CN104917105B - Aerial high-voltage power transmission line hotline maintenance robot - Google Patents
Aerial high-voltage power transmission line hotline maintenance robot Download PDFInfo
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- CN104917105B CN104917105B CN201510382753.8A CN201510382753A CN104917105B CN 104917105 B CN104917105 B CN 104917105B CN 201510382753 A CN201510382753 A CN 201510382753A CN 104917105 B CN104917105 B CN 104917105B
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- 238000012423 maintenance Methods 0.000 title claims abstract description 19
- 230000005540 biological transmission Effects 0.000 title claims abstract description 16
- 238000006073 displacement reaction Methods 0.000 claims description 18
- 230000033001 locomotion Effects 0.000 claims description 16
- 230000003028 elevating effect Effects 0.000 claims description 10
- 230000005611 electricity Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 5
- 238000011160 research Methods 0.000 description 4
- 238000009355 double cropping Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 150000001875 compounds Chemical class 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 230000008439 repair process Effects 0.000 description 1
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Abstract
The invention provides a kind of aerial high-voltage power transmission line hotline maintenance robot, it includes：Body；Crusing robot platform, crusing robot platform includes two with the fixed fixed arm that body both sides are arranged in apart from reverse symmetry, fixed arm is provided with ground-engaging element and circuit hold assembly, ground-engaging element is used to travel along wire line, circuit hold assembly is used to clamp wire line and realizes positioning, the side of circuit hold assembly is provided with equipotential members, and it is used to make robot remain equipotential with wire line；First work jibs, the first work jibs are arranged in the first side of body front end, and it has three degree of freedom, and its end has the dismantled and assembled port for being used for loading and unloading livewire work end equipment；Second work jibs, the second work jibs are arranged in second side relative with the first side of body, and it has four frees degree, and its end has the dismantled and assembled port for being used for loading and unloading livewire work end equipment.It can take into account operational reliability and order of accuarcy simultaneously.
Description
Technical field
It is particularly defeated with a kind of aerial high-voltage the present invention relates to a kind of aerial high-voltage power transmission line hotline maintenance robot
The double cropping industry mechanical arm of electric line hotline maintenance robot.
Background technology
By the development of decades, the technology of aerial high-voltage power transmission line crusing robot and its application have been achieved necessarily
Achievement, be that the intelligent patrol detection of transmission line of electricity opens a piece of new field, and this is only merely the first of Maintenance of Electric Transmission Line
Step, the basic behave that maintenance is only guarantee circuit stable operation is carried out for corresponding failure.The maintenance of current circuit is all to rely on
Manually carry special Work tool and carry out livewire work realization, while labor intensity is high, people of the highfield to operating personnel
When body also constitutes safely great threat, particularly equipotential live line work, by between less cross-arm and phase spacing restricted, people
The difficulty of work operation is very big, dangerous also very high.Therefore be badly in need of the intelligentized maintenance technique of research, by people from it is this it is dangerous, dislike
Freed in bad working environment and hard work task.The success of robot inspection is embodied as robot power-on serving operation
There is provided possible.
At present, the research for the progress of ultra-high-tension power transmission line power-on serving Work robot is actually rare.Than more typical
It is Quebec, CAN water power research institute, has succeeded in developing the repair and maintenance Work robot with obstacle crossing function, the working rig
Device people platform based on obstacle detouring type crusing robot, carries the maintenance activity that single job mechanical arm enters row line.This machinery
Configuration is simple, is easy to operate and controls, but the job task that can be completed is limited, it is impossible to which completion needs double mechanical arms collaboration work
The task of industry, therefore the configuration has certain limitation.
On the other hand, research staff have also been developed the hot line robot with double mechanical arms.But it need to generally set
It is calculated as possessing many frees degree, to realize the complex operations of altitude hot-line operation.However, mechanical structure is increasingly sophisticated,
It can be caused to control difficulty increase, and then cause reliability step-down.This is difficult to be connect by this high-risk work post of altitude hot-line operation
By.
The content of the invention
The present invention mainly solves the technical problem present in prior art；There is provided a kind of double mechanical arms robot, its
Artificial progress altitude hot-line operation can be substituted, and takes into account the reliability and order of accuarcy of altitude hot-line operation simultaneously.
In order to solve the above technical problems, there is provided a kind of aerial high-voltage power transmission line is powered according to an aspect of the present invention
Robot for overhauling, it includes：Body；Crusing robot platform, the crusing robot platform includes two with fixed distance
The fixed arm of body both sides is arranged in reverse symmetry, the fixed arm is provided with ground-engaging element and circuit hold assembly, described
Ground-engaging element is used to travel along wire line, and the circuit hold assembly is used to clamp wire line and realizes positioning, the line
The side of road hold assembly is provided with equipotential members, and it is used to make the robot remain equipotential with wire line；
First work jibs, first work jibs are arranged in the first side of the body front end, and it has three degree of freedom, its end tool
There is the dismantled and assembled port for loading and unloading livewire work end equipment；Second work jibs, second work jibs are arranged in the machine
Second side relative with the first side of body, it has four frees degree, and its end, which has, to be used to load and unload livewire work end equipment
Dismantled and assembled port.First work jibs and second work jibs each include：Shaft seat；Swing arm；Lifting arm and vertical
Move body；Wherein, the swing arm can rotate on the shaft seat；The lifting arm can be done back and forth on the swing arm
Motion；The vertical shift body can move reciprocatingly perpendicular to the lifting arm.Also include：Electric rotating machine；It is arranged in the rotating shaft
The worm screw of mutual cooperation in seat and turbine；The worm screw is started by the electric rotating machine, and the turbine is driven by the worm screw；
The turbine two ends are connected with swing arm turbine flange and the swing arm respectively, to drive the swing arm around the axle of the turbine
Heart line rotates.Also include：Lifting motor, it is arranged in the swing arm；Elevating screw, it is arranged in the swing arm
And rotated by the lifting motor；Lifting nut, it uses cooperatively with the elevating screw and occurs axially opposing displacement；Spiral shell
Female pole, it is coordinated with the lifting nut by screw thread, and is positioned by pin；Link block, itself and the nut pole
It is affixed；And the link block is connected with the lifting arm being sleeved on outside the swing arm, so that the lifting arm is with institute
State lifting nut and axially opposing displacement occurs in the lump；Riser guide is arranged symmetrically in the side of swing arm two, it is used for pair
The displacement of the lifting arm is oriented to.Also include：Vertical shift motor, it is arranged in the vertical shift body；Motor gear, by the vertical shift
Motor drives and rotated；Screw gear, engages and is driven by it with the motor gear, so that the horizontal stroke being engaged with screw gear
Silk shifting rod rotates；Vertical shift nut, uses cooperatively with the vertical shift screw mandrel and occurs axially opposing displacement；Vertical shift slide unit, itself and institute
Vertical shift nut is stated to be connected, and as axially opposing displacement occurs in the lump for vertical shift nut；It is arranged symmetrically in the vertical shift body both sides
Vertical shift guide rail, it is used for the guiding of the displacement to the vertical shift slide unit.
Alternatively, shaft seat is carried out affixed with the body by pin.
Alternatively, second work jibs also include the traversing body affixed with the body；It is installed on described traversing internal
Traversing motor；Motor gear, is driven and rotated by the traversing motor；Screw gear, be meshed with the traversing motor and
It is driven by it, so that the traversing screw mandrel rotation being engaged with screw gear；Traversing nut, used cooperatively with the traversing screw mandrel and
The axially opposing displacement of generation；Traversing slide unit, it is connected with the traversing nut, and as axial phase occurs in the lump for traversing nut
To displacement；Traversing guide rail is arranged symmetrically in the traversing body both sides, it coordinates with the sliding block being embedded in the traversing slide unit, right
The displacement of the traversing slide unit is oriented to.
Alternatively, the wedge-shaped platform on the traversing body is connected with the dovetail groove on the body, and at one end through
Bolt is fastenedly connected.
Therefore, the invention has the advantages that：1. add double cropping on the basis of non-obstacle detouring type crusing robot platform
Industry arm, has expanded the function of robot, makes robot while line walking, carries out live-line maintenance operation；2. the structure of pair work jibs
Type can complete different job tasks, and in particular for the task of double mechanical arms work compound, therefore field of operation is more extensive；
3. pair work jibs only have Three Degree Of Freedom and four-degree-of-freedom respectively；Realized in the case where meeting the premise of altitude hot-line operation task
The simplification of mechanism design, it is to avoid the structure design of more high-freedom degree (such as five degree of freedom and more than), greatly improves equipment
Reliability；4. interchangeable operation end, realizes recombinating for mechanism on the basis of working space is met；5. pair work jibs are adopted
The mode configuration being combined with cartesian co-ordinate type with joint type, is easy to control and operates.
Brief description of the drawings
Fig. 1 is the assembling structure schematic diagram of one embodiment of the present of invention.
Fig. 2 is the assembling structure schematic diagram of one embodiment of the first work jibs.
Fig. 3 is the assembling structure schematic diagram of one embodiment of the second work jibs.
Fig. 4 is the broken section structural representation of one embodiment of body.
Fig. 5 is the cross section structure diagram of one embodiment of the second work jibs.
Fig. 6 is the rotary joint cross section structure diagram of one embodiment of the first work jibs.
Embodiment
Below by embodiment, and with reference to accompanying drawing, technical scheme is described in further detail.In figure,
The parts that each label is indicated are as described below：Body 1, fixed arm 2, ground-engaging element 3, circuit hold assembly 4, equipotential members
5th, the first work jibs 6, the second work jibs 7, shaft seat 8, swing arm turbine flange 9, swing arm 10, riser guide 11, lifting arm 12,
Link block 13, vertical shift body 14, vertical shift guide rail 15, vertical shift slide unit 16, traversing body 17, traversing guide rail 18, traversing slide unit 19, electric rotating
Machine 20, traversing motor 21, motor gear 22, screw gear 23, traversing screw mandrel 24, sliding block 25, traversing nut 26, scroll bar 27, whirlpool
Wheel 28, bolt 29, lifting nut 30, nut pole 31, elevating screw 32, vertical shift motor 33, vertical shift screw mandrel 34, vertical shift nut
35th, lifting motor 36.
The present invention aerial high-voltage power transmission line hotline maintenance robot include non-obstacle detouring type crusing robot platform and
Double cropping industry mechanical arm.Non- obstacle detouring type crusing robot platform is included in two fixed arms 2 that antisymmetry is arranged on body 1, connection
In ground-engaging element 3 and circuit hold assembly 4 on fixed arm 2, and with the joining equipotential members of circuit hold assembly 45.
First work jibs 6 and the second work jibs 7 are respectively arranged in the left and right sides of body 1.It is non-when robot needs to carry out livewire work
Obstacle detouring type crusing robot carries the first work jibs 6 and the second work jibs 7 are travelled to working position along wire, and two work jibs pass through each
The cooperative motion in joint, carries corresponding end-of-arm tooling and carries out livewire work respectively.
First work jibs 6 have three degree of freedom, and it includes rotary joint, lifting joint and vertical shift joint, to use respectively
In realizing rotary motion, elevating movement and longitudinally reciprocating motion, and by the combination of three kinds of motions, finally realize at working position
Various operations action.These three joints are embodied by following parts are worked in coordination respectively.For the rotation of rotary joint
For transhipment is dynamic：Electric rotating machine 20 drives worm screw 27, drives turbine 28 to rotate.The two ends of turbine 28 respectively with swing arm turbine flange 9
Connected with swing arm 10 by bolt 29, so as to drive swing arm 10 to be rotated around the axial line of turbine 28.Shaft seat 8 carries each transmission
Part, and carried out by pin with body 1 affixed, the first work jibs 6 is connected with body 1.Reciprocating motion for lifting joint
For：The driving elevating screw 32 of lifting motor 36 in swing arm 10 rotates, and makes the lifting spiral shell used cooperatively with elevating screw 32
Mother 30 moves along its axis direction.Lifting nut 30 coordinates with the screw thread of nut pole 31, and is positioned by pin, nut pole
31 are carried out affixed with link block 13 by screw, and link block 13 is connected with lifting arm 12 by pin so that lifting arm 12 with
Lifting nut 30 is together moved, and the side of swing arm two is arranged symmetrically two riser guides 11, is that the mobile of lifting arm 12 is oriented to.
The top surface of link block 13 and the vertical shift body 14 in vertical shift joint carried out by screw it is affixed, for the reciprocating motion in vertical shift joint：
The motor gear 22 of vertical shift motor 33 being installed in vertical shift body 14 rotates, and drives meshed screw gear 23 to revolve
Turn, make the concomitant rotation of vertical shift screw mandrel 34, the vertical shift nut 35 used cooperatively with vertical shift screw mandrel 34 is moved along its axis direction.Vertical shift
Nut 35 is connected with vertical shift slide unit 16, vertical shift slide unit 16 is together moved with vertical shift nut 35, the symmetrical cloth in vertical shift body both sides
Two vertical shift guide rails 15 are put, are that the mobile of vertical shift slide unit 16 is oriented to.
Second work jibs 7 have four frees degree, and it is in addition to traversing in addition to rotary joint, lifting joint, vertical shift joint
Joint, to be respectively used to realize rotary motion, elevating movement, longitudinally reciprocating motion and traverse motion, and passes through four kinds of fortune
Dynamic combination, finally realizes the various operations action at working position.It is embodied by each parts are worked in coordination.Its
In, rotary joint, lifting joint, the motion mode in vertical shift joint and parts set similar with the first work jibs 6, therefore herein not
Repeat.And its exclusive traversing joint can be implemented as follows：It is installed on the motor gear of traversing motor 21 in traversing body 17
22 rotations, drive meshed screw gear 23 to rotate, make the traversing concomitant rotation of screw mandrel 24, and coordinating with vertical shift screw mandrel 24 makes
Traversing nut 26 is moved along its axis direction.Traversing nut 26 is connected with traversing slide unit 19, make traversing slide unit 19 with
Traversing nut 26 is together moved, and traversing body both sides are arranged symmetrically two traversing guide rails 18 and matched somebody with somebody with being embedded in the sliding block 25 of traversing slide unit 19
Close, be that traversing the mobile of slide unit 19 is oriented to.Wedge-shaped platform on traversing body 17 is connected with the dovetail groove on body 1, and
Fastened at one end through bolt, the second work jibs 7 is connected with body 1.Each driving member of rotary joint is installed on traversing cunning
In platform 19, the structure and its transmission principle and the first work jibs 6 of rotary joint, lifting joint and vertical shift joint are basically identical.
It is following to combine embodiments of the invention to specifically describe the workflow of the present invention：When hotline maintenance robot
Ground-engaging element 3 along wire travel when, equipotential members 5 and wire moment keep contacting, and make robot and wire equipotential, circuit
Hold assembly 4 unclamps, and the first work jibs 6 and the second work jibs 7 are in initial bit, and now the rotary joint of two work jibs is in down
It is spacing, two work jibs is hung down vertically, the vertical shift joint of two work jibs is located at below body；When hotline maintenance Robot wire
When traveling is to working position, the shield line of circuit hold assembly 4, the first work jibs 6 and the second work jibs 7 are in working position, now operation
The rotary joint of arm is in upper limit, the vertical shift joint of two work jibs is located at more than body.First work jibs 6 and the second operation
The vertical shift slide unit of arm 7 carries corresponding end-of-arm tooling respectively, by the cooperative motion in each joint of two work jibs, make end-of-arm tooling with
Closer or far from operative goals, positioned relative to operative goals or coarse positioning.When end-of-arm tooling is contacted with operative goals
Afterwards, the cooperative motion in each joint of two work jibs can make end-of-arm tooling carrying operation target move or rotate, and complete to need two work jibs
The task of work compound.
Specific embodiment described herein is only to spirit explanation for example of the invention.Technology neck belonging to of the invention
The technical staff in domain can be made various modifications or supplement to described specific embodiment or be replaced using similar mode
Generation, but without departing from the spiritual of the present invention or surmount scope defined in appended claims.
Although more having used body 1, fixed arm 2, ground-engaging element 3, circuit hold assembly 4, equipotential members herein
5th, work jibs 6, work jibs 7, shaft seat 8, swing arm turbine flange 9, swing arm 10, riser guide 11, lifting arm 12, link block
13rd, vertical shift body 14, vertical shift guide rail 15, vertical shift slide unit 16, traversing body 17, traversing guide rail 18, traversing slide unit 19, electric rotating machine 20,
Traversing motor 21, motor gear 22, screw gear 23, traversing screw mandrel 24, sliding block 25, traversing nut 26, scroll bar 27, turbine 28,
Bolt 29, lifting nut 30, nut pole 31, elevating screw 32, vertical shift motor 33, vertical shift screw mandrel 34, vertical shift nut 35, lifting
The grade term of motor 36, but it is not precluded from the possibility using other terms.It is used for the purpose of more easily retouching using these terms
State and explain the essence of the present invention；Any additional limitation is construed as all to disagree with spirit of the present invention.
Claims (4)
1. a kind of aerial high-voltage power transmission line hotline maintenance robot, it is characterised in that including：
Body (1)；
Non- obstacle detouring type crusing robot platform, the non-obstacle detouring type crusing robot platform is reverse with fixed distance including two
The fixed arm (2) of body (1) both sides is symmetrically arranged at, the fixed arm (2) is provided with ground-engaging element (3) and circuit clamping part
Part (4), the ground-engaging element (3) be used for travelled along wire line, the circuit hold assembly (4) be used for clamp wire line and
Positioning is realized, the side of the circuit hold assembly (4) is provided with equipotential members (5), and it is used to make the robot with leading
Line circuit remains equipotential；
First work jibs (6), first work jibs (6) are arranged in the first side of the body (1) front end, and it has three certainly
By spending, its end has the dismantled and assembled port for being used for loading and unloading livewire work end equipment；
Second work jibs (7), second work jibs (7) are arranged in second side relative with the first side of the body (1), its
With four frees degree, its end has the dismantled and assembled port for being used for loading and unloading livewire work end equipment；
First work jibs (6) and second work jibs (7) each include：Shaft seat (8)；Swing arm (10)；Lifting arm
And vertical shift body (14) (12)；Wherein, the swing arm (10) can rotate on the shaft seat (8)；The lifting arm (12)
It can be moved reciprocatingly on the swing arm (10)；The vertical shift body (14) can do back and forth perpendicular to the lifting arm (12)
Motion；
Also include：Electric rotating machine (20)；The worm screw (27) for the mutual cooperation being arranged in the shaft seat (8) and turbine (28)；
The worm screw (27) is started by the electric rotating machine (20), and the turbine (28) is driven by the worm screw (27)；The turbine
(28) two ends are connected with swing arm turbine flange (9) and the swing arm (10) respectively, to drive the swing arm (10) around described
The axial line rotation of turbine (28)；
Also include：Lifting motor (36), it is arranged in the swing arm (10)；Elevating screw (32), it is arranged in the pendulum
Rotated in swing arm (10) and by the lifting motor (36) driving；Lifting nut (30), itself and the elevating screw (32)
Use cooperatively and occur axially opposing displacement；Nut pole (31), it is coordinated with the lifting nut (30) by screw thread, and
Positioned by pin；Link block (13), it is affixed with the nut pole (31)；And the link block (13) is with being sleeved on
The lifting arm (12) connection of the swing arm (10) outside, so that the lifting arm (12) is with the lifting nut
(30) axially opposing displacement occurs in the lump；Riser guide (11) is arranged symmetrically in the side of swing arm two, it is used for institute
The displacement for stating lifting arm (12) is oriented to；
Also include：Vertical shift motor (33), it is arranged in the vertical shift body (14)；Motor gear (22), by the vertical shift motor
(33) drive and rotate；Screw gear (23), engages and is driven by it with the motor gear (22), so that cooperating therewith
Vertical shift screw mandrel (34) rotate with；Vertical shift nut (35), uses cooperatively with the vertical shift screw mandrel (34) and occurs axial phase
To displacement；Vertical shift slide unit (16), it is connected with the vertical shift nut (35), and as axle occurs in the lump for vertical shift nut (35)
To relative displacement；Vertical shift guide rail (15) is arranged symmetrically in vertical shift body (14) both sides, it is used for the vertical shift slide unit (16)
Displacement be oriented to.
2. aerial high-voltage power transmission line hotline maintenance robot according to claim 1, it is characterised in that the shaft seat
(8) carried out with the body (1) by pin affixed.
3. aerial high-voltage power transmission line hotline maintenance robot according to claim 1, it is characterised in that described second makees
Industry arm (7) also includes the traversing body (17) affixed with the body (1)；It is installed on the traversing electricity in the traversing body (17)
Machine (21)；Motor gear (22), is driven and rotated by the traversing motor (21)；Screw gear (23), with the motor tooth
Wheel (22) is meshed and is driven by it, so that and screw gear（23）Traversing screw mandrel (24) rotation being engaged；Traversing nut
(26), used cooperatively with the traversing screw mandrel (24) and occur axially opposing displacement；Traversing slide unit (19), its with it is described traversing
Nut (26) is connected, and as axially opposing displacement occurs in the lump for traversing nut (26)；In traversing body (17) both sides
Traversing guide rail (18) is arranged symmetrically, it coordinates with the sliding block (25) being embedded in the traversing slide unit (19), to described traversing
The displacement of slide unit (19) is oriented to.
4. aerial high-voltage power transmission line hotline maintenance robot according to claim 3, it is characterised in that the traversing body
(17) the wedge-shaped platform on is connected with the dovetail groove on the body (1), and is fastenedly connected at one end through bolt.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510382753.8A CN104917105B (en) | 2015-06-29 | 2015-06-29 | Aerial high-voltage power transmission line hotline maintenance robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510382753.8A CN104917105B (en) | 2015-06-29 | 2015-06-29 | Aerial high-voltage power transmission line hotline maintenance robot |
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| CN104917105A CN104917105A (en) | 2015-09-16 |
| CN104917105B true CN104917105B (en) | 2017-08-08 |
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| CN201510382753.8A Active CN104917105B (en) | 2015-06-29 | 2015-06-29 | Aerial high-voltage power transmission line hotline maintenance robot |
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| CN107086489B (en) * | 2017-05-31 | 2019-04-30 | 武汉理工大学 | A kind of separable obstacle detouring mechanical arm applied to aerial high voltage power line robot |
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