CN104917105A - Overhead high-voltage transmission line charged maintenance robot - Google Patents

Abstract

The invention provides a live overhaul robot for overhead high-voltage transmission lines, which includes: a body; an inspection robot platform, the inspection robot platform includes two fixed arms arranged symmetrically on both sides of the body at a fixed distance, the fixed arms There are walking parts and line clamping parts on it. The walking parts are used to drive along the wire line. Keep the robot and the wire line at the same potential; the first operating arm, the first operating arm is arranged on the first side of the front end of the machine body, it has three degrees of freedom, and its end has a detachable port for loading and unloading the terminal device of live work ; The second operating arm, the second operating arm is arranged on the second side of the body opposite to the first side, it has four degrees of freedom, and its end has a detachable port for loading and unloading the live working end device. It can take into account both operational reliability and accuracy.

Description

Overhead high-voltage transmission line live maintenance robot

technical field

The invention relates to a live overhaul robot for an overhead high-voltage transmission line, in particular to a dual-operation mechanical arm of a live overhaul robot for an overhead high-voltage transmission line.

Background technique

After decades of development, the technology and application of inspection robots for overhead high-voltage transmission lines have achieved certain results, opening up a new field for intelligent inspection of transmission lines, and this is only the first step in the maintenance of transmission lines. The first step is to repair the corresponding faults is the fundamental measure to ensure the stable operation of the line. At present, the maintenance of the line is carried out manually by carrying special tools and tools to carry out live work. At the same time, the labor intensity is high, and the strong electric field also poses a great threat to the personal safety of the operator. Due to the restriction of the distance between the cross-arms and the phases, manual operation is very difficult and dangerous. Therefore, there is an urgent need to study intelligent maintenance technology to liberate people from this dangerous, harsh working environment and heavy work tasks. The successful implementation of robot inspection provides the possibility for robot live maintenance work.

At present, there are few researches on live maintenance robots for high-voltage transmission lines. A typical example is the Quebec Hydropower Research Institute in Canada, which has successfully developed an inspection and maintenance robot with obstacle-surmounting functions. The robot is based on an obstacle-overriding inspection robot and carries a single-operation robot arm to perform line maintenance operations. This kind of mechanical configuration is simple, easy to operate and control, but the tasks that can be completed are limited, and it is impossible to complete tasks that require the cooperation of dual robotic arms, so this configuration has certain limitations.

On the other hand, researchers have also developed live working robots with dual robotic arms. However, it usually needs to be designed with many degrees of freedom to realize the complex operation of high-altitude live working. However, the increasing complexity of the mechanical structure will also increase the difficulty of its control, thereby reducing the reliability. This is difficult to be accepted by high-altitude liveline work, a high-risk type of work.

Contents of the invention

The present invention mainly solves the technical problems existing in the prior art; it provides a dual-manipulator robot, which can replace manual high-altitude live-line work, and simultaneously takes into account the reliability and accuracy of high-altitude live-line work.

In order to solve the above technical problems, according to one aspect of the present invention, a live overhaul robot for overhead high-voltage transmission lines is provided, which includes: a body; an inspection robot platform, and the inspection robot platform includes two reversely symmetrical The fixed arms arranged on both sides of the machine body are arranged on the fixed arm, and the running parts and the line clamping parts are arranged on the fixed arms. Positioning, one side of the line clamping part is equipped with an equipotential part, which is used to keep the robot and the wire line at the same potential; the first operating arm, the first operating arm is arranged at the front end of the body The first side has three degrees of freedom, and its end has a detachable port for loading and unloading the terminal device of live work; the second working arm is arranged on the body opposite to the first side The second side has four degrees of freedom, and its end has a detachable port for loading and unloading the live working terminal device.

Optionally, each of the first working arm and the second working arm includes: a rotating shaft base; a swing arm; a lifting arm and a longitudinal movement body; wherein, the swinging arm can rotate with respect to the rotating shaft base; The arm can reciprocate with respect to the swing arm; the longitudinal moving body can reciprocate perpendicular to the lifting arm.

Optionally, it also includes: a rotating motor; a cooperating worm and a turbine arranged in the rotating shaft seat; the worm is started by the rotating motor, and the turbine is driven by the worm; the two ends of the turbine are respectively It is connected with the turbine flange of the swing arm and the swing arm to drive the swing arm to rotate around the axis of the turbine.

Optionally, it also includes: a lifting motor, which is arranged in the swing arm; a lifting screw, which is arranged in the swinging arm and is rotated by the lifting motor; a lifting nut, which is connected with the lifting screw Axial relative displacement occurs in conjunction with use; the nut strut, which is threadedly fitted with the lifting nut, and is positioned by a pin; the coupling block, which is fixedly connected to the nut strut; and the coupling block is set in the The lifting arm outside the swing arm is connected, so that the lifting arm is axially displaced along with the lifting nut; lifting guide rails are symmetrically arranged on both sides of the swing arm, which are used for The displacement guide of the lifting arm.

Optionally, it also includes: a longitudinal movement motor arranged in the longitudinal movement body; a motor gear driven to rotate by the longitudinal movement motor; a screw gear meshed with the motor gear and driven by it, so that The matching longitudinal screw rotates accordingly; the longitudinal nut, used in conjunction with the longitudinal screw, produces relative axial displacement; the longitudinal sliding table, which is connected with the longitudinal nut, and The axial relative displacement occurs together with the longitudinal movement nut; the longitudinal movement guide rails are arranged symmetrically on both sides of the longitudinal movement body, which are used to guide the displacement of the longitudinal movement slide table.

Optionally, the rotating shaft seat is fixedly connected to the body through pins.

Optionally, the second working arm also includes a traversing body fixed to the machine body; a traversing motor installed in the traversing body; a motor gear, driven to rotate by the traversing motor; a screw rod The gear is engaged with and driven by the traversing motor, so that the traversing screw rod matched with it rotates accordingly; the traversing nut is used in conjunction with the longitudinal moving screw rod to produce relative axial displacement; The traversing slide table is connected with the traversing nut and undergoes axial relative displacement along with the traversing nut; traversing guide rails are symmetrically arranged on both sides of the traversing body, which are embedded in the traversing body. The sliding blocks in the traversing slide table cooperate to guide the displacement of the traversing slide table.

Optionally, the wedge-shaped platform on the traversing body is mated with the dovetail groove on the machine body, and is fastened at one end by bolts.

Therefore, the present invention has the following advantages: 1. On the basis of the non-obstacle-crossing inspection robot platform, double operating arms are added to expand the functions of the robot, so that the robot can carry out live maintenance operations while patrolling the line; 2. The configuration of the operating arm can complete different tasks, especially the tasks that require dual robotic arms to work together, so the operating field is wider; 3. The dual operating arms only have three degrees of freedom and four degrees of freedom; The simplification of the mechanism design is realized under the premise of the task, avoiding the structural design with higher degrees of freedom (such as five degrees of freedom and above), and greatly improving the reliability of the equipment; 4. Interchangeable on the basis of meeting the working space At the end of the operation, the mechanism can be reorganized; 5. The double operation arm adopts the combination of rectangular coordinate type and joint type, which is convenient for control and operation.

Description of drawings

Fig. 1 is a schematic diagram of an assembly structure of an embodiment of the present invention.

Fig. 2 is a schematic diagram of the assembly structure of an embodiment of the first working arm.

Fig. 3 is a schematic diagram of the assembly structure of an embodiment of the second working arm.

Fig. 4 is a partial cross-sectional structural schematic diagram of an embodiment of the body.

Fig. 5 is a schematic cross-sectional structure diagram of an embodiment of the second working arm.

Fig. 6 is a schematic cross-sectional structure diagram of a rotary joint of an embodiment of the first working arm.

Detailed ways

The technical solutions of the present invention will be further specifically described below through the embodiments and in conjunction with the accompanying drawings. In the figure, the components marked by each label are as follows: machine body 1, fixed arm 2, running part 3, line clamping part 4, equipotential part 5, first operating arm 6, second operating arm 7, rotating shaft seat 8. Swing arm turbine flange 9, swing arm 10, lifting guide rail 11, lifting arm 12, coupling block 13, longitudinal movement body 14, longitudinal movement guide rail 15, longitudinal movement slide table 16, transverse movement body 17, transverse movement guide rail 18 , traversing slide table 19, rotating motor 20, traversing motor 21, motor gear 22, screw gear 23, traversing screw mandrel 24, slider 25, traversing nut 26, worm rod 27, turbine 28, bolt 29, Lifting nut 30, nut pole 31, lifting screw mandrel 32, longitudinal movement motor 33, longitudinal movement screw mandrel 34, longitudinal movement nut 35, lifting motor 36.

The live overhaul robot of the overhead high-voltage transmission line of the present invention includes a non-obstacle-crossing inspection robot platform and a dual-operation mechanical arm. The non-obstacle-crossing inspection robot platform includes two fixed arms 2 arranged anti-symmetrically on the body 1, a walking part 3 and a line clamping part 4 coupled to the fixed arms 2, and a Equipotential part 5. The first working arm 6 and the second working arm 7 are respectively arranged on the left and right sides of the machine body 1 . When the robot needs to perform live work, the non-obstacle-crossing inspection robot carries the first operating arm 6 and the second operating arm 7 to the working position along the wire, and the two operating arms carry the corresponding end tools through the coordinated movement of each joint. Perform live work.

The first operating arm 6 has three degrees of freedom, which include a rotary joint, a lifting joint, and a longitudinal joint, which are respectively used to realize rotary motion, lifting motion, and longitudinal reciprocating motion, and through the combination of the three types of motion, finally realize the Various operations at the location. These three kinds of joints are implemented by the mutual cooperation of the following parts respectively. For the rotary motion of the rotary joint: the rotary motor 20 drives the worm 27 to drive the turbine 28 to rotate. Both ends of the turbine 28 are respectively connected with the turbine flange 9 of the swing arm and the swing arm 10 through bolts 29, thereby driving the swing arm 10 to rotate around the axis of the turbine 28. The rotating shaft seat 8 carries various transmission parts, and is fixedly connected with the body 1 by pins, so that the first working arm 6 is connected with the body 1 . For the reciprocating motion of the lifting joint: the lifting motor 36 in the swing arm 10 drives the lifting screw rod 32 to rotate, so that the lifting nut 30 used in conjunction with the lifting screw rod 32 moves along its axis direction. The lifting nut 30 is threadedly matched with the nut pole 31, and is positioned by a pin. The nut pole 31 is fixedly connected with the coupling block 13 by a screw, and the coupling block 13 is connected with the lifting arm 12 by a pin, so that the lifting arm 12 moves along with the lift. The nut 30 moves together, and two lifting guide rails 11 are symmetrically arranged on both sides of the swing arm to guide the movement of the lifting arm 12 . The top surface of the connecting block 13 and the longitudinal movement body 14 of the longitudinal movement joint are fixedly connected by screws. For the reciprocating motion of the longitudinal movement joint: the longitudinal movement motor 33 installed in the longitudinal movement body 14 drives the motor gear 22 to rotate, driving the motor gear 22 to rotate with it. The meshed screw gear 23 rotates, so that the longitudinal movement screw 34 rotates accordingly, and the longitudinal movement nut 35 used in conjunction with the longitudinal movement screw 34 moves along its axis direction. The longitudinal movement nut 35 is connected with the longitudinal movement sliding table 16, so that the longitudinal movement movement carriage 16 moves together with the longitudinal movement nut 35, and two longitudinal movement guide rails 15 are arranged symmetrically on both sides of the longitudinal movement body, and the movement of the longitudinal movement movement carriage 16 is carried out. guide.

The second operating arm 7 has four degrees of freedom, and besides the rotary joint, the lifting joint, and the longitudinal joint, it also includes a transverse joint, which is used to realize the rotary motion, the lifting motion, the longitudinal reciprocating motion and the lateral reciprocating motion respectively, and Through the combination of four kinds of movements, various operation actions at the working position are finally realized. It is implemented by the mutual cooperation of various parts. Wherein, the motion modes and parts arrangement of the rotary joint, the lifting joint, and the longitudinal joint are similar to those of the first working arm 6, so they will not be repeated here. And its unique traversing joint can be implemented as follows: the traversing motor 21 installed in the traversing body 17 drives the motor gear 22 to rotate, drives the screw gear 23 meshed with it to rotate, and makes the traversing screw 24 rotate accordingly , the traversing nut 26 used in conjunction with the longitudinally moving screw mandrel 24 moves along its axial direction. The traversing nut 26 is connected with the traversing slide 19, so that the traversing slide 19 moves together with the traversing nut 26, and two traversing guide rails 18 are symmetrically arranged on both sides of the traversing body and the rails embedded in the traversing slide 19 The slide block 25 cooperates to guide the movement of the traversing slide table 19. The wedge-shaped platform on the traversing body 17 is connected with the dovetail groove on the machine body 1 , and one end is fastened by a bolt, so that the second working arm 7 is connected to the machine body 1 . The transmission parts of the revolving joints are installed in the traversing slide 19 , and the structures and transmission principles of the revolving joints, elevating joints and longitudinal moving joints are basically the same as those of the first working arm 6 .

The working process of the present invention will be described in detail in conjunction with the embodiments of the present invention as follows: When the walking part 3 of the live maintenance robot travels along the wire, the equipotential part 5 keeps in contact with the wire at all times, so that the robot and the wire are equipotential, and the line is clamped. Part 4 is loosened, and the first operating arm 6 and the second operating arm 7 are in the initial position. At this time, the rotation joints of the two operating arms are at the lower limit, so that the two operating arms hang vertically, and the longitudinal movement joints of the two operating arms are located below the body. ; When the live maintenance robot travels to the working position along the wire, the line clamping part 4 protects the wire, and the first operating arm 6 and the second operating arm 7 are in the working position. The longitudinal joint of the arm is located above the body. The longitudinal sliding tables of the first working arm 6 and the second working arm 7 respectively carry the corresponding end tools, and through the coordinated movement of the joints of the two working arms, the end tools are moved closer to or farther away from the working target, and positioned relative to the working target or coarse positioning. When the end tool is in contact with the work target, the coordinated movement of the joints of the two operation arms can make the end tool move or rotate with the work target, and complete the task that requires the cooperation of the two work arms.

The specific embodiments described herein are merely illustrative of the spirit of the invention. Those skilled in the art to which the present invention belongs can make various modifications or supplements to the described specific embodiments or adopt similar methods to replace them, but they will not deviate from the spirit of the present invention or go beyond the definition of the appended claims range.

Although the body 1, the fixed arm 2, the running part 3, the line clamping part 4, the equipotential part 5, the working arm 6, the working arm 7, the rotating shaft seat 8, the swing arm turbine flange 9, the swing arm 10. Lifting guide rail 11, lifting arm 12, coupling block 13, longitudinal movement body 14, longitudinal movement guide rail 15, longitudinal movement slide table 16, traverse body 17, traverse guide rail 18, traverse slide table 19, rotating motor 20, Traversing motor 21, motor gear 22, screw gear 23, traversing screw 24, slider 25, traversing nut 26, worm rod 27, turbine 28, bolt 29, lifting nut 30, nut support rod 31, lifting wire Rod 32, longitudinal movement motor 33, longitudinal movement screw mandrel 34, longitudinal movement nut 35, lifting motor 36 and other terms, but the possibility of using other terms is not excluded. These terms are used only for the purpose of describing and explaining the essence of the present invention more conveniently; interpreting them as any kind of additional limitation is against the spirit of the present invention.

Claims (8)

1. an aerial high-voltage power transmission line hotline maintenance robot, is characterized in that, comprising:

Body (1);

Crusing robot platform, described crusing robot platform comprises two and is arranged in the fixed arm (2) of body (1) both sides with fixing distance reverse symmetry, described fixed arm (2) is provided with ground-engaging element (3) and circuit hold assembly (4), described ground-engaging element (3) is for travelling along wire line, described circuit hold assembly (4) is for clamping wires circuit and realize location, the side of described circuit hold assembly (4) is provided with equipotential members (5), it remains equipotential for making described robot and wire line,

First work jibs (6), described first work jibs (6) is arranged in the first side of described body (1) front end, and it has three degree of freedom, and its end has the dismantled and assembled port for loading and unloading live line working end equipment;

Second work jibs (7), described second work jibs (7) is arranged in second side relative with the first side of described body (1), it has four degrees of freedom, and its end has the dismantled and assembled port for loading and unloading live line working end equipment.

2. aerial high-voltage power transmission line hotline maintenance robot according to claim 1, is characterized in that, described first work jibs (6) and described second work jibs (7) comprise separately: shaft seat (8); Swing arm (10); Lifting arm (12) and vertical shift body (14); Wherein, described swing arm (10) can rotate about described shaft seat (8); Described lifting arm (12) can move reciprocatingly about described swing arm (10); Described vertical shift body (14) can move reciprocatingly perpendicular to described lifting arm (12).

3. aerial high-voltage power transmission line hotline maintenance robot according to claim 2, is characterized in that, also comprise: electric rotating machine (20); Be arranged in the worm screw (27) cooperatively interacted in described shaft seat (8) and turbine (28); Described worm screw (27) is started by described electric rotating machine (20), and described turbine (28) is driven by described worm screw (27); Described turbine (28) two ends are connected with swing arm turbine flange (9) and described swing arm (10) respectively; Rotate around the axial line of described turbine (28) to drive described swing arm (10).

4. aerial high-voltage power transmission line hotline maintenance robot according to claim 2, is characterized in that, also comprise: lifting motor (36), it is arranged in described swing arm (10); Elevating screw (32), it to be arranged in described swing arm (10) and to rotate by described lifting motor (36) drives; Lifting nut (30), itself and described elevating screw (32) with the use of and there is axial relative displacement; Nut pole (31), itself and described lifting nut (30) by threaded engagement, and are positioned by pin; Link block (13), itself and described nut pole (31) are affixed; And described link block (13) be sleeved on described swing arm (10) described lifting arm (12) outward and be connected, thus make described lifting arm (12) axial relative displacement occur in the lump along with described lifting nut (30); Be arranged symmetrically with riser guide (11) at described swing arm dual-side, it is for leading to the displacement of described lifting arm (12).

5. aerial high-voltage power transmission line hotline maintenance robot according to claim 2, is characterized in that, also comprise: vertical shift motor (33), and it is arranged in described vertical shift body (14); Motor gear (22), is driven by described vertical shift motor (33) and rotates; Screw gear (23), engages with described motor gear (22) and is driven by it, and rotates to make vertical shift screw mandrel (34) with matching thereupon; Vertical shift nut (35), with described vertical shift screw mandrel (34) with the use of and there is axial relative displacement; Vertical shift slide unit (16), it is connected with described vertical shift nut (35), and axial relative displacement occurs in the lump along with vertical shift nut (35); Arrange vertical shift guide rail (15) in described vertical shift body (14) bilateral symmetry, it is for leading to the displacement of described vertical shift slide unit (16).

6. aerial high-voltage power transmission line hotline maintenance robot according to claim 2, is characterized in that, described shaft seat (8) and described body (1) are undertaken affixed by pin.

7. aerial high-voltage power transmission line hotline maintenance robot according to claim 2, is characterized in that, described second work jibs (7) also comprises the traversing body (17) affixed with described body (1); Be installed on the traversing motor (21) in described traversing body (17); Motor gear (22), rotates by described traversing motor (21) drives; Screw gear (23), is meshed with described traversing motor (21) and is driven by it, and rotates to make traversing screw mandrel (24) with matching thereupon; Traversing nut (26), with described vertical shift screw mandrel (24) with the use of and there is axial relative displacement; Traversing slide unit (19), it is connected with described traversing nut (26), and axial relative displacement occurs in the lump along with traversing nut (26); Arrange traversing guide rail (18) in described traversing body (17) bilateral symmetry, it coordinates with the slide block (25) be embedded in described traversing slide unit (19), leads to the displacement of described traversing slide unit (19).

8. aerial high-voltage power transmission line hotline maintenance robot according to claim 7, it is characterized in that, wedge shape platform on described traversing body (17) and the dovetail groove on described body (1) are connected, and are at one end bolted connection.