CN102074915B - Split line moving platform - Google Patents
Split line moving platform Download PDFInfo
- Publication number
- CN102074915B CN102074915B CN201010580041A CN201010580041A CN102074915B CN 102074915 B CN102074915 B CN 102074915B CN 201010580041 A CN201010580041 A CN 201010580041A CN 201010580041 A CN201010580041 A CN 201010580041A CN 102074915 B CN102074915 B CN 102074915B
- Authority
- CN
- China
- Prior art keywords
- wheel
- actuating arm
- worm
- arm
- gear
- Prior art date
Links
- 230000005540 biological transmission Effects 0.000 claims abstract description 20
- 230000003028 elevating Effects 0.000 claims description 4
- 230000000875 corresponding Effects 0.000 claims description 2
- 239000012212 insulators Substances 0.000 abstract description 7
- 239000000725 suspensions Substances 0.000 abstract description 3
- 230000000694 effects Effects 0.000 abstract description 2
- 238000002788 crimping Methods 0.000 abstract 1
- 239000004020 conductors Substances 0.000 description 16
- 238000000034 methods Methods 0.000 description 9
- 230000005484 gravity Effects 0.000 description 8
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound data:image/svg+xml;base64,PD94bWwgdmVyc2lvbj0nMS4wJyBlbmNvZGluZz0naXNvLTg4NTktMSc/Pgo8c3ZnIHZlcnNpb249JzEuMScgYmFzZVByb2ZpbGU9J2Z1bGwnCiAgICAgICAgICAgICAgeG1sbnM9J2h0dHA6Ly93d3cudzMub3JnLzIwMDAvc3ZnJwogICAgICAgICAgICAgICAgICAgICAgeG1sbnM6cmRraXQ9J2h0dHA6Ly93d3cucmRraXQub3JnL3htbCcKICAgICAgICAgICAgICAgICAgICAgIHhtbG5zOnhsaW5rPSdodHRwOi8vd3d3LnczLm9yZy8xOTk5L3hsaW5rJwogICAgICAgICAgICAgICAgICB4bWw6c3BhY2U9J3ByZXNlcnZlJwp3aWR0aD0nMzAwcHgnIGhlaWdodD0nMzAwcHgnIHZpZXdCb3g9JzAgMCAzMDAgMzAwJz4KPCEtLSBFTkQgT0YgSEVBREVSIC0tPgo8cmVjdCBzdHlsZT0nb3BhY2l0eToxLjA7ZmlsbDojRkZGRkZGO3N0cm9rZTpub25lJyB3aWR0aD0nMzAwJyBoZWlnaHQ9JzMwMCcgeD0nMCcgeT0nMCc+IDwvcmVjdD4KPHRleHQgZG9taW5hbnQtYmFzZWxpbmU9ImNlbnRyYWwiIHRleHQtYW5jaG9yPSJzdGFydCIgeD0nMTI0LjYzNicgeT0nMTU2JyBzdHlsZT0nZm9udC1zaXplOjQwcHg7Zm9udC1zdHlsZTpub3JtYWw7Zm9udC13ZWlnaHQ6bm9ybWFsO2ZpbGwtb3BhY2l0eToxO3N0cm9rZTpub25lO2ZvbnQtZmFtaWx5OnNhbnMtc2VyaWY7ZmlsbDojM0I0MTQzJyA+PHRzcGFuPkF1PC90c3Bhbj48L3RleHQ+Cjwvc3ZnPgo= data:image/svg+xml;base64,PD94bWwgdmVyc2lvbj0nMS4wJyBlbmNvZGluZz0naXNvLTg4NTktMSc/Pgo8c3ZnIHZlcnNpb249JzEuMScgYmFzZVByb2ZpbGU9J2Z1bGwnCiAgICAgICAgICAgICAgeG1sbnM9J2h0dHA6Ly93d3cudzMub3JnLzIwMDAvc3ZnJwogICAgICAgICAgICAgICAgICAgICAgeG1sbnM6cmRraXQ9J2h0dHA6Ly93d3cucmRraXQub3JnL3htbCcKICAgICAgICAgICAgICAgICAgICAgIHhtbG5zOnhsaW5rPSdodHRwOi8vd3d3LnczLm9yZy8xOTk5L3hsaW5rJwogICAgICAgICAgICAgICAgICB4bWw6c3BhY2U9J3ByZXNlcnZlJwp3aWR0aD0nODVweCcgaGVpZ2h0PSc4NXB4JyB2aWV3Qm94PScwIDAgODUgODUnPgo8IS0tIEVORCBPRiBIRUFERVIgLS0+CjxyZWN0IHN0eWxlPSdvcGFjaXR5OjEuMDtmaWxsOiNGRkZGRkY7c3Ryb2tlOm5vbmUnIHdpZHRoPSc4NScgaGVpZ2h0PSc4NScgeD0nMCcgeT0nMCc+IDwvcmVjdD4KPHRleHQgZG9taW5hbnQtYmFzZWxpbmU9ImNlbnRyYWwiIHRleHQtYW5jaG9yPSJzdGFydCIgeD0nMTcuNTAwOScgeT0nNDcuNzk1NScgc3R5bGU9J2ZvbnQtc2l6ZTozOHB4O2ZvbnQtc3R5bGU6bm9ybWFsO2ZvbnQtd2VpZ2h0Om5vcm1hbDtmaWxsLW9wYWNpdHk6MTtzdHJva2U6bm9uZTtmb250LWZhbWlseTpzYW5zLXNlcmlmO2ZpbGw6IzNCNDE0MycgPjx0c3Bhbj5BdTwvdHNwYW4+PC90ZXh0Pgo8L3N2Zz4K [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 5
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- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminum Chemical compound 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Abstract
Description
Technical field
The present invention relates to a kind of overhead transmission line mobile platform, especially edge division circuit mobile platform in a strain section.
Background technology
China North China, northeast, East China, Central China, south electric network have all built up 500kV overhead transmission line and interconnection transprovincially, and will progressively form and stride the interconnected backbone network of Da Qu.China is vast in territory, 500kV backbone network long term exposure in the open air, because of receive lasting mechanical tension, expose to the weather, the influence of material aging; Disconnected thigh, wearing and tearing, corrosion equivalent damage often appear; Change like untimely reparation, small breakage and defective just possibly enlarge originally, finally causes serious accident; Cause large-area power-cuts, thereby bring great economic loss and serious social influence.
At present, the overhead transmission line hotline maintenance adopts manual work to step on the tower mode to carry out, the effort of taking a lot of work and have danger.Along with the development of Robotics, begin attempt to adopt mobile robot platform to carry checkout gear both at home and abroad and power tool carries out the hotline maintenance operation.The LineScout robot (Pub.No.:US2008/0276823A1) of Quebec, CAN water power company development can move and cross over gold utensils such as stockbridge damper, insulator string on sub-thread or bundle conductor; But LineScout robot self configuration one cover auxiliary stand; Overall weight surpasses 100 kilograms, so energy consumption is higher.The domestic two arm mobile robots that mainly contain Chinese Academy of Sciences's Shenyang Institute of Automation (CN100387405C) and Wuhan University (CN100379529C) development; Also can on sub-thread or bundle conductor, cross over stockbridge damper, insulator string etc.; But obstacle detouring efficient is lower, and long and narrow mobile platform is unfavorable for integrated multiple detection and power tool.
Because mostly the 500kV overhead transmission line is the conductors on quad bundled form; Following 750kV, 1000kV circuit also adopt six division or eight bundle conductor forms; Therefore can consider the mobile platform of design special in the division circuit; Integrated multiple upkeep operation instrument forms general or a series of Work robot on this platform.
Summary of the invention
The present invention is directed to the above-mentioned defective of at present existing solution, the division circuit mobile platform that provides a kind of overhead transmission line that can on division (two divisions, quadripartion, six divisions, eight divisions etc.) lead, carry out remote operation simple in structure, in light weight, that obstacle detouring efficient is higher to use.This platform is the operation path with the transmission pressure; Cross over and avoid various barriers (stockbridge damper, aluminium hydraulic pressed connecting pipe, conductor spacer, suspension clamp and insulator string etc.); Be equipped with video camera can observe the working line situation; In time find circuit and gold utensil defective, and work such as can expand that other operation type mechanical arms completion circuits are removed obstacles.Robot motion is flexible, and working range is big, in the obstacle detouring process, has protective device, and security reliability is high.
The technical scheme that the present invention adopts is:
A kind of division circuit mobile platform, it mainly is made up of running gear, actuating arm device, anti-tipping apparatus and power controling box; Running gear is arranged on the cable, and is connected with the actuating arm device, is provided with anti-tipping apparatus at the running gear end.
Said running gear is four and moves wheel I, II, III, IV that the actuating arm device is connected with four road wheels respectively; Except that last moves wheel IV, all the other each move and be respectively equipped with camera on the wheel; Be respectively equipped with drive unit at mobile wheel II with moving on the wheel IV.
Said actuating arm device is divided into identical four groups of structure, and every group all is connected middle two groups of actuating arm devices dislocation layout with a corresponding mobile wheel; Each is organized the actuating arm device and comprises a mechanical arm respectively, and mechanical arm is connected with rotating mechanism with elevating mechanism.
Said elevating mechanism is the lead screw transmission motor, and it is connected with leading screw, and leading screw is installed on the mechanical arm; Simultaneously on mechanical arm, also connect firmly turning arm, turning arm is connected with rotary drive motor.
Said anti-tipping apparatus is to be installed in the worm and gear that the running gear end moves wheel IV, and it is toppled over wheel I and prevent that toppling over wheel II is connected with anti-.
Said drive unit is drive motors I and drive motors II, and drive motors I is connected with mobile wheel II through being with I synchronously, and drive motors II is connected with mobile wheel IV through being with II synchronously.
The present invention divides the circuit mobile platform, mainly is made up of running gear, actuating arm device, anti-tipping apparatus and power controling box.The running gear of robot adopts 4 to move wheel construction, is respectively driving wheel I, driving wheel II, driving wheel III and driving wheel IV, and except that driving wheel IV, all the other move the wheel top and are equipped with the camera that can observe circuit and gold utensil situation.
The actuating arm device of robot adopts 4 arm configurations, is respectively forearm---actuating arm I, intermediate arm---actuating arm II, actuating arm III and postbrachium---actuating arm IV.Wherein actuating arm II is equipped with drive motors I, and actuating arm IV is equipped with drive motors II, moves wheel II and IV motion through band I, II driving synchronously respectively, thereby robot is moved forward and backward.
Each actuating arm of robot has included lead screw gear and whirligig, therefore has two degrees of freedom of rotation of the mobile and horizontal direction of vertical direction.With actuating arm I is example, and it comprises mainly and being made up of mechanical arm, lead screw transmission motor, turning arm and rotary drive motor.Wherein, The output shaft of lead screw transmission motor drives guide screw movement through the gears engaged mode; And further, driving move (lift or fall) that mechanical arm is realized vertical direction, the output shaft of rotary drive motor rotates through gears engaged mode driven rotary arm; Because turning arm and mechanical arm, therefore can further drive mechanical arm through bolt and rotate.Through the routing motion of above lead screw gear and whirligig, make and move wheel I realization disengaging and the action of return conductor I again.
When the robot forearm is that actuating arm I is when lifting; The center of gravity reach, there is the trend that leans forward in robot, in order to guarantee the stable of robot; Middle two actuating arm II and III dislocation layout, and at postbrachium---be equipped with on the actuating arm IV can free folding anti-tipping apparatus.Anti-topple over wheel apparatus by worm-and-wheel gear with anti-ly topple over wheel I, anti-ly topple over wheel II and form, wherein, worm-and-wheel gear is by the worm drive motor; Worm screw, worm gear I, worm gear II; Worm-wheel bracket I and worm-wheel bracket II form, and are connected with actuating arm IV through the anti-tipping apparatus connecting plate.The trend that leans forward is arranged in the robot center of gravity; When for example lifting actuating arm I; The worm drive motor rotates through the gear driven worm screw that is meshed with worm screw, and further drives worm gear I with worm gear II does suitable/anticlockwise rotation, finally drives through worm-wheel bracket I and worm-wheel bracket II and anti-ly topples over wheel I and take turns II and do suitable/anticlockwise rotation with preventing toppling over; Make anti-tipping apparatus closed, prevent that driving wheel IV and the lead I on the actuating arm IV breaks away from.Because installing space has been reserved for the operation type mechanical arm in mobile platform the place ahead, under the proper motion situation, the whole center of gravity of robot is forward, and therefore, when lifting actuating arm IV (moving wheel IV obstacle detouring), the trend of center of gravity hypsokinesis can not appear in robot.
The machine man-hour at the two piece lead Is of division below the circuit, II is last goes; Because design anti-topples over wheel I and anti-to topple over the space that the rotating closed back of wheel II forms enough big; Therefore; When running into stockbridge damper, can directly press, and wheel I and anti-situation of toppling over wheel II and stockbridge damper interference can not take place to prevent toppling over; When running into conductor spacer or insulator string, carry out the obstacle detouring action.Action planning when crossing over conductor spacer with robot is an example: at first, prevent toppling over wheel I, II closure, prevent postbrachium---mobile IV of wheel and lead I on the actuating arm IV break away from.Secondly, the rotation of lead screw transmission driven by motor leading screw, and further, drive mechanical arm and move up, mobile wheel I lifts and breaks away from lead I, and rotary drive motor driven rotary arm and mechanical arm rotate afterwards, make forearm---and actuating arm I arranges.Once more, actuating arm I crosses conductor spacer for drive motors I and postbrachium on the actuating arm II---the drive motors II on the actuating arm IV drives and moves wheel I, II rotation, and further, drive machines people moves forward, and makes forearm---.At last, rotation drives electric 8 driven rotary arms and mechanical arm is done the reverse rotation campaign, makes forearm---and actuating arm I returns back to the top of lead I; Lead screw transmission driven by motor leading screw reverse rotation afterwards; And further, drive mechanical arm and move down, move wheel I and fall to being back on the lead I again.So far, the obstacle detouring process that moves wheel I finishes.So far, the obstacle detouring process that moves wheel I1 finishes.The obstacle detouring process of mobile wheel II and mobile wheel III similarly.When moving wheel IV obstacle detouring; At first; The gear driven worm screw backward rotation of worm drive motor through being meshed with worm screw, and further drive worm gear I and worm gear II does contrary/clockwise rotation finally drives through worm-wheel bracket I and worm-wheel bracket II and anti-ly topples over wheel I and topple over wheel II and do contrary/clockwise rotation with anti-; Anti-tipping apparatus is opened, carried out the obstacle detouring action according to the obstacle detouring process that moves wheel I afterwards.After driving wheel IV crossed conductor spacer and falls back on the lead again, anti-tipping apparatus was closed again, and robot continues to move ahead.
The invention has the beneficial effects as follows: the overhead transmission line mobile platform that can on division (two divisions, quadripartion, six divisions, eight divisions etc.) lead, carry out remote operation simple in structure, in light weight, that obstacle detouring efficient is higher.This platform is the operation path with the transmission pressure; Cross over and avoid various barriers (stockbridge damper, aluminium hydraulic pressed connecting pipe, conductor spacer, suspension clamp and insulator string etc.); Be equipped with video camera can observe the working line situation; In time find circuit and gold utensil defective, and work such as can expand that other operation type mechanical arms completion circuits are removed obstacles.Robot motion is flexible, and working range is big, in the obstacle detouring process, has protective device, and security reliability is high.
Description of drawings
Fig. 1 is a division circuit mobile platform overall construction drawing (front view) in the inventive embodiments.
Fig. 2 is the left view of Fig. 1.
Fig. 3 is the rearview of Fig. 1.
Fig. 4 is the anti-tipping apparatus structure chart.
Among the figure: 1, move wheel I, 2, move wheel II, 3, move wheel III, 4, move wheel IV, 5, actuating arm I; 6, actuating arm II, 7, actuating arm III, 8, actuating arm IV, 9, worm-and-wheel gear, 10, power controling box; 11, drive motors I, 12, drive motors II, 13, be with I synchronously, 14, be with II synchronously, 15, mechanical arm; 16, lead screw transmission motor, 17, turning arm, 18, rotary drive motor, 19, leading screw, 20, anti-ly topple over wheel I; 21, anti-ly topple over wheel II, 22, lead I, 23, lead II, 24, the anti-tipping apparatus connecting plate, 25, the worm drive motor; 26, worm screw, 27, worm gear I, 28, worm gear II, 29, worm-wheel bracket I, 30, worm-wheel bracket II.
Embodiment
Make exemplary illustration in the face of the present invention down, protection scope of the present invention is not done concrete the qualification, the equivalents of its technical characterictic and/or obvious mode of texturing should drop within protection scope of the present invention.
With reference to explanation accompanying drawing 1 and Fig. 2, the present invention divides the circuit mobile platform, and it comprises mainly and being made up of running gear, actuating arm device, anti-tipping apparatus and power controling box.The running gear of robot adopts 4 mobile wheel constructions, is respectively front-wheel, and---moving wheel I1, breast wheel---moved wheel II2 and moved wheel III3, and trailing wheel---move wheel IV4.Except that moving wheel IV4, all the other each move the wheel top and be equipped with the camera that can observe circuit and gold utensil situation.
The actuating arm device of robot adopts 4 arm configurations, is respectively forearm---actuating arm I5, intermediate arm---actuating arm II6, actuating arm III7 and postbrachium---actuating arm IV8.Wherein actuating arm II6 is equipped with drive motors I11, and actuating arm III7 is equipped with drive motors II12, respectively through synchronous band I13, be with II14 drive to move wheel II2 synchronously and move wheel IV4 motion, thereby robot is moved forward and backward.
Each actuating arm of robot has included lead screw gear and whirligig, therefore has two degrees of freedom of rotation of the mobile and horizontal direction of vertical direction.With actuating arm I5 is example, and it comprises mainly and being made up of mechanical arm 15, lead screw transmission motor 16, turning arm 17 and rotary drive motor 18.Wherein, The output shaft of lead screw transmission motor 16 drives leading screw 19 motions through the gears engaged mode; And further, driving move (lift or fall) that mechanical arm 15 is realized vertical direction, the output shaft of rotary drive motor 18 rotates through gears engaged mode driven rotary arm 17; Because turning arm 17 passes through bolt with mechanical arm 15, therefore can further drive mechanical arm 15 and rotate.Through the routing motion of above lead screw gear and whirligig, make and move wheel I1 realization disengaging and the action of return conductor I22 again.
When the actuating arm I5 of robot lifts, center of gravity reach, there is the trend that leans forward in robot, in order to guarantee the stable of robot, middle two actuating arm II6 and actuating arm III7 dislocation layout, and on actuating arm IV8, be equipped with can free folding anti-tipping apparatus.Anti-topple over wheel apparatus by worm-and-wheel gear 9 with anti-ly topple over wheel I20, anti-ly topple over wheel II21 and form; Wherein, worm-and-wheel gear 9 is by worm drive motor 25, worm screw 26; Worm gear I27; Worm gear II28, worm-wheel bracket I29 and worm-wheel bracket II30 form, and are connected with actuating arm IV8 through anti-tipping apparatus connecting plate 24.The trend that leans forward is arranged in the robot center of gravity; When for example lifting actuating arm I5; Worm drive motor 25 rotates through the gear driven worm screw that is meshed with worm screw 26 26, and further drives worm gear I27 with worm gear II28 does suitable/anticlockwise rotation, finally drives through worm-wheel bracket I29 and worm-wheel bracket II30 and anti-ly topples over wheel I20 and take turns II21 and do suitable/anticlockwise rotation with preventing toppling over; Make anti-tipping apparatus closed, prevent that driving wheel IV4 and the lead I22 on the actuating arm IV8 breaks away from.Because installing space has been reserved for the operation type mechanical arm in mobile platform the place ahead, under the proper motion situation, the whole center of gravity of robot is forward, and therefore, when lifting actuating arm IV8 (moving wheel IV obstacle detouring), the trend of center of gravity hypsokinesis can not appear in robot.
The machine man-hour at the two piece lead I22s of division below the circuit, II23 is last goes; Because design anti-topples over wheel I20 and anti-to topple over the space that the rotating closed back of wheel II21 forms enough big; Therefore; When running into stockbridge damper, can directly press, and wheel I20 and anti-situation of toppling over wheel II21 and stockbridge damper interference can not take place to prevent toppling over; When running into conductor spacer or insulator string, carry out the obstacle detouring action.Action planning when crossing over conductor spacer with robot is an example: at first, prevent toppling over wheel I20, II21 closure, prevent that driving wheel IV4 and the lead I22 on the actuating arm IV8 breaks away from.Next, lead screw transmission motor 16 drives leading screws 19 rotations, and further, drives mechanical arm 15 and move up, and mobile wheel I1 lifts and breaks away from lead I22, and rotary drive motor 18 driven rotary arms 17 rotate with mechanical arm 15 afterwards, and mechanical arm 15 is arranged.Once more, drive motors I11 on the actuating arm II6 and the drive motors II12 on the actuating arm IV8 drive and move wheel II2, IV4 rotates, and further, drive machines people moves forward, and makes mechanical arm 15 cross conductor spacer.At last; Rotary drive motor 18 driven rotary arms 17 are done the reverse rotation campaign with mechanical arm 15; Make mechanical arm 15 return back to the top of lead I22, lead screw transmission motor 16 drives leading screw 19 reverse rotations afterwards, and further; Drive mechanical arm 15 and move down, move wheel I1 and fall to being back on the lead I22 again.So far, the obstacle detouring process that moves wheel I1 finishes.The obstacle detouring process of mobile wheel II2 and mobile wheel III3 similarly.When moving wheel IV4 obstacle detouring; At first; Gear driven worm screw 26 backward rotation of worm drive motor 25 through being meshed with worm screw 26, and further drive worm gear I27 and worm gear II28 does contrary/clockwise rotation finally drive through worm-wheel bracket I29 and worm-wheel bracket II30 and anti-ly topple over wheel I20 and topple over wheel II21 and do contrary/clockwise rotation with anti-; Anti-tipping apparatus is opened, carried out the obstacle detouring action according to the obstacle detouring process that moves wheel I1 afterwards.After driving wheel IV4 crossed conductor spacer and falls back on the lead again, anti-tipping apparatus was closed again, and robot continues to move ahead.
Claims (3)
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| CN201010580041A CN102074915B (en) | 2010-12-09 | 2010-12-09 | Split line moving platform |
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Application publication date: 20110525 Assignee: National Network Intelligent Technology Co., Ltd. Assignor: Shandong Research Inst. of Electric Power Contract record no.: X2019370000007 Denomination of invention: Split line moving platform Granted publication date: 20120905 License type: Exclusive License Record date: 20191014 Application publication date: 20110525 Assignee: National Network Intelligent Technology Co., Ltd. Assignor: Shandong Research Inst. of Electric Power Contract record no.: X2019370000007 Denomination of invention: Split line moving platform Granted publication date: 20120905 License type: Exclusive License Record date: 20191014 |
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