CN103001151A - Line robot drive arm with obstacle crossing function - Google Patents
Line robot drive arm with obstacle crossing function Download PDFInfo
- Publication number
- CN103001151A CN103001151A CN2012105171765A CN201210517176A CN103001151A CN 103001151 A CN103001151 A CN 103001151A CN 2012105171765 A CN2012105171765 A CN 2012105171765A CN 201210517176 A CN201210517176 A CN 201210517176A CN 103001151 A CN103001151 A CN 103001151A
- Authority
- CN
- China
- Prior art keywords
- actuating arm
- electromagnetic clutch
- obstacle crossing
- rotating shaft
- crossing function
- Prior art date
Links
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Abstract
Description
Technical field
The present invention relates to a kind of robot actuating arm, be specifically related to a kind of circuit robot actuating arm with obstacle crossing function, in particular for walk along transmission pressure, detect, the robot actuating arm of operation.Belong to the Robotics field.
Background technology
Extra high voltage network is the important component part of high-voltage fence, for guaranteeing its safety and stability in running, needs the regular work of patrolling and examining of carrying out; Because the transmission line distributed points is many, and is away from cities and towns, with a varied topography, and wire is sudden and violent to be leaked in the open air, long-term wind and weather, and the mechanical tension that is continued, electric sudden strain of a muscle is ironed, the impact of material aging easily causes wearing and tearing, disconnected strand, the corrosion equivalent damage, if untimely reparation is changed, easily cause serious accident, cause the loss of large-area power-cuts and economic asset.So, must carry out regular walkaround inspection to transmission line, grasp at any time and understand the safe operation situation of transmission line, in order in time find and remove a hidden danger trouble-saving generation;
For a long time, China is artificial to the main dependence of patrolling and examining of transmission line, or telescope, or infrared thermography, see while walking, patrolling and examining that some are special also needs the power worker to climb up high-tension line inspection, wastes time and energy, greatly dangerous, some virgin forest, cliff circuit manually can't be patrolled and examined at all.Utilize the robot inspection of power transmission line and safeguard the EHV transmission network, not only can alleviate the labour intensity of workman's a thousand li line walking and live line working, and can improve accuracy of detection and detection efficiency, replace people's on-line operation in the occasion of high-risk, greatly reduce simultaneously human resources, to improving the grid automation level of operation, ensureing that electric power netting safe running is significant.
Chinese patent ZL200410061316.8 discloses a kind of robot that travels along aerial high-voltage power transmission line, comprise a pair of forearm manipulator mechanism that moves along power transmission line, the lower end of two forearm manipulators is connected in respectively on the transmission mechanism of a large arm that can change two forearm relative distances, each forearm has respectively 4 degrees of freedom; the forearm top is end effector mechanism, and this end effector mechanism has the driving wheel and the first driving mechanism, a driven pulley and the clamp system that can grasp power transmission line that hang on the power transmission line.Analysis-by-synthesis, this patent mainly contains following shortcoming: this patent robot is when running into stockbridge damper or insulator string, and the slide unit by the bottom replaces former and later two forearms mutually, realizes the function of obstacle detouring.Each forearm is connected on the large arm of bottom, and each forearm has respectively 4 degrees of freedom, and its number of degrees of freedom, is too much, and mechanical structure and control system be more complicated all.
Chinese patent 201010525761.0 discloses a kind of suspended line walking robot, it by, comprise the walking and gondola two parts.Running gear is comprised of two joint trunks and three driving tires.Two nodal pattern trunks become two parallelogram sturcutres, guarantee three driving tires towards identical, and 5 motor-driven trunk pitch on the trunk, yaw and flexible make each obstacle detouring driving wheel can realize rolling off the production line in the Three Degree Of Freedom translation.Each drives tire and comprises driving wheel and clamping device, and the driven by motor driving wheel makes robot mobile on line.The clamping device that is made of motor, ball wire bar pair, spring and pinch wheels etc. guarantees between driving wheel and the line enough frictional force is arranged.Gondola is connected by two steel bands with running gear, and two motors on the gondola are adjusted self with respect to the position of centre of gravity of trunk by steel band, the flexibility of mechanism during with the assurance leaping over obstacles.Analysis-by-synthesis, this patent mainly contains following shortcoming: this patent walking mechanism is comprised of two nodal pattern trunks and three driving tires, two nodal pattern trunks become two parallelogram sturcutres, its complicated in mechanical structure, and need 5 motors to drive pitch, yaw and flexible on the trunk of drive part, the trunk complicated in mechanical structure, wayward; Need to adjust by the steel strip driving gondola position of centre of gravity of whole robot in the obstacle detouring process, this mode very easily causes robot to topple in the centre of gravity adjustment process, and control is complicated.
Chinese patent ZL201010580041.4 discloses a kind of Split line moving platform, mainly by running gear, the actuating arm device, anti-tipping apparatus and power controling box form, wherein, the actuating arm device adopts 4 arm configurations, be respectively actuating arm I, actuating arm II, actuating arm III and actuating arm IV, take actuating arm I as example, it comprises mechanical arm, the lead screw transmission motor, turning arm and rotary drive motor, the output shaft of lead screw transmission motor drives guide screw movement by the gear engagement system, and further, the driving mechanical arm is realized the movement (lift or fall) of vertical direction, the output shaft of rotary drive motor rotates by gear engagement system driven rotary arm, because turning arm and mechanical arm are bolted, therefore further the driving mechanical arm rotates.By the routing motion of above lead screw gear and whirligig, make movable pulley I realize breaking away from and returning to the action of wire.Thereby realize crossing over and avoiding various barriers (stockbridge damper, aluminium hydraulic pressed connecting pipe, conductor spacer, suspension clamp and insulator string etc.).This patent mainly contains following shortcoming: although the method that has adopted lifting and rotation to cooperate, realize the purpose of obstacle detouring, have two degrees of freedom, but what adopt at rotation mode is vertical rotary, when this rotation mode changed in the spacing of self adaptation wire, driving wheel was very easy to deflect, and causes direct of travel no longer parallel with the wire axis direction, it is large that resistance becomes, and the stall phenomenon easily occurs drive motors.
Summary of the invention
The objective of the invention is provides a kind of ultra-high-tension power transmission line line walking and Work robot actuating arm for overcoming above-mentioned the deficiencies in the prior art, especially for use in walk along transmission pressure, detect, the robot actuating arm of operation.It is simple and compact for structure, modularized design, and interchangeability is strong, and interchangeability is strong, can be used in ultra-high-tension power transmission line ground wire, single cord and high pressure multiple fission conductor and patrol and examine on the Work robot, as the obstacle detouring actuating arm of robot.
For achieving the above object, the present invention adopts following technical proposals:
Have the circuit robot actuating arm of obstacle crossing function, comprise drive wheel mechanism, rotary joint and lifting joint, described drive wheel mechanism comprises fixed head, is connected with drive unit on the fixed head; Described rotary joint comprises rotating shaft and electromagnetic clutch, and electromagnetic clutch is set on the rotating shaft, and the middle part of rotating shaft is connected with connector; Described lifting joint comprises base plate, and base plate is provided with carriage and feed screw apparatus, and both are fixedly connected with by connecting plate; Described drive wheel mechanism is connected with the connector of rotary joint by fixed head, and an end of described rotary joint rotating shaft links to each other with the connecting plate in lifting joint.
Described drive unit comprises driving shaft, and driving shaft is hinged on the fixed head, and the two ends of driving shaft are respectively equipped with driving wheel and transmission device, and the lower end of transmission device is fixed with drive motors.
Described actuating arm by drive wheel suspension on bundle conductor.
Described transmission device is gear drive, toothed belt transmission or turbine and worm transmission.
Described electromagnetic clutch comprises electromagnetic clutch flange, clutch rotor for electromagnetic clutch and the electromagnetic clutch stator that arranges in turn, and described electromagnetic clutch flange is fixed on the connector, and clutch rotor for electromagnetic clutch is connected with the rotation axle key.
The two ends of described rotating shaft are provided with rotating shaft holder, and the rotating shaft holder of an end links to each other with the connecting plate in lifting joint, the inboard Motionless electromagnetic clutch of the rotating shaft holder of other end stator, and the outside is electric rotating machine fixedly.
Described carriage comprises line slideway, and card is established the slide block that is free to slide on the line slideway.
Described feed screw apparatus comprises leading screw, and described leading screw links to each other with base plate by bearing pedestal I, and an end of leading screw is connected with direct current machine, and described leading screw is provided with feed screw nut, and leading screw is fixed on the connecting plate by feed screw nut.
Described direct current machine is fixed on the bearing pedestal II, and is connected with leading screw by bearing pedestal II.
The bottom of leading screw also is fixed with limit switch.
With the actuating arm number can determine according to the robot general structure.The present invention can carry out independent assortment according to the robot general structure, each actuating arm can provide actuating force for robot, and each actuating arm comprises the identical drive wheel mechanism of structure, lifting joint and rotary joint, and drive wheel mechanism links to each other with the lifting joint by rotary joint; Be similar to modularized design, interchangeability is strong.
Operation principle of the present invention:
The present invention is applied in ultra-high-tension power transmission line ground wire, single cord and high pressure multiple fission conductor and patrols and examines on the Work robot, can be according to robot General structure scheme independent assortment, each actuating arm can both provide actuating force for robot, and need not to do the obstacle detouring action when running into stockbridge damper in robot can press; When clog-free conducting line segment moves, the electromagnetic clutch flange separates with clutch rotor for electromagnetic clutch, drive wheel mechanism can freely rotate around rotating shaft by the U-shaped connector that is attached thereto, and robot can effectively adapt to the wire pitch variation that is caused by conductor spacer, suspension insulator like this;
In robot during near conductor spacer, suspension insulator, robot halts, actuating arm begins to carry out the obstacle detouring action, electromagnetic clutch on the rotary joint powers on, clutch rotor for electromagnetic clutch is with the adhesive of electromagnetic clutch flange, make both firmly closed, under the effect of electric rotating machine, maintain the current position state of drive wheel mechanism, then the direct current machine in lifting joint drives the leading screw rotation, driving drive wheel mechanism by line slideway and slide block moves up, after driving wheel broke away from wire, the lifting joint stopped action; At this moment, the electric rotating machine on the rotary joint drives the outer side oscillation of drive wheel mechanism guiding line by rotating shaft, thereby makes driving wheel arrange wire and barrier.
Robot moves under automatically controlling, until before the actuating arm rear robot that clears the jumps halt, the lifting joint begins to descend, driving driving wheel does and opposite before action, clutch power down after making driving wheel again ride on the wire, the electromagnetic clutch flange is separated with clutch rotor for electromagnetic clutch, and drive wheel mechanism can freely rotate around rotating shaft again, and the self adaptation wire pitch changes.
The invention has the beneficial effects as follows, the present invention is owing to adopting modularized design, interchangeability is strong, simple and compact for structure, interchangeability is strong, can be according to the overall plan independent assortment collocation of high-tension line line walking and Work robot, can be at ground wire, single cord and high pressure multiple fission conductor, cross over various barriers (stockbridge damper, conductor spacer, suspension insulator etc.) on the transmission pressure, the actuating arm of robot can freely be adjusted when straightway moves, and the spacing of self adaptation wire changes.Because the structure of each arm is identical, path planning is relatively simple when obstacle detouring, and is workable, need not manually equipment to be controlled in the process of leaping over obstacles.
Description of drawings
Fig. 1 is structural representation of the present invention;
Fig. 2 is 7 structural representation among Fig. 1;
Fig. 3 is 6 structural representation among Fig. 1;
Wherein: 1. transmission device, 2. drive motors, 3. driving wheel, 4. driving shaft, 5. fixed head, 6. rotary joint, 7. lifting joint, 8. bearing pedestal I, 9. leading screw, 10. base plate, 11. feed screw nuts, 12. connecting plates, 13. limit switch, 14. direct current machines, 15. line slideways, 16. slide blocks, 17. rotating shaft holder, 18.U type connector, 19. electromagnetic clutch flanges, 20. clutch rotor for electromagnetic clutch and stator, 21. electric rotating machines, 22. rotating shafts.
Embodiment
The present invention will be further elaborated below in conjunction with drawings and Examples, should be noted that following explanation only is in order to explain the present invention, its content not to be limited.
As shown in Figure 1, the present invention includes drive wheel mechanism, lifting joint 7 and rotary joint 6, the lower end of drive wheel mechanism is connected with lifting joint 7 by rotary joint 6.
Drive wheel mechanism comprises fixed head 5, is hinged with driving shaft 4 on the fixed head 5, and the two ends of driving shaft 4 are respectively equipped with driving wheel 3 and transmission device 1, and the lower end of transmission device 1 is fixed with drive motors 2.Actuating arm is suspended on the bundle conductor by driving wheel 3.Transmission device 1 is gear drive, toothed belt transmission or turbine and worm transmission.
As shown in Figure 2, lifting joint 7 comprises base plate 10, base plate 10 is provided with line slideway 15, card is established the slide block 16 that is free to slide on the line slideway 15, base plate 10 is provided with leading screw 9, leading screw 9 links to each other with base plate 10 by bearing pedestal I8, the bottom of leading screw 9 is fixed with limit switch 13, the extreme position that is used for control lower end, lifting joint, one end of leading screw 9 is connected with direct current machine 14, and direct current machine 14 is fixed on the bearing pedestal II, and is connected with leading screw 9 by bearing pedestal II, leading screw 9 is provided with feed screw nut 11, and feed screw nut 11 is fixedly connected with by connecting plate 12 with slide block 16.
As shown in Figure 3, rotary joint 6 includes rotating shaft 22, clutch rotor for electromagnetic clutch and stator 20 and electromagnetic clutch flange 19, the centre of rotating shaft 22 is hinged with U-shaped connector 18, electromagnetic clutch flange 19 is fixed on the U-shaped connector 18, and clutch rotor for electromagnetic clutch is connected with rotating shaft 22 keys with clutch rotor for electromagnetic clutch on stator is connected.The rotating shaft holder 17 that the two ends of rotating shaft are provided with rotating shaft holder 17, one ends links to each other with the connecting plate 12 in lifting joint 7, the rotating shaft holder 17 inboard Motionless electromagnetic clutch stators of the other end, and the outside is electric rotating machine 21 fixedly.
The fixed head 5 of drive wheel mechanism links to each other with the U-shaped connector 18 of rotary joint 6, and rotary joint 6 links to each other with the connecting plate 12 in lifting joint 7 by the rotating shaft holder 17 of the other end.
With the actuating arm number can determine according to the robot general structure.The present invention can carry out independent assortment according to the robot general structure, each actuating arm can provide actuating force for robot, and each actuating arm comprises the identical drive wheel mechanism of structure, lifting joint 7 and rotary joint 6, and drive wheel mechanism links to each other with lifting joint 7 by rotary joint 6; Be similar to modularized design, interchangeability is strong.
The present invention is applied in ultra-high-tension power transmission line ground wire, single cord and high pressure multiple fission conductor and patrols and examines on the Work robot, can be according to robot General structure scheme independent assortment, each actuating arm can both provide actuating force for robot, and need not to do the obstacle detouring action when running into stockbridge damper in robot can press; When clog-free conducting line segment moves, electromagnetic clutch flange 19 separates with clutch rotor for electromagnetic clutch, drive wheel mechanism can freely rotate around rotating shaft 22 by the U-shaped connector 18 that is attached thereto, and robot can effectively adapt to the wire pitch variation that is caused by conductor spacer, suspension insulator etc. like this;
In robot during near conductor spacer, suspension insulator, robot halts, actuating arm begins to carry out the obstacle detouring action, electromagnetic clutch on the rotary joint powers on, clutch rotor for electromagnetic clutch is with 19 adhesives of electromagnetic clutch flange, make both firmly closed, under the effect of electric rotating machine 21, maintain the current position state of drive wheel mechanism, then the direct current machine 14 in lifting joint 7 drives leading screw 9 rotations, driving drive wheel mechanism by line slideway 15 and slide block 16 moves up, after driving wheel 3 broke away from wire, lifting joint 7 stopped action; At this moment, the electric rotating machine 21 on the rotary joint 6 drives the outer side oscillation of drive wheel mechanism guiding line by rotating shaft 22, thereby makes driving wheel arrange wire and barrier.
Robot moves under automatically controlling, until before the actuating arm rear robot that clears the jumps halt, lifting joint 7 begins to descend, driving driving wheel 3 does and opposite before action, electromagnetic clutch power down after making driving wheel 3 again ride on the wire, electromagnetic clutch flange 19 is separated with clutch rotor for electromagnetic clutch, and drive wheel mechanism can freely rotate around rotating shaft 22 again, and the self adaptation wire pitch changes.
Although above-mentionedly by reference to the accompanying drawings the specific embodiment of the present invention is described; but be not limiting the scope of the invention; on the basis of technical scheme of the present invention, those skilled in the art do not need to pay various modifications that creative work can make or distortion still in protection scope of the present invention.
Claims (10)
Priority Applications (1)
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| CN201210517176.5A CN103001151B (en) | 2012-12-05 | 2012-12-05 | There is the line robot actuating arm of obstacle crossing function |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210517176.5A CN103001151B (en) | 2012-12-05 | 2012-12-05 | There is the line robot actuating arm of obstacle crossing function |
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| CN103001151A true CN103001151A (en) | 2013-03-27 |
| CN103001151B CN103001151B (en) | 2015-12-02 |
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| CN104682258A (en) * | 2013-12-02 | 2015-06-03 | 国家电网公司 | Cable robot walking device |
| CN104875179A (en) * | 2015-05-29 | 2015-09-02 | 南京理工大学 | Power system segmented automatic inspection robot |
| CN104909294A (en) * | 2015-06-03 | 2015-09-16 | 广东电网有限责任公司电力科学研究院 | Hoisting device applied to automatic loading and unloading of overhead high-voltage transmission line inspection robot |
| CN105490209A (en) * | 2016-01-11 | 2016-04-13 | 国家电网公司 | Robot for power transmission line inspection |
| CN105528957A (en) * | 2015-12-28 | 2016-04-27 | 江阴皇润车业有限公司 | Parking reminding board |
| CN105762708A (en) * | 2016-04-30 | 2016-07-13 | 马鞍山市翔宇机械自动化科技有限公司 | Line patrol robot |
| CN106025922A (en) * | 2016-07-07 | 2016-10-12 | 南昌大学 | Robot for inspection of overhead high-voltage power transmission line |
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| CN107097866A (en) * | 2017-04-27 | 2017-08-29 | 哈尔滨工业大学（威海） | Power line operation walking robot and its obstacle-detouring method |
| CN107511845A (en) * | 2017-09-08 | 2017-12-26 | 国网山东省电力公司电力科学研究院 | A kind of rotary joint positioning lockable mechanism, method of work and line robot |
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| CN107054588B (en) * | 2017-01-22 | 2019-02-12 | 浙江大学 | A kind of underwater crawl stroke formula robot and its working method |
| CN107054588A (en) * | 2017-01-22 | 2017-08-18 | 浙江大学 | A kind of crawl stroke formula robot and its method of work under water |
| CN107097866A (en) * | 2017-04-27 | 2017-08-29 | 哈尔滨工业大学（威海） | Power line operation walking robot and its obstacle-detouring method |
| CN107097866B (en) * | 2017-04-27 | 2020-01-10 | 哈尔滨工业大学（威海） | Power line operation walking robot and obstacle crossing method thereof |
| CN107546642A (en) * | 2017-09-08 | 2018-01-05 | 国网山东省电力公司电力科学研究院 | The autonomous deflecting traveling crusing robot of overhead transmission line ground wire, system and method |
| CN107511845A (en) * | 2017-09-08 | 2017-12-26 | 国网山东省电力公司电力科学研究院 | A kind of rotary joint positioning lockable mechanism, method of work and line robot |
| CN109244943A (en) * | 2018-11-08 | 2019-01-18 | 广东电网有限责任公司 | A kind of hanging wire unmanned plane and its control method and device |
| CN109244943B (en) * | 2018-11-08 | 2020-02-07 | 广东电网有限责任公司 | Line-hanging unmanned aerial vehicle and control method and device thereof |
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Application publication date: 20130327 Assignee: National Network Intelligent Technology Co., Ltd. Assignor: Electric Power Research Institute of State Grid Shandong Electric Power Company Contract record no.: X2019370000006 Denomination of invention: Line robot drive arm with obstacle crossing function Granted publication date: 20151202 License type: Exclusive License Record date: 20191014 Application publication date: 20130327 Assignee: National Network Intelligent Technology Co., Ltd. Assignor: Electric Power Research Institute of State Grid Shandong Electric Power Company Contract record no.: X2019370000006 Denomination of invention: Line robot drive arm with obstacle crossing function Granted publication date: 20151202 License type: Exclusive License Record date: 20191014 |
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Effective date of registration: 20201029 Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee after: National Network Intelligent Technology Co.,Ltd. Address before: 250002, No. 1, South Second Ring Road, Shizhong District, Shandong, Ji'nan Patentee before: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Patentee before: STATE GRID CORPORATION OF CHINA |
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