CN102039591A - Variable-pitch wheel-arm composite inspection robot mechanism - Google Patents
Variable-pitch wheel-arm composite inspection robot mechanism Download PDFInfo
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- CN102039591A CN102039591A CN200910206814XA CN200910206814A CN102039591A CN 102039591 A CN102039591 A CN 102039591A CN 200910206814X A CN200910206814X A CN 200910206814XA CN 200910206814 A CN200910206814 A CN 200910206814A CN 102039591 A CN102039591 A CN 102039591A
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Abstract
The invention relates to a variable-pitch wheel-arm composite inspection robot mechanism relating to a mobile robot. The variable-pitch wheel-arm composite inspection robot mechanism comprises a front travelling clamping mechanism, a front swing mechanism, a front lifting mechanism, a variable-pitch telescoping mechanism, a rear travelling clamping mechanism, a rear swing mechanism and a rear lifting mechanism, wherein one ends of the front travelling clamping mechanism and the rear travelling clamping mechanism are clamped with earth wires through travelling wheels and clamping wheels and can travel on the earth wires, and the other ends are respectively connected with the front swing mechanism and the rear swing mechanism; the front travelling clamping mechanism and the rear travelling clamping mechanism rotate under the driving of the front swing mechanism and the rear swing mechanism; one ends of the front lifting mechanism and the rear lifting mechanism are respectively connected with the front swing mechanism and the rear swing mechanism, and the other ends are respectively connected with the variable-pitch telescoping mechanism; the front swing mechanism, the rear swing mechanism, the front travelling clamping mechanism and the rear travelling clamping mechanism are lifted through the front lifting mechanism and the rear lifting mechanism; the variable-pitch telescoping mechanism is arranged on a guide rail bracket, and the pitch regulation of the front travelling wheel and the rear travelling wheel is realized through the variable-pitch telescoping mechanism. The invention is suitable for barriers with different dimensions and has high obstacle-climbing capability, good safety, and the like.
Description
Technical field
The present invention relates to the mobile robot, but a kind of compound inspection robot mechanism of wheel arm of displacement specifically.
Background technology
Transmission line of electricity is the very important part of power system, safely and steadily runs in order to guarantee it, need regularly carry out walkaround inspection.The present method that adopts mainly contains manual inspection and helicopter is patrolled and examined.The efficient of manual inspection is low, and labour intensity is big, and is dangerous high; The cost height that helicopter is patrolled and examined is patrolled and examined quality and is subject to climatic effect.Therefore, need development can carry communication and the robot that patrols and examines instrument replaces manually transmission line of electricity being patrolled and examined automatically,, guarantee the safe operation of transmission line of electricity to raise the efficiency.In existing EHV transmission line patrol robot mechanism, the most of employing by the wheeled mobile composite moving mechanism that combines with composite rod mechanism (referring to document 1:Jun Sawada, Kazuyuki Kusumoto, Tadashi Munakata, Yasuhisa Maikawa, Yoshinobu Ishikawa, " A Mobile Robot For Inspectionof Power Transmission Lines ", IEEE Trans.Power Delivery, 1991, Vol.6, No.1:pp..309-315; Document 2:Mineo Higuchi, Yoichiro Maeda, Sadahiro Tsutani, Shiro Hagihara, " Development of a Mobile InspectionRobot for Power Transmission Lines ", J.of the Robotics Society ofJapan, Japan, Vol.9, No.4, pp.457-463,1991), (the document 3:Shin-ichi Aoshima of multiple degrees of freedom travel mechanism that perhaps adopts many group mobile units to be composed in series, Takeshi TSujimura, Tetsuro Yabuta, " A Wire Mobile Robot withMulti-unit Structure ", IEEE/RSJ Intermational Workshop on IntelligentRobots and Systems ' 89, Sep.4-6,1989, Tsukuba, Japan, pp.414-421).The complex structure of these mechanisms, weight are big, distance is fixing mostly between two arms, barrier adaptability for different size in the circuit environment is relatively poor, obstacle detouring and climbing capacity are limited and wayward, therefore, are difficult to be applied to actual extra high voltage network and patrol and examine in the operation.
Summary of the invention
At above shortcomings in the prior art, the object of the present invention is to provide and a kind ofly can regulate robot both arms spacing, to adapt to the different size barrier, obstacle climbing ability is strong, and ramp angle is big, but the compound inspection robot mechanism of wheel arm of the displacement that security is good during walking.
The objective of the invention is to be achieved through the following technical solutions:
The present invention includes preceding walking clipping mechanism, preceding slew gear, preceding elevating mechanism, displacement telescoping mechanism, back walking clipping mechanism, back slew gear and rear lifting mechanism, one end of described forward and backward walking clipping mechanism by road wheel and pinch wheels and ground wire clamping, and can on ground wire, walk, the other end is connected with forward and backward slew gear respectively, realizes the rotation of forward and backward walking clipping mechanism by the driving of forward and backward slew gear; One end of described forward and backward elevating mechanism is connected with forward and backward slew gear respectively, and the other end is connected to the displacement telescoping mechanism, realizes the lifting of forward and backward slew gear and forward and backward walking clipping mechanism by forward and backward elevating mechanism; Described displacement telescoping mechanism is installed on the rail brackets, realizes that by the displacement telescoping mechanism spacing of forward and backward road wheel is regulated.
Wherein: the center of gravity travel mechanism that realizes that the robot mechanism center of gravity is regulated also is installed on rail brackets; Described center of gravity travel mechanism comprises mobile motor, the 6th leading screw, first roller, the 6th nut, second roller, electric appliance box and rail brackets, wherein the 6th leading screw is installed on the rail brackets, one end of the 6th leading screw is connected with the output shaft of mobile motor on being installed in rail brackets, be threaded on the 6th leading screw the 6th nut, realize that the spiral of the 6th nut on the 6th leading screw moves electric appliance box and the 6th nut interlock; Described first and second roller links to each other with electric appliance box respectively, and is placed in the groove of rail brackets; Described displacement telescoping mechanism comprises displacement motor, rail brackets, first leading screw, first nut, first slide block, first～third hand tap gear, second nut, second slide block, second leading screw and first guide rail, wherein an end of first and second leading screw is installed on the rail brackets respectively, the other end is connected with first and third bevel gear respectively, described displacement motor is installed on the rail brackets, be connected with on the output shaft of displacement motor be positioned at first and third bevel gear below and respectively with second bevel gear of first and third bevel gear engaged transmission; First and second nut that has been threaded respectively on first and second leading screw, realize first and second nut respectively the spiral on first and second leading screw move, first and second nut is connected with the crane of forward and backward elevating mechanism respectively; Described first guide rail is installed on the rail brackets, is provided with respectively first and second slide block that is connected as a single entity with first and second nut on first guide rail; First and second leading screw conllinear; Described displacement telescoping mechanism comprises displacement motor, rail brackets, the 3rd nut, the 3rd leading screw, second guide rail and the 3rd slide block, wherein the 3rd leading screw is installed on the rail brackets, one end of the 3rd leading screw is connected with the output shaft of displacement motor on being installed in rail brackets, the 3rd nut that is threaded on the 3rd leading screw and is connected with the crane of forward and backward elevating mechanism respectively realizes that the spiral of the 3rd nut on the 3rd leading screw moves; Described second guide rail is installed on the rail brackets, is provided with the 3rd slide block that is connected as a single entity with the 3rd nut on second guide rail; The two sections thread rotary orientations in front and back on the 3rd leading screw are opposite; The structure of described forward and backward walking clipping mechanism is identical, comprise movable motor, wheel carrier, road wheel, the 4th leading screw, the 4th nut, clamping motor, the 3rd guide rail, pinch wheels, Four-slider and wheel shaft, wherein wheel shaft is installed on the wheel carrier, one end of wheel shaft is connected with the output shaft of movable motor on being installed in wheel carrier, and road wheel is connected with wheel shaft; Described the 4th leading screw is installed on the wheel carrier, and an end of the 4th leading screw is connected with the output shaft of clamping motor on being installed in wheel carrier, the 4th nut that is threaded on the 4th leading screw, realizes that the spiral of the 4th nut on the 4th leading screw moves; Described the 3rd guide rail is installed on the wheel carrier, is provided with the Four-slider that is connected as a single entity with the 4th nut on the 3rd guide rail, described pinch wheels is installed on the Four-slider, with Four-slider and the 4th nut interlock; Wheel carrier in the described forward and backward walking clipping mechanism is connected to forward and backward slew gear; The structure of described forward and backward elevating mechanism is identical, comprise lifting motor, first driving gear, first driven gear, the 5th nut, the 5th leading screw, crane, the 4th guide rail and the 5th slide block, wherein lifting motor is installed on the crane, and the driving shaft of this lifting motor is provided with first driving gear; Described the 5th nut is installed on the crane, is arranged with first driven gear with the first driving gear engaged transmission on the 5th nut, and the 5th leading screw is connected, realizes that with the 5th nut thread the spiral of the 5th leading screw moves; Described the 4th guide rail is installed on the crane, is provided with the 5th slide block with the 5th leading screw one end interlock on the 4th guide rail; Described crane links to each other with the displacement telescoping mechanism, and the other end of the 5th leading screw is connected with forward and backward slew gear respectively in the forward and backward elevating mechanism; Described forward and backward slew gear structure is identical, comprise turning motor, second driving gear, first power transmission shaft, second driven gear, second power transmission shaft and bracing frame, wherein first and second power transmission shaft is installed in respectively on the bracing frame, and an end of first power transmission shaft is connected with the output shaft of turning motor on being installed in bracing frame; On first and second power transmission shaft, be respectively equipped be positioned at bracing frame, the second driving and driven gear of the transmission that is meshing with each other; One end of second power transmission shaft in the described forward and backward slew gear is connected to forward and backward walking clipping mechanism, and the bracing frame in the forward and backward slew gear is connected to forward and backward elevating mechanism.
Advantage of the present invention and good effect are:
1. be provided with road wheel and pinch wheels in the forward and backward walking clipping mechanism of the present invention, the effect that has walking concurrently and clamp helps walking climbing and obstacle detouring; This structure possesses wheeled moving and the advantage of creeping mechanism, can walk fast along the line and leaping over obstacles.
2. the adaptability to the circuit environment is good.The wheel groove width of the road wheel of robot mechanism of the present invention and dark can adapt to the circuit of different-diameter; The displacement telescoping mechanism can be regulated the distance of forward and backward arm, runs into the barrier of different length size, can adjust the distance between the forward and backward arm, adapts to and cross over the barrier of more different sizes.
3. security protection is good.The wheel groove width of walking clipping mechanism road wheel of the present invention and dark; robot mechanism in the process of walking; all there are two pinch wheels clampings from the bottom up each road wheel below; two pinch wheels of online road wheel below are clamped; with road wheel lead is sealed; make robot mechanism in walking and obstacle detouring process, be unlikely to fall down, play the safeguard protection effect from line.
4. the obstacle climbing ability of creeping is strong.Robot mechanism of the present invention has the road wheel of two active drive, and locomotor activity is strong, and pinch wheels is arranged from following clamping when walking on the line, increases normal pressure, is easy to climb the wide-angle circuit.
5. applied range.The present invention can be widely used in the crusing robot travel mechanism of ultra-high-tension power transmission line and telephone line.
Description of drawings
Fig. 1 is an overall structure schematic diagram of the present invention;
Fig. 2 is a kind of structural representation (having removed the guide rail and the slide block of a side) of displacement telescoping mechanism among Fig. 1;
Fig. 3 is the vertical view of a kind of displacement telescoping mechanism among Fig. 1;
Fig. 4 is the another kind of structural representation (having removed the guide rail and the slide block of a side) of displacement telescoping mechanism among Fig. 1;
Fig. 5 is the vertical view of another kind of displacement telescoping mechanism among Fig. 1;
Fig. 6 is the structural representation of forward and backward walking clipping mechanism among Fig. 1;
Fig. 7 is the structural representation of forward and backward elevating mechanism among Fig. 1;
Fig. 8 is the structural representation of forward and backward slew gear among Fig. 1;
Fig. 9 is the structural representation of center of gravity travel mechanism among Fig. 1;
Figure 10 a is obstacle environment (damper, the single hanging point) schematic diagram of extra high voltage network;
Figure 10 b is obstacle environment (damper, the double hanging point) schematic diagram of extra high voltage network;
Wherein: 1 is preceding walking clipping mechanism, and 2 is preceding slew gear, and 3 is preceding elevating mechanism, 4 is the displacement telescoping mechanism, and 5 is back walking clamp structure, and 6 is the back slew gear, 7 is rear lifting mechanism, and 8 is electric appliance box, and 9 is center of gravity travel mechanism, 10 is the displacement motor, and 11 is rail brackets, and 12 is first leading screw, 13 is first nut, and 14 is first slide block, and 15 is first bevel gear, 16 is second bevel gear, and 17 is the third hand tap gear, and 18 is second nut, 19 is second slide block, and 20 is second leading screw, and 21 is first guide rail, 22 is the 3rd nut, and 23 is the 3rd leading screw, and 24 is second guide rail, 25 is the 3rd slide block, and 26 is movable motor, and 27 is wheel carrier, 28 is road wheel, 29 is the 4th leading screw, and 30 is the 4th nut, and 31 is clamping motor, 32 is the 3rd guide rail, 33 is pinch wheels, and 34 is Four-slider, and 35 is wheel shaft, 36 is lifting motor, 37 is first driving gear, and 38 is first driven gear, and 39 is the 5th nut, 40 is the 5th leading screw, 41 is crane, and 42 is the 4th guide rail, and 43 is the 5th slide block, 44 is turning motor, 45 is second driving gear, and 46 is first power transmission shaft, and 47 is second driven gear, 48 is second power transmission shaft, 49 is bracing frame, and 50 is mobile motor, and 51 is the 6th leading screw, 52 is first roller, 53 is the 6th nut, and 54 is second roller, and 55 is ground wire, 56 is first damper, 57 is first insulator, and 58 is first overhanging golden tool and wire clamp, and 59 is second damper, 60 is second insulator, and 61 is second overhanging golden tool and wire clamp.
The specific embodiment
The invention will be further described below in conjunction with accompanying drawing.
As shown in Figure 1, but the compound inspection robot mechanism of wheel arm of the present invention's displacement comprises preceding walking clipping mechanism 1, preceding slew gear 2, preceding elevating mechanism 3, displacement telescoping mechanism 4, back walking clipping mechanism 5, back slew gear 6, rear lifting mechanism 7 and center of gravity travel mechanism 9, before described, back walking clipping mechanism 1, in the middle of an end of 5 is held on ground wire 55 by road wheel and pinch wheels, and can on ground wire 55, walk by road wheel, the other end is respectively with preceding, back slew gear 2,6 are connected, by preceding, back slew gear 2, before 6 driving realizes, back walking clipping mechanism 1,5 rotation; One end of described forward and backward elevating mechanism 3,7 is connected with forward and backward slew gear 2,6 respectively, the other end is connected to displacement telescoping mechanism 4, realizes the lifting of forward and backward slew gear 2,6 and forward and backward walking clipping mechanism 1,5 by forward and backward elevating mechanism 3,7; Described displacement telescoping mechanism 4 is installed on the rail brackets 11, realizes that by displacement telescoping mechanism 4 spacing of forward and backward road wheel is regulated.The center of gravity travel mechanism 9 that realizes that the robot mechanism center of gravity is regulated also is installed on rail brackets 11.
As Fig. 2, shown in Figure 3, the displacement telescoping mechanism 4 of present embodiment comprises displacement motor 10, rail brackets 11, first leading screw 12, first nut 13, first slide block 14, first～third hand tap gear 15～17, second nut 18, second slide block 19, second leading screw 20 and first guide rail 21, wherein an end of first leading screw 12 is installed in the side on rail brackets 11 tops by bearing, and the other end chain of first leading screw 12 is connected with first bevel gear 15; One end of second leading screw 20 is installed in the opposite side on rail brackets 11 tops by bearing, and the other end chain of second leading screw 20 is connected with second bevel gear 17; First leading screw 12 and second leading screw, 20 conllinear.Described displacement motor 10 is installed on the gripper shoe in the rail brackets 11, the output shaft of displacement motor 10 by gripper shoe pass the back chain be connected be positioned at first and third bevel gear, 15,17 belows and respectively with second bevel gear 16 of first and third bevel gear, 15,17 engaged transmission; First and second nut 13,18 has been threaded respectively on first and second leading screw 12,20, realized first and second nut 13,18 respectively the spiral on first and second leading screw 12,20 move, first and second nut 13,18 respectively with forward and backward elevating mechanism 3,7 on crane 41 Joints; Described first guide rail 21 is two, is separately fixed on the rail brackets 11, and two first guide rails 21 lay respectively at the both sides of first and second leading screw 12,20, with first and second leading screw 12,20 place straight line parallel and coplanes; Be respectively equipped with on every first guide rail 21 14,19, two first slide blocks 14 of first and second slide block be positioned at first nut 13 both sides, and fix as one with first nut 13 respectively; Two second slide blocks 19 are positioned at the both sides of second nut 18, and fix as one with second nut 18 respectively.10 work of displacement motor, driving second bevel gear 16 rotates, by with the engagement of first and third bevel gear 15,17, drive 15,17 rotations of first and third bevel gear, and then first and second leading screw 12,20 is rotated, utilize first and second nut 13,18 to be threaded, drive first and second nut 13,18 and move back and forth along first guide rail 21, realize the variable in distance between robot mechanism two arms by first and second slide block 14,19 with first and second leading screw 12,20.
As shown in Figure 6, the structure of forward and backward walking clipping mechanism 1,5 is identical, comprise movable motor 26, wheel carrier 27, road wheel 28, the 4th leading screw 29, the 4th nut 30, clamping motor 31, the 3rd guide rail 32, pinch wheels 33, Four-slider 34 and wheel shaft 35, wherein the two ends of wheel shaft 35 are installed on the wheel carrier 27 by bearing, one end of wheel shaft 35 is connected with the output shaft of movable motor 26 on being installed in wheel carrier 27, and wheel shaft 35 cochains are connected with road wheel 28; The two ends of described the 4th leading screw 29 are installed on the wheel carrier 27 by bearing, one end of the 4th leading screw 29 is connected with the output shaft of clamping motor 31 on being installed in wheel carrier 27, the 4th nut 30 that is threaded on the 4th leading screw 29, has realized that the spiral of the 4th nut 30 on the 4th leading screw 29 moves; Described the 3rd guide rail 32 is fixed on the wheel carrier 27, be positioned at a side of the 4th leading screw 29, on the 3rd guide rail 32, be provided with Four-slider 34, one side of this Four-slider 34 and the 4th nut 30 fix as one, described pinch wheels 33 is fixed in the opposite side of Four-slider 34 by clamping wheel carrier, under the drive of the 4th nut 30 with Four-slider 34 interlocks; Wheel carrier 27 on the forward and backward walking clipping mechanism 1,5 links to each other with second power transmission shaft 48 in the forward and backward slew gear 2,6 respectively.Movable motor 26 work, live axle 35 rotations, and then drive road wheel 28 rotations, road wheel 28 is moved back and forth on ground wire 55.Clamping motor 31 work drives 29 rotations of the 4th leading screw, utilizes being threaded of the 4th nut 30 and the 4th leading screw 29, drives the 4th nut 30 and moves back and forth along the 3rd guide rail 32 by Four-slider 34, and then drive 55 clampings of 33 pairs of marchantia of pinch wheels or unclamp.
As shown in Figure 8, forward and backward slew gear 2,6 structures are identical, comprise turning motor 44, second driving gear 45, first power transmission shaft 46, second driven gear 47, second power transmission shaft 48 and bracing frame 49, wherein first and second power transmission shaft 46,48 is installed in the inside of bracing frame 49 respectively by bearing, and first and second power transmission shaft 46,48 be arranged in parallel; The lower end of first power transmission shaft 46 is connected with the output shaft of the turning motor 44 that is installed in bracing frame 49 outer surfaces, and the upper end of second power transmission shaft 48 in the forward and backward slew gear 2,6 is connected on the wheel carrier 27 in the forward and backward walking clipping mechanism 1,5; In bracing frame 49 on first and second power transmission shaft 46,48 respectively chain be connected with the second driving and driven gear 45,47 of the transmission that is meshing with each other; Bracing frame 49 in the forward and backward slew gear 2,6 is connected with the 5th leading screw 40 in the forward and backward elevating mechanism 3,7 respectively.Turning motor 44 work drive 45 rotations of second driving gear, by the engagement of second driving gear 45 and second travelling gear 47, drive second driven gear 47 and rotate, and then second power transmission shaft 48 is rotated, and drive forward and backward walking clipping mechanism 1,5 and rotate.
As shown in Figure 7, the structure of forward and backward elevating mechanism 3,7 is identical, comprise lifting motor 36, first driving gear 37, first driven gear 38, the 5th nut 39, the 5th leading screw 40, crane 41, the 4th guide rail 42 and the 5th slide block 43, wherein lifting motor 36 is installed on the crane 41, and the driving shaft cochain of this lifting motor 36 is connected with first driving gear 37; The bottom of described the 5th nut 39 is installed on the crane 41 by bearing, the middle part of the 5th nut 39 is connected with first driven gear 38 with first driving gear, 37 engaged transmission, the 5th leading screw 40 has realized that by passing in the 5th nut 39 and being threaded with the 5th nut 39 spiral up and down of the 5th leading screw 40 moves; Described the 4th guide rail 42 is fixed in the crane 41, and is parallel with the 5th leading screw 40, and the lower end that is provided with the 5th slide block 43, the five slide blocks 43 and the 5th leading screw 40 on the 4th guide rail 42 is affixed.Crane 41 in the forward and backward elevating mechanism 3,7 respectively with displacement telescoping mechanism 4 in first and second nut 13,18 Joints; The 5th leading screw 40 in the forward and backward elevating mechanism 3,7 is connected with bracing frame 49 in the forward and backward slew gear 2,6 respectively.Lifting motor 36 work, drive 37 rotations of first driving gear, drive first driven gear, 38 rotations with 37 engagements of first driving gear, and then make with affixed the 5th nut 39 of first driven gear 38 and rotate, utilize being threaded of the 5th nut 39 and the 5th leading screw 40, drive the 5th leading screw 40 and rise or descend along the 4th guide rail 42, realize the rising or the decline of forward and backward walking clipping mechanism 1,5 and forward and backward slew gear 2,6 by the 5th slide block 43.
As shown in Figure 9, center of gravity travel mechanism 9 comprises mobile motor 50, the 6th leading screw 51, first roller 52, the 6th nut 53, second roller 54, electric appliance box 8 and rail brackets 11, wherein the 6th leading screw 51 passes through the bottom that bearing is installed in rail brackets 11, one end of the 6th leading screw 51 is connected with the output shaft of the mobile motor 50 that is installed in rail brackets 11 lower external face, the 6th nut 53 has been threaded on the 6th leading screw 51, realized that the spiral of the 6th nut 53 on the 6th leading screw 51 moves, the below of the 6th nut 6 is connected with electric appliance box 8, electric appliance box 8 and the 6th nut 6 interlocks, change the center of gravity of robot mechanism; Described first and second roller 52,54 links to each other with electric appliance box 8 respectively, and is placed in the rail brackets 11 in the groove on the gripper shoe.Mobile motor 50 work, drive 51 rotations of the 6th leading screw, utilize being threaded of the 6th nut 53 and the 6th leading screw 51, the 6th nut 53 and electric appliance box 8 are moved back and forth along groove by first and second roller 52,54, realize the adjusting of center of gravity, improve the stress of the walking clipping mechanism of hanging wire, helped the lifting and the obstacle detouring of robot mechanism arm.
Operation principle of the present invention is:
Walk on built on stilts ground wire: movable motor 26 work, live axle 35 rotates, and drives road wheel 28 and rotates, and realizes road wheel 28 walking on built on stilts ground wire 55.
Clamp: clamping motor 31 work, drive the 4th leading screw 29 and rotate, by moving up and down of the 4th nut 30, move back and forth up and down along the 3rd guide rail 32 by Four-slider 34 thereby drive pinch wheels 33, realize the clamping of ground wire 55 or unclamp.
Revolution: turning motor 44 work, drive 46 rotations of first power transmission shaft, driving second driving gear 45 by first power transmission shaft 46 rotates, engagement by the second driving and driven gear 45,47 drives 47 rotations of second driven gear again, thereby driving second power transmission shaft 48 that is connected with second driven gear, 47 chains rotates, the wheel carrier 27 of the forward and backward walking clipping mechanism 1,5 that is connected with second power transmission shaft 48 is rotated, realize the change in the orientation of road wheel 28 in the forward and backward walking clipping mechanism 1,5.
Lifting: lifting motor 36 work, driving first driving gear 37 rotates, drive first driven gear 38 and 39 rotations of the 5th nut, the 5th leading screw 40 that screws with the 5th nut 39 is moved up and down along the 4th guide rail 42 by the 5th slide block 43, make forward and backward walking clipping mechanism 1,5 and forward and backward slew gear 2,6 rise or descend.
Displacement is flexible: 10 work of displacement motor, driving second bevel gear 16 rotates, by second bevel gear 16 first and third bevel gear 15,17 that is engaged with is rotated, driving first and second leading screw 12,20 respectively rotates, thereby make first and second nut 13,18 pass through first and second slide block 14,19 along the 21 reciprocal telescopic movings of first guide rail, drive forward and backward walking clipping mechanism 1,5 and forward and backward slew gear 2,6 and forward and backward elevating mechanism 3,7 and move, realize the adjusting of distance between two arms.
Center of gravity moves: mobile motor 50 work, drive the 6th leading screw 51 and rotate, under the effect of first and second roller 52,54 in being placed in rail brackets 11 grooves, the 6th nut 53 moves along the 6th leading screw 51, electric appliance box 8 positions are changed, realize moving of robot mechanism center of gravity.
After robot reaches the standard grade, two road wheels 28 in the forward and backward walking clipping mechanism 1,5 of inspection robot mechanism are all on built on stilts ground wire 55, clamping motor 31 work in the forward and backward walking clipping mechanism 1,5, driving the 4th leading screw 29 rotates, move up and down by the 4th nut 30, move up thereby drive pinch wheels 33, realize clamping ground wire 55; After this, after movable motor 26 powered on, live axle 35 rotated, and drove road wheel 28 and rotated, and robot mechanism is advanced on ground wire 55 or retreats.
Shown in Figure 10 a, Figure 10 b, the main obstacles thing is first damper 56, first insulator 57, first overhanging golden tool and wire clamp 58, second damper 59 on built on stilts ground wire 55, or first damper 56, first insulator 57, first overhanging golden tool and wire clamp 58, second damper 59, second insulator 60 and second overhanging golden tool and wire clamp 61.When working, robot mechanism of the present invention drives by movable motor, driving robot mechanism walks on ground wire 55, by the routing motion of walking clipping mechanism of the present invention, elevating mechanism, slew gear, displacement telescoping mechanism and center of gravity travel mechanism, can advance and cross over the barrier on the built on stilts ground wire 55 along the line.Be specially:
After robot mechanism hangs up built on stilts ground wire 55, two road wheels 28 in the forward and backward walking clipping mechanism 1,5 are along ground wire 55 walkings, when running into first stockbridge damper, 56 edges soon the pinch wheels 33 in the preceding walking clipping mechanism 1 is unclamped, two road wheels walk on and stop when road wheel 28 in preceding walking clipping mechanism 1 runs into first stockbridge damper, 56 centre positions; Then, center of gravity travel mechanism 9 is adjusted to postbrachium backward with electric appliance box 8, and the center of gravity of robot mechanism is moved backward; Under the effect of preceding elevating mechanism 3, walking clipping mechanism 1 raises before making, road wheel 28 in the preceding walking clipping mechanism 1 breaks away from ground wires 55, at this moment the pinch wheels 33 in the walking clipping mechanism 5 of back is unclamped, road wheel in the walking clipping mechanism 5 of back 28 independent driven machine robot mechanism walkings are simultaneously stopped up to running into first stockbridge damper 56.At this moment, the road wheel 28 in the preceding walking clipping mechanism 1 has been crossed first stockbridge damper 56, and preceding walking clipping mechanism 1 descends under the effect of preceding elevating mechanism 3, and the road wheel 28 before making in the walking clipping mechanism 1 is got back on the built on stilts ground wire 55; Under the effect of center of gravity travel mechanism 9 with electric appliance box 8 to reach, after this, back walking clipping mechanism 5 is crossed over first stockbridge damper 56, it is identical that the operating process of back walking clipping mechanism 1 and rear lifting mechanism 7 and preceding walking clipping mechanism 1 reach preceding elevating mechanism 3 leap processes.
After the road wheel in the walking clipping mechanism before the robot mechanism 1 28 meets first overhanging golden tool and wire clamp 58, stop, under the effect of center of gravity travel mechanism 9 with electric appliance box 8 to moving forward to forearm, the pinch wheels 33 in the walking clipping mechanism 5 of back is unclamped simultaneously; Rear lifting mechanism 7 raises back walking clipping mechanism 5, leaves built on stilts ground wire 55; After this, preceding slew gear 2 work, make postbrachium (comprising back walking clipping mechanism 5, back slew gear 6 and rear lifting mechanism 7) and the displacement telescoping mechanism 4 and center of gravity travel mechanism 9 rotations, 180 degree of robot mechanism, simultaneously back walking clipping mechanism 5 also under the effect of back slew gear 7 from turnback, postbrachium is promptly walked around from first overhanging golden tool and wire clamp 58 sides, arrives the place ahead of first overhanging golden tool and wire clamp 58; After this, rear lifting mechanism 7 descends back walking clipping mechanism 5, and the road wheel 28 in the back walking clipping mechanism 5 falls back on the built on stilts ground wire 55, and center of gravity travel mechanism 9 makes electric appliance box 8 move to postbrachium, and postbrachium has just been crossed over first overhanging golden tool and wire clamp 58 like this; Then, forearm (walking clipping mechanism 1, preceding slew gear 2 and preceding elevating mechanism 3 before comprising) will be crossed over first overhanging golden tool and wire clamp 58, and its process and postbrachium are crossed over similar process.
The process of second stockbridge damper 59 that first overhanging golden tool and wire clamp 58 opposite sides are crossed over by robot is identical with the process of crossing over first stockbridge damper 56.
Double hanging point shown in Figure 10 b is combined by two single hanging points, robot mechanism when crossing over double hanging point, its leap process and the similar process of crossing over single hanging point.
The size of first overhanging golden tool and wire clamp 58 is bigger on circuit, greater than between the forward and backward arm of robot mechanism apart from the time, the forward and backward arm of robot mechanism can not ride over overhanging golden tool and wire clamp two ends respectively, thereby can't cross over; Therefore, needing to regulate displacement telescoping mechanism 4 makes forward and backward arm apart from increase.Road wheel 28 in the forward and backward walking clipping mechanism 1,5 is all on ground wire 55 time, and the pinch wheels 33 in the forward and backward walking clipping mechanism 1,5 is unclamped, and makes a road wheel dead electricity earlier; After this, displacement motor 10 in the displacement telescoping mechanism 4 drives second bevel gear 16 and rotates, drive first and third bevel gear 15,17 and 12,20 rotations of first and second leading screw, move, realize the elongation of distance between the forward and backward arm thereby drive forward and backward arm by first and second nut 13,18.Distance adjustment between the forward and backward arm behind the width dimensions greater than overhanging golden tool and wire clamp, just can be carried out obstacle detouring.
The difference of present embodiment and embodiment 1 is displacement telescoping mechanism 4.As Fig. 4, shown in Figure 5, leading screw of displacement telescoping mechanism 4 usefulness of present embodiment, screw mechanism replaces first～third hand tap gear and two leading screws, the combination of screw mechanism, the displacement telescoping mechanism 4 of present embodiment comprises displacement motor 10, rail brackets 11, the 3rd nut 22, the 3rd leading screw 23, second guide rail 24 and the 3rd slide block 25, wherein the 3rd leading screw 23 is installed in the top of rail brackets 11 by bearing, one end of the 3rd leading screw 23 is connected with the output shaft of the displacement motor 10 that is installed in rail brackets 11 outer surface of upper, the rotation direction of two sections screw threads is opposite before and after on the 3rd leading screw 23, be threaded on the 3rd leading screw 23 respectively with preceding, rear lifting mechanism 3, two the 3rd nuts 22 that 7 crane 41 is connected, realized that the spiral of the 3rd nut 22 on the 3rd leading screw 23 moves, before two the 3rd nuts 22, the back is provided with; Described second guide rail 24 is two, is separately fixed on the rail brackets 11, and two second guide rails 24 lay respectively at the both sides of the 3rd leading screw 23, with the 3rd leading screw 23 parallel and coplanes; Forward and backwardly on every second guide rail 24 be provided with two the 3rd slide blocks 25, be positioned at two the 3rd anterior slide blocks 25 and be arranged on the both sides of anterior the 3rd nut 22 and fix as one with the 3rd nut 22 of front portion; Two the 3rd slide blocks 25 that are positioned at the rear portion are arranged on the both sides of rear portion the 3rd nut 22 and fix as one with the 3rd nut 22 at rear portion.10 work of displacement motor, driving the 3rd leading screw 23 rotates, the rear thread rotation direction is opposite because the 3rd leading screw 23 is gone forward, therefore, former and later two the 3rd nuts 22 by the 3rd slide block 25 along second guide rail 24 drive forward and backward arm simultaneously away from or draw close, realized that the distance between the forward and backward arm elongates or shortens.
The wheel groove width of the road wheel of robot mechanism of the present invention and dark can adapt to the circuit of different-diameter.
Claims (10)
1. but the compound inspection robot mechanism of wheel arm of a displacement, it is characterized in that: comprise preceding walking clipping mechanism (1), preceding slew gear (2), preceding elevating mechanism (3), displacement telescoping mechanism (4), back walking clipping mechanism (5), back slew gear (6) and rear lifting mechanism (7), before described, back walking clipping mechanism (1,5) a end is by road wheel and pinch wheels and ground wire clamping, and can on ground wire, walk, the other end is respectively with preceding, back slew gear (2,6) be connected, by preceding, back slew gear (2,6) before driving realizes, back walking clipping mechanism (1,5) rotation; One end of described forward and backward elevating mechanism (3,7) is connected with forward and backward slew gear (2,6) respectively, the other end is connected to displacement telescoping mechanism (4), realizes the lifting of forward and backward slew gear (2,6) and forward and backward walking clipping mechanism (1,5) by forward and backward elevating mechanism (3,7); Described displacement telescoping mechanism (4) is installed on the rail brackets, realizes that by displacement telescoping mechanism (4) spacing of forward and backward road wheel is regulated.
2. but by the compound inspection robot mechanism of wheel arm of the described displacement of claim 1, it is characterized in that: the center of gravity travel mechanism (9) that realizes that the robot mechanism center of gravity is regulated also is installed on rail brackets.
3. but press the compound inspection robot mechanism of wheel arm of the described displacement of claim 2, it is characterized in that: described center of gravity travel mechanism (9) comprises mobile motor (50), the 6th leading screw (51), first roller (52), the 6th nut (53), second roller (54), electric appliance box (8) and rail brackets (11), wherein the 6th leading screw (51) is installed on the rail brackets (11), one end of the 6th leading screw (51) is connected with the output shaft of mobile motor (50) on being installed in rail brackets (11), the 6th nut (53) has been threaded on the 6th leading screw (51), realize that the spiral of the 6th nut (53) on the 6th leading screw (51) moves, electric appliance box (8) and the 6th nut (6) interlock; Described first and second roller (52,54) links to each other with electric appliance box (8) respectively, and is placed in the groove of rail brackets (11).
4. but press the compound inspection robot mechanism of wheel arm of claim 1 or 2 described displacements, it is characterized in that: described displacement telescoping mechanism (4) comprises displacement motor (10), rail brackets (11), first leading screw (12), first nut (13), first slide block (14), first～third hand tap gear (15～17), second nut (18), second slide block (19), second leading screw (20) and first guide rail (21), wherein first, two leading screws (12,20) a end is installed in respectively on the rail brackets (11), the other end is connected with first respectively, third hand tap gear (15,17), described displacement motor (10) is installed on the rail brackets (11), is connected with on the output shaft of displacement motor (10) to be positioned at first, third hand tap gear (15,17) below is also respectively with first, third hand tap gear (15,17) second bevel gear (16) of engaged transmission; First and second nut (13,18) has been threaded respectively on first and second leading screw (12,20), realize first and second nut (13,18) respectively the spiral on first and second leading screw (12,20) move, first and second nut (13,18) is connected with the crane of forward and backward elevating mechanism (3,7) respectively; Described first guide rail (21) is installed on the rail brackets (11), is provided with respectively first and second slide block (14,19) that is connected as a single entity with first and second nut (13,18) on first guide rail (21).
5. but by the compound inspection robot mechanism of wheel arm of the described displacement of claim 4, it is characterized in that: described first and second leading screw (12,20) conllinear.
6. but press the compound inspection robot mechanism of wheel arm of claim 1 or 2 described displacements, it is characterized in that: described displacement telescoping mechanism (4) comprises displacement motor (10), rail brackets (11), the 3rd nut (22), the 3rd leading screw (23), second guide rail (24) and the 3rd slide block (25), wherein the 3rd leading screw (23) is installed on the rail brackets (11), one end of the 3rd leading screw (23) is connected with the output shaft of displacement motor (10) on being installed in rail brackets (11), be threaded on the 3rd leading screw (23) respectively with preceding, rear lifting mechanism (3,7) the 3rd nut (22) that crane is connected realizes that the spiral of the 3rd nut (22) on the 3rd leading screw (23) moves; Described second guide rail (24) is installed on the rail brackets (11), is provided with the 3rd slide block (25) that is connected as a single entity with the 3rd nut (22) on second guide rail (24).
7. but by the compound inspection robot mechanism of wheel arm of the described displacement of claim 6, it is characterized in that: the two sections thread rotary orientations in the front and back on described the 3rd leading screw (23) are opposite.
8. but press the compound inspection robot mechanism of wheel arm of claim 1 or 2 described displacements, it is characterized in that: before described, back walking clipping mechanism (1,5) structure is identical, comprise movable motor (26), wheel carrier (27), road wheel (28), the 4th leading screw (29), the 4th nut (30), clamping motor (31), the 3rd guide rail (32), pinch wheels (33), Four-slider (34) and wheel shaft (35), wherein wheel shaft (35) is installed on the wheel carrier (27), one end of wheel shaft (35) is connected with the output shaft of movable motor (26) on being installed in wheel carrier (27), and road wheel (28) is connected with wheel shaft (35); Described the 4th leading screw (29) is installed on the wheel carrier (27), one end of the 4th leading screw (29) is connected with the output shaft of clamping motor (31) on being installed in wheel carrier (27), the 4th nut (30) that is threaded on the 4th leading screw (29), realizes that the spiral of the 4th nut (30) on the 4th leading screw (29) moves; Described the 3rd guide rail (32) is installed on the wheel carrier (27), on the 3rd guide rail (32), be provided with the Four-slider (34) that is connected as a single entity with the 4th nut (30), described pinch wheels (33) be installed in Four-slider (34) go up, with Four-slider (34) and the 4th nut (30) interlock; Wheel carrier (27) in the described forward and backward walking clipping mechanism (1,5) is connected to forward and backward slew gear (2,6).
9. but press the compound inspection robot mechanism of wheel arm of claim 1 or 2 described displacements, it is characterized in that: the structure of described forward and backward elevating mechanism (3,7) is identical, comprise lifting motor (36), first driving gear (37), first driven gear (38), the 5th nut (39), the 5th leading screw (40), crane (41), the 4th guide rail (42) and the 5th slide block (43), wherein lifting motor (36) is installed on the crane (41), and the driving shaft of this lifting motor (36) is provided with first driving gear (37); Described the 5th nut (39) is installed on the crane (41), be arranged with first driven gear (38) with first driving gear (37) engaged transmission on the 5th nut (39), the 5th leading screw (40) is threaded, realizes that with the 5th nut (39) spiral of the 5th leading screw (40) moves; Described the 4th guide rail (42) is installed on the crane (41), is provided with the 5th slide block (43) with the 5th leading screw (40) one end interlocks on the 4th guide rail (42); Described crane (41) links to each other with displacement telescoping mechanism (4), and the other end of the 5th leading screw (40) is connected with forward and backward slew gear (2,6) respectively in the forward and backward elevating mechanism (3,7).
10. but press the compound inspection robot mechanism of wheel arm of claim 1 or 2 described displacements, it is characterized in that: described forward and backward slew gear (2,6) structure is identical, comprise turning motor (44), second driving gear (45), first power transmission shaft (46), second driven gear (47), second power transmission shaft (48) and bracing frame (49), wherein first and second power transmission shaft (46,48) is installed in respectively on the bracing frame (49), and an end of first power transmission shaft (46) is connected with the output shaft of turning motor (44) on being installed in bracing frame (49); On first and second power transmission shaft (46,48), be respectively equipped with the second driving and driven gear (45,47) that is positioned at bracing frame (49), the transmission that is meshing with each other; One end of second power transmission shaft (48) in the described forward and backward slew gear (2,6) is connected to forward and backward walking clipping mechanism (1,5), and the bracing frame (49) in the forward and backward slew gear (2,6) is connected to forward and backward elevating mechanism (3,7).
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| CN200910206814XA CN102039591A (en) | 2009-10-13 | 2009-10-13 | Variable-pitch wheel-arm composite inspection robot mechanism |
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| CN200910206814XA CN102039591A (en) | 2009-10-13 | 2009-10-13 | Variable-pitch wheel-arm composite inspection robot mechanism |
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| CN102039591A true CN102039591A (en) | 2011-05-04 |
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| CN200910206814XA Pending CN102039591A (en) | 2009-10-13 | 2009-10-13 | Variable-pitch wheel-arm composite inspection robot mechanism |
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| CN105983958A (en) * | 2015-01-27 | 2016-10-05 | 中国科学院沈阳自动化研究所 | Dual-arm bionic mass-center-adjustable inspection robot mechanism |
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| CN105140821A (en) * | 2015-08-05 | 2015-12-09 | 洛阳理工学院 | Ice-removal and obstacle-clearance mechanical device capable of crossing high-voltage line cat-head type tower |
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| CN105914651B (en) * | 2016-06-01 | 2018-03-02 | 南昌大学 | Single armed drives both arms obstacle-clearing type line walking robot |
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Application publication date: 20110504 |