CN103001151B - There is the line robot actuating arm of obstacle crossing function - Google Patents
There is the line robot actuating arm of obstacle crossing function Download PDFInfo
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- CN103001151B CN103001151B CN201210517176.5A CN201210517176A CN103001151B CN 103001151 B CN103001151 B CN 103001151B CN 201210517176 A CN201210517176 A CN 201210517176A CN 103001151 B CN103001151 B CN 103001151B
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Abstract
The invention discloses a kind of line robot actuating arm with obstacle crossing function, is a kind of ultra-high-tension power transmission line line walking and Work robot actuating arm, especially for use in along transmission pressure walking, carry out detecting, the robot actuating arm of operation.The present invention includes drive wheel mechanism, rotary joint and lifting joint, drive wheel mechanism comprises fixed head, and fixed head is connected with drive unit; Rotary joint comprises rotating shaft and electromagnetic clutch, and electromagnetic clutch is on the rotary shaft sheathed, and the middle part of rotating shaft is connected with connector; 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; Drive wheel mechanism is connected with the connector of rotary joint by fixed head, and one end of rotary joint rotating shaft is connected with the connecting plate in lifting joint.The present invention can carry out independent assortment according to robot general structure, and each actuating arm can provide driving force for robot, is similar to modularized design, and interchangeability is strong.
Description
Technical field
The present invention relates to a kind of robot actuating arm, be specifically related to a kind of line robot actuating arm with obstacle crossing function, in particular for along transmission pressure walking, carry out detecting, the robot actuating arm of operation.Belong to robotics.
Background technology
Extra high voltage network is the important component part of high-voltage fence, for ensureing its safety and stability in running, needs regular to carry out the work of patrolling and examining; Because transmission line of electricity distributed points is many, away from cities and towns, with a varied topography, and wire leaks in the wild cruelly, long-term wind and weather, and the mechanical tension continued, electric sudden strain of a muscle is ironed, the impact of material aging, easily causes wearing and tearing, disconnected stock, corrosion equivalent damage, if repair replacing not in time, easily cause serious accident, cause large-area power-cuts and economic asset loss.So, regular walkaround inspection must be carried out to transmission line of electricity, grasp and understand the safe operation situation of transmission line of electricity at any time, so that Timeliness coverage and removing a hidden danger, trouble-saving generation;
For a long time, China mainly relies on manually to patrolling and examining of transmission line of electricity, or telescope, or infrared thermography, walk while see, what some were special patrols and examines also needs power worker to climb up high-tension line inspection, wastes time and energy, greatly dangerous, some virgin forest, cliff circuit manually cannot be patrolled and examined at all.Utilize robot inspection of power transmission line and safeguard EHV transmission network, not only can alleviate the labour intensity of workman's a thousand li line walking and livewire work, and accuracy of detection and detection efficiency can be improved, replace the occasion of people's on-line operation in high-risk, greatly reduce human resources simultaneously, to raising grid automation level of operation, ensure that electric power netting safe running is significant.
Chinese patent ZL200410061316.8 discloses a kind of robot travelled along aerial high-voltage power transmission line, comprise the forearm manipulator mechanism moved along power transmission line for a pair, the lower end of two forearm manipulators is connected on a transmission mechanism that can change the large arm of two forearm relative distances respectively, each forearm has 4 frees degree respectively; be end effector mechanism above forearm, and this end effector mechanism has the clamp system that hangs over driving wheel on power transmission line and the first driving mechanism thereof, a driven pulley and can grasp power transmission line.Comprehensive analysis, this patent mainly contains following shortcoming: former and later two forearms, when running into stockbridge damper or insulator chain, are replaced by the slide unit of bottom, realize the function of obstacle detouring by this patent robot mutually.Each forearm is connected in the large arm of bottom, and each forearm has 4 frees degree respectively, and its number of degrees of freedom, is too much, frame for movement and control system all more complicated.
Chinese patent 201010525761.0 discloses a kind of suspended line walking robot, it by, comprise walking and gondola two parts.Running gear is made up of two joint trunks and three driving tires.Two nodal pattern trunks become two parallelogram sturcutre, ensure that three driving tires are towards identical, and 5 motors on trunk drive trunk pitch, yaw and stretch, and make each obstacle detouring driving wheel can realize Three Degree Of Freedom translation is rolled off the production line.Each driving tire comprises driving wheel and clamping device, and driven by motor driving wheel makes robot move on line.The clamping device be made up of motor, ball wire bar pair, spring and pinch wheels etc. ensures there is enough frictional force between driving wheel and line.Gondola is connected by two steel bands with running gear, two motors on gondola by steel band adjustment self relative to the position of centre of gravity of trunk, the flexibility of mechanism during to ensure leaping over obstacles.Comprehensive analysis, this patent mainly contains following shortcoming: this patent walking mechanism is made up of two nodal pattern trunks and three driving tires, two nodal pattern trunks become two parallelogram sturcutre, its complicated in mechanical structure, and the trunk of drive part need 5 motors to drive pitch, yaw and to stretch, trunk complicated in mechanical structure, wayward; In obstacle detouring process, need the position of centre of gravity being adjusted whole robot by steel strip driving gondola, this mode very easily causes robot to topple in centre of gravity adjustment process, controls complicated.
Chinese patent ZL201010580041.4 discloses a kind of Split line moving platform, primarily of running gear, actuating arm device, anti-tipping apparatus and power controling box composition, wherein, actuating arm device adopts 4 arm configurations, be respectively actuating arm I, actuating arm II, actuating arm III and actuating arm IV, for actuating arm I, it comprises mechanical arm, lead screw transmission motor, turning arm and rotary drive motor, the output shaft of lead screw transmission motor drives guide screw movement by gears meshing mode, and further, driving mechanical arm realizes the movement (lift or fall) of vertical direction, the output shaft of rotary drive motor is rotated by gears meshing mode driven rotary arm, because turning arm and mechanical arm are bolted, therefore, it is possible to further driving mechanical arm rotates.By the routing motion of above lead screw gear and whirligig, movable pulley I is made to realize departing from and returning to the action of wire.Thus realize crossing over and avoiding various barrier (stockbridge damper, aluminium hydraulic pressed connecting pipe, conductor spacer, suspension clamp and insulator chain etc.).This patent mainly contains following shortcoming: although have employed the method for lifting and rotatable engagement, realize the object of obstacle detouring, there are two frees degree, but what adopt on rotation mode is vertical rotary, this rotation mode is when the spacing change of self adaptation wire, and driving wheel is very easy to deflect, and causes direct of travel no longer parallel with wire axis direction, resistance becomes large, and stall phenomenon easily occurs drive motors.
Summary of the invention
The object of the invention is, for overcoming above-mentioned the deficiencies in the prior art, to provide a kind of ultra-high-tension power transmission line line walking and Work robot actuating arm, especially for use in along transmission pressure walking, carry out detecting, 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 Work robot, as the obstacle detouring actuating arm of robot.
For achieving the above object, the present invention adopts following technical proposals:
Have the line robot actuating arm of obstacle crossing function, comprise drive wheel mechanism, rotary joint and lifting joint, described drive wheel mechanism comprises fixed head, and fixed head is connected with drive unit; Described rotary joint comprises rotating shaft and electromagnetic clutch, and electromagnetic clutch is on the rotary shaft sheathed, 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 one end of described rotary joint rotating shaft is connected with the connecting plate in lifting joint.
Described drive unit comprises driving shaft, and driving shaft is hinged on 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 split conductor.
Described transmission device is gear drive, toothed belt transmission or turbine and worm transmission.
Described electromagnetic clutch comprises the electromagnetic clutch flange, clutch rotor for electromagnetic clutch and the electromagnetic clutch stator that arrange in turn, and described electromagnetic clutch flange is fixed on connector, and clutch rotor for electromagnetic clutch is connected with rotation axle key.
The two ends of described rotating shaft are provided with rotating shaft holder, and the rotating shaft holder of one end is connected with the connecting plate in lifting joint, and Motionless electromagnetic clutch stator inside the rotating shaft holder of the other end, electric rotating machine is fixed in outside.
Described carriage comprises line slideway, and on line slideway, the slide block be free to slide established by card.
Described feed screw apparatus comprises leading screw, and described leading screw is connected with base plate by bearing block I, and one end of leading screw is connected with direct current generator, and described leading screw is provided with feed screw nut, and leading screw is fixed on connecting plate by feed screw nut.
Described direct current generator is fixed on bearing block II, and is connected with leading screw by bearing block II.
The bottom of leading screw is also fixed with limit switch.
The actuating arm number used can be determined according to robot general structure.The present invention can carry out independent assortment according to robot general structure, each actuating arm can provide driving force for robot, and each actuating arm comprises the identical drive wheel mechanism of structure, lifting joint and rotary joint, drive wheel mechanism is connected with 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 Work robot, can according to robot General structure scheme independent assortment, each actuating arm can provide driving force for robot, can press through without the need to doing obstacle detouring action when robot runs into stockbridge damper; When clog-free conducting line segment runs, electromagnetic clutch flange is separated with clutch rotor for electromagnetic clutch, drive wheel mechanism freely rotates around rotating shaft by the U-shaped connector be attached thereto, and such robot effectively can adapt to the wire pitch change caused by conductor spacer, suspension insulator;
When robot is close to conductor spacer, suspension insulator, robot halts, actuating arm starts to carry out obstacle detouring action, electromagnetic clutch on rotary joint powers on, clutch rotor for electromagnetic clutch is by the adhesive of electromagnetic clutch flange, both are made firmly to close, the current position state of drive wheel mechanism is maintained under the effect of electric rotating machine, then the DC motor Driver screw turns in joint is elevated, drive wheel mechanism is driven to move up by line slideway and slide block, after driving wheel departs from wire, lifting joint stops action; Now, the electric rotating machine on rotary joint drives the outer side oscillation of drive wheel mechanism guiding line by rotating shaft, thus makes driving wheel arrange wire and barrier.
Robot moves under automatic control, until before actuating arm clear the jumps after robot halt, lifting joint starts to decline, driving wheel is driven to do and action contrary before, driving wheel is made again to ride over clutch power down after on wire, electromagnetic clutch flange is separated with clutch rotor for electromagnetic clutch, and drive wheel mechanism freely can rotate around rotating shaft again, and 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 arrange in pairs or groups according to the overall plan independent assortment of high-tension line line walking and Work robot, can at ground wire, single cord and high pressure multiple fission conductor, cross over various barrier (stockbridge damper, conductor spacer, suspension insulator etc.) on transmission pressure, when straightway runs, the actuating arm of robot can freely adjust, the spacing change of self adaptation wire.Because the structure of each arm is identical, when obstacle detouring, path planning is relatively simple, workable, without the need to manually controlling equipment in the process of leaping over obstacles.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is the structural representation of in Fig. 17;
Fig. 3 is the structural representation of in Fig. 16;
Wherein: 1. transmission device, 2. drive motors, 3. driving wheel, 4. driving shaft, 5. fixed head, 6. rotary joint, be 7. elevated joint, 8. bearing block I, 9. leading screw, 10. base plate, 11. feed screw nuts, 12. connecting plates, 13. limit switches, 14. direct current generators, 15. line slideways, 16. slide blocks, 17. rotating shaft holders, 18.U type connector, 19. electromagnetic clutch flanges, 20. clutch rotor for electromagnetic clutch and stator, 21. electric rotating machines, 22. rotating shafts.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention will be further elaborated, should be noted that following explanation is only to explain the present invention, not limiting its content.
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, fixed head 5 is hinged with driving shaft 4, 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 split 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, on line slideway 15, the slide block 16 be free to slide established by card, base plate 10 is provided with leading screw 9, leading screw 9 is connected with base plate 10 by bearing block I8, the bottom of leading screw 9 is fixed with limit switch 13, for controlling the extreme position being elevated lower end, joint, one end of leading screw 9 is connected with direct current generator 14, and direct current generator 14 is fixed on bearing block II, and is connected with leading screw 9 by bearing block 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 U-shaped connector 18, and clutch rotor for electromagnetic clutch is connected with rotating shaft 22 key with the clutch rotor for electromagnetic clutch on stator 20.The two ends of rotating shaft are provided with rotating shaft holder 17, and the rotating shaft holder 17 of one end is connected with the connecting plate 12 in lifting joint 7, and Motionless electromagnetic clutch stator inside the rotating shaft holder 17 of the other end, electric rotating machine 21 is fixed in outside.
The fixed head 5 of drive wheel mechanism is connected with the U-shaped connector 18 of rotary joint 6, and rotary joint 6 is connected with the connecting plate 12 in lifting joint 7 by the rotating shaft holder 17 of the other end.
The actuating arm number used can be determined according to robot general structure.The present invention can carry out independent assortment according to robot general structure, each actuating arm can provide driving force for robot, and each actuating arm comprises the identical drive wheel mechanism of structure, lifting joint 7 and rotary joint 6, drive wheel mechanism is connected 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 Work robot, can according to robot General structure scheme independent assortment, each actuating arm can provide driving force for robot, can press through without the need to doing obstacle detouring action when robot runs into stockbridge damper; When clog-free conducting line segment runs, electromagnetic clutch flange 19 is separated with clutch rotor for electromagnetic clutch, drive wheel mechanism freely rotates around rotating shaft 22 by the U-shaped connector 18 be attached thereto, and such robot effectively can adapt to the wire pitch change caused by conductor spacer, suspension insulator etc.;
When robot is close to conductor spacer, suspension insulator, robot halts, actuating arm starts to carry out obstacle detouring action, electromagnetic clutch on rotary joint powers on, clutch rotor for electromagnetic clutch is by electromagnetic clutch flange 19 adhesive, both are made firmly to close, the current position state of drive wheel mechanism is maintained under the effect of electric rotating machine 21, then the direct current generator 14 being elevated joint 7 drives leading screw 9 to rotate, drive wheel mechanism is driven to move up by line slideway 15 and slide block 16, after driving wheel 3 departs from wire, lifting joint 7 stops action; Now, the electric rotating machine 21 on rotary joint 6 drives the outer side oscillation of drive wheel mechanism guiding line by rotating shaft 22, thus makes driving wheel arrange wire and barrier.
Robot moves under automatic control, until before actuating arm clear the jumps after robot halt, lifting joint 7 starts to decline, driving wheel 3 is driven to do and action contrary before, driving wheel 3 is made again to ride over electromagnetic clutch power down after on wire, electromagnetic clutch flange 19 is separated with clutch rotor for electromagnetic clutch, and drive wheel mechanism freely can rotate around rotating shaft 22 again, and self adaptation wire pitch changes.
By reference to the accompanying drawings the specific embodiment of the present invention is described although above-mentioned; but 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 amendment or distortion that creative work can make still within protection scope of the present invention.
Claims (9)
1. have the line robot actuating arm of obstacle crossing function, comprise drive wheel mechanism, rotary joint and lifting joint, it is characterized in that, described drive wheel mechanism comprises fixed head, and fixed head is connected with drive unit; Described rotary joint comprises rotating shaft and electromagnetic clutch, and electromagnetic clutch is on the rotary shaft sheathed, 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 carriage comprises line slideway, and on line slideway, the slide block be free to slide established by card; Described drive wheel mechanism is connected with the connector of rotary joint by fixed head, and one end of described rotary joint rotating shaft is connected with the connecting plate in lifting joint.
2. the line robot actuating arm with obstacle crossing function according to claim 1, it is characterized in that, described drive unit comprises driving shaft, and driving shaft is hinged on fixed head, 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.
3. the line robot actuating arm with obstacle crossing function according to claim 2, is characterized in that, described actuating arm by drive wheel suspension on split conductor.
4. the line robot actuating arm with obstacle crossing function according to claim 2, is characterized in that, described transmission device is gear drive, toothed belt transmission or turbine and worm transmission.
5. the line robot actuating arm with obstacle crossing function according to claim 1, it is characterized in that, described electromagnetic clutch comprises the electromagnetic clutch flange, clutch rotor for electromagnetic clutch and the electromagnetic clutch stator that arrange in turn, described electromagnetic clutch flange is fixed on connector, and clutch rotor for electromagnetic clutch is connected with rotation axle key.
6. there is the line robot actuating arm of obstacle crossing function according to claim 1 or 5, it is characterized in that, the two ends of described rotating shaft are provided with rotating shaft holder, the rotating shaft holder of one end is connected with the connecting plate in lifting joint, Motionless electromagnetic clutch stator inside the rotating shaft holder of the other end, electric rotating machine is fixed in outside.
7. the line robot actuating arm with obstacle crossing function according to claim 1, it is characterized in that, described feed screw apparatus comprises leading screw, described leading screw is connected with base plate by bearing block I, one end of leading screw is connected with direct current generator, described leading screw is provided with feed screw nut, and leading screw is fixed on connecting plate by feed screw nut.
8. the line robot actuating arm with obstacle crossing function according to claim 7, it is characterized in that, described direct current generator is fixed on bearing block II, and is connected with leading screw by bearing block II.
9. the line robot actuating arm with obstacle crossing function according to claim 7, it is characterized in that, the bottom of leading screw is also fixed with limit switch.
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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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| 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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