CN102751669A - Travelling mechanism of inspection robot for realizing obstacle crossing - Google Patents
Travelling mechanism of inspection robot for realizing obstacle crossing Download PDFInfo
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- CN102751669A CN102751669A CN2012102630425A CN201210263042A CN102751669A CN 102751669 A CN102751669 A CN 102751669A CN 2012102630425 A CN2012102630425 A CN 2012102630425A CN 201210263042 A CN201210263042 A CN 201210263042A CN 102751669 A CN102751669 A CN 102751669A
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- road wheel
- arm
- cable
- walking
- inspection robot
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Abstract
The invention provides a travelling mechanism of an inspection robot for realizing obstacle crossing, and relates to a robot. The travelling mechanism of the inspection robot for realizing obstacle crossing can enable the inspection robot to stably, quickly and fully-automatically cross an obstacle on an overhead line when the inspection robot walks on a cable. The travelling mechanism is provided with a lifting cabin, a lifting arm, a gearwheel, upper and lower direct-current reducing motors, upper and lower belts, travelling wheel arms, a pressure spring, a U-shaped bracket and upper and lower travelling wheels, wherein a detection device and a U-shaped bracket rotation servo system are arranged in the lifting cabin; the U-shaped bracket rotation servo system is connected with the gearwheel in the middle of the lifting arm through the lifting arm; the gearwheel is driven to rotate so as to realize plus or minus 90-degree rotation of the U-shaped bracket; the U-shaped bracket is connected with the walking wheel arms through the pressure spring; a hinge spring pressing mechanism is arranged on the travelling wheel arm; the upper direct-current reducing motor is connected with the upper travelling wheel through the upper belt; the lower direct-current reducing motor is connected with the lower travelling wheel through the lower belt; and the upper travelling wheel and the lower travelling wheel are respectively arranged at the upper part and the lower part of the cable and are tightly pressed on the cable.
Description
Technical field
The present invention relates to a kind of robot, especially relate to a kind of walking mechanism that realizes the obstacle detouring inspection robot.
Background technology
Because the overhead transmission line long term exposure of transmission line in the open air, receives blowing and raining, waits bad weather to influence in freezing winter and in sultry summer, add that line material is aging; Wearing and tearing or corrosion equivalent damage usually can occur, change like untimely reparation, small breakage and defective just possibly enlarge originally; Finally cause serious accident; Therefore, normally move for guaranteeing power circuit, it is extremely important that overhead transmission line is carried out regular visit.
At present, common line data-logging all be lean on the attendant of power supply administration with the naked eye or telescope watch.Because receive the influence of factors such as geographical environment, weather conditions, some hidden danger also is not easy to come to light.Meet the circuit in cross a river or the remote mountains, the attendant is " at one's wit's end " usually.Therefore adopt inspection robot to replace manual inspection to become trend of the times.This alleviates and patrols and examines personnel labor intensity improving power department automated job degree, improves to patrol and examine personnel's work safety condition and raising and patrol and examine that quality all has and important meaning.
Current, be the obstacle detouring function that realizes overhead transmission line through the mode that mechanical arm is climbed up and over mostly about travelling robot walking mechanism, its major defect is: need rely on artificial Remote during obstacle detouring; Operating difficulties, mechanism's complicacy and operate time are long; In addition, owing to receive the remote control distance restriction, related control device needs road along the line carrying; Have a strong impact on the line walking operating efficiency, can't really realize the automation walking operation.
Take a broad view of the level and the present situation of domestic and international travelling robot walking mechanism, have respectively:
1. 200410020490.8 (applyings date: 2004.04.30) of patent of invention of Shenyang Inst of Automation, Chinese Academy of Sciences application.
2. 200310118302.0 (applyings date: 2003.11.18) of patent of invention of Institute of Automation Research of CAS application.
3. 200510019930.2 (applyings date: 2005.12.01) of patent of invention of Wuhan University application.
4. 200510042569.5 (applyings date: 2005.03.18) of patent of Shandong University application.
Related product both domestic and external has:
1. the people such as Sawada of company of Tokyo Electric Power have developed OPGW (OPGW) and have patrolled and examined the mobile robot.
2. BJ University of Aeronautics & Astronautics is in the inspection robot of development in 2003.
3. Fujian Electric Power Co., Ltd. and Shenyang automation research institute of the Chinese Academy of Sciences, Xiamen add the extra high voltage network inspection robot of unit cooperation research and developments such as ability Power Tech Corp. Inc..
Relevant technical paper has:
[1] Zhu Xinglong etc. power transmission line crusing robot obstacle detouring mechanism and test, mechanical engineering journal, 2009,45 (2): 119-125.
[2] Li Hongwei, Zhao Shiping, Lu Xiaolong. the conceptual design of creeping of climbing electric power tower robot, automated manufacturing, 2010,32 (11): 100-103.
[3] rent land Song Yi etc. the Review Study of inspection robot and towards some discussions of intelligent grid technology, Sichuan power technology, 2009,32 (supplementary issue): 47-51.
But be the obstacle detouring function that realizes overhead transmission line through the mode that mechanical arm is climbed up and over mostly about obstacle detouring travelling robot walking mechanism in above-mentioned patent and the product; Their major defect is: need halt when running into barrier; Adjustment " arm " position is recovered line walking speed again behind the obstacle detouring; Need rely on artificial Remote during the obstacle detouring walking, operating difficulties, mechanism's complicacy and operate time are long; Owing to receive the remote control distance restriction, related control device needs road along the line carrying, has a strong impact on the line walking operating efficiency, can't really realize the automation walking operation
Chinese patent CN1292319 discloses a kind of autonomous modification four track-foot robot walking mechanism, adopts four track-foot to drive, and four track-foot is parallel to each other in twos, along frame 1 longitudinal axis symmetric arrangement; Adopt driving wheel 5 to hang down the structure of putting, do not have the displacement transmission mechanism of any complicacy with directive wheel 15 aiding supports, simple in structure; Cheap, there is bearing capacity big, smooth running; Revolution is flexible, and advantages such as mobility strong can be crossed the straight wall type obstacle than the high several times of crawler belt like a dream; Excellent obstacle performance is arranged, be suitable for doing such as the emergency dealing robot robotlike of off-road vehicle or the walking mechanism of vehicle.
Summary of the invention
The object of the present invention is to provide a kind of walking mechanism that realizes the obstacle detouring inspection robot that steadily, fast, automatically to cross the barrier on the overhead wire on cable when inspection robot is walked.
The present invention is provided with and hangs storehouse, arm, gear, goes up DC speed-reducing, down DC speed-reducing, go up belt, down belt, road wheel arm, holddown spring, U-shaped support, go up road wheel, road wheel down; Said hanging is provided with checkout gear and U type support and rotates servo system in the storehouse, U type support rotates servo system and is connected with gear in the middle of being located at arm through arm, through driven wheel rotate realize the U-shaped support ± 90 spend and rotate; Said U-shaped support is connected with the road wheel arm through holddown spring; Said road wheel arm is provided with the hinge spring hold-down mechanism; Last DC speed-reducing is connected with last road wheel respectively through last belt, and belt was connected with following road wheel respectively under following DC speed-reducing was passed through; Last road wheel is located at cable top, and following road wheel is located at the cable bottom, and last road wheel is pressed on the cable with following road wheel.
For overcoming defective of the prior art, the present invention adopts a four-wheel coupling clamping walking mechanism, the present invention includes 4 positive transport wheels and drive system thereof, a secondary rotatable U type support and hangs the storehouse.Detection (maintenance) device and U type support rotation feed service system are equipped with in the said inside, storehouse of hanging.Said U type support rotates feed service system and is connected with gear in the middle of the arm through arm, through driven wheel rotate realize U type support with the cable be the center of circle ± 90 degree rotate.Simultaneously, according to the obstacle type with not obstacle is arranged, between " vertically walking mode " and " walking in a horizontal state pattern ", switch respectively, to realize the high speed of robot on overhead wire, automatically to walk.When being walked, inspection robot can steadily, fast, automatically cross the barrier on the overhead wire on cable
Wherein, U type support rotates feed service system and is connected with the middle gear of arm through arm, rotates through driven wheel and realizes U type support ± 90 degree rotations, and its centre of gyration is arranged in cable in the heart; Utilize the action of gravity of gondola, make that hang the storehouse is positioned under cable vertical all the time in U type support rotation process.
Wherein, said U type support is connected with the road wheel arm through holddown spring, on the road wheel arm hinge is housed, and guarantees that wherein a road wheel is when throwing over barrier arbitrarily, and other three road wheels still are pressed on the cable all the time.
Wherein, when crossing over vertical barrier (like stockbridge damper), robot walking device is in the walking in a horizontal state pattern; When crossing over horizontal barrier (like shaft tower), robot walking device is in the vertical row walking modes;
Wherein, on the race of said positive transport wheel the rubber ring that is used to increase frictional force is housed.
Wherein, the said storehouse of hanging is equipped with ultrasonic sensor apparatus, is used for disturbance in judgement thing approximate location and state; Hang inside, storehouse and can carry checkout gear or attending device etc. as required.
Compare with the walking mechanism of existing realization obstacle detouring inspection robot, beneficial effect of the present invention and advantage are:
1) the present invention adopts four-wheel coupling clamping walking mechanism mechanism, not only can walk fast but also can fast obstacle.
2) the present invention adopts full-automatic line walking, need not remote control etc. manual operation, be fit to the long distance of field work needs.
3) the present invention is simple in structure, and cost is low, can be widely used in the detection and the maintenance of ultra-high-tension power transmission line.
4) the robot application scope is wide, according to different barrier adjustment obstacle detouring angles, can effectively cross over the barrier on most of cables.
5) on the race of road wheel the rubber ring that is used to increase frictional force is housed, effectively improves the frictional force between road wheel and the cable, make maximum ramp angle be not less than 30 degree.
6) the present invention adopts four-wheel walking, when throwing over barrier, guarantees to have at least 3 road wheels to contact and form stable closed force structure with cable, and the good and crossing over blockage of security protection need not pause, and the obstacle detouring speed of travel is fast.
7) body adopts aluminum alloy materials, and is in light weight, can carry checkout gear or attending device etc. as required.
Description of drawings
Fig. 1 is the normal axomometric drawing of robot " vertically walking mode ".
The walking states normal axomometric drawing of Fig. 2 when crossing over vertical barrier.
Fig. 3 looks sketch map for the master of Fig. 1.
Fig. 4 is the not stressed sketch map of crossing over blockage of walking in a horizontal state pattern.
Stressed sketch map when Fig. 5 accomplishes crossing over blockage for the walking in a horizontal state pattern.
Stressed sketch map when Fig. 6 accomplishes crossing over blockage for the walking in a horizontal state pattern.
Embodiment
Below in conjunction with accompanying drawing inspection robot obstacle detouring running gear of the present invention is done further to set forth.
Referring to Fig. 1～6, the embodiment of the invention is provided with and hangs storehouse 1, arm 2, gear 3, goes up DC speed-reducing 41, down DC speed-reducing 42, go up belt 51, down belt 52, road wheel arm 6, holddown spring 7, U-shaped support 8, go up road wheel 91, road wheel 92 down; Said hanging is provided with checkout gear and U type support and rotates servo system in the storehouse 1, U type support rotates servo system and is connected with gears 3 in the middle of being located at arm 2 through arm 2, through driven wheel 3 rotate realize U-shaped supports 8 ± 90 spend and rotate; Said U-shaped support 8 is connected with road wheel arm 6 through holddown spring 7; Said road wheel arm 6 is provided with the hinge spring hold-down mechanism; Last DC speed-reducing 41 is connected with last road wheel 91 respectively through last belt 51, and belt 52 was connected with following road wheel 92 respectively under following DC speed-reducing 42 was passed through; Last road wheel 91 is located at cable 10 tops, and following road wheel 92 is located at cable 10 bottoms, and last road wheel 91 is pressed on the cable 10 with following road wheel 92.
About last road wheel 91 is established 1 pair, about following road wheel 92 is also established 1 pair.
Below through two kinds of different walking modes operation principle of the present invention is described:
Below realize robot obstacle detouring walking in fast automatic ground on overhead wire through walking in a horizontal state pattern (walking states when crossing over vertical barrier) and vertical row walking modes (walking states of the horizontal barrier of walking states, and leap fast).When accessible i.e. " walking freely ", adopt " vertically walking mode ", patrol and examine walking with fast speeds; When running into barrier, switch to " walking in a horizontal state pattern ", for the then still employing of barrier " vertically walking mode " of horizontal direction.Two kinds of different rows walking modes can need not " STOP " in freedom and flexibility ground switching under the walking states.The location of barrier is realized by the transducer in the gondola or other positioner.
As depicted in figs. 1 and 2; Be two kinds of different walking modes of the present invention, this running gear adopts four-wheel coupling clamping walking mechanism, and four road wheels are distributed in the cable both sides; The road wheel of homonymy is installed on road wheel arm separately respectively, along the arrangement of staggering of cable direction; DC speed-reducing is installed on the road wheel arm between the road wheel of two homonymies, moves through the belt drives road wheel.Holddown spring, road wheel arm and spring junction are housed in the connecting rod of road wheel arm and U type support hinge is housed; When guaranteeing in the process of walking (especially under Fig. 2 state) crossing over blockage; Always there are 3 road wheels to be pressed on the cable all the time; Form stable closed loop force structure, shown in Fig. 4～6, to realize the quick walking of robot on cable.In addition,, improve ramp angle, the rubber ring that is used to increase frictional force is housed on the race of road wheel in order to increase the frictional force between road wheel and the cable.U type support with will hang through arm the storehouse be hung in cable under, hang and U type support is housed in the storehouse rotates feed service system, through arm power is sent on the gear in the middle of the arm, the rotation through driven wheel realizes U type support ± 90 degree rotations.Hang inside, storehouse the ultrasonic wave sensing device also is housed, be used for judging and estimating barrier approximate location and state.
The inspection robot posture of on cable, walking is as shown in Figure 1, is contained in the checkout gear that hangs in the storehouse in the process of walking transmission line is patrolled and examined.When patrolling and examining; Be contained in the infrared facility that hangs in the storehouse and survey the distance and the state of the place ahead barrier; When detecting barrier and be vertical direction (like stockbridge damper), signal feedback given hang the inner central processing unit in storehouse, after central processing unit is received signal; Signal is passed to the direct current machine of control road wheel motion on one side, the speed of travel is reduced; The U type support that simultaneously signal is passed in the storehouse rotates servo system, 3 motions of servo system driven wheel, and gear movement drives U type support and begins rotation, up to turning to state shown in Figure 2.When road wheel arrives stockbridge damper; Under the effect of hinge, road wheel lifts and strides across stockbridge damper, and road wheel does not stress; Other 3 road wheels this moment being pressed on the cable tightly under the acting in conjunction of holddown spring and hinge guarantees in the obstacle detouring process, can not come off.Behind road wheel safety leaping over obstacles, hinge recovers original state.Next, another road wheel arrives stockbridge damper, and the obstacle detouring process is identical with road wheel.Other 2 road wheels are crossed over stockbridge damper in the same way.Last complete machine is accomplished the leap to barrier.
According to the principle of above-mentioned across obstacle, this device can be crossed over typical cable obstacle such as stockbridge damper, line ball pipe, conductor spacer, suspension clamp etc.
Claims (1)
1. realize the walking mechanism of obstacle detouring inspection robot, it is characterized in that being provided with hang storehouse, arm, gear, go up DC speed-reducing, down DC speed-reducing, go up belt, down belt, road wheel arm, holddown spring, U-shaped support, go up road wheel, road wheel down; Said hanging is provided with checkout gear and U type support and rotates servo system in the storehouse, U type support rotates servo system and is connected with gear in the middle of being located at arm through arm, through driven wheel rotate realize the U-shaped support ± 90 spend and rotate; Said U-shaped support is connected with the road wheel arm through holddown spring; Said road wheel arm is provided with the hinge spring hold-down mechanism; Last DC speed-reducing is connected with last road wheel respectively through last belt, and belt was connected with following road wheel respectively under following DC speed-reducing was passed through; Last road wheel is located at cable top, and following road wheel is located at the cable bottom, and last road wheel is pressed on the cable with following road wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201210263042.5A CN102751669B (en) | 2012-07-27 | 2012-07-27 | Travelling mechanism of inspection robot for realizing obstacle crossing |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210263042.5A CN102751669B (en) | 2012-07-27 | 2012-07-27 | Travelling mechanism of inspection robot for realizing obstacle crossing |
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| CN102751669A true CN102751669A (en) | 2012-10-24 |
| CN102751669B CN102751669B (en) | 2014-11-12 |
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| CN201210263042.5A Expired - Fee Related CN102751669B (en) | 2012-07-27 | 2012-07-27 | Travelling mechanism of inspection robot for realizing obstacle crossing |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104029205A (en) * | 2014-06-06 | 2014-09-10 | 上海瑞猫自动化控制技术有限公司 | System for adjusting torque required by robot driving device |
| CN104176142A (en) * | 2014-08-04 | 2014-12-03 | 国家电网公司 | Method for obstacle crossing of robot for overhead power line inspection |
| CN104362547A (en) * | 2014-11-26 | 2015-02-18 | 国网重庆市电力公司电力科学研究院 | Line patrol robot and separating and combining wheel gripper thereof |
| CN104393530A (en) * | 2014-11-25 | 2015-03-04 | 华北电力大学（保定） | Obstacle crossing device of inspection robot for four-bundled power transmission line |
| CN104502805A (en) * | 2015-01-12 | 2015-04-08 | 王波 | Automatic fault detection system for power line |
| JP2015093619A (en) * | 2013-11-13 | 2015-05-18 | 学校法人神奈川大学 | Self-traveling type movement device |
| CN106240664A (en) * | 2016-08-11 | 2016-12-21 | 上海大学 | A kind of towed metal wall work climbing robot |
| CN107947025A (en) * | 2016-05-12 | 2018-04-20 | 山东大学 | Inspection robot mechanical structure and its obstacle-detouring method based on subdivision wheel and mechanical arm |
| CN108270172A (en) * | 2018-04-02 | 2018-07-10 | 浙江弘安智能科技有限公司 | A kind of running gear of conducting wire walking robot |
| CN108418137A (en) * | 2018-04-19 | 2018-08-17 | 金华铂腾科技有限公司 | A kind of mono-track conducting wire running gear and a kind of mono-track robot |
| CN109909974A (en) * | 2019-04-28 | 2019-06-21 | 盐城工学院 | A kind of dedicated detection of electrical leakage robot of aerial cables |
| CN112536798A (en) * | 2020-12-01 | 2021-03-23 | 黑龙江大学 | High-voltage transmission main tower crawling robot |
| CN113376637A (en) * | 2021-06-30 | 2021-09-10 | 海南电网有限责任公司白沙供电局 | Power grid line tree obstacle measuring device |
| CN116298700A (en) * | 2023-05-18 | 2023-06-23 | 陕西浩悦博纳网络科技有限公司 | 5G-based power communication cable state monitoring system |
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Cited By (21)
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| JP2015093619A (en) * | 2013-11-13 | 2015-05-18 | 学校法人神奈川大学 | Self-traveling type movement device |
| CN104029205B (en) * | 2014-06-06 | 2016-12-07 | 上海弈猫科技有限公司 | A kind of system regulating robot driving device required torque |
| CN104029205A (en) * | 2014-06-06 | 2014-09-10 | 上海瑞猫自动化控制技术有限公司 | System for adjusting torque required by robot driving device |
| CN104176142A (en) * | 2014-08-04 | 2014-12-03 | 国家电网公司 | Method for obstacle crossing of robot for overhead power line inspection |
| CN104176142B (en) * | 2014-08-04 | 2016-04-20 | 国家电网公司 | A kind of leaping over obstacles method for overhead power transmission line crusing robot |
| CN104393530B (en) * | 2014-11-25 | 2016-12-28 | 华北电力大学（保定） | A kind of inspection robot obstacle crossing device for quadripartion transmission line of electricity |
| CN104393530A (en) * | 2014-11-25 | 2015-03-04 | 华北电力大学（保定） | Obstacle crossing device of inspection robot for four-bundled power transmission line |
| CN104362547A (en) * | 2014-11-26 | 2015-02-18 | 国网重庆市电力公司电力科学研究院 | Line patrol robot and separating and combining wheel gripper thereof |
| CN104502805A (en) * | 2015-01-12 | 2015-04-08 | 王波 | Automatic fault detection system for power line |
| CN107947025A (en) * | 2016-05-12 | 2018-04-20 | 山东大学 | Inspection robot mechanical structure and its obstacle-detouring method based on subdivision wheel and mechanical arm |
| CN107947025B (en) * | 2016-05-12 | 2020-03-03 | 山东大学 | Line inspection robot mechanical structure based on split wheel and mechanical arm and obstacle crossing method thereof |
| CN106240664A (en) * | 2016-08-11 | 2016-12-21 | 上海大学 | A kind of towed metal wall work climbing robot |
| CN108270172A (en) * | 2018-04-02 | 2018-07-10 | 浙江弘安智能科技有限公司 | A kind of running gear of conducting wire walking robot |
| CN108270172B (en) * | 2018-04-02 | 2024-03-12 | 浙江弘安智能科技有限公司 | Wire walking robot |
| CN108418137A (en) * | 2018-04-19 | 2018-08-17 | 金华铂腾科技有限公司 | A kind of mono-track conducting wire running gear and a kind of mono-track robot |
| CN109909974A (en) * | 2019-04-28 | 2019-06-21 | 盐城工学院 | A kind of dedicated detection of electrical leakage robot of aerial cables |
| CN112536798A (en) * | 2020-12-01 | 2021-03-23 | 黑龙江大学 | High-voltage transmission main tower crawling robot |
| CN112536798B (en) * | 2020-12-01 | 2022-09-20 | 黑龙江大学 | High-voltage transmission main tower crawling robot |
| CN113376637A (en) * | 2021-06-30 | 2021-09-10 | 海南电网有限责任公司白沙供电局 | Power grid line tree obstacle measuring device |
| CN113376637B (en) * | 2021-06-30 | 2023-01-06 | 海南电网有限责任公司白沙供电局 | Power grid line tree obstacle measuring device |
| CN116298700A (en) * | 2023-05-18 | 2023-06-23 | 陕西浩悦博纳网络科技有限公司 | 5G-based power communication cable state monitoring system |
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