CN103715631B - Single armed obstacle crossing type transmission line operation robot - Google Patents
Single armed obstacle crossing type transmission line operation robot Download PDFInfo
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- CN103715631B CN103715631B CN201310740953.7A CN201310740953A CN103715631B CN 103715631 B CN103715631 B CN 103715631B CN 201310740953 A CN201310740953 A CN 201310740953A CN 103715631 B CN103715631 B CN 103715631B
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Abstract
The invention provides a kind of single armed obstacle crossing type transmission line operation robot, including: for front tire and the rear tire of promptly transmission pressure, front rod, middle joint and rear connecting rod, front rod is connected between front tire and middle joint, and rear connecting rod is connected between rear tire and middle joint；Front tire includes: front tire housing, is fixed on the front-wheel of front tire housing, front turbin generator, fore paw, fore paw motor, and the front contiguous block being arranged on front turbin generator；Rear tire includes: rear tire housing, is fixed on the trailing wheel of rear tire housing, rear-wheel motor, rear solid end, rear solid end motor, and the rear contiguous block being arranged on rear-wheel motor；Middle joint includes: middle joint connector, the pitching joint being arranged on middle joint connector and side-sway joint, the pitching motor being connected with pitching joint, the side-sway motor being connected with side-sway joint；The two ends of front rod connect front contiguous block and pitching joint respectively, the two ends of rear connecting rod connect respectively after contiguous block and side-sway joint.
Description
Technical field
The present invention is about transmission line faultlocating technology, particularly relates to a kind of single armed obstacle crossing type transmission line operation robot.
Background technology
Owing to grid power transmission circuit distributed points is many, wide, the overwhelming majority is away from cities and towns, residing with a varied topography, natural ring
Border is severe, and electric lines of force and shaft tower adnexa are chronically exposed to field, can by lasting mechanical tension, electric flashover,
The impact of material aging and produce disconnected stock, wear and tear, corrode equivalent damage, as repaired replacing not in time, the most small is broken
Damage and defect is it is possible to expand, ultimately result in major accident, cause large-area power-cuts, thus cause the most economic damage
Become estranged serious social influence.Therefore it is necessary to transmission line of electricity is carried out periodical inspection inspection, grasp at any time and understand defeated
The ruuning situation of electric line and circuit surrounding and the situation of change in route protection district, in order to find in time and eliminate
Hidden danger, trouble-saving generation, it is ensured that power supply safety.
At present, mainly utilize robot that transmission line of electricity is patrolled and examined, for the robot substantially warp of polling transmission line
Two developmental stage are gone through.Crusing robot in early days does not has obstacle climbing ability, can only run in a span.Abroad
It is " built on stilts defeated that the representative type of this kind of crusing robot has that Japanese Zuo Teng building industry Co., Ltd. developed in 1993
Electric lead damage automatic detecting machine device people " and Quebec, CAN water power graduate Serge Montambault et al.
The HQ Line Rover developed.
Additionally, king University of Science and Technology of Thailand and Japanese industry university are in " the autonomous inspection machine of calendar year 2001 cooperation research and development
People " also can only run in a span, not possess obstacle climbing ability.
Hereafter, the Line Scout of Quebec, CAN water power academy exploitation, many institution cooperations of Japan are developed
The multiple robot such as Expliner can walk in a strain section, but has that mechanism is complicated, weight big, control difficulty
The shortcomings such as degree is big.
Domestic aspect, Chinese Academy of Sciences's automation research started the development work of crusing robot from 2002, and from 2004
Year starts to give to the world the result of one's studies.The crusing robot that they develop have employed " triple arm wheel " distribution form.Wuhan water conservancy
Electric power university as far back as generation nineteen ninety end i.e. start to develop there is the routing inspection trolley of active obstacle function, have employed " three arms
Wheel " distribution form." inspection robot for ultra-high voltage power transmission lines " that Shenyang Institute of Automation is developed has two equipped with rolling
The arm of wheel, robot is by rotating obstacle detouring around suspension arm 180 °.Additionally, University Of Science and Technology Of Shandong, Shandong University,
BJ University of Aeronautics & Astronautics, Deng Duojia colleges and universities of Shanghai University have been also carried out relevant research.
Power transmission line comprehensive Work robot can complete multiple operation on overhead transmission line, is typically all by can
The robot manipulating task platform moved along transmission line of electricity carries different power tools and completes different job tasks, such as, patrol
Inspection, deicing, remove obstacles.Wherein robot manipulating task platform is the most important components of whole operating system, and machine
The barrier getting over mechanism of people is again the important component part of robot manipulating task platform.The obstacle detouring of multi-form also determines robot
Different obstacle detouring modes and process.Complicated barrier getting over mechanism makes robot obstacle detouring process complexity, construction weight big；And tie
The simple barrier getting over mechanism of structure can simplify robot obstacle detouring process, improves stability and the reliability of robot work, also
The weight of robot can be alleviated, it is simple to the transport of robot and on roll off the production line.
In the prior art, there is also a kind of power transmission line comprehensive Work robot, de-by driven wheel side pendulum-type, on
Line technology carries out obstacle detouring, as it is shown in figure 1, be the structural representation of existing power transmission line comprehensive Work robot.Existing
Some power transmission line comprehensive Work robots include 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, shifting
Movable joint motor 110, lifting joint motor 111, lifting joint 112, driving wheel 106 is placed in directly over wire,
Use two paws 104 to embrace wire, driving wheel 106 is pressed on wire, when driving wheel 106 off-line, first beat
Open paw 104, then make driving wheel 106 leave the surface of wire by the way of side-sway.The action reached the standard grade is just
On the contrary, first passing through side-sway and make driving wheel 106 be in the surface of wire, then Guan Bi paw 104, embraces wire.
Driving wheel 106 is placed in directly over wire, uses two paws 104 to embrace wire, is pressed on wire by driving wheel 106,
When driving wheel 106 off-line, it is first turned on paw 104, then makes driving wheel 106 leave by the way of side-sway and lead
The surface of line.The action contrast reached the standard grade, first passes through side-sway and makes driving wheel 106 be in the surface of wire,
Then close paw, embrace wire.
In the prior art, for adapting to different size (size, length etc.) barrier, need on forward and backward arm
Arranging guide rail, so that forward and backward arm can laterally move, structure is complicated, drive motor usage quantity matter many, overall
Amount is big, obstacle detouring action is complicated, obstacle detouring bad adaptability.Secondly, two action paw opening and closings of driving wheel off-line needs,
Driving wheel side-sway, this just makes, and the control of driver part is comparatively laborious, complicated structure.Furthermore, in the prior art,
Two fingers of paw must have strict symmetrical relations and it is necessary to meets the strict characteristics of motion, otherwise can be serious
Affecting mechanism characteristics, processing, debugging to mechanism have higher requirement.Finally, the program needs former and later two machinery
Arm cooperates and just can complete the function of leaping over obstacles, and degree of freedom in system is many, and structure is complicated.
Summary of the invention
It is an object of the invention to provide a kind of single armed obstacle crossing type transmission line operation robot, a centre can be passed through
Joint, reduces obstacle detouring degree of freedom, makes the minimizing of robot motion joint, simple in construction, effectively reduces robot weight,
Be easy to robotic conveyance 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, institute
The single armed obstacle crossing type transmission line operation robot stated includes: for front tire and the rear tire of promptly transmission pressure, front
Connecting rod, middle joint and rear connecting rod, described front rod be connected to described front tire and middle joint it
Between, described rear connecting rod is connected between described rear tire and middle joint；
Described front tire includes: front tire housing, is fixed on the front-wheel of described front tire housing, front turbin generator, front
Pawl, fore paw motor, and it is arranged on the front contiguous block on described front turbin generator；
Described rear tire includes: rear tire housing, be fixed on the trailing wheel of described rear tire housing, rear-wheel motor, after
Pawl, rear solid end motor, and the rear contiguous block being arranged on described rear-wheel motor；
Described middle joint includes: middle joint connector, and the pitching being arranged on described middle joint connector is closed
Joint and side-sway joint, 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 described front contiguous block and pitching joint respectively, described rear connecting rod
Two ends connect described rear contiguous block and side-sway joint respectively.
In one embodiment of the present invention, described front contiguous block is provided with the first groove, and described pitching joint sets
There are the second groove, the two ends of described front rod to insert respectively in described first groove and the second groove, make described front-wheel
Pawl can move forward and backward along described front rod.
In one embodiment of the present invention, described rear contiguous block is provided with the 3rd groove, and described side-sway joint sets
There are the 4th groove, the two ends of described rear connecting rod to insert respectively in described 3rd groove and the 4th groove, make described trailing wheel
Pawl can move forward and backward along described rear connecting rod.
In one embodiment of the present invention, described fore paw includes: left-right rotary worm and gear, the first drive link, the
Two drive links, refer to before first, refer to after first, refer to and refer to after second before second；Refer to before described first and refer to after first divide
It is not fixed on the two ends of described first drive link；Refer to before described second and refer to after second be separately fixed at described second transmission
The two ends of bar；The described left-right rotary worm and gear described in the driving of fore paw motor rotates, described left-right rotary worm and gear
The first drive link and the second drive link described in drive rotate.
In one embodiment of the present invention, described rear solid end includes: left-right rotary worm and gear, the first drive link, the
Two drive links, refer to before first, refer to after first, refer to and refer to after second before second；Refer to before described first and refer to after first divide
It is not fixed on the two ends of described first drive link；Refer to before described second and refer to after second be separately fixed at described second transmission
The two ends of bar；The described left-right rotary worm and gear described in the driving of rear solid end motor rotates, described left-right rotary worm and gear
The first drive link and the second drive link described in drive rotate.
In one embodiment of the present invention, described left-right rotary worm and gear includes: left-right rotary worm screw, is set in institute
Stating the first drive link and the worm gear of second drive link one end, 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 includes: left-right rotary worm screw, is set in institute
Stating the first drive link and the worm gear of second drive link one end, described left-right rotary worm screw is connected with described rear solid end motor.
From the above mentioned, in the present invention, owing to using a middle joint to connect the frame mode of former and later two tires,
Decrease obstacle detouring degree of freedom, make the minimizing of robot motion joint, simple in construction, effectively reduce robot weight, just
In robotic conveyance and on roll off the production line.It addition, gripper motor drives two to finger simultaneously, save one and drive electricity
Machine, when simultaneously making again robot obstacle detouring, it is achieved that robot and wire two to finger, a driving wheel three at contact,
Can effectively reduce robot laterally rocking on wire, improve the stability of robot.Furthermore, can manually adjust
Distance between tire before and after joint, makes robot can cross over different size barrier, and the environment that improve robot is fitted
Should be able to power.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
In having technology to describe, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only
It is some embodiments of the present invention, for those of ordinary skill in the art, before not paying creative work
Put, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
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 of embodiment of the present invention middle joint；
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 the view that embodiment of the present invention robot meets that obstacle suspends；
Fig. 8 B is the view of tire off-line before embodiment of the present invention robot；
Fig. 8 C is the view of tire avoidance before embodiment of the present invention robot；
Fig. 8 D is the view of tire obstacle detouring before embodiment of the present invention robot；
Fig. 8 E is the view that tire is reached the standard grade again before embodiment of the present invention robot；
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 tire is reached the standard grade again after embodiment of the present invention robot；
Fig. 8 J is the view after embodiment of the present invention robot leaping over obstacles；
Detailed description of the invention
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 carried out clear, complete
Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.
Based on the embodiment in the present invention, those of ordinary skill in the art are obtained under not making creative work premise
Every other embodiment, broadly falls into 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, should
Single armed obstacle crossing type transmission line operation robot includes: front tire 1, front rod 2, middle joint 3, connects afterwards
Bar 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 to
Between rear tire 5 and middle joint 3.Front tire 1 and rear tire 5 are for promptly transmission pressure so that single armed obstacle detouring
Formula transmission line operation robot advances along transmission pressure.
Middle joint 3 includes as shown in Figure 3: middle joint connector 35, is arranged on middle joint connector 35
Pitching joint 31 and side-sway joint 33, the pitching motor 32 being connected with pitching joint 31, and and side-sway joint
The 33 side-sway motors 34 connected.Pitching joint 31 is fixed in stopper slot 36 by rotating shaft (not shown), bows
Face upward joint 31 vertically to rotate in stopper slot 36 under the driving of pitching motor 32.Side-sway joint 33
Being fixed in stopper slot 37 by rotating shaft (not shown), side-sway joint 33 can be in the driving of side-sway motor 34
Under rotate in the horizontal direction in stopper slot 37.
As shown in Figure 6, pitching motor 32 is fixed together the structure in pitching joint 31 with right-angle reduction device 61, directly
Angle decelerator 61 is linked together by key (not shown) with pitching joint 31, and pitching motor 32 drives directly
Angle decelerator 61 rotates, and right-angle reduction device 61 drives pitching joint 31 to rotate at vertical direction.
The structure of side-sway joint 33 as it is shown in fig. 7, side-sway motor 34 is connected with side-sway power transmission shaft 71, side-sway transmission
Axle 71 is connected with side-sway joint 33 by key (not shown), and side-sway motor 34 is by side-sway power transmission shaft 71
Drive side-sway joint 33 in the horizontal direction.
As shown in Figures 2 and 4, front tire 1 includes 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 each attached on front tire housing 21, and fixed form is permissible
For being fixed by screw or welding etc., the present invention is not limited.
Front turbin generator 12 drives front-wheel 11 to rotate so that single armed obstacle crossing type transmission line operation robot can be along transmission of electricity
Wire moves forward and backward.
Front contiguous block 15 that the two ends of front rod 2 connect respectively and pitching joint 31, in one embodiment, front company
Connecing block 15 and be provided with a groove 22, pitching joint 31 is provided with groove 23, and the two ends of front rod 2 are inserted respectively
In groove 22 and groove 23, make front tire 1 can move forward and backward along front rod 2.
In one embodiment, groove 22 has gap 221, by front contiguous block 15 arrange be used for fasten gap
The screw (not shown) of 221, can be fastened on front rod 2 in groove 22.Gap is had on groove 23
231, by the screw 232 for fastening gap 231 arranged on pitching joint 31, can be by tight for front rod 2
Gu in groove 23.Before single armed obstacle crossing type transmission line operation robot reaches the standard grade, can be according on transmission line of electricity
The size of various barriers, manually distance between tire before and after regulation.
Fore paw 1 includes: left-right rotary worm and gear 131, drive link 132, drive link 133, front finger 134, refers to afterwards
135, front finger 136 and after refer to 137.Front finger 134 and afterwards finger 135 are separately fixed at the two ends of drive link 132；Before
Refer to 136 and refer to 137 two ends being separately fixed at drive link 133 afterwards；Fore paw motor 14 drives left-right rotary worm and gear
131 rotate, left-right rotary worm and gear 131 rotarily drive drive link 132 and drive link 133 rotates, and then control
Front finger 134, refers to 135 afterwards, and front finger 136 and afterwards finger 137 open or close.Current tire 1 is on transmission pressure
When moving ahead, front finger 134, refer to 135 afterwards, front finger 136 and afterwards finger 137 close, and contact with transmission pressure so that machine
Device people will not rocking on the side at transmission pressure, improve the stability of robot.Current tire 1 transmission of electricity to be departed from
During wire, front finger 134, refer to 135 afterwards, front finger 136 and afterwards finger 137 open, and drive pitching by pitching motor 32
Joint 31 rotates, and drives side-sway joint 33 to rotate by side-sway motor 34, so that it may so that current tire 1 departs from defeated
Electric lead.
In one embodiment, left-right rotary worm and gear 131 includes: 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.
As shown in figures 2 and 5, rear tire 5 includes the structure of rear tire 5: rear tire housing 26, trailing wheel 51,
Rear-wheel motor 52, rear solid end 53, rear solid end motor 54 and the rear contiguous block 27 being arranged on rear-wheel motor 52.Trailing wheel
51, rear-wheel motor 52, rear solid end 53 and rear solid end motor 54 are each attached on rear tire housing 26, and fixed form is permissible
For being fixed by screw or welding etc., the present invention is not limited.
Rear-wheel motor 52 drives trailing wheel 51 to rotate so that single armed obstacle crossing type transmission line operation robot can be along transmission of electricity
Wire moves forward and backward.
Rear contiguous block 27 that the two ends of rear connecting rod 4 connect respectively and side-sway joint 33, in one embodiment, after connect
Connecing block 27 and be provided with a groove 28, side-sway joint 33 is provided with groove 29, and the two ends of rear connecting rod 4 are inserted respectively
In groove 28 and groove 29, make rear tire 5 can move forward and backward along rear connecting rod 4.
In one embodiment, groove 28 has gap 281, by rear contiguous block 27 arrange be used for fasten gap
The screw (not shown) of 281, can fasten rear connecting rod 4 in the recess 28.Gap is had on groove 29
291, by the screw (not shown) for fastening gap 291 arranged on side-sway joint 33, can be by rear company
Extension bar 4 is fastened in groove 29.
Rear solid end 53 includes: left-right rotary worm and gear 531, drive link 532, drive link 533, front finger 534, refers to afterwards
535, front finger 536 and after refer to 537.Front finger 534 and afterwards finger 535 are separately fixed at the two ends of drive link 532；Before
Refer to 536 and refer to 537 two ends being separately fixed at drive link 533 afterwards；Rear solid end motor 54 drives left-right rotary worm and gear
531 rotate, left-right rotary worm and gear 531 rotarily drive drive link 532 and drive link 533 rotates, and then control
Front finger 534, refers to 535 afterwards, and front finger 536 and afterwards finger 537 open or close.After when, tire 5 is on transmission pressure
When moving ahead, front finger 534, refer to 535 afterwards, front finger 536 and afterwards finger 537 close, and contact with transmission pressure so that machine
Device people will not rocking on the side at transmission pressure, improve the stability of robot.Tire 5 transmission of electricity to be departed from after when
During wire, front finger 534, refer to 535 afterwards, front finger 536 and afterwards finger 537 open, and drive pitching by pitching motor 32
Joint 31 rotates, and drives side-sway joint 33 to rotate by side-sway motor 34, so that it may so that current tire 1 departs from defeated
Electric lead.
In one embodiment, left-right rotary worm and gear 531 includes: 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 advances and during obstacle detouring on transmission pressure, front turbin generator 12
Driving front-wheel 11 to rotate, rear-wheel motor 52 drives trailing wheel 51 to rotate, before the fore paw motor 14 on front tire 1 drives
Refer to 134, refer to 135 afterwards, front finger 136, afterwards refer to 137 rotations, the rear solid end motor 54 on rear tire 5 drive before finger 534,
Rear finger 535, front finger 536, afterwards finger 537 rotation, 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, final drive single armed obstacle crossing type transmission line operation machine
Device people advances and obstacle detouring on transmission pressure, below in conjunction with obstacle detouring process as concrete in Fig. 8 A to 8J.
It addition, in order to control obstacle detouring, the front tire of the single armed obstacle crossing type transmission line operation robot of the present invention and trailing wheel
Equipped with infrared distance sensor on pawl, its can the barrier in measuring robots front, and feedback signal is passed to control
System, to control robot at barrier front reduction gear, time-out, and starts obstacle detouring program.
As shown in Figure 8 A, the single armed obstacle crossing type transmission line operation robot of the present invention advances on transmission pressure 801,
When robot front has this barrier of barrier 802(to be suspension clamp) time, time-out is advanced.Fig. 8 A to Fig. 8 J
In label 803 be switch board, at motion controller, communication system, power supply and collecting sensor signal
Reason devices etc., these equipment in switch board 803 are the common equipment that robot obstacle detouring in this area controls, its function
Introduce the most one by one.
After robot suspends traveling, will carry out front tire off-line action as shown in Figure 8 B, fore paw is opened, and front tire leads to
Crossing pitching joint to rotate up, before making robot, tire departs from wire.
As shown in Figure 8 C, after front tire off-line, will carry out front tire avoidance action, side-sway joint is to away from wire one
Side oscillation, makes front tire away from wire and barrier.
As in fig. 8d, after front tire avoidance, will carry out front tire obstacle detouring, rear wheel band mobile robot advances,
Front tire is made to clear the jumps.
After front tire avoidance, front tire will be reached the standard grade shown in Fig. 8 E again, and side-sway joint is near wire one side-sway
Dynamic, before making robot, tire moves to above wire, and pitching joint rotates down, and makes front tire again reach the standard grade, fore paw
Guan Bi, 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 pitching is closed
Joint is rotated up, and makes rear tire off-line.
As shown in fig. 8g, after rear tire completes off-line action, will carry out rear tire avoidance action, side-sway joint is to far
From wire one side oscillation, make rear tire away from wire.
As illustrated in figure 8h, after rear tire avoidance action completes, will carry out rear tire obstacle detouring action, front-drive drives
Robot advances, and makes rear tire clear the jumps.
As shown in fig. 81, after rear tire obstacle detouring action completes, rear tire will be carried out and again reach the standard grade action, side-sway joint
Swinging aside near wire side, make rear tire again arrive above wire, pitching joint is rotated down, and makes trailing wheel
Pawl is reached the standard grade again, and rear solid end closes.
After rear tire is reached the standard grade again, obstacle detouring terminates, and the state after obstacle detouring is as illustrated by figure 8j.
From the above mentioned, in the present invention, owing to using a middle joint to connect the frame mode of former and later two tires,
Decrease obstacle detouring degree of freedom, make the minimizing of robot motion joint, simple in construction, effectively reduce robot weight, just
In robotic conveyance and on roll off the production line.It addition, gripper motor drives two to finger simultaneously, save one and drive electricity
Machine, when simultaneously making again robot obstacle detouring, it is achieved that robot and wire two to finger, a driving wheel three at contact,
Can effectively reduce robot laterally rocking on wire, improve the stability of robot.Furthermore, can manually adjust
Distance between tire before and after joint, makes robot can cross over different size barrier, and the environment that improve robot is fitted
Should be able to power.
Those skilled in the art are it should be appreciated that embodiments of the invention can be provided as method, system or computer journey
Sequence product.Therefore, the present invention can use complete hardware embodiment, complete software implementation or combine software and hardware
The form of the embodiment of aspect.And, the present invention can use and wherein include computer available programs one or more
The computer-usable storage medium (including but not limited to disk memory, CD-ROM, optical memory etc.) of code
The form of the computer program of upper enforcement.
The present invention is with reference to method, equipment (system) and the stream of computer program according to embodiments of the present invention
Journey figure and/or block diagram describe.It should be understood that can be by computer program instructions flowchart and/or block diagram
Flow process in each flow process and/or square frame and flow chart and/or block diagram and/or the combination of square frame.These can be provided
Computer program instructions processes to general purpose computer, special-purpose computer, Embedded Processor or other programmable datas and sets
Standby processor is to produce a machine so that held by the processor of computer or other programmable data processing device
The instruction of row produces for realizing one flow process of flow chart or multiple flow process and/or one square frame of block diagram or multiple side
The device of the function specified in frame.
These computer program instructions may be alternatively stored in and computer or other programmable data processing device can be guided with spy
Determine in the computer-readable memory that mode works so that the instruction being stored in this computer-readable memory produces bag
Including the manufacture of command device, this command device realizes at one flow process of flow chart or multiple flow process and/or block diagram one
The function specified in individual square frame or multiple square frame.
These computer program instructions also can be loaded in computer or other programmable data processing device so that at meter
On calculation machine or other programmable devices, execution sequence of operations step is to produce computer implemented process, thus is calculating
The instruction performed on machine or other programmable devices provide for realizing in one flow process of flow chart or multiple flow process and/or
The step of the function specified in one square frame of block diagram or multiple square frame.
The present invention applies specific embodiment principle and the embodiment of the present invention are set forth, above example
Explanation be only intended to help to understand method and the core concept thereof of the present invention；General technology simultaneously for this area
Personnel, according to the thought of the present invention, the most all will change, in sum,
This specification content should not be construed as limitation of the present invention.
Claims (5)
1. a single armed obstacle crossing type transmission line operation robot, it is characterised in that described single armed obstacle crossing type transmission of electricity
Circuit homework robot includes: for front tire and the rear tire of promptly transmission pressure, front rod, middle joint with
And rear connecting rod, described front rod is connected between described front tire and middle joint, described rear connecting rod
It is connected between described rear tire and middle joint；
Described front tire includes: front tire housing, is fixed on the front-wheel of described front tire housing, front turbin generator, front
Pawl, fore paw motor, and it is arranged on the front contiguous block on described front turbin generator；
Described rear tire includes: rear tire housing, be fixed on the trailing wheel of described rear tire housing, rear-wheel motor, after
Pawl, rear solid end motor, and the rear contiguous block being arranged on described rear-wheel motor；
Described middle joint includes: middle joint connector, and the pitching being arranged on described middle joint connector is closed
Joint and side-sway joint, 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 described front contiguous block and pitching joint respectively, described rear connecting rod
Two ends connect described rear contiguous block and side-sway joint respectively；
Described fore paw includes: left-right rotary worm and gear, the first drive link, the second drive link, refers to, first before first
Rear finger, refers to before second and refers to after second；Refer to before described first and refer to after first be separately fixed at described first drive link
Two ends；Refer to and refer to after second be separately fixed at the two ends of described second drive link before described second；Described fore paw motor
Left-right rotary worm and gear described in driving rotates, described left-right rotary worm and gear drive described in the first drive link and the
Two drive links rotate；
Described rear solid end includes: left-right rotary worm and gear, the first drive link, the second drive link, refers to, first before first
Rear finger, refers to before second and refers to after second；Refer to before described first and refer to after first be separately fixed at described first drive link
Two ends；Refer to and refer to after second be separately fixed at the two ends of described second drive link before described second；Described rear solid end motor
Left-right rotary worm and gear described in driving rotates, described left-right rotary worm and gear drive described in the first drive link and the
Two drive links rotate.
Single armed the most according to claim 1 obstacle crossing type transmission line operation robot, it is characterised in that described
Front contiguous block be provided with the first groove, described pitching joint is provided with the second groove, and the two ends of described front rod are divided
Do not insert in described first groove and the second groove, make described front tire can move forward and backward along described front rod.
Single armed the most according to claim 1 obstacle crossing type transmission line operation robot, it is characterised in that described
Rear contiguous block be provided with the 3rd groove, described side-sway joint is provided with the 4th groove, and the two ends of described rear connecting rod are divided
Do not insert in described 3rd groove and the 4th groove, make described rear tire can move forward and backward along described rear connecting rod.
Single armed the most according to claim 1 obstacle crossing type transmission line operation robot, it is characterised in that described
Left-right rotary worm and gear include: left-right rotary worm screw, and be set in described first drive link and second drive link one end
Worm gear, described left-right rotary worm screw is connected with described fore paw motor.
Single armed the most according to claim 1 obstacle crossing type transmission line operation robot, it is characterised in that described
Left-right rotary worm and gear include: left-right rotary worm screw, be set in described first drive link and the snail at the second drive link two ends
Wheel, 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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| CN103715631B true CN103715631B (en) | 2017-01-04 |
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| CN106711838B (en) * | 2015-08-12 | 2024-03-26 | 北京国网富达科技发展有限责任公司 | Power transmission line comprehensive operation robot with straight line segment obstacle crossing mechanism |
| CN106239515A (en) * | 2016-09-19 | 2016-12-21 | 上海永乾机电有限公司 | A kind of power distribution station intelligent inspection robot |
| CN109533367B (en) * | 2018-11-19 | 2021-01-15 | 西安交通大学 | Unmanned aerial vehicle of device and install device additional on high tension transmission line |
| 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 |
| 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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| CN1695907A (en) * | 2004-05-10 | 2005-11-16 | 中国科学院自动化研究所 | Body of robot for automatic polling high-tension transmission line |
| CN101800403A (en) * | 2010-04-06 | 2010-08-11 | 昆山市工业技术研究院有限责任公司 | Inspection robot for ultra-high voltage power transmission lines |
| CN203674626U (en) * | 2013-12-27 | 2014-06-25 | 北京国网富达科技发展有限责任公司 | One-armed obstacle-crossing robot for power transmission line operation |
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| CA2463188A1 (en) * | 2004-04-15 | 2005-10-15 | Serge Montambault | Compact inspection and intervention vehicle that moves on a cable and can cross major obstacles |
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| CN1695907A (en) * | 2004-05-10 | 2005-11-16 | 中国科学院自动化研究所 | Body of robot for automatic polling high-tension transmission line |
| CN101800403A (en) * | 2010-04-06 | 2010-08-11 | 昆山市工业技术研究院有限责任公司 | Inspection robot for ultra-high voltage power transmission lines |
| CN203674626U (en) * | 2013-12-27 | 2014-06-25 | 北京国网富达科技发展有限责任公司 | One-armed obstacle-crossing robot for power transmission line operation |
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