CN103715631A - One-armed obstacle crossing type electric transmission line operating robot - Google Patents
One-armed obstacle crossing type electric transmission line operating robot Download PDFInfo
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- CN103715631A CN103715631A CN201310740953.7A CN201310740953A CN103715631A CN 103715631 A CN103715631 A CN 103715631A CN 201310740953 A CN201310740953 A CN 201310740953A CN 103715631 A CN103715631 A CN 103715631A
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Abstract
The invention provides a one-armed obstacle crossing type electric transmission line operating robot. The robot comprises a front wheel claw, a rear wheel claw, a front connecting rod, a middle joint and a rear connecting rod, wherein the front wheel claw and the rear wheel claw are used for grasping transmission wires, the front connecting rod is connected between the front wheel claw and the middle joint, and the rear connecting rod is connected between the rear wheel claw and the middle joint. The front wheel jaw comprises a front wheel claw shell, a front wheel, a front wheel motor, a front claw, a front claw motor and a front connecting block, wherein the front wheel, the front wheel motor, the front claw and the front claw motor are fixed to the front wheel claw shell, and the front connecting block is arranged on the front wheel motor. The rear wheel claw comprises a rear wheel claw shell, a rear wheel, a rear wheel motor, a rear claw, a rear claw motor and a rear connecting block, wherein the rear wheel, the rear wheel motor, the rear claw and the rear claw motor are fixed to the rear wheel claw shell, and the rear connecting block is arranged on the rear wheel motor. The middle joint comprises a middle joint connecting piece, a pitching joint, a side-sway joint, a pitching motor and a side-sway motor, wherein the pitching joint and the side-sway joint are arranged on the middle joint connecting piece, the pitching motor is connected with the pitching joint, and the side-sway motor is connected with the side-sway joint. The two ends of the front connecting rod are connected with the front connecting block and the pitching joint respectively, and the two ends of the rear connecting rod are connected with the rear connecting block and the side-sway joint respectively.
Description
Technical field
The invention relates to transmission line detection technique, relate in particular to a kind of single armed obstacle crossing type transmission line operation robot.
Background technology
Because grid power transmission circuit distributed points is many, wide, the overwhelming majority is away from cities and towns, of living in a varied topography, natural environment is severe, and power line and shaft tower annex long term exposure are in the wild, the impact of lasting mechanical tension, electric flashover, material aging be can be subject to and disconnected thigh, wearing and tearing, corrosion equivalent damage produced, as repaired and change not in time, originally small breakage and defect just may expand, finally cause serious accident, cause large-area power-cuts, thereby cause great economic loss and serious social influence.So, must carry out periodical inspection inspection to transmission line, grasp at any time and understand the ruuning situation of transmission line and the situation of change in circuit surrounding environment and route protection district, to find in time and remove a hidden danger, trouble-saving generation, guarantees power supply safety.
At present, mainly utilize robot to patrol and examine transmission line, for the robot of polling transmission line, roughly experienced two developing stage.Early stage crusing robot does not have obstacle climbing ability, can only in a span, move.External this class crusing robot represent the HQ Line Rover that type has Japanese Zuo Teng building industry Co., Ltd. to develop in people such as " the overhead power transmission conducting wire damage automatic detecting machine device people " of development in 1993 and the graduate Serge Montambault of Quebec, CAN water power.
In addition, Thailand king University of Science and Technology and Japanese industry university in calendar year 2001 cooperation research and development " autonomous crusing robot " also can only in a span, move, not possess obstacle climbing ability.
After this, the multiple robots such as Expliner of the Line Scout of Quebec, CAN water power research institute exploitation, many institution cooperation exploitations of Japan can walk in a strain section, but exist, mechanism is complicated, weight is large, control the shortcomings such as difficulty is large.
Domestic aspect, Chinese Academy of Sciences's automation research since the development work of crusing robot in 2002, and gave to the world the result of one's studies since 2004.They have adopted " triple arm wheel " distribution form by the crusing robot of development.Wuhan Water Conservancy and Electric Power Univ starts for end the routing inspection trolley that development has active obstacle function as far back as nineteen ninety, has adopted " triple arm wheel " distribution form." inspection robot for ultra-high voltage power transmission lines " of Shenyang Institute of Automation development has two arms that roller is housed, and robot is by rotating obstacle detourings around 180 ° of suspension arms.In addition, University Of Science and Technology Of Shandong, Shandong University, BJ University of Aeronautics & Astronautics, Deng Duojia colleges and universities of Shanghai University have also carried out relevant research.
Power transmission line comprehensive Work robot can complete multiple operation on overhead transmission line, general is all by the robot manipulating task platform that can move along transmission line, to carry different power tools to complete different job tasks, such as patrolling and examining, deicing, remove obstacles etc.Wherein robot manipulating task platform is the most important components of whole operating system, and the barrier getting over mechanism of robot is the important component part of robot manipulating task platform.Multi-form obstacle detouring has also determined obstacle detouring mode and the process that robot is different.Complicated barrier getting over mechanism makes that robot obstacle detouring process is complicated, construction weight is large; And barrier getting over mechanism simple in structure can be simplified robot obstacle detouring process, improve stability and the reliability of robot work, also can alleviate the weight of robot, be convenient to robot transportation and on roll off the production line.
In the prior art, also there is a kind of power transmission line comprehensive Work robot, by driven wheel side pendulum-type is de-, upper line technology carries out obstacle detouring, as shown in Figure 1, is the structural representation of existing power transmission line comprehensive Work robot.Existing power transmission line comprehensive Work robot comprises forearm 101, postbrachium 102, gripper motor 103, paw 104, driving wheel motor 105, driving wheel 106, side-sway joint motor 107, side-sway joint 108, linear joint 109, linear joint motor 110, lifting joint motor 111, lifting joint 112, driving wheel 106 is placed in directly over wire, adopt two paws 104 to embrace wire, driving wheel 106 is pressed on wire, when driving wheel 106 off-line, first open paw 104, then the mode by side-sway make driving wheel 106 leave wire directly over.The action of reaching the standard grade is just in time contrary, first by side-sway, makes driving wheel 106 directly over wire, and then closed paw 104, embraces wire.Driving wheel 106 is placed in directly over wire, adopts two paws 104 to embrace wire, and driving wheel 106 is pressed on wire, when driving wheel 106 off-line, first opens paw 104, then the mode by side-sway make driving wheel 106 leave wire directly over.The action of reaching the standard grade is just in time contrary, first by side-sway, makes driving wheel 106 directly over wire, and then closed paw, embraces wire.
In the prior art, for adapting to different size (size, length etc.) barrier, need on forward and backward arm, guide rail be set, so that forward and backward arm can be along transverse shifting, complex structure, drive motors usage quantity are many, total quality large, obstacle detouring action is complicated, obstacle detouring bad adaptability.Secondly, driving wheel off-line needs two actions---and paw opens and closes, driving wheel side-sway, and this just makes the control ratio of driver part more loaded down with trivial details, complicated structure.Moreover in the prior art, two fingers of paw must have strict symmetric relation, and must meet the strict characteristics of motion, otherwise can have a strong impact on mechanism characteristics, the processing of mechanism, debugging are had to higher requirement.Finally, this scheme needs former and later two mechanical arms to cooperatively interact just can complete the function of leaping over obstacles, and degree of freedom in system is many, complex structure.
Summary of the invention
The object of the present invention is to provide a kind of single armed obstacle crossing type transmission line operation robot, can reduce the obstacle detouring degree of freedom by a middle joint, make robot motion joint minimizing, simple in structure, effectively reduce robot weight, be convenient to robot transportation and on roll off the production line.
To achieve these goals, the embodiment of the present invention provides a kind of single armed obstacle crossing type transmission line operation robot, described single armed obstacle crossing type transmission line operation robot comprises: for firmly grasping front tire and the rear tire of transmission pressure, front rod, middle joint and rear connecting rod, described front rod is connected between described front tire and middle joint, and described rear connecting rod is connected between described rear tire and middle joint;
Described front tire comprises: front tire housing, is fixed on the front-wheel of described front tire housing, front turbin generator, fore paw, fore paw motor, and is arranged on the front contiguous block on described front turbin generator;
Described rear tire comprises: rear tire housing, is fixed on trailing wheel, rear-wheel motor, rear solid end, the rear solid end motor of described rear tire housing, and is arranged on the rear contiguous block on described rear-wheel motor;
Described middle joint comprises: middle joint connector, is arranged on pitching joint and side-sway joint on described middle joint connector, the pitching motor being connected with described pitching joint, the side-sway motor being connected with described side-sway joint;
The two ends of described front rod connect respectively described front contiguous block and pitching joint, and the two ends of described rear connecting rod connect respectively described rear contiguous block and side-sway joint.
In one embodiment of the present invention, described front contiguous block is provided with the first groove, described pitching joint is provided with the second groove, and insert respectively in described the first groove and the second groove at the two ends of described front rod, and described front tire can be moved forward and backward along described front rod.
In one embodiment of the present invention, described rear contiguous block is provided with the 3rd groove, described side-sway joint is provided with the 4th groove, and insert respectively in described the 3rd groove and the 4th groove at the two ends of described rear connecting rod, and described rear tire can be moved forward and backward along described rear connecting rod.
In one embodiment of the present invention, described fore paw comprises: left-right rotary worm and gear, the first drive link, the second drive link, the first front finger, the first rear finger, the second front finger and the second rear finger; Described the first front finger and the first rear finger are separately fixed at the two ends of described the first drive link; Described the second front finger and the second rear finger are separately fixed at the two ends of described the second drive link; Described fore paw motor drives described left-right rotary worm and gear rotation, and described left-right rotary worm and gear drives the first described drive link and the rotation of the second drive link.
In one embodiment of the present invention, described rear solid end comprises: left-right rotary worm and gear, the first drive link, the second drive link, the first front finger, the first rear finger, the second front finger and the second rear finger; Described the first front finger and the first rear finger are separately fixed at the two ends of described the first drive link; Described the second front finger and the second rear finger are separately fixed at the two ends of described the second drive link; Described rear solid end motor drives described left-right rotary worm and gear rotation, and described left-right rotary worm and gear drives the first described drive link and the rotation of the second drive link.
In one embodiment of the present invention, described left-right rotary worm and gear comprises: left-right rotary worm screw, be set in the worm gear of described the first drive link and second drive link one end, and described left-right rotary worm screw is connected with described fore paw motor.
In one embodiment of the present invention, described left-right rotary worm and gear comprises: left-right rotary worm screw, be set in the worm gear of described the first drive link and second drive link one end, and described left-right rotary worm screw is connected with described rear solid end motor.
From the above mentioned, in the present invention, owing to adopting a middle joint to connect the frame mode of former and later two tires, reduced the obstacle detouring degree of freedom, make robot motion joint reduce, simple in structure, effectively reduce robot weight, be convenient to robot transportation and on roll off the production line.In addition, a gripper motor drives two pairs of fingers simultaneously, saved a drive motors, simultaneously during You Shi robot obstacle detouring, three places that realized robot and wire two pairs of fingers, a driving wheel contact, can effectively reduce the side direction of robot on wire and rock, improve the stability of robot.Moreover, can manual adjustments before and after distance between tire, make robot can cross over different size barrier, improved the adaptive capacity to environment of robot.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, to the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skills, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the structural representation of existing power transmission line comprehensive Work robot;
Fig. 2 is the structural representation of embodiment of the present invention single armed obstacle crossing type transmission line operation robot;
Fig. 3 is the structural representation in joint in the middle of the embodiment of the present invention;
Fig. 4 is the structural representation of tire before the embodiment of the present invention;
Fig. 5 is the structural representation of tire after the embodiment of the present invention;
Fig. 6 is the structural representation in embodiment of the present invention pitching joint 31;
Fig. 7 is the structural representation of embodiment of the present invention side-sway joint 33;
Fig. 8 A is that the view that obstacle suspends is met by embodiment of the present invention robot;
Fig. 8 B is the view of tire off-line before embodiment of the present invention robot;
Fig. 8 C is the view that before embodiment of the present invention robot, tire is kept away barrier;
Fig. 8 D is the view of tire obstacle detouring before embodiment of the present invention robot;
Fig. 8 E is the view that before embodiment of the present invention robot, tire is reached the standard grade again;
Fig. 8 F is the view of tire off-line after embodiment of the present invention robot;
Fig. 8 G is the view of tire obstacle after embodiment of the present invention robot;
Fig. 8 H is the view of tire obstacle detouring after embodiment of the present invention robot;
Fig. 8 I is the view that after embodiment of the present invention robot, tire is reached the standard grade again;
Fig. 8 J is the view after embodiment of the present invention robot leaping over obstacles;
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only the present invention's part embodiment, rather than whole embodiment.Embodiment based in the present invention, those of ordinary skills, not making the every other embodiment obtaining under creative work prerequisite, belong to the scope of protection of the invention.
As shown in Figures 2 to 5, the embodiment of the present invention provides a kind of single armed obstacle crossing type transmission line operation robot, and this single armed obstacle crossing type transmission line operation robot comprises: front tire 1, front rod 2, middle joint 3, rear connecting rod 4 and rear tire 5.Front rod 2 is connected between front tire 1 and middle joint 3, and rear connecting rod 4 is connected between rear tire 5 and middle joint 3.Front tire 1 and rear tire 5, for firmly grasping transmission pressure, make single armed obstacle crossing type transmission line operation robot advance along transmission pressure.
As shown in Figure 3, joint 3 comprises: middle joint connector 35, pitching joint 31 and side-sway joint 33 in the middle of being arranged on joint connector 35, the pitching motor 32 being connected with pitching joint 31, and the side-sway motor 34 being connected with side-sway joint 33.Pitching joint 31 is fixed in stopper slot 36 by rotating shaft (scheming not shown), and pitching joint 31 can vertically be rotated under the driving of pitching motor 32 in stopper slot 36.Side-sway joint 33 is fixed in stopper slot 37 by rotating shaft (scheming not shown), and side-sway joint 33 can along continuous straight runs rotation in stopper slot 37 under the driving of side-sway motor 34.
The structure in pitching joint 31 as shown in Figure 6, pitching motor 32 is fixed together with right angle decelerator 61, right angle decelerator 61 links together by key (not shown) with pitching joint 31, pitching motor 32 drives 61 rotations of right angle decelerator, and right angle decelerator 61 drives pitching joint 31 to rotate at vertical direction.
As shown in Figure 7, side-sway motor 34 is connected with side-sway power transmission shaft 71 structure of side-sway joint 33, and side-sway power transmission shaft 71 is connected with side-sway joint 33 by key (not shown), and side-sway motor 34 drives side-sway joint 33 in the horizontal direction by side-sway power transmission shaft 71.
As shown in Figures 2 and 4, front tire 1 comprises the structure of front tire 1: front tire housing 21, front-wheel 11, front turbin generator 12, fore paw 13, fore paw motor 14 and be arranged on the front contiguous block 15 on front turbin generator 12.Front-wheel 11, front turbin generator 12, fore paw 13, fore paw motor 14 are all fixed on front tire housing 21, and fixed form can be for fixing by screw or welding etc., and the present invention is not as limit.
The front contiguous block 15 that the two ends of front rod 2 connect respectively and pitching joint 31, in one embodiment, front contiguous block 15 is provided with a groove 22, pitching joint 31 is provided with groove 23, insert respectively in groove 22 and groove 23 at the two ends of front rod 2, and front tire 1 can be moved forward and backward along front rod 2.
In one embodiment, groove 22 has gap 221, and the screw for fastening gap 221 (scheming not shown) by arranging on front contiguous block 15, can be fastened on front rod 2 in groove 22.On groove 23, have gap 231, the screw 232 for fastening gap 231 by arranging on pitching joint 31, can be fastened on front rod 2 in groove 23.Before single armed obstacle crossing type transmission line operation robot reaches the standard grade, can be according to the size of various barriers on transmission line, the distance before and after manual adjustments between tire.
Fore paw 1 comprises: left-right rotary worm and gear 131, drive link 132, drive link 133, front finger 134, rear finger 135, front finger 136 and rear finger 137.Front finger 134 and rear finger 135 are separately fixed at the two ends of drive link 132; Front finger 136 and rear finger 137 are separately fixed at the two ends of drive link 133; Fore paw motor 14 drives 131 rotations of left-right rotary worm and gears, left-right rotary worm and gear 131 rotarily drive drive link 132 and drive link 133 rotations, and then refer to 134 before controlling, rear finger 135, front finger 136 and rear finger 137 open or are closed.When current tire 1 moves ahead on transmission pressure, front finger 134, rear finger 135, front finger 136 and rear finger 137 closures, contact with transmission pressure, and robot can not rocked in the side direction of transmission pressure, improved the stability of robot.When current tire 1 wish departs from transmission pressure, front finger 134, rear finger 135, front finger 136 and rear finger 137 open, by pitching motor 32, drive 31 rotations of pitching joint, by side-sway motor 34, drive side-sway joint 33 rotations, just can make current tire 1 depart from transmission pressure.
In one embodiment, left-right rotary worm and gear 131 comprises: left-right rotary worm screw 24 and be set in drive link 132 and the worm gear 25 of drive link 133 one end, left-right rotary worm screw 24 is connected with fore paw motor 14.
The structure of rear tire 5 is as shown in Fig. 2 and Fig. 5, and rear tire 5 comprises: rear tire housing 26, trailing wheel 51, rear-wheel motor 52, rear solid end 53, rear solid end motor 54 and be arranged on the rear contiguous block 27 on rear-wheel motor 52.Trailing wheel 51, rear-wheel motor 52, rear solid end 53 and rear solid end motor 54 are all fixed on rear tire housing 26, and fixed form can be for fixing by screw or welding etc., and the present invention is not as limit.
Rear-wheel motor 52 drives trailing wheel 51 rotations, and single armed obstacle crossing type transmission line operation robot can be moved forward and backward along transmission pressure.
The rear contiguous block 27 that the two ends of rear connecting rod 4 connect respectively and side-sway joint 33, in one embodiment, rear contiguous block 27 is provided with a groove 28, side-sway joint 33 is provided with groove 29, insert respectively in groove 28 and groove 29 at the two ends of rear connecting rod 4, and rear tire 5 can be moved forward and backward along rear connecting rod 4.
In one embodiment, groove 28 has gap 281, and the screw for fastening gap 281 (scheming not shown) by arranging on rear contiguous block 27, can be fastened on rear connecting rod 4 in groove 28.On groove 29, have gap 291, the screw for fastening gap 291 (scheming not shown) by arranging on side-sway joint 33, can be fastened on rear connecting rod 4 in groove 29.
Rear solid end 53 comprises: left-right rotary worm and gear 531, drive link 532, drive link 533, front finger 534, rear finger 535, front finger 536 and rear finger 537.Front finger 534 and rear finger 535 are separately fixed at the two ends of drive link 532; Front finger 536 and rear finger 537 are separately fixed at the two ends of drive link 533; Rear solid end motor 54 drives 531 rotations of left-right rotary worm and gears, left-right rotary worm and gear 531 rotarily drive drive link 532 and drive link 533 rotations, and then refer to 534 before controlling, rear finger 535, front finger 536 and rear finger 537 open or are closed.When rear tire 5 moves ahead on transmission pressure, front finger 534, rear finger 535, front finger 536 and rear finger 537 closures, contact with transmission pressure, and robot can not rocked in the side direction of transmission pressure, improved the stability of robot.When rear tire 5 wishs depart from transmission pressure, front finger 534, rear finger 535, front finger 536 and rear finger 537 open, by pitching motor 32, drive 31 rotations of pitching joint, by side-sway motor 34, drive side-sway joint 33 rotations, just can make current tire 1 depart from transmission pressure.
In one embodiment, left-right rotary worm and gear 531 comprises: left-right rotary worm screw 30 and be set in drive link 532 and the worm gear 31 of drive link 533 one end, left-right rotary worm screw 30 is connected with rear solid end motor 54.
Single armed obstacle crossing type transmission line operation robot on transmission pressure, advance and obstacle detouring process in, front turbin generator 12 drives front-wheel 11 rotations, rear-wheel motor 52 drives trailing wheel 51 rotations, before driving, fore paw motor 14 on front tire 1 refers to 134, rear finger 135, front finger 136, rear finger 137 rotations, before driving, rear solid end motor 54 on rear tire 5 refers to 534, rear finger 535, front finger 536, rear finger 537 rotations, pitching motor 32 drives pitching joint 31 to rotate at vertical direction, side-sway motor 34 drives side-sway joint 33 to rotate in the horizontal direction, finally drive single armed obstacle crossing type transmission line operation robot on transmission pressure, to advance and obstacle detouring, below in conjunction with obstacle detouring process as concrete in Fig. 8 A to 8J.
In addition, in order to control obstacle detouring, on the front tire of single armed obstacle crossing type transmission line operation of the present invention robot and rear tire, infrared distance sensor is housed, it can detect the barrier in robot the place ahead, and feedback signal is passed to control system, with control, at barrier front reduction gear, time-out, and start obstacle detouring program.
As shown in Figure 8 A, single armed obstacle crossing type transmission line operation of the present invention robot advances on transmission pressure 801, when there is this barrier of barrier 802(in robot the place ahead, is suspension clamp) time, time-out is advanced.Label 803 in Fig. 8 A to Fig. 8 J is control cubicle, comprising motion controller, communication system, power supply and collecting sensor signal processing unit etc., these equipment in control cubicle 803 are the common equipment that robot obstacle detouring in this area is controlled, and its function is introduced no longer one by one.
After robot time-out is advanced, will carry out as shown in Figure 8 B front tire off-line action, fore paw is opened, and front tire rotates up by pitching joint, makes tire disengaging wire before robot.
As shown in Figure 8 C, after front tire off-line, will carry out front tire and keep away barrier action, side-sway joint, to away from wire one side oscillation, makes front tire away from wire and barrier.
As shown in Fig. 8 D, front tire is kept away after barrier, will carry out front tire obstacle detouring, and trailing wheel rotates band mobile robot and advances, and front tire is cleared the jumps.
Front tire is kept away after barrier, and front tire will again be reached the standard grade shown in Fig. 8 E, and side-sway joint, near wire one side oscillation, makes the front tire of robot move to wire top, and pitching joint rotates, and front tire is reached the standard grade again, and fore paw is closed, promptly wire.
As shown in Figure 8 F, after front tire is reached the standard grade again, rear tire will carry out off-line action, and rear solid end is opened, and upwards rotate in pitching joint, makes rear tire off-line.
As shown in Fig. 8 G, rear tire completes after off-line action, will carry out rear tire and keep away barrier action, and side-sway joint, to away from wire one side oscillation, makes rear tire away from wire.
As shown in Fig. 8 H, rear tire will carry out the action of rear tire obstacle detouring after keeping away barrier and move, and front-wheel rotates is with mobile robot to advance, and rear tire is cleared the jumps.
As shown in Fig. 8 I, after rear tire obstacle detouring has moved, will carry out the action of again reaching the standard grade of rear tire, side-sway joint, to swinging aside near wire side, makes rear tire again arrive wire top, and pitching joint is rotated down, and rear tire is reached the standard grade again, and rear solid end is closed.
After rear tire is reached the standard grade again, obstacle detouring finishes, and the state after obstacle detouring is as shown in Fig. 8 J.
From the above mentioned, in the present invention, owing to adopting a middle joint to connect the frame mode of former and later two tires, reduced the obstacle detouring degree of freedom, make robot motion joint reduce, simple in structure, effectively reduce robot weight, be convenient to robot transportation and on roll off the production line.In addition, a gripper motor drives two pairs of fingers simultaneously, saved a drive motors, simultaneously during You Shi robot obstacle detouring, three places that realized robot and wire two pairs of fingers, a driving wheel contact, can effectively reduce the side direction of robot on wire and rock, improve the stability of robot.Moreover, can manual adjustments before and after distance between tire, make robot can cross over different size barrier, improved the adaptive capacity to environment of robot.
Those skilled in the art should understand, embodiments of the invention can be provided as method, system or computer program.Therefore, the present invention can adopt complete hardware implementation example, implement software example or in conjunction with the form of the embodiment of software and hardware aspect completely.And the present invention can adopt the form that wherein includes the upper computer program of implementing of computer-usable storage medium (including but not limited to magnetic disc store, CD-ROM, optical memory etc.) of computer usable program code one or more.
The present invention is with reference to describing according to flow chart and/or the block diagram of the method for the embodiment of the present invention, equipment (system) and computer program.Should understand can be in computer program instructions realization flow figure and/or block diagram each flow process and/or the flow process in square frame and flow chart and/or block diagram and/or the combination of square frame.Can provide these computer program instructions to the processor of all-purpose computer, special-purpose computer, Embedded Processor or other programmable data processing device to produce a machine, the instruction of carrying out by the processor of computer or other programmable data processing device is produced for realizing the device in the function of flow process of flow chart or a plurality of flow process and/or square frame of block diagram or a plurality of square frame appointments.
These computer program instructions also can be stored in energy vectoring computer or the computer-readable memory of other programmable data processing device with ad hoc fashion work, the instruction that makes to be stored in this computer-readable memory produces the manufacture that comprises command device, and this command device is realized the function of appointment in flow process of flow chart or a plurality of flow process and/or square frame of block diagram or a plurality of square frame.
These computer program instructions also can be loaded in computer or other programmable data processing device, make to carry out sequence of operations step to produce computer implemented processing on computer or other programmable devices, thereby the instruction of carrying out is provided for realizing the step of the function of appointment in flow process of flow chart or a plurality of flow process and/or square frame of block diagram or a plurality of square frame on computer or other programmable devices.
In the present invention, applied specific embodiment principle of the present invention and execution mode are set forth, the explanation of above embodiment is just for helping to understand method of the present invention and core concept thereof; , for one of ordinary skill in the art, according to thought of the present invention, all will change in specific embodiments and applications, in sum, this description should not be construed as limitation of the present invention meanwhile.
Claims (7)
1. a single armed obstacle crossing type transmission line operation robot, it is characterized in that, described single armed obstacle crossing type transmission line operation robot comprises: for firmly grasping front tire and the rear tire of transmission pressure, front rod, middle joint and rear connecting rod, described front rod is connected between described front tire and middle joint, and described rear connecting rod is connected between described rear tire and middle joint;
Described front tire comprises: front tire housing, is fixed on the front-wheel of described front tire housing, front turbin generator, fore paw, fore paw motor, and is arranged on the front contiguous block on described front turbin generator;
Described rear tire comprises: rear tire housing, is fixed on trailing wheel, rear-wheel motor, rear solid end, the rear solid end motor of described rear tire housing, and is arranged on the rear contiguous block on described rear-wheel motor;
Described middle joint comprises: middle joint connector, is arranged on pitching joint and side-sway joint on described middle joint connector, the pitching motor being connected with described pitching joint, the side-sway motor being connected with described side-sway joint;
The two ends of described front rod connect respectively described front contiguous block and pitching joint, and the two ends of described rear connecting rod connect respectively described rear contiguous block and side-sway joint.
2. single armed obstacle crossing type transmission line operation according to claim 1 robot, it is characterized in that, described front contiguous block is provided with the first groove, described pitching joint is provided with the second groove, insert respectively in described the first groove and the second groove at the two ends of described front rod, and described front tire can be moved forward and backward along described front rod.
3. single armed obstacle crossing type transmission line operation according to claim 1 robot, it is characterized in that, described rear contiguous block is provided with the 3rd groove, described side-sway joint is provided with the 4th groove, insert respectively in described the 3rd groove and the 4th groove at the two ends of described rear connecting rod, and described rear tire can be moved forward and backward along described rear connecting rod.
4. single armed obstacle crossing type transmission line operation according to claim 1 robot, is characterized in that, described fore paw comprises: left-right rotary worm and gear, the first drive link, the second drive link, the first front finger, the first rear finger, the second front finger and the second rear finger; Described the first front finger and the first rear finger are separately fixed at the two ends of described the first drive link; Described the second front finger and the second rear finger are separately fixed at the two ends of described the second drive link; Described fore paw motor drives described left-right rotary worm and gear rotation, and described left-right rotary worm and gear drives the first described drive link and the rotation of the second drive link.
5. single armed obstacle crossing type transmission line operation according to claim 1 robot, is characterized in that, described rear solid end comprises: left-right rotary worm and gear, the first drive link, the second drive link, the first front finger, the first rear finger, the second front finger and the second rear finger; Described the first front finger and the first rear finger are separately fixed at the two ends of described the first drive link; Described the second front finger and the second rear finger are separately fixed at the two ends of described the second drive link; Described rear solid end motor drives described left-right rotary worm and gear rotation, and described left-right rotary worm and gear drives the first described drive link and the rotation of the second drive link.
6. single armed obstacle crossing type transmission line operation according to claim 4 robot, it is characterized in that, described left-right rotary worm and gear comprises: left-right rotary worm screw, and be set in the worm gear of described the first drive link and second drive link one end, described left-right rotary worm screw is connected with described fore paw motor.
7. single armed obstacle crossing type transmission line operation according to claim 5 robot, it is characterized in that, described left-right rotary worm and gear comprises: left-right rotary worm screw, be set in the worm gear at described the first drive link and the second drive link two ends, and described left-right rotary worm screw is connected with described rear solid end motor.
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| CN201310740953.7A CN103715631B (en) | 2013-12-27 | 2013-12-27 | Single armed obstacle crossing type transmission line operation robot |
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| CN201310740953.7A CN103715631B (en) | 2013-12-27 | 2013-12-27 | Single armed obstacle crossing type transmission line operation robot |
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| CN103715631B CN103715631B (en) | 2017-01-04 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN113492409A (en) * | 2021-09-07 | 2021-10-12 | 国网瑞嘉(天津)智能机器人有限公司 | Line grabbing method and device for distribution network live working robot, electronic equipment and medium |
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| CN109659862A (en) * | 2019-02-28 | 2019-04-19 | 西南交通大学 | A kind of armful line running gear of ultra-high-tension power transmission line inspection robot |
| CN109659862B (en) * | 2019-02-28 | 2023-12-01 | 西南交通大学 | Line holding walking device of high-voltage transmission line inspection robot |
| CN113492409A (en) * | 2021-09-07 | 2021-10-12 | 国网瑞嘉(天津)智能机器人有限公司 | Line grabbing method and device for distribution network live working robot, electronic equipment and medium |
| CN113492409B (en) * | 2021-09-07 | 2021-11-23 | 国网瑞嘉(天津)智能机器人有限公司 | Line grabbing method and device for distribution network live working robot, electronic equipment and medium |
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