CN103259216B - A kind of reconstruction robot for overhead transmission cables - Google Patents
A kind of reconstruction robot for overhead transmission cables Download PDFInfo
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- CN103259216B CN103259216B CN201310083704.5A CN201310083704A CN103259216B CN 103259216 B CN103259216 B CN 103259216B CN 201310083704 A CN201310083704 A CN 201310083704A CN 103259216 B CN103259216 B CN 103259216B
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Abstract
The present invention relates to a kind of reconstruction robot for overhead transmission cables, comprise the body that two body assemblies are formed, described body assembly comprises main member, main body assembly and robot assemblies; Described main body assembly comprises main body, the bevel gear wheel fixing with main body, and with main body fix and two ring-type that be arranged quiet guide rails concentric with bevel gear wheel; Described robot assemblies comprise two energy around the dynamic guide rail of ring-type quiet guide rail circumferential movement, the bevel pinion engaged with bevel gear wheel, be fixed on dynamic guide rail and and some mechanical arms of coordinating of bevel pinion; Described mechanical arm is connected with road wheel or jaw.Advantage: good to the adaptive capacity of transmission line environment, can have stronger adaptive capacity to most wire gold utensil; Autgmentability is strong, can realize several work by the mechanical arm installed additional with different work task; Crossing barrier efficiency high, barrier efficiency can be improved by installing multiple mechanical arm with jaw additional.
Description
Technical field
The present invention relates to a kind of robot, especially relate to a kind of reconstruction robot for overhead transmission cables.
Background technology
Aerial high-voltage power transmission line is the main artery of electric power energy conveying, is characterized in built on stilts suspended structure, high voltage, big current, and the special geological surrounding that it experiences is as crossed over great rivers, passing through high and steep mountains and virgin forest.Cable, gold utensil and shaft tower long term exposure in the wild, to be waved by continued mechanical tension force, wind-force, the impact of electrically flashover and material aging factor, and disconnected stock, wearing and tearing, burn into come off to cause high voltage cable to occur, cause potential safety hazard to supply of electric power.Running for ensureing that the safety of transmission line is normal, needing regularly and aperiodically circuit being detected and upkeep operation.At present, this kind of special operation under danger, adverse circumstances is substantially all by manually having come.
Overhead high voltage line automatic crusing robot can realize automatic detecting when not having manual intervention; labour intensity is relatively low; patrol and examine efficiency high; expense of patrolling and examining is also relatively low; be subject 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 the states such as China, Japan, the U.S., Canada, Thailand have successively carried out the research of inspection robot.Nearly ten years, some research institutions are had 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, NorthCarolina university of the U.S., Korea Electro Tech Res Inst etc. in external relatively more outstanding research institution, the people such as sawada have studied and can patrol and examine mobile robot on ground wire, it can realize obstacle detouring by self-contained guide rail, but adaptability is poor.Sato company of Japan produces transmission line flaw detection line walking dolly, ground remote control walking can be realized, but can not obstacle detouring be realized, the HQLineROver remote operated vehicle of people's developments such as the graduate SergeMontambault of Quebec, CAN water power, electric power cable deicing can be realized, patrol and examine, the function such as maintenance, but without obstacle climbing ability, can only work between two transmission towers.The JakaKatrasnik of Ljubljana university of Slovenia proposes one and can climb and fly able robot, can by the mode of online induction energy fetching, ensure the flying power of flight, this robot has the high feature of helicopter line walking efficiency, do not need again supporting ground service support simultaneously, but it is larger to control difficulty, involves great expense.NicolasPouliot proposes a kind of inspection robot based on LineScout technology, it has two arms arranged side by side, an arm is used for creeping for another arm that rolls on cable, and PauloDebenset designs a kind of inspection robot can climbed on conductors on quad bundled.
Domestic develop under the support energetically of National 863 plan 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, the scientific research institutions such as Shanghai University respectively along different electric pressure architomy or divide live wire more, the robot of ground wire patrol checking done many important research, part model machine can realize automatically crossing over the various Typical obstacles such as stockbridge damper, strain clamp, suspension clamp, wire jumper.Within 1998, Wuhan Water Conservancy and Electric Power Univ professor Wu Gongping develops high-tension line line walking dolly, adopt monomer three driving wheel structure can realize crossing the obstacle such as stockbridge damper, suspension insulator, 220KV architomy phase line inspection robot is developed under the support of National 863 plan and bull Electric company, this robot adopt both arms interlock climbing motor pattern, can realize automatically crossing the barriers such as stockbridge damper, suspension clamp, strain clamp and wire jumper.Shenyang Inst of Automation, Chinese Academy of Sciences Wang Hong light etc. adopt the method for monocular cam location and visual servo, realize the active obstacle of inspection robot, and what kinematics adopted is that the mode that both arms are climbed realizes.University Of Science and Technology Of Shandong, Shandong University, University Of Tianjin are for 110KV transmission line feature, design 110KV transmission line automatic running on transmisson line robot, what adopt is 3 arm structure patterns, can cross over the various Typical obstacles such as such as stockbridge damper, strain clamp, suspension clamp, wire jumper.
Climbed at inspection robot and domesticly in barrier implementation formed two kinds of predominate architecture patterns, that the both arms being representative with Wuhan University, Chinese Academy of Sciences's Shenyang Institute of Automation, Institute of Automation, CAS etc. interlock a climbing structures, the three arm climbing structures that another kind is is 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 meet line walking and cross barrier requirement.
At present, the research technical scheme of inspection robot is the climbing pattern based on both arms or three arms mostly.It is on the low side that these two kinds of patterns cross barrier efficiency on the one hand, obstacle detouring can only be carried out on the other hand for the barrier of limited kinds, and gold utensil is of a great variety on high-tension line, and continue to bring out novel cable and gold utensil, single mechanical structure is difficult to meet the change with rapid changepl. never-ending changes and improvements of power transmission line gold utensil, user more wishes the robot using a kind of adaptedness higher, and reconstruction robot just can meet this requirement.Reconfigurable robot system has various sizes and the tradable of performance characteristic forms by a set of, can be assembled into the robot of various different configuration, to adapt to different work.
Summary of the invention
The adaptedness that the present invention mainly solves existing for prior art is not high, ineffective technical problem; Provide a kind of reconfigurable, more adapt to various operational environment, a kind of reconstruction robot for overhead transmission cables that operating efficiency is higher.
Above-mentioned technical problem of the present invention is mainly solved by following technical proposals:
For a reconstruction robot for overhead transmission cables, it is characterized in that, comprise the body be at least made up of two body assemblies, described body assembly comprises main member, main body assembly and robot assemblies; Described main body assembly comprises main body, the bevel gear wheel fixing with main body, and with main body fix and two ring-type that be arranged quiet guide rails concentric with bevel gear wheel; Described robot assemblies comprises two, and coordinate with the quiet guide rail of ring-type can around the dynamic guide rail of ring-type quiet guide rail circumferential movement, the bevel pinion engaged with bevel gear wheel, fix and the some mechanical arms coordinated with bevel pinion with dynamic guide rail; Described mechanical arm is connected with several rows travelling wheel or jaw; Described main member end is provided with a rotation axis connector, and the rotation axis connector of two main members is connected by rotation axis, only relatively rotates after connecting between two body assemblies.
Different from tradition climbing type inspection robot, mechanical arm is not do rectilinear motion, but moves in a circle.Mechanical arm is moved in a circle and to be realized by Bevel Gear Transmission.Gear wheel is fixed on main body, only has a degree of freedom of rotating around gear shaft between pinion and mechanical arm.Motor is arranged on pinion, and so when the pinion is rotated, pinion driving mechanical arm moves in a circle along gear wheel.
Shuo Guo robot main body is by forming by two parts in relative rotation before, it is emphasized that this two-part structure is completely the same.This reconstruction robot at least should comprise four mechanical arms to realize obstacle detouring walking, and wherein installed rows travelling wheel in two arms, another two arms installs jaw.The assembling mode of this four arm is such: each main body part respectively distributes a mechanical arm with road wheel and jaw.When robot only has road wheel operation when straightway is walked, road wheel built-in motor, road wheel rolls along wire, realizes forward travel.If the cable gradient is comparatively large, in order to increase power, robot all installed rows travelling wheel on four mechanical arms when straightway, road wheel arrangement is such: each two of left and right, and these two road wheels arrange compression wire up and down.When needs clear the jumps, at this time require that mechanical arm jaw captures wire, realize climbing barrier.Specific implementation process is such: the electric machine rotation controlling bevel pinion, and bevel pinion just starts to move in a circle around bevel gear wheel, and at this time mechanical arm also just and then circles, and also achieves the action that mechanical arm advances like this.Mechanical arm rotation action, until the state fully passing over that barrier is just switched to road wheel operation.If the mechanical arm adding to fill several installation jaw just can improve obstacle detouring efficiency.
In addition because mechanical arm moves in a circle, therefore the motion of arm has cyclicity, can not depart from body, as long as control the sequence of motion of each arm, each arm can not disturb each other.So multiple function with other operations specific tasks can be installed additional, the many operations of a machine so just can be realized.Certainly consider and install the weight that arm can increase the weight of robot additional, so dismounting is very convenient time our mechanical arm designs.Specific implementation process is such: casing is equipped with double V-shaped circular motion type guide rail, and it is convenient to depart between this guide rail sound guide rail, and mechanical arm and dynamic guide rail are connected, and the installation of mechanical arm is very convenient with dismounting.
At above-mentioned a kind of reconstruction robot for overhead transmission cables, described mechanical arm to be fixed with dynamic guide rail by connector and is coordinated with bevel pinion.
At above-mentioned a kind of reconstruction robot for overhead transmission cables, described bevel pinion and mechanical arm only have a rotational freedom; The mechanical arm be connected with bevel pinion is stuck between dynamic guide rail by two stators.
Therefore, tool of the present invention has the following advantages: 1. the adaptive capacity of pair transmission line environment is good, can have stronger adaptive capacity to most wire gold utensil; 2. autgmentability is strong, can realize several work by the mechanical arm installed additional with different work task; 3.Cross barrier efficiency high, can install multiple mechanical arm with jaw additional, the operation simultaneously of multiple like this mechanical arm, just improve barrier efficiency.
Accompanying drawing explanation
Fig. 1 is robot of the present invention overall structure schematic diagram when straightway.
Tu2Shi robot half of the present invention 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 in the present invention, robot is crossed in stockbridge damper process close to schematic diagram during stockbridge damper preparation leap stockbridge damper.
Fig. 5 b is that in the present invention, robot crosses over road wheel in stockbridge damper process to depart from wire be clamping jaw module by road wheel module replacing simultaneously, and jaw adjusts to schematic diagram during best leap state.
Fig. 5 c is that in the present invention, the schematic diagram started when crossing over stockbridge damper is crossed in stockbridge damper process by robot.
Fig. 5 d is that in the present invention, schematic diagram when the first arm in stockbridge damper process strides across stockbridge damper is crossed over by robot.
Fig. 5 e is that in the present invention, in robot leap stockbridge damper process, the second arm prepares the schematic diagram of state when striding across stockbridge damper.
Fig. 5 f is the schematic diagram that in the present invention, state when the second arm in stockbridge damper process strides across stockbridge damper is crossed over by robot.
Fig. 5 g is the schematic diagram striding across stockbridge damper completely in robot leap stockbridge damper process in the present invention and be adjusted to accessible walking mode.
Fig. 6 is that many jaws worked in coordination with barrier ideograph.
Fig. 7 is robot deicing sketch in 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.In figure, the quiet guide rail 4 of main member 1, main body 2, bevel gear wheel 3, ring-type, dynamic guide rail 5, bevel pinion 6, mechanical arm 7, road wheel 8, jaw 9, rotation axis connector 10, stator 11.
Embodiment:
See Fig. 1 and Fig. 2, the present invention includes the body be made up of two body assemblies, body assembly comprises main member 1, main body assembly and robot assemblies; Main body assembly comprises main body 2, the bevel gear wheel 3 fixing with main body 2, and with main body 2 fixing and two ring-types that the be arranged quiet guide rail 4 concentric with bevel gear wheel 3; Robot assemblies comprises two, and coordinate with the quiet guide rail of ring-type 4 can around the dynamic guide rail 5 of ring-type quiet guide rail 4 circumferential movement, the bevel pinion 6 engaged with bevel gear wheel 3, and the some mechanical arms 7 that with bevel pinion 6 coordinate fixing with dynamic guide rail 5; Mechanical arm 7 is connected with several rows travelling wheel 8 or jaw 9, certainly, or some service kit modules, such as deicing operation module, conducting wire mending module and stockbridge damper installing/dismounting operation module etc.These functional modules all have backup in module library, and module library is on main body, and various functional module can realize automatically switching; The rotation axis connector 10 that main member 1 end is provided with a rotation axis connector 10, two main members is connected by rotation axis, makes only to relatively rotate between two main bodys; Dynamic guide rail 5 is connected and fixed by connector and mechanical arm 7, and bevel pinion 6 and mechanical arm 7 only have a rotational freedom; The mechanical arm 7 be connected with bevel pinion 6 is stuck between dynamic 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 walks in clear section, only needs road wheel module work.At this moment the built-in motor ground-engaging wheel in road wheel module rotates, and such road wheel module will be rolled along cable, realizes straight ahead.
Mode of operation 2: when robot is in the straightway walking that the gradient is larger, two-wheel can be adopted to compress pattern, as shown in Figure 3, which not only adds climbing capacity, and robot ambulation is more stable.
Mode of operation 3: when robot runs into wire gold utensil as obstruction robot straight line movings such as suspension clamp, stockbridge damper, conductor spacers, adjustment self attitude clears the jumps by robot, and clamping jaw module is started working, realizes climbing barrier by constantly changing arm.State diagram during suspension clamp is crossed over by Tu4Shi robot, illustrates that the process of stockbridge damper is crossed over by robot below by Fig. 5.As shown in Figure 5 a, when robot is near barrier stockbridge damper, clamping jaw module is started working, and mechanical arm 3 and mechanical arm 4 that clamping jaw module is housed firmly grasp cable; Then road wheel module departs from cable, mechanical arm 1 and mechanical arm 2 also rotate counterclockwise, and the module library on body changes road wheel module into clamping jaw module automatically, jaw still clamping cables simultaneously, mechanical arm 1 and mechanical arm 2 rotate counterclockwise and reach state as shown in Figure 5 b; Catching machine mechanical arm 1 and mechanical arm 2 rotate counterclockwise until firmly grasp cable as shown in Figure 5 c smoothly; Jaw releases cable on catching machine mechanical arm 3 and mechanical arm 4, the still promptly cable of the jaw on mechanical arm 1 and mechanical arm 2, four mechanical arms all rotate counterclockwise and reach state as fig 5d; Repeat the process expressed in Fig. 5 c and Fig. 5 d until state as depicted in fig. 5e; Rear walking wheel module need start working, the module library that mechanical arm 3 and mechanical arm 4 rotate counterclockwise on main body changes clamping jaw module into road wheel module automatically, continues to rotate counterclockwise the state reached as Fig. 5 f; Then jaw releases cable, mechanical arm 1 and mechanical arm 2 rotate counterclockwise, and final state is as Fig. 5 g, and obstacle detouring process terminates, and robot reenters accessible walking mode.
Mode of operation 4: we can see that robot realized barrier and needs continuous rotating machine mechanical arm from mode of operation 3, what we adopted is circumference type guide rail, with maximum not being both of traditional line slideway, mechanical arm is not along guide rail reciprocating motion, but can cycle rotation, as shown in Figure 6, if install multiple mechanical arm with clamping jaw module additional, so can multiple mechanical arm work compound, the time shorten that each mechanical arm rotates, shorten and change the arm time, which improves barrier efficiency.
Mode of operation 5: robot of the present invention changer 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 with deicing operation module, conducting wire mending module and stockbridge damper installing/dismounting operation module additional, enhance the autgmentability of robot so undoubtedly.It is robot deicing sketch shown in Fig. 7.
Robot obstacle detouring and walking process, by Single-chip Controlling, realize crossing obstacle automatically and the advance of robot by the transducer that robot carries.
Specific embodiment described herein is only to the explanation for example of the present invention's spirit.Those skilled in the art can make various amendment or supplement or adopt similar mode to substitute to described specific embodiment, but can't depart from spirit of the present invention or surmount the scope that appended claims defines.
Although more employ the term such as main member 1, main body 2, bevel gear wheel 3, the quiet guide rail 4 of ring-type, dynamic guide rail 5, bevel pinion 6, mechanical arm 7, road wheel 8, jaw 9, rotation axis connector 10, stator 11 herein, do not get rid of the possibility using other term.These terms are used to be only used to describe and explain essence of the present invention more easily; The restriction that they are construed to any one additional is all contrary with spirit of the present invention.
Claims (3)
1. for a reconstruction robot for overhead transmission cables, it is characterized in that, comprise the body be at least made up of two body assemblies, described body assembly comprises main member (1), main body assembly and robot assemblies; Described main body assembly comprises main body (2), the bevel gear wheel (3) fixing with main body (2), and with main body (2) fixing and two ring-type that be arranged quiet guide rails (4) concentric with bevel gear wheel (3); Described robot assemblies comprises two, and coordinate with the quiet guide rail of ring-type (4) can around the dynamic guide rail (5) of the quiet guide rail of ring-type (4) circumferential movement, the bevel pinion (6) engaged with bevel gear wheel (3), and the some mechanical arms (7) that with bevel pinion (6) coordinate fixing with dynamic guide rail (5); Each mechanical arm (7) is connected with a road wheel (8) or a jaw (9); Described main member (1) end is provided with a rotation axis connector (10), and the rotation axis connector (10) of two main members is connected by rotation axis.
2. a kind of reconstruction robot for overhead transmission cables according to claim 1, is characterized in that, described mechanical arm (7) is fixing and coordinate with bevel pinion (6) by connector and dynamic guide rail (5).
3. a kind of reconstruction robot for overhead transmission cables according to claim 2, is characterized in that, described bevel pinion (6) and mechanical arm (7) only have a rotational freedom; The mechanical arm (7) be connected with bevel pinion (6) is stuck between dynamic 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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| CN201310083704.5A CN103259216B (en) | 2013-03-15 | 2013-03-15 | A kind of reconstruction robot for overhead transmission cables |
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| CN103259216B true CN103259216B (en) | 2016-02-10 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103499361B (en) * | 2013-09-27 | 2016-07-06 | 国家电网公司 | A kind of overhead conductor sensor arrangement device |
| CN105798902B (en) * | 2016-05-12 | 2018-02-09 | 山东大学 | Apery climbs formula inspection robot mechanical structure and its obstacle-detouring method |
| CN109263740B (en) * | 2018-09-03 | 2021-04-06 | 国电南瑞科技股份有限公司 | A passive blocking device of walking wheel for overhead transmission line patrols and examines robot |
| CN111009850B (en) * | 2019-12-16 | 2020-11-17 | 许昌学院 | Intelligent inspection device for overhead power line |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
Family Cites Families (2)
| 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 |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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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