, the planker lower surface is connected with control cabinet, and weight member and storage battery are arranged in the control cabinet; Two working arms are positioned at the frame top, comprise identical pivoting part, tilting member, ground-engaging element and clamping part, are located at the two ends of stands longitudinal respectively; The clamping part and the cable of two working arm upper ends are dynamically connected, and each is dynamically connected the pivoting part of lower end apart from adjustment component with a cover arm respectively;
During inspection robot body obstacle detouring, one working arm is fixed in cable with clamping part, another working arm discharges clamping part, moving of complex equilibrium kinetoplast separates, rolls off the production line with cable, and horizontally rotate around a working arm of fixing with fuselage, after surmounting obstacles, the complex equilibrium kinetoplast is mobile again, and clamping part, affixed with cable is reached the standard grade, locked to another working arm; A working arm of fixing discharges clamping part again, repeats aforementioned activities, and the inspection robot body is surmounted obstacles.
Described two-arm swing obstacle-clearing type line walking robot body, its described frame is equipped with vertical side plate of guide rail, two horizontal end plates, four lateral partitions Joints by two bottom surfaces and becomes the frame shape, in four lateral partitions and the end frame that separates that two vertical side plates surround, respectively establish a cover arm apart from adjustment component, arm is provided with the sheet moving body apart from the adjustment component upper surface, and respectively adorn one in the outside of biside plate and overlap the lead-in wire drag chain, a limit sensors is respectively adorned at the two ends of side plate;
Two cover arms comprise DC planetary reducer unit, leading screw screw group, feed rod sliding sleeve group apart from the transmission group of adjustment component, and transmission group and moving body are dynamically connected, and make moving body do translational motion, the pivoting part of the affixed working arm of upper surface of moving body;
The pivoting part of working arm, tilting member, ground-engaging element, clamping part connect from bottom to top successively; There is upper connecting plate the upper end of pivoting part, and the transmission group of pivoting part has: DC planetary reducer unit, worm and gear group, centration axis system, and upper connecting plate horizontally rotates around centration axis system;
The framework lower end of tilting member is fixed in the upper surface of pivoting part upper connecting plate, the framework upper and lower end respectively with the swing arm member in, the lower end is dynamically connected, and does oscillating motion by the swing arm member, the affixed ground-engaging element in swing arm member upper end; The transmission group of tilting member has: DC planetary reducer unit, gear train, leading screw screw group, tangent swing group;
The upright fishplate bar two sides of ground-engaging element and upper surface and clamping part end plate are dynamically connected, and the transmission group of ground-engaging element has: DC planetary reducer unit, V-type roller component sets, and its roller and cable are dynamically connected;
The transmission group of clamping part has: DC planetary reducer unit, gear train, leading screw screw group, guide pillar guide pin bushing group, connecting rod lever group; But the V-type jaw self-locking ground of clamping part upper end clamps cable;
The weight that the control cabinet of balance kinetoplast, the weight member in it and storage battery total weight equal a working arm, the transmission group of weight member has: have DC planetary reducer unit, bevel gear set, timing belt and belt wheel group, the roller component sets of brake, transmission group drives the planker of top and does translational motion along frame two guide rails.
Described two-arm swing obstacle-clearing type line walking robot body, its described arm comprises apart from adjustment component: two hollow polished rods are fixed in the two ends of two lateral partitions abreast along stands longitudinal, the DC planetary reducer unit is installed on the centre bit of a lateral partitions, its output shaft is affixed by the front end of spiral flute type shaft joint and leading screw, the master of leading screw props up shaft part by the moving centre bit that is connected to this lateral partitions of two rolling bearings, and its secondary shaft part is by the moving centre bit that is connected to another lateral partitions of a rolling bearing; Sliding sleeve in its two pilot hole and two hollow polished rods are moving to be connect moving body by being loaded on, and moves with leading screw by the screw that is loaded on its centre bit and to connect; A limit sensors respectively is equipped with in the inboard of two lateral partitions.
Described two-arm swing obstacle-clearing type line walking robot body, the two ends on plane are respectively equipped with main dress plate and secondary dress plate on its described fuselage frame;
Weight member comprises: the following shaft part of driving shaft is equipped with driving pulley, and middle shaft part is connected to main encapsulation by two rolling bearings are moving, and last shaft part is equipped with bevel gear wheel, and main encapsulation is loaded on the centre bit of main dress plate; The DC planetary reducer unit that has brake is installed on the centre bit of right angle fishplate bar, and its output shaft is equipped with bevel pinion, and the right angle fishplate bar is loaded on the main dress plate, guarantees big bevel pinion correct engagement; The following shaft part of driven shaft is equipped with driven pulley, and last shaft part moves by two rolling bearings and is connected to secondary encapsulation, and secondary encapsulation is loaded on the centre bit of secondary dress plate; Suit timing belt between driving pulley and the driven pulley makes timing belt be in tensioning state;
The baseplane of perpendicular type flute profile strap clamp plate and the upper surface of planker are affixed, and a side of its facade and timing belt is affixed; The baseplane of three secondary roller members is installed in the upper surface of planker, being 3 positions arranges, any has a secondary roller member, its roller and a guide rail are dynamically connected, 2 respectively have a secondary roller member in addition, along vertical setting of another guide rail, two rollers of its every secondary roller member are located in another guide rail both sides relatively, and are dynamically connected with another guide rail.
Described two-arm swing obstacle-clearing type line walking robot body, its described pivoting part comprises casing, and worm screw, worm gear are arranged in the case; The DC planetary reducer unit is installed on the transverse wall outside of casing, and it is affixed that the master of its output shaft and worm screw props up shaft part, and the pair of worm screw is propped up shaft part by moving another transverse wall relatively that is connected to of a rolling bearing; The lower end of worm gear mandrel and the lower wall of casing are affixed, and the box cover centre bore is stretched out in the upper end, guarantee worm gear and worm screw correct engagement, and worm gear is by the moving middle shaft part that is connected to the worm gear mandrel of two rolling bearings that are loaded on its endoporus, and worm gear upper surface and upper connecting plate are affixed; The upper end of worm gear mandrel is provided with sliding bearing, and upper connecting plate center borehole jack is fixed in the sliding bearing cylindrical, and upper connecting plate is dynamically connected through sliding bearing and worm gear mandrel; A limit sensors respectively is equipped with at the two ends of box cover.
Described two-arm swing obstacle-clearing type line walking robot body, its described tilting member, comprise a framework, framework is by two horizontal end plates, two affixed forming of vertical fishplate bar head and the tail, the framework inner top side vertically sets firmly a guide way, vertically be provided with leading screw in the frame of shaped as frame guide way, be socketed with screw on the leading screw, the upper and lower side of screw and the inner surface of shaped as frame guide way are moving to be connect, after leading screw one end stretches out a horizontal end plate, the affixed gear wheel in outer end, the master of leading screw props up shaft part through moving this horizontal end plate that is connected to of rolling bearing; The DC planetary reducer unit is installed on framework one horizontal end plate medial surface, is positioned at the guide way below, after its output shaft stretches out this horizontal end plate, and the affixed pinion in outer end, the gear wheel of leading screw and pinion; The pair of leading screw is propped up shaft part by moving another the horizontal end plate that is connected to framework of a rolling bearing; The upper surface of framework lower end and pivoting part upper connecting plate is affixed;
One T shape swing arm member vertically is provided with, and its pair straight-bar lays respectively at the both sides of guide way in the framework, and upper end cross-peen and ground-engaging element are affixed, there is circular hole straight-bar lower end, cross-peen below, circle hole sleeve is fixed in the hinge cylindrical, and the hinge two ends are positioned at framework two vertical fishplate bar mid points, and is dynamically connected with two vertical fishplate bars; There is a slotted hole at the straight-bar middle part, and the screw pin position on slotted hole and the leading screw is moving to be connect; A limit sensors respectively is equipped with at two ends above the framework, and meta is equipped with a null pick-up.
Described two-arm swing obstacle-clearing type line walking robot body, its described ground-engaging element, an end fishplate bar is horizontally disposed with, and the upper end cross-peen of end fishplate bar lower surface and swing arm member is affixed; Fishplate bar one end in the end has the extension fishplate bar, and extending the fishplate bar outer end has a minisize pick-up head; End fishplate bar upper surface is installed with upright fishplate bar, gusset, there is circular hole upright fishplate bar upper end, be connected with core sleeve in the circular hole, be socketed with the DC planetary reducer unit in core sleeve's endoporus, its output shaft passes affixed wheel disc after the core sleeve, the endoporus of core sleeve's cylindrical and V-type roller is dynamically connected, and the side of wheel disc and V-type roller is affixed;
Upright fishplate bar and clamping part are connected.
Described two-arm swing obstacle-clearing type line walking robot body, its described clamping part, its upper and lower support plate and working body be arranged in parallel, working body is positioned in the middle of two support plates, upper and lower support plate the place ahead central vertical is provided with leading screw, the master of leading screw props up shaft part through the moving upper supporting plate that is connected to of two rolling bearings, and a secondary shaft part is by the moving lower carrier plate that is connected to of a rolling bearing; Each vertically is provided with a guide pillar both sides, upper and lower support plate the place ahead, and the guide pillar upper and lower side is fixed in upper and lower support plate; Three pilot holes are arranged on the working body, and leading screw, two guide pillars pass from pilot hole respectively, and screw and the working body of leading screw in pilot hole is dynamically connected, and guide pin bushing and the working body of two guide pillars in pilot hole is dynamically connected;
Last hinge is arranged on the working body two side ends, on the end plate of Π shape lower carrier plate both sides down hinge is arranged, two sheets connect, leverage component is scissor structure, and each connects with the last hinge of working body is moving through connecting rod on its top; Each connects the middle part with the down hinge of lower carrier plate is moving; One V-type jaw is respectively arranged at the bottom, but the affixed cable of V-type jaw notch withdraw-type;
Upper and lower support plate rear central vertical is provided with the DC planetary reducer unit, is connected with pinion after passing upper supporting plate on the deceleration unit output shaft, is connected with gear wheel after passing upper supporting plate on the upper end of leading screw, and large and small gear is meshing with each other; Parallel being provided with of deceleration unit one side connects bar, connects the bar upper and lower side and last lower carrier plate is affixed, and connecing bar top has a limit sensors; One alignment sensor is arranged at the bottom;
Three basal planes of the upright fishplate bar of Π shape lower carrier plate and ground-engaging element are affixed.
A kind of two-arm swing obstacle-clearing type line walking robot body of the present invention owing to taked above-mentioned technical scheme, has following advantage:
1. the scheme of two-arm swing obstacle is simpler and easy than the scheme of three arm obstacle detourings; Scheme than the obstacle detouring of creeping is quick.
2. the scheme of two-arm swing obstacle not only can be crossed over various typical barriers, has the barrier in the distinct line highway section of weight backguy also can cross over for the below.
3. the pose balance scheme of other establishing weight can not alleviate the weight of body and reduce the load that obstacle detouring moves.
4. 1 degree of freedom comprising of 5 degrees of freedom comprising of working arm and balance kinetoplast can provide searching and the necessary repertoire of obstacle detouring definitely.
Description of drawings
Fig. 1 is the structural representation of two-arm swing obstacle-clearing type line walking robot body of the present invention;
What Fig. 2 was an arm of the present invention apart from adjustment component overlooks the sectional structure schematic diagram;
Fig. 3 is the structural representation of weight member of the present invention;
Fig. 4 is the vertical view of Fig. 3;
Fig. 5 is the structural representation of pivoting part of the present invention;
Fig. 6 is the vertical view cutaway drawing of Fig. 5;
Fig. 7 is the structural representation of tilting member of the present invention;
Fig. 8 is the structural representation of ground-engaging element of the present invention;
Fig. 9 is the structural representation of clamping part of the present invention;
Figure 10 is that cutaway view is looked on the left side of Fig. 9;
Figure 11 is before the present invention turns round when obstacle detouring, the pose figure of back working arm off-line;
Figure 12 is after the present invention turns round when obstacle detouring, the pose figure before back working arm is reached the standard grade;
Figure 13 is after the present invention turns round when obstacle detouring, the pose figure that back working arm has been reached the standard grade.
Embodiment
Below in conjunction with accompanying drawing a kind of two-arm swing obstacle-clearing type line walking robot body of the present invention is described in detail.
As shown in Figure 1 and Figure 2, frame 1 is equipped with vertical side plate b1, the b2 of guide rail a1, a2 by two bottom surfaces, two horizontal end plate c1, c2, and four lateral partitions d1, d2, d3, d4 Joint, and respectively adorn a cover lead-in wire drag chain in the outside of biside plate b1, b2; The two ends of side plate b1 are respectively adorned a limit sensors and are formed.Vertically side plate b1, b2 are parallel to each other, vertical setting, four lateral partitions d1, d2, d3, d4 and vertically side plate b1, b2 quadrature, and equidistantly be fixedly arranged on the top of vertical side plate b1, b2 medial surface, between lateral partitions d1, d2, a cover arm respectively is housed apart from adjustment component 2 between lateral partitions d3, the d4, vertically the two ends of side plate b1, b2 respectively set firmly horizontal end plate c1, a c2, laterally end plate c1, c2 and lateral partitions d1, d2, d3, d4 are parallel, the formation fuselage.The lower surface of the planker e of weight member 3 is installed the control cabinet 4 that has storage battery, and its weight approximates the weight of a working arm, and the double as mass constitutes the balance kinetoplast.The roller component sets f of balance kinetoplast and guide rail a1, the a2 of fuselage are moving to be connect.Pivoting part 5, tilting member 6, ground-engaging element 7, clamping part 8 are installed from bottom to top successively, constitute working arm.Have two working arms, the pivoting part 5 of two working arms is loaded on the upper surface of two arms of fuselage apart from the moving body g of adjustment component 2 respectively.
In this part, the following stated is vertical, and is all identical with vertical side plate b1, b2 direction; Described laterally, all identical with lateral partitions d1, d2, d3, d4 direction.
As shown in Figure 2, arm longitudinally is fixed in the two ends of two lateral partitions (d) abreast apart from two hollow polished rods 11 of adjustment component 2.DC planetary reducer unit 9 is installed on the centre bit of a lateral partitions (d), and its output shaft is affixed with the front end of leading screw 12 by spiral flute type shaft joint 10.The master of leading screw 12 props up shaft part by the moving centre bit that is connected to this lateral partitions (d) of two rolling bearings, and its secondary shaft part is by the moving centre bit that is connected to another lateral partitions (d) of a rolling bearing.Moving body g is by being loaded on sliding sleeve 13 and two hollow polished rod 11 moving the connecing in its two pilot hole; By the screw 15 and leading screw 12 moving connecing that is loaded on its centre bit.A limit sensors 16 respectively is equipped with in the inboard of two lateral partitions (d).Moving body g does translational motion, the pivoting part 5 of its upper surface installment work arm.
As shown in Figure 3, Figure 4, the following shaft part of the driving shaft 17 of weight member 3 is equipped with driving pulley 18, and middle shaft part is connected to main encapsulation 19 by two rolling bearings are moving, and last shaft part is equipped with bevel gear wheel 21, and main encapsulation 19 is loaded on the centre bit of main dress plate 20.The DC planetary reducer unit 29 that has brake is installed on the centre bit of right angle fishplate bar 30, and its output shaft is equipped with bevel pinion 31, and right angle fishplate bar 30 is loaded on the main dress plate 20, guarantees two bevel gears, 21,31 correct engagement.The following shaft part of driven shaft 28 is equipped with driven pulley 27, and last shaft part moves by two rolling bearings and is connected to secondary encapsulation 25, and secondary encapsulation 25 is loaded on the centre bit of secondary dress plate 26.Suit timing belt 22 between driving pulley 18 and the driven pulley 27, main dress plate 20 is adorned the two ends that plate 26 is loaded on fuselage respectively with pair, guarantees that timing belt 22 is in tensioning state.The baseplane of perpendicular type flute profile strap clamp plate 24 and the upper surface of planker e are affixed, and a side of its facade and timing belt 22 is affixed.Planker e does translational motion, and its lower surface is installed the control cabinet 4 that has storage battery.The baseplane of roller member f is installed in the upper surface of planker e, is 3 positions and arranges, its roller position connects with guide rail a1, the a2 of vertical side plate b1, b2 are moving.
As Fig. 5, shown in Figure 6, the baseplane of the casing 33 of pivoting part 5 is fixed in the upper surface of moving body g.The DC planetary reducer unit 40 of pivoting part 5 is installed on a transverse wall of casing 33, and it is affixed that the master of its output shaft and worm screw 41 props up shaft part, and the pair of worm screw 41 is propped up shaft part by moving another transverse wall that is connected to of a rolling bearing.The lower wall of the lower end of worm gear mandrel 34 and casing 33 is affixed, guarantees worm gear 35 and worm screw 41 correct engagement.Worm gear 35 is by the moving middle shaft part that is connected to worm gear mandrel 34 of two rolling bearings that are loaded on its endoporus, and its upper surface and upper connecting plate 39 are affixed.The sliding bearing 38 and worm gear mandrel 34 moving connect of upper connecting plate 39 by being loaded on its centre bore.A limit sensors 37 respectively is equipped with at the two ends of box cover 36.Upper connecting plate 39 is done gyration, and its upper surface is installed tilting member 6.
As shown in Figure 7, the framework 42 of tilting member 6 is by the vertical fishplate bar of two horizontal end plates 43, two 44, guide way 45 affixed forming.The bottom surface of the framework 42 of tilting member 6 is fixed in the upper surface of the upper connecting plate 39 of pivoting part 5.DC planetary reducer unit 53 is installed on framework 42 1 ends, and its output shaft is equipped with pinion 52.The front end of leading screw 50 is equipped with gear wheel 51, and the master of leading screw props up shaft part by moving this end that is connected to framework 42 of a rolling bearing, guarantees two gears, 51,52 correct engagement, and its secondary shaft part is by the moving other end that is connected to framework of a rolling bearing.The bottom of swing arm member 48 is by hinge 54 and framework 42 moving connecing, and the middle part connects by the pin position of slotted hole and screw 47 is moving.The inner surface of the above and below of screw 47 and guide way 45 is moving to be connect.A limit sensors 46 respectively is equipped with at two ends above the framework 42; Meta is equipped with a null pick-up 49.Swing arm member 48 is done oscillating motion, and its upper surface is installed ground-engaging element 7.
As shown in Figure 8, the end fishplate bar 60 of ground-engaging element 7 is fixed in the upper surface of the swing arm member 48 of tilting member 6.The core sleeve 55 of ground-engaging element 7 is loaded on upright fishplate bar 56, and DC planetary reducer unit 62 is installed on the endoporus of core sleeve 55, and its output shaft is equipped with wheel disc 63, and wheel disc 63 is affixed with the front end face of V-type roller 61, and the cylindrical of the endoporus of V-type roller 61 and core sleeve 55 is moving to be connect.Upright fishplate bar 56 and end fishplate bar 60, gusset 59 are affixed.Be fixed on the extension fishplate bar 58 of end fishplate bar 60 minisize pick-up head 57 is housed.V-type roller 61 walking of on cable, rolling.The two sides of the upright fishplate bar 56 of ground-engaging element 7 and upper surface are installed clamping part 8.
As Fig. 9, shown in Figure 10, the lower carrier plate 69 of clamping part 8 is fixed in the upper surface of the upright fishplate bar 56 of ground-engaging element 7; Two end plates 71 of clamping part 8 are fixed in the two sides of the upright fishplate bar 56 of ground-engaging element 7 respectively.Two guide pillars 65 of clamping part 8 vertically are fixed in the two ends of upper supporting plate 64 and lower carrier plate 69 abreast.DC planetary reducer unit 80 is installed on upper supporting plate 64, and its output shaft is equipped with pinion 81.Gear wheel 74 is equipped with in the upper end of leading screw 73, and the master of leading screw props up shaft part and is connected to upper supporting plate 64 by two rolling bearings are moving, guarantees two gears, 74,81 correct engagement, and its secondary shaft part is by the moving lower carrier plate 69 that is connected to of a rolling bearing.Working body 67 is by being loaded on guide pin bushing 68 and two guide pillars, 65 moving the connecing in its two pilot hole; By the screw 72 and leading screw 73 moving connecing that is loaded on its centre bit.Each affixed one end plate 71 that down hinge 70 is housed of the two ends of lower carrier plate 69, hinge 66 on respectively is equipped with at the two ends of working body 67.The top of two companies, leverage component 75 is respectively moved with last hinge 66 and is connect; The middle part is respectively moved with down hinge 70 and is connect; Each is affixed with a pair of V-type jaw 76 in the bottom.With upper supporting plate 64 and lower carrier plate 69 affixed connect bar 78, a limit sensors 79 is equipped with in its upper end; An alignment sensor 77 is equipped with in the lower end.But V-type jaw 76 self-lockings ground clamps cable.
As shown in figure 11, robot body is walked on cable when running into the place ahead barrier III, and preceding working arm I is fixed in cable, back working arm II off-line, and balance kinetoplast control cabinet 4 moves to the symmetry position of back working arm II, prepares revolution across obstacle III; As shown in figure 12, back working arm II revolution clears the jumps behind the III, makes the orientation adjustment of self, and this moment, balance kinetoplast control cabinet 4 was still in the symmetry position of back working arm II; As shown in figure 13, after back working arm II reached the standard grade, balance kinetoplast control cabinet 4 moved in the middle of two working arms, and back working arm II is fixed in cable, and working arm I crosses over the revolution of barrier III before preparing then.
The distinguishing feature of a kind of two-arm swing obstacle-clearing type line walking robot body of the present invention is: the obstacle detouring master operation of robot body adopts the scheme of " arm is fixed in cable, and another arm turns round with the rich fixed arm of fuselage, and is aided with the counterweight motion ".This scheme is simpler and easy than the scheme of three arm obstacle detourings; Scheme than the obstacle detouring of creeping is quick, not only can cross over various typical barriers, has the barrier in the distinct line highway section of weight backguy also can cross over for the below.This scheme is establishing weight in addition not, but removes another unsettled working arm of balance with the weight of control cabinet, and this can alleviate the weight of body and reduce the load that obstacle detouring moves.Utilize the regulating action of arm, can also make unsettled working arm and steady job arm in the gyration keep as far as possible little distance and not violate the regulation of high-tension line safety clearance apart from adjustment component.
The technological core of a kind of two-arm swing obstacle-clearing type line walking robot body of the present invention is: each degree of freedom and combination thereof with the optimum principle configuration can provide searching and the necessary repertoire of obstacle detouring definitely.This configuration is summed up as: 1 degree of freedom that 5 degrees of freedom that working arm comprises and balance kinetoplast comprise.Concrete decomposition is as follows:
1. the adjusting of arm distance during the translational motion of working arm → obstacle detouring;
2. the orientation adjustment before reach the standard grade in the gyration of working arm → walking position;
3. the attitude adjustment before the oscillating motion → clamping of working arm;
4. the walking of the rolling → body of working arm V shaped wheel;
5. the braking of the clamping campaign → body of working arm jaw;
6. the balance of the translational motion → pose of balance kinetoplast;
7. the clamping campaign → climbing of the translational motion of working arm+working arm jaw is climbed up by holding on to;
8. the revolution of the clamping campaign → obstacle detouring master operation of the gyration of working arm+working arm jaw;
9. the off-line at the clamping campaign → walking position of the oscillating motion of working arm+working arm jaw or reach the standard grade.
Claims (7)
1. a two-arm swing obstacle-clearing type line walking robot body is characterized in that: comprise fuselage, balance kinetoplast, two working arms; Wherein, fuselage comprises shaped as frame frame and two cover arms apart from adjustment component, and the shaped as frame frame is horizontally disposed with, and shaped as frame frame bottom surface vertically is provided with two guide rails, two cover arms set up stands longitudinal separately apart from adjustment component two ends; The balance kinetoplast is positioned at the frame below, comprise a planker, a control cabinet, the planker upper surface is provided with the roller component sets, and is dynamically connected with two guide rails of frame respectively through the roller component sets, the planker lower surface is connected with control cabinet, and weight member and storage battery are arranged in the control cabinet; Two working arms are positioned at the frame top, comprise identical pivoting part, tilting member, ground-engaging element and clamping part, are located at the two ends of stands longitudinal respectively; The clamping part and the cable of two working arm upper ends are dynamically connected, and each is dynamically connected the pivoting part of lower end apart from adjustment component with a cover arm respectively;
During inspection robot body obstacle detouring, one working arm is fixed in cable with clamping part, another working arm discharges clamping part, moving of complex equilibrium kinetoplast separates, rolls off the production line with cable, and horizontally rotate around a working arm of fixing with fuselage, after surmounting obstacles, the complex equilibrium kinetoplast is mobile again, and clamping part, affixed with cable is reached the standard grade, locked to another working arm; A working arm of fixing discharges clamping part again, repeats aforementioned activities, and the inspection robot body is surmounted obstacles;
Described frame is equipped with vertical side plate of guide rail, two horizontal end plates, four lateral partitions Joints by two bottom surfaces and becomes the frame shape, in four lateral partitions and the end frame that separates that two vertical side plates surround, respectively establish a cover arm apart from adjustment component, arm is provided with the sheet moving body apart from the adjustment component upper surface, and respectively adorn one in the outside of two vertical side plates and overlap the lead-in wire drag chain, a limit sensors is respectively adorned at the two ends of a vertical side plate;
Two cover arms comprise DC planetary reducer unit, leading screw screw group, feed rod sliding sleeve group apart from the transmission group of adjustment component, and transmission group and moving body are dynamically connected, and make moving body do translational motion, the pivoting part of the affixed working arm of upper surface of moving body;
The pivoting part of working arm, tilting member, ground-engaging element, clamping part connect from bottom to top successively; There is upper connecting plate the upper end of pivoting part, and the transmission group of pivoting part has: DC planetary reducer unit, worm and gear group, centration axis system, and upper connecting plate horizontally rotates around centration axis system;
The framework lower end of tilting member is fixed in the upper surface of pivoting part upper connecting plate, the framework upper and lower end respectively with the swing arm member in, the lower end is dynamically connected, and does oscillating motion by the swing arm member, the affixed ground-engaging element in swing arm member upper end; The transmission group of tilting member has: DC planetary reducer unit, gear train, leading screw screw group, tangent swing group;
The upright fishplate bar two sides of ground-engaging element and upper surface and clamping part end plate are dynamically connected, and the transmission group of ground-engaging element has: DC planetary reducer unit, V-type roller component sets, and its roller and cable are dynamically connected;
The transmission group of clamping part has: DC planetary reducer unit, gear train, leading screw screw group, guide pillar guide pin bushing group, connecting rod lever group; But the V-type jaw self-locking ground of clamping part upper end clamps cable;
The weight that the control cabinet of balance kinetoplast, the weight member in it and storage battery total weight equal a working arm, the transmission group of weight member has: have DC planetary reducer unit, bevel gear set, timing belt and belt wheel group, the roller component sets of brake, transmission group drives the planker of top and does translational motion along frame two guide rails.
2. two-arm swing obstacle-clearing type line walking robot body as claimed in claim 1, it is characterized in that: described arm comprises apart from adjustment component: two hollow polished rods are fixed in the two ends of two lateral partitions abreast along stands longitudinal, the DC planetary reducer unit is installed on the centre bit of a lateral partitions, its output shaft is affixed by the front end of spiral flute type shaft joint and leading screw, the master of leading screw props up shaft part by the moving centre bit that is connected to this lateral partitions of two rolling bearings, and its secondary shaft part is by the moving centre bit that is connected to another lateral partitions of a rolling bearing; Sliding sleeve in its two pilot hole and two hollow polished rods are moving to be connect moving body by being loaded on, and moves with leading screw by the screw that is loaded on its centre bit and to connect; A limit sensors respectively is equipped with in the inboard of two lateral partitions.
3. two-arm swing obstacle-clearing type line walking robot body as claimed in claim 1 is characterized in that: the two ends on plane are respectively equipped with main dress plate and secondary dress plate on the described frame;
Weight member comprises: the following shaft part of driving shaft is equipped with driving pulley, and middle shaft part is connected to main encapsulation by two rolling bearings are moving, and last shaft part is equipped with bevel gear wheel, and main encapsulation is loaded on the centre bit of main dress plate; The DC planetary reducer unit that has brake is installed on the centre bit of right angle fishplate bar, and its output shaft is equipped with bevel pinion, and the right angle fishplate bar is loaded on the main dress plate, guarantees big bevel pinion correct engagement; The following shaft part of driven shaft is equipped with driven pulley, and last shaft part moves by two rolling bearings and is connected to secondary encapsulation, and secondary encapsulation is loaded on the centre bit of secondary dress plate; Suit timing belt between driving pulley and the driven pulley makes timing belt be in tensioning state;
The baseplane of perpendicular type flute profile strap clamp plate and the upper surface of planker are affixed, and a side of its facade and timing belt is affixed; The baseplane of three secondary roller members is installed in the upper surface of planker, being 3 positions arranges, any has a secondary roller member, its roller and a guide rail are dynamically connected, 2 respectively have a secondary roller member in addition, along vertical setting of another guide rail, two rollers of its every secondary roller member are located in another guide rail both sides relatively, and are dynamically connected with another guide rail.
4. two-arm swing obstacle-clearing type line walking robot body as claimed in claim 1 is characterized in that: described pivoting part, comprise casing, and worm screw, worm gear are arranged in the case; The DC planetary reducer unit is installed on the transverse wall outside of casing, and it is affixed that the master of its output shaft and worm screw props up shaft part, and the pair of worm screw is propped up shaft part by moving another transverse wall relatively that is connected to of a rolling bearing; The lower end of worm gear mandrel and the lower wall of casing are affixed, and the box cover centre bore is stretched out in the upper end, guarantee worm gear and worm screw correct engagement, and worm gear is by the moving middle shaft part that is connected to the worm gear mandrel of two rolling bearings that are loaded on its endoporus, and worm gear upper surface and upper connecting plate are affixed; The upper end of worm gear mandrel is provided with sliding bearing, and upper connecting plate center borehole jack is fixed in the sliding bearing cylindrical, and upper connecting plate is dynamically connected through sliding bearing and worm gear mandrel; A limit sensors respectively is equipped with at the two ends of box cover.
5. two-arm swing obstacle-clearing type line walking robot body as claimed in claim 1, it is characterized in that: described tilting member, comprise a framework, framework is by two horizontal end plates, two affixed forming of vertical fishplate bar head and the tail, the framework inner top side vertically sets firmly a shaped as frame guide way, vertically be provided with leading screw in the frame of shaped as frame guide way, be socketed with screw on the leading screw, the upper and lower side of screw and the inner surface of shaped as frame guide way are moving to be connect, after leading screw one end stretches out a horizontal end plate, the affixed gear wheel in outer end, the master of leading screw props up shaft part through moving this horizontal end plate that is connected to of rolling bearing; The DC planetary reducer unit is installed on framework one horizontal end plate medial surface, is positioned at shaped as frame guide way below, after its output shaft stretches out this horizontal end plate, and the affixed pinion in outer end, the gear wheel of leading screw and pinion; The pair of leading screw is propped up shaft part by moving another the horizontal end plate that is connected to framework of a rolling bearing; The upper surface of framework lower end and pivoting part upper connecting plate is affixed;
The T-shaped vertical setting of described swing arm member, its pair straight-bar lay respectively at the both sides of shaped as frame guide way in the framework, and upper end cross-peen and ground-engaging element are affixed, there is circular hole straight-bar lower end, cross-peen below, circle hole sleeve is fixed in the hinge cylindrical, and the hinge two ends are positioned at framework two vertical fishplate bar mid points, and is dynamically connected with two vertical fishplate bars; There is a slotted hole at the straight-bar middle part, and the screw pin position on slotted hole and the leading screw is moving to be connect; A limit sensors respectively is equipped with at two ends above the framework, and meta is equipped with a null pick-up.
6. two-arm swing obstacle-clearing type line walking robot body as claimed in claim 5 is characterized in that: described ground-engaging element, and an end fishplate bar is horizontally disposed with, and the upper end cross-peen of end fishplate bar lower surface and swing arm member is affixed; Fishplate bar one end in the end has the extension fishplate bar, and extending the fishplate bar outer end has a minisize pick-up head; End fishplate bar upper surface is installed with upright fishplate bar, gusset, there is circular hole upright fishplate bar upper end, be connected with core sleeve in the circular hole, be socketed with the DC planetary reducer unit in core sleeve's endoporus, its output shaft passes affixed wheel disc after the core sleeve, the endoporus of core sleeve's cylindrical and V-type roller is dynamically connected, and the side of wheel disc and V-type roller is affixed;
Upright fishplate bar and clamping part are connected.
7. two-arm swing obstacle-clearing type line walking robot body as claimed in claim 1, it is characterized in that: described clamping part, its upper and lower support plate and working body be arranged in parallel, working body is positioned in the middle of two support plates, upper and lower support plate the place ahead central vertical is provided with leading screw, the master of leading screw props up shaft part through the moving upper supporting plate that is connected to of two rolling bearings, and a secondary shaft part is by the moving lower carrier plate that is connected to of a rolling bearing; Each vertically is provided with a guide pillar both sides, upper and lower support plate the place ahead, and the guide pillar upper and lower side is fixed in upper and lower support plate; Three pilot holes are arranged on the working body, and leading screw, two guide pillars pass from pilot hole respectively, and screw and the working body of leading screw in pilot hole is dynamically connected, and guide pin bushing and the working body of two guide pillars in pilot hole is dynamically connected;
Last hinge is arranged on the working body two side ends, and each affixed end plate of the both sides of lower carrier plate forms ∏ shape lower carrier plate, on the end plate of both sides down hinge is arranged, and two sheets connect, leverage component is scissor structure, and each connects with the last hinge of working body is moving through connecting rod on its top; Each connects the middle part with the down hinge of lower carrier plate is moving; One V-type jaw is respectively arranged at the bottom, but the affixed cable of V-type jaw notch withdraw-type;
Upper and lower support plate rear central vertical is provided with the DC planetary reducer unit, is connected with pinion after passing upper supporting plate on the deceleration unit output shaft, is connected with gear wheel after passing upper supporting plate on the upper end of leading screw, and large and small gear is meshing with each other; Parallel being provided with of deceleration unit one side connects bar, connects the bar upper and lower side and last lower carrier plate is affixed, and connecing bar top has a limit sensors; One alignment sensor is arranged at the bottom;
Three basal planes of the upright fishplate bar of ∏ shape lower carrier plate and ground-engaging element are affixed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008102388745A CN101752804B (en) | 2008-12-03 | 2008-12-03 | Two-arm swing obstacle-clearing type line walking robot body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008102388745A CN101752804B (en) | 2008-12-03 | 2008-12-03 | Two-arm swing obstacle-clearing type line walking robot body |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101752804A CN101752804A (en) | 2010-06-23 |
| CN101752804B true CN101752804B (en) | 2011-10-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2008102388745A Expired - Fee Related CN101752804B (en) | 2008-12-03 | 2008-12-03 | Two-arm swing obstacle-clearing type line walking robot body |
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| CN (1) | CN101752804B (en) |
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2008
- 2008-12-03 CN CN2008102388745A patent/CN101752804B/en not_active Expired - Fee Related
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|---|---|
| CN101752804A (en) | 2010-06-23 |
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