CN103259216A - Reconfigurable robot used for overhead transmission cables - Google Patents
Reconfigurable robot used for overhead transmission cables Download PDFInfo
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- CN103259216A CN103259216A CN2013100837045A CN201310083704A CN103259216A CN 103259216 A CN103259216 A CN 103259216A CN 2013100837045 A CN2013100837045 A CN 2013100837045A CN 201310083704 A CN201310083704 A CN 201310083704A CN 103259216 A CN103259216 A CN 103259216A
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Abstract
The invention relates to a reconfigurable robot used for overhead transmission cables. The reconfigurable robot comprises a body composed of two body assemblies. Each body assembly comprises a main component, a main machine body assembly and a mechanical arm assembly. Each main machine body assembly comprises a main machine body, a big bevel gear fixed with the main machine body and two annular static guide rails which are fixed with the main machine body, are concentric with the big bevel gear, and are arranged in parallel. Each mechanical arm assembly comprises two movable guide rails which can move around the annular static guide rails in the circumferential direction, a small bevel gear matched with one of the big bevel gears, and a plurality of mechanical arms which are fixed on the movable guide rails and matched with the small bevel gear. Each mechanical arm is connected with a travelling wheel or a clamping jaw. The reconfigurable robot used for the overhead transmission cables has the advantages of being well adapted to the environment of the transmission lines, capable of being highly adapted to most lead hardware, strong in expansibility, capable of realizing multiple types of operation through the mechanical arms which are additionally installed for different operation tasks, and high in obstacle overcoming efficiency because multiple mechanism arms with the clamping jaws can be additionally installed for improving the obstacle overcoming efficiency.
Description
Technical field
The present invention relates to a kind of robot, especially relate to a kind of reconstruction robot for the overhead power transmission cable.
Background technology
Aerial high-voltage power transmission line is the main artery that electric power energy is carried, and is characterized in built on stilts suspended structure, high voltage, big electric current, and the special geographical environment that it experiences is as crossing over great rivers, passing through high and steep mountains and virgin forest.Cable, gold utensil and shaft tower long term exposure are subjected to continue that mechanical tension, wind-force are waved, the influence of electric flashover and material aging factor in the open air, cause high voltage cable disconnected thigh, wearing and tearing, burn into to occur and come off, and cause potential safety hazard to supply of electric power.For the safety that ensures transmission line is normally moved, need regularly and detect and upkeep operation circuit aperiodically.At present, the special operation of this class under danger, adverse circumstances is basically all by manually finishing.
The overhead high voltage line automatic crusing robot can be realized patrolling and examining automatically not having under the situation of manual intervention; labour intensity is relatively low; patrol and examine the efficient height; the expense of patrolling and examining is also relatively low; be subjected to the great attention of power industry and government; foreign study mechanism was also very active to the research of high pressure crusing robot in recent years, and some research institutions of states such as China, Japan, the U.S., Canada, Thailand have successively carried out the research of inspection robot.Over past ten years, there are some research institutions to be engaged in the research of high-tension line robot both at home and abroad, there are Quebec, CAN water power research institute Yan Yuan, Japanese Kyushu company, Japanese chubu electric corporation, Japanese ZhengFa University, U.S. North Carolina university, Korea Electro Tech Res Inst etc. in external relatively more outstanding research institution, people such as sawada have studied and can patrol and examine the mobile robot at ground wire, it can realize obstacle detouring by self-contained guide rail, but adaptability is relatively poor.Japan sato company produces transmission line flaw detection line walking dolly, can realize the ground remote control walking, but can not realize obstacle detouring, the HQ LineROver remote operated vehicle of people such as the graduate Serge Montam of Quebec, CAN water power bault development, can realize the electric power cable deicing, patrol and examine, function such as maintenance, but do not have obstacle climbing ability, can only between two line towers, work.The Jaka Katrasnik of Slovenia Ljubljana university proposes a kind of can the climbing and fly able robot, can be by the mode of online induction energy fetching, guarantee the flying power of flight, this robot has the high characteristics of helicopter line walking efficient, do not need simultaneously supporting ground service support again, but the control difficulty is bigger, involves great expense.Nicolas Pouliot proposes a kind of inspection robot based on the LineScout technology, it has two arms arranged side by side, arm is used for being used for creeping at cable another arm that rolls, and Paulo Debenset designs a kind of inspection robot that can climb at conductors on quad bundled.
Domestic under the support energetically of national 863 Program the development also very rapid, Shenyang Inst of Automation, Chinese Academy of Sciences, Institute of Automation, CAS, Wuhan University, Shandong University, University Of Science and Technology Of Shandong, University Of Tianjin, many important research are being done along the architomy of different electric pressures or the robot that divides live wire, ground wire patrol checking respectively more by scientific research institutions such as Shanghai University, and the part model machine can realize crossing over automatically various typical obstacles such as stockbridge damper, strain clamp, suspension clamp, wire jumper.Professor Wu Gongping of Wuhan Water Conservancy and Electric Power Univ developed high-tension line line walking dolly in 1998, adopt monomer three driving wheel structures can realize crossing obstacles such as stockbridge damper, suspension insulator, under the support of national 863 Program and bull electrical equipment company, develop 220KV architomy phase line inspection robot, this robot adopts the motor pattern of the staggered climbing of both arms, can realize crossing automatically barriers such as stockbridge damper, suspension clamp, strain clamp and wire jumper.The Wang Hong of Shenyang Inst of Automation, Chinese Academy of Sciences light etc. adopt the method for monocular cam location and visual servo, realize the active obstacle of inspection robot, and what adopt on the kinematics is that the mode that both arms are climbed realizes.University Of Science and Technology Of Shandong, Shandong University, University Of Tianjin are at 110KV transmission line characteristics, design 110KV transmission line automatic running on transmisson line robot, what adopt is 3 arm structure patterns, can cross over such as various typical obstacles such as stockbridge damper, strain clamp, suspension clamp, wire jumpers.
Climbed at inspection robot and domesticly on the barrier implementation to have formed two kinds of main flow tactic patterns, a kind of is to be the staggered climbing of the both arms structure of representative with Wuhan University, Chinese Academy of Sciences's Shenyang Institute of Automation, Institute of Automation, CAS etc., and another kind is to be the three arms climbing structure of representative with University Of Tianjin, University Of Science and Technology Of Shandong, Shandong University.Their implementation is each has something to recommend him, can both satisfy line walking and cross the barrier requirement.
At present, the research technical scheme of inspection robot is based on the climbing pattern of both arms or three arms mostly.It is on the low side that these two kinds of patterns are crossed barrier efficient on the one hand, can only carry out obstacle detouring at the barrier of limited kinds on the other hand, and gold utensil is of a great variety on the high-tension line, and continue to bring out novel cable and gold utensil, single mechanical structure is difficult to satisfy the variation that the power transmission line gold utensil makes rapid progress, the user more wishes the robot that uses a kind of adaptedness higher, and reconstruction robot just can satisfy this requirement.The reconstruction robot system has the tradable of various sizes and performance characteristic by a cover and forms, and can be assembled into the robot of various different configurations, to adapt to different work.
Summary of the invention
The present invention mainly is that solution existing in prior technology adaptedness is not high, ineffective technical problem; Provide a kind of reconfigurable, adapted to various operational environments, a kind of reconstruction robot for the overhead power transmission cable that operating efficiency is higher more.
Above-mentioned technical problem of the present invention is mainly solved by following technical proposals:
A kind of reconstruction robot for the overhead power transmission cable is characterized in that, comprises the body that is made of two body assemblies at least, and described body assembly comprises main member, main body assembly and mechanical arm assembly; Described main body assembly comprise main body, with the fixing bevel gear wheel of main body, and with fixing and concentric with bevel gear wheel two the quiet guide rails of the ring-type that be arranged in parallel of main body; Described mechanical arm assembly comprises that two cooperate the bevel pinion that can mesh around the moving guide rail of the quiet guide rail circumferential movement of ring-type, with bevel gear wheel, some mechanical arms of fixing and cooperate with bevel pinion with moving guide rail with the quiet guide rail of ring-type; Be connected with several rows travelling wheel or jaw on the described mechanical arm; Described main member end is provided with a rotation axis connector, and the rotation axis connector of two main members connects by rotation axis, connects between two body assemblies of back only to relatively rotate.
Different with tradition climbing type inspection robot, mechanical arm is not to do rectilinear motion, but moves in a circle.Mechanical arm moves in a circle and realizes by Bevel Gear Transmission.Gear wheel is fixed on the main body, has only a degree of freedom of rotating around gear shaft between pinion and mechanical arm.Motor is installed on the pinion, and when pinion rotation, pinion drives mechanical arm and moves in a circle along gear wheel like this.
Said before that the robot main body was made up of two parts in relative rotation, be stressed that here that this two-part structure was in full accord.This reconstruction robot should comprise four mechanical arms at least if will realize the obstacle detouring walking, wherein on two arms road wheel is installed, and on two arms jaw is installed in addition.The assembling mode of these four arms is such: each main body part is respectively distributed a mechanical arm that has road wheel and jaw.When robot has only the road wheel operation when straightway is walked, the road wheel built-in motor, road wheel rolls along lead, realizes forward travel.If the cable gradient is bigger, in order to increase power, road wheel is all installed on four mechanical arms by robot when straightway, and the road wheel arrangement is such: about each two, these two road wheels are arranged up and down and are compressed lead.When needs clear the jumps, at this time require the mechanical arm jaw to grasp lead, realize climbing barrier.The specific implementation process is such: the motor of control bevel pinion rotates, and bevel pinion just begins to move in a circle around bevel gear wheel, and at this time mechanical arm is also just and then made circular motion, has so also realized the action that mechanical arm advances.Mechanical arm is action by turns, just switches to the state of road wheel operation up to clearing the jumps fully.Just can improve obstacle detouring efficient if add to adorn the mechanical arm of several installation jaws.
In addition because mechanical arm is to move in a circle, so the motion of arm has cyclicity, can not break away from body, as long as the sequence of motion of each arm of control, each arm can not disturb each other.So can install a plurality of functions that have other operations specific tasks additional, so just can realize the many operations of a machine.Certainly consider and install the weight that arm can increase the weight of robot additional, so the design time dismounting of our mechanical arm is very convenient.The specific implementation process is such: be equipped with double V-shaped circular motion type guide rail on the casing, it is convenient to break away between this guide rail sound guide rail, and mechanical arm and moving guide rail are connected, and the installation of mechanical arm is very convenient with dismounting.
At above-mentioned a kind of reconstruction robot for the overhead power transmission cable, described mechanical arm is fixed with moving guide rail by connector and is cooperated with bevel pinion.
At above-mentioned a kind of reconstruction robot for the overhead power transmission cable, described bevel pinion and mechanical arm have only a rotational freedom; The mechanical arm that is connected with bevel pinion is stuck between the moving guide rail by two stators.
Therefore, the present invention has following advantage: 1. the adaptive capacity of pair transmission line environment is good, can have stronger adaptive capacity to most lead gold utensil; 2. autgmentability is strong, can realize several work by installing the mechanical arm that has the different work task additional; 3.Cross barrier efficient height, can install a plurality of mechanical arms that have jaw additional, the operation simultaneously of a plurality of like this mechanical arms has just improved and has crossed barrier efficient.
Description of drawings
Fig. 1 is robot of the present invention overall structure schematic diagram when straightway.
Fig. 2 is robot of the present invention half chests body structure schematic diagram.
Fig. 3 is that robot of the present invention two-wheel compresses straightway climbing ideograph.
Fig. 4 is the obstacle detouring ideograph that suspension clamp is crossed over by robot of the present invention.
Fig. 5 a is that schematic diagram when preparing to cross over stockbridge damper near stockbridge damper is crossed in the stockbridge damper process by robot among the present invention.
Fig. 5 b is that robot crosses in the stockbridge damper process road wheel and breaks away from lead and simultaneously the road wheel module is replaced by the jaw module among the present invention, the schematic diagram when jaw is adjusted to best leap state.
Fig. 5 c is that schematic diagram when beginning to cross over stockbridge damper in the stockbridge damper process is crossed over by robot among the present invention.
Fig. 5 d is the schematic diagram when article one arm strides across stockbridge damper in the robot leap stockbridge damper process among the present invention.
Fig. 5 e is the schematic diagram that the state when the second arm is prepared to stride across stockbridge damper in the stockbridge damper process is crossed over by robot among the present invention.
Fig. 5 f is the schematic diagram that the state when the second arm strides across stockbridge damper in the stockbridge damper process is crossed over by robot among the present invention.
Fig. 5 g is that the schematic diagram that strides across stockbridge damper fully in the stockbridge damper process and be adjusted into accessible walking mode is crossed over by robot among the present invention.
Fig. 6 is that many jaws were worked in coordination with the barrier ideograph.
Fig. 7 is robot deicing sketch among the present invention.
Embodiment
Below by embodiment, and by reference to the accompanying drawings, technical scheme of the present invention is described in further detail.Among the figure, main member 1, main body 2, bevel gear wheel 3, the quiet guide rail 4 of ring-type, moving guide rail 5, bevel pinion 6, mechanical arm 7, road wheel 8, jaw 9, rotation axis connector 10, stator 11.
Embodiment:
Referring to Fig. 1 and Fig. 2, the present invention includes the body that is constituted by two body assemblies, body assembly comprises main member 1, main body assembly and mechanical arm assembly; The main body assembly comprise main body 2, with the fixing bevel gear wheel 3 of main body 2, and with fixing and concentric with the bevel gear wheel 3 quiet guide rail 4 of two ring-types that be arranged in parallel of main body 2; The mechanical arm assembly comprises two, and cooperate with the quiet guide rail 4 of ring-type can be around the moving guide rail 5 of quiet guide rail 4 circumferential movement of ring-type, some mechanical arms 7 of fixing and cooperate with bevel pinion 6 with the bevel pinion 6 of bevel gear wheel 3 engagements, with moving guide rail 5; Be connected with several rows travelling wheel 8 or jaw 9 on the mechanical arm 7, certainly, or some service kit modules, for example deicing operation module, conducting wire mending module and stockbridge damper installing/dismounting operation module etc.These functional modules all have backup in the module library, the module library is on main body, and various functional modules can realize automaticallying switch; The rotation axis connector 10 that main member 1 end is provided with 10, two main members of a rotation axis connector connects by rotation axis, makes only to relatively rotate between two main bodys; Moving guide rail 5 is connected and fixed by connector and mechanical arm 7, and bevel pinion 6 has only a rotational freedom with mechanical arm 7; The mechanical arm 7 that is connected with bevel pinion 6 is stuck between the moving guide rail 5 by two stators 11.
Robot of the present invention comprises following mode of operation:
Mode of operation 1: as shown in Figure 1, when robot when the clear section is walked, only need the work of road wheel module.At this moment the built-in motor ground-engaging wheel in the road wheel module rotates, and the road wheel module will be rolled along cable like this, realizes straight ahead.
Mode of operation 2: when robot during in the walking of the bigger straightway of the gradient, can adopt two-wheel to compress pattern, as shown in Figure 3, so not only increased climbing capacity, and robot ambulation be more stable.
Mode of operation 3: when robot runs into lead gold utensil such as suspension clamp, stockbridge damper, conductor spacer etc. and hinders the robot straight line moving, robot will adjust self attitude and clear the jumps, and the jaw module is started working, and climbs barrier by constantly changing the arm realization.Fig. 4 is the state diagram of robot when crossing over suspension clamp, illustrates that below by Fig. 5 robot crosses over the process of stockbridge damper.Shown in Fig. 5 a, when robot when the barrier stockbridge damper, the jaw module is started working, and promptly cable of the mechanical arm 3 of jaw module and mechanical arm 4 is housed; Then the road wheel module breaks away from cable, mechanical arm 1 and mechanical arm 2 also rotate counterclockwise, and during through the module library on the body, change the road wheel module into the jaw module automatically, the while jaw is clamping cables still, and mechanical arm 1 and mechanical arm 2 rotate counterclockwise the state shown in Fig. 5 b that reaches; Then mechanical arm 1 and mechanical arm 2 rotate counterclockwise up to firmly grasping cable smoothly shown in Fig. 5 c; Follow the jaw releases cable on mechanical arm 3 and the mechanical arm 4, the jaw on mechanical arm 1 and the mechanical arm 2 is still firmly grasped cable, and four mechanical arms all rotate counterclockwise the state shown in Fig. 5 d that reaches; The process that repeats to express among Fig. 5 c and Fig. 5 d is up to state shown in Fig. 5 e; The road wheel module need be started working afterwards, and mechanical arm 3 and mechanical arm 4 change the jaw module into the road wheel module when rotating counterclockwise through the module library on the main body automatically, continue to rotate counterclockwise the state that reaches as Fig. 5 f; Follow the jaw releases cable, mechanical arm 1 and mechanical arm 2 rotate counterclockwise, final state such as Fig. 5 g, and the obstacle detouring process finishes, and robot reenters accessible walking mode.
Mode of operation 4: we can see that robot realized that barrier needed continuous rotary machine arm from mode of operation 3, what we adopted is circumference type guide rail, with not being both of traditional line slideway maximum, mechanical arm is not along the guide rail reciprocating motion, but can cycle rotation, as shown in Figure 6, if install a plurality of mechanical arms that have the jaw module additional, so can a plurality of mechanical arm work compounds, the time that each mechanical arm rotates shortens, shortened and changed the arm time, so just improved and crossed barrier efficient.
Mode of operation 5: robot of the present invention dismounting mechanical arm is convenient, if run into other Appendage Task tasks, such as deicing, conducting wire mending and stockbridge damper dismounting, we can install the mechanical arm that has deicing operation module, conducting wire mending module and stockbridge damper installing/dismounting operation module additional, have strengthened the autgmentability of robot so undoubtedly.Shown in Figure 7 is robot deicing sketch.
This robot obstacle detouring and walking process are subjected to Single-chip Controlling, realize the crossing obstacle automatically of robot and advance by the transducer that carries in the robot.
Specific embodiment described herein only is that the present invention's spirit is illustrated.Those skilled in the art can make various modifications or replenish or adopt similar mode to substitute described specific embodiment, but can't depart from spirit of the present invention or surmount the defined scope of appended claims.
Although this paper has used terms such as main member 1, main body 2, bevel gear wheel 3, the quiet guide rail 4 of ring-type, moving guide rail 5, bevel pinion 6, mechanical arm 7, road wheel 8, jaw 9, rotation axis connector 10, stator 11 morely, do not get rid of the possibility of using other term.Using these terms only is in order to describe and explain essence of the present invention more easily; They are construed to any additional restriction all is contrary with spirit of the present invention.
Claims (3)
1. a reconstruction robot that is used for the overhead power transmission cable is characterized in that comprise the body that is made of two body assemblies at least, described body assembly comprises main member (1), main body assembly and mechanical arm assembly; Described main body assembly comprise main body (2), with the fixing bevel gear wheel (3) of main body (2), and with fixing and concentric with bevel gear wheel (3) two the quiet guide rails of the ring-type that be arranged in parallel (4) of main body (2); Described mechanical arm assembly comprises two, and cooperate with the quiet guide rail of ring-type (4) can be around the moving guide rail (5) of the quiet guide rail of ring-type (4) circumferential movement, some mechanical arms (7) of fixing and cooperate with bevel pinion (6) with the bevel pinion (6) of bevel gear wheel (3) engagement, with moving guide rail (5); Be connected with several rows travelling wheel (8) or jaw (9) on the described mechanical arm (7); Described main member (1) end is provided with a rotation axis connector (10), and the rotation axis connector (10) of two main members connects by rotation axis.
2. a kind of reconstruction robot for the overhead power transmission cable according to claim 1 is characterized in that, described mechanical arm (7) is fixed with moving guide rail (5) by connector and cooperated with bevel pinion (6).
3. a kind of reconstruction robot for the overhead power transmission cable according to claim 2 is characterized in that, described bevel pinion (6) has only a rotational freedom with mechanical arm (7); The mechanical arm (7) that is connected with bevel pinion (6) is stuck between the moving guide rail (5) by two stators (11).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310083704.5A CN103259216B (en) | 2013-03-15 | 2013-03-15 | A kind of reconstruction robot for overhead transmission cables |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310083704.5A CN103259216B (en) | 2013-03-15 | 2013-03-15 | A kind of reconstruction robot for overhead transmission cables |
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| CN103259216A true CN103259216A (en) | 2013-08-21 |
| CN103259216B CN103259216B (en) | 2016-02-10 |
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| CN201310083704.5A Expired - Fee Related CN103259216B (en) | 2013-03-15 | 2013-03-15 | A kind of reconstruction robot for overhead transmission cables |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103499361A (en) * | 2013-09-27 | 2014-01-08 | 国家电网公司 | Overhead conductor sensor arrangement device |
| CN105798902A (en) * | 2016-05-12 | 2016-07-27 | 山东大学 | Mechanical structure of humanoid edge climbing line patrol robot and obstacle crossing method thereof |
| CN109263740A (en) * | 2018-09-03 | 2019-01-25 | 国电南瑞科技股份有限公司 | A kind of passive blocking device of traveling wheel for overhead transmission line circuit scanning test robot |
| CN111009850A (en) * | 2019-12-16 | 2020-04-14 | 许昌学院 | Intelligent inspection device for overhead power line |
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| JPS63198515A (en) * | 1987-02-12 | 1988-08-17 | 株式会社明電舎 | Cable monitoring travelling robot and row of robots |
| JPH09308034A (en) * | 1996-05-10 | 1997-11-28 | Nippon Denwa Shisetsu Kk | Cable laying robot |
| CN201415716Y (en) * | 2009-06-12 | 2010-03-03 | 中国电力科学研究院 | Robot walking device capable of surmounting lead obstacles |
| CN102039590A (en) * | 2009-10-13 | 2011-05-04 | 中国科学院沈阳自动化研究所 | Double-arm four-wheel polling robot mechanism |
| CN201994593U (en) * | 2010-12-30 | 2011-09-28 | 中国电力科学研究院 | Inspection or de-icing robot of power transmission line |
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2013
- 2013-03-15 CN CN201310083704.5A patent/CN103259216B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63198515A (en) * | 1987-02-12 | 1988-08-17 | 株式会社明電舎 | Cable monitoring travelling robot and row of robots |
| JPH09308034A (en) * | 1996-05-10 | 1997-11-28 | Nippon Denwa Shisetsu Kk | Cable laying robot |
| CN201415716Y (en) * | 2009-06-12 | 2010-03-03 | 中国电力科学研究院 | Robot walking device capable of surmounting lead obstacles |
| CN102039590A (en) * | 2009-10-13 | 2011-05-04 | 中国科学院沈阳自动化研究所 | Double-arm four-wheel polling robot mechanism |
| CN201994593U (en) * | 2010-12-30 | 2011-09-28 | 中国电力科学研究院 | Inspection or de-icing robot of power transmission line |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103499361A (en) * | 2013-09-27 | 2014-01-08 | 国家电网公司 | Overhead conductor sensor arrangement device |
| CN103499361B (en) * | 2013-09-27 | 2016-07-06 | 国家电网公司 | A kind of overhead conductor sensor arrangement device |
| CN105798902A (en) * | 2016-05-12 | 2016-07-27 | 山东大学 | Mechanical structure of humanoid edge climbing line patrol robot and obstacle crossing method thereof |
| CN109263740A (en) * | 2018-09-03 | 2019-01-25 | 国电南瑞科技股份有限公司 | A kind of passive blocking device of traveling wheel for overhead transmission line circuit scanning test robot |
| CN111009850A (en) * | 2019-12-16 | 2020-04-14 | 许昌学院 | Intelligent inspection device for overhead power line |
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