CN105292288B - Aerial cable inspection robot swings more formula robotic arm and obstacle-detouring method - Google Patents
Aerial cable inspection robot swings more formula robotic arm and obstacle-detouring method Download PDFInfo
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- CN105292288B CN105292288B CN201510650556.XA CN201510650556A CN105292288B CN 105292288 B CN105292288 B CN 105292288B CN 201510650556 A CN201510650556 A CN 201510650556A CN 105292288 B CN105292288 B CN 105292288B
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Abstract
More formula robotic arm and obstacle-detouring method are swung the invention discloses a kind of aerial cable inspection robot, the robot is made up of body and control system, the body at least includes a body, a pair of walking mechanisms and a pair of robotic arms, each walking mechanism has a pair of road wheels, and each walking mechanism is located on the robotic arm of respective side and middle part is connected with the articulations digitorum manus of the respective side robotic arm；A pair of robotic arms are separately mounted at least include a pair of articulations digitorum manus, a wrist joint, an elbow arm and a shoulder joint with elbow joint in two sides of body, each robotic arm, wherein, described shoulder joint is located at the end points of body；A horizontal rotation joint is additionally provided between the articulations digitorum manus and wrist joint of each robotic arm；Flexible cable is connected between the wrist joint and body two-end-point of each robotic arm, the whole-root rope rope can adjust both sides rope lengths and tension force by fulcrum of the fixed pulley of wrist joint to two Slideslips.Its across obstacle length, stability are strong and quick.
Description
Technical field
The invention belongs to robotic technology field, more particularly to a kind of swing more formula machine for aerial cable inspection robot
Arm and obstacle-detouring method.
Background technology
Aerial cable needs long-term maintenance and maintenance, and manual maintenance labor intensity is big, working environment is dangerous and work effect
Rate is low.If carrying out inspection operation to aerial cables using robot, manual inspection labor intensity can be mitigated, work effect is improved
Rate, reduces the deficiencies such as artificial injury, will there is good market prospects.Therefore, China responsible institution studies non-to crusing robot
Often pay attention to, domestic many R＆D institutions are proposed many money crusing robots successively in 863 Program, and obtain one in power department
Determine the support of degree.Foreign countries also take much count of to this, and such as Tokyo Electric Power starts to develop optical fiber in the end of the eighties in last century
Composite aerial cable inspection robot.But, for the robot released at present, across obstacle length, stability and
Actual demand can not be not only met in terms of quick degree but also new threat is easily caused to power worker.Therefore, study new
The barrier getting over mechanism of cable inspection robot become very urgent.
Pass through consulting literatures [1], document [2] and document [3], the maximum spanning length of existing cable inspection robot：
For the length of a machine human organism of robotic arm+half, if running into the barrier more than this length, robot will be unable to work
Make.In terms of stability：Robot is a robotic arm heavy burden, adjusts balance position to adjust centre of body weight by Rolling motor etc.,
Once (being blown) by external force, it is easy for imbalance, overshoot occur, topples over and the phenomenon such as turn on one's side.In terms of quick degree：Robot will
During across obstacle, robotic arm is born a heavy burden, and another robotic arm must be waited after robot gravity balance got well, and can just be entered
Row off-line and work of making contact, have delayed the substantial amounts of time；Especially robot across larger barrier when, all first to carry out
Centroid adjustment keeps one's balance, then carries out across action, it is impossible to quick leaping over obstacles, the deficiency of mechanism design aspect, limitation
Such robot moves towards the principal element of application market.
Above-mentioned bibliography：
[1] Fang Lijin, Wei Yongle, Tao Guanghong.A kind of double-arm crusing robot design [J] robots of novel belt flexible cable
2013,35 (3)：319-325
[2] Wu Gongping, Xiao Xiaohui, Xiao Hua, wait the prototype design of aerial high-voltage power transmission line inspection robot [J] power trains
System automation, 2006,30 (13)：90-93.
[3] Zhu Xinglong, Zhou Jiping, Wang Hongguang, wait power transmission lines crusing robot obstacle detouring mechanism and experiment [J] mechanical engineerings
Journal, 2009,45 (2)：119-125.
The content of the invention
It is an object of the invention to provide a kind of across obstacle length is longer and stability strong and efficiently aerial cable is patrolled
Line robot swings more formula robotic arm.
To achieve the above object, the present invention takes following design：
A kind of aerial cable inspection robot swings more formula robotic arm, and the aerial cable inspection robot is by body and control
System is constituted, and described body at least includes a body, a pair of walking mechanisms, a pair of articulations digitorum manus groups and a pair of robotic arms, respectively
Walking mechanism is located on the robotic arm of respective side and is connected with the articulations digitorum manus group of the respective side；
A pair of described robotic arms be separately mounted to include in the two ends of body, each robotic arm a horizontal rotation joint,
One wrist joint, an elbow arm and a shoulder joint with elbow joint, wherein, described shoulder joint is located at the end points of body；
Flexible cable is connected between the wrist joint and body two-end-point of each robotic arm；It is fixed provided with one in each wrist joint
Pulley, provided with two Rolling motors at each shoulder joint；It is connected between the wrist joint and body two-end-point of each robotic arm
Flexible cable be the rope of one whole, and the rope one end is fixed and is around on the Rolling motor at body end point shoulder joint, in
Between bypassed via the fixed pulley of wrist joint, the other end fix be around on the Rolling motor at another end points shoulder joint of body.
At least include a road wheel in described walking mechanism；Each articulations digitorum manus group is symmetrically distributed in by two
The articulations digitorum manus of road wheel both sides is constituted, include in each articulations digitorum manus a helical axis, one make contact motor and one is held line electricity
Machine；Described motor of making contact is fixed in walking mechanism；One end of the helical axis is fixed on the output revolving shaft for motor of making contact,
Realized with the Double-directional rotary with motor of making contact and made contact and off-line with cable；And the termination of the helical axis side and holding for suspending
The output revolving shaft of line motor is fixedly connected, to realize the rotation of helical axis with the rotation for holding line motor.
Described articulations digitorum manus group and the walking mechanism being connected can be the off-line devices of making contact for being integrated into a combined type, and this is taken
Line off-line utensil has：
The frame of one " U " formula；
Walking mechanism is connected by a moving fulcrum on the top of the frame side vertical frame, the walking mechanism has a frame
Road wheel and transmission turbine are arranged with frame, the framework；A sensitive bar, the biography of a circular arc are installed on the top of the side vertical frame
Lever and one can touch the trigger mechanism of walking mechanism action；Lived with the fulcrum in the frame vertical frame one end of the sensitive bar
It is dynamic to connect and around the fulcrum；Described drive link is connected by a moving fulcrum with the vertical frame of the side, and the one of the drive link
End is against the lower end of sensitive bar, and the other end can touch trigger mechanism when rotating, at the middle part of the drive link and the frame frame
Vertical frame between be connected with back-moving spring；The limiting card for being used for limiting walking mechanism is provided with the top of the side vertical frame；
Movable motor, reducing gear and output whirlpool are sequentially arranged with the top of the frame opposite side vertical frame
Wheel, described movable motor is connected by reducing gear with output turbine, is also installed on one simultaneously at the top of the side vertical frame
Portion carries the electrical apparatus release of bayonet socket；
When the framework of the frame side is engaged by the electrical apparatus release top bayonet socket in opposite side vertical frame, described transmission whirlpool
Wheel and the output mutual toe joint of turbine.
The aerial cable inspection robot is swung in more formula robotic arm, the rope bypassed via wrist joint fixed pulley
Rope at least on fixed pulley enclose by winding one.
The aerial cable inspection robot is swung in more formula robotic arm, and further, described trigger mechanism includes
The lock of one lockable walking mechanism, the lock is implemented to loosen, is implemented to tense by back-moving spring by frizzen；In walking mechanism
Framework on install a drive block, the position that the drive block is installed so that frizzen when it can be triggered prop up downwards drive row
The framework for walking mechanism is descending together.
The aerial cable inspection robot swings in more formula robotic arm, further, and described electrical apparatus release includes a pair
The corresponding assistant support of main vertical pole and a pair of positions, the dop that the top of each main vertical pole is carried at the top of dop, the main vertical pole is propped up with secondary
The bayonet socket on electrical apparatus release top is constituted between the top of frame；Support spring is connected between each main vertical pole and corresponding assistant support,
Provided with an electrical apparatus release fulcrum on main vertical pole；The electrical apparatus release is also equipped with an off-line motor and an eccentric cam, described
Eccentric cam be set on the output shaft of off-line motor, the rotation of the eccentric cam can promote master of the electrical apparatus release with dop to indulge
Bar is rotated counterclockwise.
It is a further object of the present invention to provide a kind of obstacle-detouring method of aerial cable inspection robot, the aerial cable line walking
Robot, which has, foregoing swings more formula robotic arm and articulations digitorum manus；When running into barrier, using sideswinging type or more formula obstacle detouring is swung, its
In,
Described sideswinging type obstacle-detouring method is as follows：
A) first the aerial cable inspection robot run into barrier stop move ahead；
B) Rolling motor at two robotic arm shoulder joint is rotated respectively, the elbow arm bending of robotic arm, machine before robot
The barycenter of people is moved up；
C) robotic arm off-line afterwards；The horizontal rotation joint of preceding robotic arm lean to one side rotate, drive off-line rear robotic arm with
Rotation is crossed over forward centered on it, when after robotic arm on the end road wheel of walking mechanism reach across under the cable of barrier
Fang Shi, the rear robotic arm articulations digitorum manus stretches out, and completes action of making contact；
D) therewith, preceding robotic arm off-line；The horizontal rotation joint of robotic arm leans to one side to rotate afterwards, drives the preceding machine of off-line
Arm centered on it crossed over forward again by rotation, and the end road wheel of the walking mechanism of current machine arm is reached across barrier
Cable below when, the preceding robotic arm articulations digitorum manus stretches out completion and made contact action；
E) aerial cable inspection robot reduction original state, completes obstacle detouring process；
It is described that to swing more formula obstacle-detouring method as follows：
F) first the aerial cable inspection robot run into barrier stop move ahead；
G) elbow arm of robotic arm is bent after aerial cable inspection robot, and the elbow arm of preceding robotic arm unfolds gradually straight, makes machine
The barycenter of people is upward, be moved back by；
H) the horizontal rotation joint rotation of robotic arm off-line after aerial cable inspection robot, then preceding robotic arm, rear machine
Before device arm on robotic arm the front end road wheel of walking mechanism for the center of circle, 180 degree rotate and does to swing and more moves forward, up to rear machine
When the end road wheel across obstacle of walking mechanism reaches the height of cable on device arm, its articulations digitorum manus stretches out and completes to make contact dynamic
Make；Now, the horizontal rotation joint rotation of rear robotic arm, preceding robotic arm off-line and rotation of leaning to one side, adjust direction of advance, until arriving
When below up to across barrier cable, preceding robotic arm articulations digitorum manus stretches out and completes action of making contact；Aerial cable inspection robot is also
Original initial state, completes obstacle detouring process；
Wherein,
The sideswinging type and swing in more formula obstacle-detouring method：In the sideswinging type and swing more formula obstacle-detouring method：In the side
It is rotating and swing in more formula obstacle detouring,
The specific method made contact is:Motor rotation of making contact on robot articulations digitorum manus, drives its helical axis to be flapped toward electricity
Cable, when helical axis touches cable, holds the rotation of line electric motor starting, drives the screw thread on helical axis rotation, helical axis to drive electricity
Cable parallel motion, when cable is reached immediately below the road wheel of walking mechanism, the motor of making contact of articulations digitorum manus reversely rotates 90 degree, by
Action of Gravity Field, the road wheel of walking mechanism is ridden on cable；
The specific method of the off-line is:Motor of making contact on robot articulations digitorum manus rotates forward 90 degree, holds line motor anti-
Turn, during the upright projection area for the road wheel for departing from walking mechanism front end or rear end, motor of making contact reversely rotates 90 degree, completes off-line
Action.
In the method for the invention,
The aerial cable inspection robot, which has, foregoing swings more formula robotic arm and off-line device of making contact；When running into barrier
When, using sideswinging type or swing more formula obstacle detouring；Wherein,
Described sideswinging type obstacle-detouring method is as follows：
A) first the aerial cable inspection robot run into barrier stop move ahead；
B) Rolling motor at two robotic arm shoulder joint is rotated respectively, the elbow arm bending of robotic arm, machine before robot
The barycenter of people is moved up；
C) robotic arm off-line afterwards；The horizontal rotation joint of preceding robotic arm lean to one side rotate, drive off-line rear robotic arm with
Rotation is crossed over forward centered on it, when after robotic arm above the road wheel of walking mechanism reach across under the cable of barrier
Fang Shi, the corresponding articulations digitorum manus of the rear robotic arm is stretched out, and completion is made contact action；
D) therewith, preceding robotic arm off-line；The horizontal rotation joint of robotic arm leans to one side to rotate afterwards, drives the preceding machine of off-line
Arm centered on it crossed over forward again by rotation, and the walking mechanism road wheel above current machine arm is approached or arrived at across barrier
When hindering below the cable of thing, the corresponding articulations digitorum manus of the preceding robotic arm stretches out completion and made contact action；
E) aerial cable inspection robot reduction original state, completes obstacle detouring process；
It is described that to swing more formula obstacle-detouring method as follows：
F) first the aerial cable inspection robot run into barrier stop move ahead；
G) elbow arm of robotic arm is bent after aerial cable inspection robot, and the elbow arm of preceding robotic arm unfolds gradually straight, makes machine
The barycenter of people is upward, be moved back by；
H) the horizontal rotation joint rotation of robotic arm off-line after aerial cable inspection robot, then preceding robotic arm, rear machine
For the center of circle, 180 degree rotate and does to swing and more moves the front end road wheel of walking mechanism before device arm above robotic arm forward, up to
When the road wheel across obstacle of walking mechanism approaches or arrives at the height of cable on robotic arm afterwards, corresponding articulations digitorum manus stretches out simultaneously
Completion is made contact action；
I) now, the horizontal rotation joint rotation of rear robotic arm, preceding robotic arm off-line and rotation of leaning to one side, adjust advance side
To until when reaching below across barrier cable, the corresponding articulations digitorum manus of preceding robotic arm stretches out and completes action of making contact；
Aerial cable inspection robot reduces original state, completes obstacle detouring process；Wherein,
Described sideswinging type is swung in more formula obstacle-detouring method,
The described specific method made contact is：When described off-line device of making contact is lifted to can catch cable highly by robot
When, cable contacts its sensitive bar, and this sensitive bar is moved downward, and touches drive link, and the drive link touches triggering around fulcrum again
Bar, frizzen, which loosens, to be latched and makes whole walking mechanism descending；Acted on by drive link thrust and self gravitation, the vehicle with walking machine
Structure struts the bayonet socket on electrical apparatus release, and electrical apparatus release locks walking mechanism, and output turbine is contacted with transmission turbine, future the voluntarily leakage of electricity
The power of machine is sent to road wheel, to complete corresponding sports；
The specific method of described off-line is：When needing off-line, off-line motor is rotated, and drives eccentric cam to rotate, partially
Cardiac prominence wheel promotes the main vertical pole of electrical apparatus release to rotate counterclockwise so that the bayonet socket on electrical apparatus release top loosens the occlusion to framework；Entirely
Off-line device of making contact is moved down with respect to cable, cable relative uplink, drives walking mechanism to move up, spacing when being moved in walking mechanism
Stop motion during card, lock now is also tightened up spring straining, clasps walking mechanism, sensitive bar is in the presence of back-moving spring
Homing, waits work of making contact next time.It is an advantage of the invention that：
1st, more formula robotic arm and method are swung using the present invention, stability, agility when robot can improve obstacle detouring；
2nd, compared with the prior art, the present invention can double the maximum across obstacle distance of robot；
3rd, robot figure can smoothly be adjusted in the case of not needing counterweight；Side robotic arm adjusts the same of figure
When, another robotic arm can do make contact or off-line preliminary activities, reach agility.
4th, compared with the prior art, under equivalent motor condition of work, due to reducing mass, (counterweight is one
The larger object of relative mass.In addition, the slide rail for coordinating mass movement is also a larger object of relative mass.If subtracted
Lack the two big weights, the load capacity of robot is added naturally), the present invention can improve the suitable counterweight of robot
Load capacity.
Brief description of the drawings
Fig. 1 is that aerial cable inspection robot of the present invention swings the more example structure principle schematic of formula robotic arm one.
Fig. 2 is the operation principle schematic diagram of the present invention
Fig. 3 is walking mechanism of the present invention and the example structure schematic diagram of articulations digitorum manus composite construction one.
Fig. 4 is structural representation when embodiment illustrated in fig. 3 helical axis grasps cable status.
Fig. 5 is structural representation when embodiment illustrated in fig. 3 helical axis grasps return state after cable.
Fig. 6 is walking mechanism of the present invention and another embodiment of articulations digitorum manus composite construction (off-line device of making contact) structural representation
(main view, off-line state eliminate the housing of framework).
Fig. 7 is that embodiment illustrated in fig. 6 makes contact that (main view, state of making contact eliminate the outer of framework to off-line device structural representation
Frame).
Fig. 8 is framework in embodiment illustrated in fig. 6 and the structural representation of walking mechanism part.
Fig. 9 is that embodiment illustrated in fig. 6 is made contact off-line device structural representation (side view, state of making contact).
Figure 10 is that embodiment illustrated in fig. 6 is made contact the electrical apparatus release fundamental diagram (partial enlargement) of off-line device.
Action schematic diagram (body Right deviation) when Figure 11 is locations of structures where body of the present invention.
Action schematic diagram when Figure 12 is locations of structures where body of the present invention (body is left-leaning).
Action schematic diagram when Figure 13 is locations of structures where body of the present invention (body rises, elbow arm bending).
Action schematic diagram when Figure 14 is locations of structures where body of the present invention (elbow arm is stretched, and body is descending).
Figure 15 is action process schematic diagram of the present invention across smaller barrier.
Figure 16 is action process schematic diagram of the present invention across larger barrier.
Fig. 1 is into Fig. 5：1. walking mechanism；2. articulations digitorum manus；3. horizontally rotate joint；4. wrist joint；5. elbow joint；6. shoulder
Joint；7. flexible cable；8. body；11. cable；12. road wheel；21. helical axis；22. motor of making contact；23. hold line motor；24. subtract
Fast mechanism；41. fixed pulley；61. the first Rolling motor；The Rolling motors of 61 ' the 3rd；71. reverse flexible cable；81. second tin roller is electric
Machine；The Rolling motors of 81 ' the 4th.
Fig. 6 is into Figure 10：
1 '-sensitive bar；2 '-drive link；3 '-frame；4 '-fulcrum；5 '-frizzen；6 '-lock；7 '-limiting card；8 '-frame
Frame；9 '-road wheel；10 '-transmission turbine；11 '-movable motor；12 '-reducing gear；13 '-and output turbine；14 '-off-line electricity
Machine；15 '-electrical apparatus release；16 '-back-moving spring；17 '-back-moving spring；18 '-cable；19 '-electrical apparatus release fulcrum；20 '-assistant support；
21 '-support spring；22 '-eccentric cam；23 '-drive block；24 '-main vertical pole.
In Figure 15 and Figure 16：Represent stress flexible cable；" ┉ ┉ ", which are represented, loosens flexible cable.
Below in conjunction with the accompanying drawings and specific embodiment the present invention is described further.
Embodiment
As shown in figure 1, aerial cable inspection robot in the present invention it is main by a body 8, a pair of walking mechanisms 1,
A pair of robotic arms and control system combination are constituted, and described a pair of robotic arms are arranged on the two ends of body, its both can load-bearing and
It can protract and grasp (by a pair of articulations digitorum manus groups), walking mechanism and robotic arm can be driven to complete instruction action by control system
(such as move ahead, stop, quickly making contact and off-line)；Include horizontal rotation joint 3, a wrist in described each robotic arm
Joint 4, an elbow joint 5 and a shoulder joint 6, chief creating of the invention, which is made, to be a little：It is connected between each wrist joint and body two-end-point soft
Rope.
Referring to Fig. 1 and Fig. 2, swinging for aerial cable inspection robot of the present invention is provided with more each wrist joint 4 of formula robotic arm
One fixed pulley 41；A pair of shoulder joint 6 are respectively provided at body two-end-point, provided with two Rolling motors (common group at each shoulder joint 6
Into two groups, wherein constitute one group by the first Rolling motor 61 and second tin roller motor 81, the 3rd Rolling motor 61 ' and the 4th roller
Motor 81 ' constitutes another group)；Each elbow joint 5 uses back-moving spring；Connect on each wrist joint 4 and body between two-end-point
Some flexible cable (settings：Flexible cable 7 is connected between each wrist joint and this side body two-end-point；Each wrist joint and opposite side body two-end-point
Between be connected with anti-flexible cable 71) can be the rope of one whole, the two ends of the whole-root rope rope are connected in respectively is located at body two-end-point
On a series cylinder motor (the first Rolling motor 61 and second tin roller motor 81) at shoulder joint, middle determining via wrist joint
Pulley 41 is bypassed, and the whole-root rope rope is pivot point with the fixed pulley 41 at wrist joint 4, can by action demand to two Slideslips with
Adjust the rope lengths and tension force of two side ends.Preferred version is：Flexible cable (rope is used in the present embodiment) is in the winding of wrist joint
At least to wind with one circuit, to increase the frictional force between flexible cable and pulley, preferably coordinate the motion in each joint with stable, quick
The obstacle detouring for realizing robot.
The structure design of aerial cable inspection robot of the present invention is set using the arm structure for imitating gibbon, every robotic arm
Meter is 4 rotatable joints and 1 rotatable joint, is shoulder joint 6, elbow joint 5, wrist joint 4, articulations digitorum manus 2 respectively
And horizontal rotation joint 3, and introduce between the two ends of wrist joint and body (casing) flexible cable 7.
Make contact and the off-line of aerial cable inspection robot robotic arm are answering by walking mechanism 1 and one group of articulations digitorum manus 2
Close what structure design was realized：
Fig. 3 to Fig. 5 shows the composite construction of a kind of conventional walking mechanism and articulations digitorum manus：Include a helical axis
21st, motor 22 is made contact and one is held line motor 23 for one；Described motor of making contact is fixed in walking mechanism 1；The helical axis
21 one end is fixed on the output revolving shaft for motor 22 of making contact, and is realized and made contact with cable with the Double-directional rotary with motor of making contact
And off-line；And the termination of the side of helical axis 21 is fixed by the output revolving shaft for holding line motor 23 of reducing gear 24 and suspension and connected
Connect, to realize the rotation of helical axis with the rotation for holding line motor 23.The position for holding line motor 23 can be with the swing of helical axis
Displacement, and helical axis can realize rotation with the rotation for the output revolving shaft for holding line motor 23.It can be realized using the composite construction
The quick motion of making contact of walking mechanism, as shown in Figure 3：Across when completing, when the walking mechanism of robotic arm reaches cable height, grab
Line motor 22 rotates, and drives helical axis 21 to be rotated with the axis of parallel cable 11, completes motion of making contact；When helical axis 21 is touched
During cable 11, hold line motor 23 and rotate, the axis for driving helical axis 21 to hold line motor 23 rotates.Carried on helical axis 21
Screw thread drives the parallel motion of cable 11, when reaching the underface of road wheel, grabs line motor 22 and reversely rotates 90 degree, is made by gravity
With road wheel is ridden on cable；Make contact completion (as shown in Figure 5).Off-line, off-line working flow can be realized using articulations digitorum manus
90 degree are rotated forward on the contrary, grabbing line motor 22 with workflow of making contact, line motor 23 is held and inverts, departs from the upright projection of road wheel
Qu Shi, grabs line motor 22 and reversely rotates 90 degree, completes off-line action.
Fig. 6 to Figure 10 shows the composite construction of another preferably walking mechanism and articulations digitorum manus：Machine with " U " formula
Frame 3 '；Walking mechanism is connected by a moving fulcrum on the top of the side of the frame 3 ' vertical frame, the walking mechanism has a frame
Road wheel 9 ' and transmission turbine are arranged with frame 8 ' (including a housing and central shaft, referring to Fig. 8), the central shaft of the framework 8 '
10’；A sensitive bar 1 ', the drive link 2 ' of a circular arc and one are installed on the top of the side vertical frame can touch walking mechanism action
Trigger mechanism；One end of the sensitive bar 1 ' is flexibly connected with the fulcrum in the frame vertical frame and around the fulcrum；Institute
The drive link 2 ' stated is connected by the fulcrum 4 ' of an activity with the vertical frame of the side, and one end of the drive link is against under sensitive bar 1 '
End, the other end can touch trigger mechanism when rotating.Described trigger mechanism includes the lock of a lockable walking mechanism
6 ', the lock 6 ' is implemented to loosen, is implemented to tense by back-moving spring 17 ' by frizzen 5 '；One is installed on the framework of walking mechanism
Drive block 23 ', when trigger mechanism is triggered, frizzen can prop up the drive block so that it is walked downwards.In the drive link
Back-moving spring 16 ' is connected between the vertical frame of middle part and the frame frame；Being provided with the top of the side vertical frame is used to limit vehicle with walking machine
The limiting card 7 ' of structure.Movable motor 11 ', reductor are sequentially arranged with the top of the opposite side vertical frame of the frame 3 '
Structure 12 ' and output turbine 13 ', described movable motor 11 ' are connected by reducing gear 12 ' with output turbine 13 ', perpendicular in the side
The electrical apparatus release 15 ' that a top carries bayonet socket is also installed simultaneously in the top of frame.When the framework 8 ' of the frame side is by opposite side
When the top of electrical apparatus release 15 ' bayonet socket in vertical frame is engaged, described transmission turbine can realize mutual toe joint with output turbine.
Shown in Figure 10, described electrical apparatus release includes the corresponding assistant support 20 ' of a pair of main vertical poles 24 ' and a pair of positions,
The top of each main vertical pole 24 ' constitutes electrical apparatus release top between carrying the top of the dop and assistant support 20 ' at the top of dop, the main vertical pole
Bayonet socket；Support spring 21 ' is connected between each main vertical pole and corresponding assistant support, provided with a dropout on main vertical pole
Device fulcrum 19 '；The electrical apparatus release is also equipped with an off-line motor 14 ' and an eccentric cam 22 ', and described eccentric cam is arranged
On the output shaft of off-line motor, the rotation of the eccentric cam can promote electrical apparatus release to rotate counterclockwise.
The effect of described sensitive bar 1 ' is the electricity when the mechanism is lifted to the height that can catch cable 18 ' by robot
Cable 18 ' contacts sensitive bar 1 ', and this sensitive bar is moved downward, and touches drive link 2 ', and drive link 2 ' then touches further around fulcrum
Frizzen 5 '.Frizzen 5 ' loosens lock 6 ' and makes whole walking mechanism descending.By the effect of the thrust of drive link 2 ' and gravity, OK
Walk mechanism and strut electrical apparatus release 15 ', subsequent electrical apparatus release locks walking mechanism, output turbine 13 ' now is with being driven turbine 10 ' just
In contact, power is sent to road wheel 9 ', corresponding motion of making contact is completed.
When needing off-line, off-line motor 14 ' is rotated, and eccentric cam 22 ' is rotated, and eccentric cam 22 promotes the master of electrical apparatus release
Vertical pole 24 ' is rotated counterclockwise so that the top bayonet socket of electrical apparatus release loosens the occlusion to framework 8 '.Entirely off-line device is taken with respect to cable
18 ' move down.The relative uplink of cable 18 ', drives walking mechanism to move up, stop motion when above moving to limiting card 7 ', now
Lock 6 ' is also tightened up the tension of spring 17 ', has clasped walking mechanism, sensitive bar 2 replys original in the presence of back-moving spring 16 '
Position, waits work of making contact next time.
When robot normally walks, the driving road wheel 9 ' of movable motor 11 ' is advanced on the line；When running into barrier, this
The off-line device of making contact of invention aerial cable inspection robot make road wheel 9 ' can quickly off-line, adjustment machine arm type, grab again
The action such as hold, make contact, the mechanism plays key changing centre of body weight and broken the barriers by the use of own wt as energy
Effect.
During robot obstacle detouring, two kinds of above-mentioned walking mechanisms and the composite construction of articulations digitorum manus can realize walking
The quick of mechanism is made contact and off-line；Also for robot overturning, when swinging the motion of obstacle-overpass thing, reduce and damage in action potential conversion
Consumption provides technical guarantee.
During robot obstacle detouring, described shoulder joint 6, elbow joint 5, wrist joint 4 are used for the posture for adjusting robotic arm, and
Position the road wheel of walking mechanism and the locations of structures of machine human organism；The exemplified four housing constructions positions of Figure 11 to Figure 14
Action specification when putting：
As shown in figure 11, be body Right deviation action specification (this structure by taking right robotic arm as an example, left robotic arm action signal
Conversely), two Rolling motors be separately mounted to robot the shoulder of left and right two (structure is subordinate to be defined by the installation site of fixed pulley,
I.e. fixed pulley is mounted in right machine wrist wrist joint, and this covering device is exactly right robotic structure part).Flexible cable 7 around fixed pulley 4 to
Few one week (purpose increase frictional force), is tied up on the outer shaft of two Rolling motors 61,81 such as figure respectively.Right hand roller motor 61 is such as
The direction of arrow is rotated, and flexible cable 7 draws (reference point P1 thereon is moved in the direction of arrows) by the Rolling motor 61, and fixed pulley is with soft
Rope lead is rotated, and left hand roller motor 81 is static can not to put rope, and left hand roller motor draws lower band in right hand roller motor
Dynamic shoulder basic point is acted together, is formed using fixed pulley as center of circle unitary rotation, is caused body Right deviation.
As shown in figure 12, it is that the left-leaning action of body is illustrated, body is left-leaning opposite with the action of body Right deviation.
As shown in figure 13, it is that body rises, the action of elbow arm bending is illustrated：In order to improve the potential energy of robot, it is necessary to will
The particle (barycenter) of robot improves relative altitude, is exactly now to allow two Rolling motors such as figure direction to rotate.With two rollings
The rotation of cylinder motor, flexible cable is enclosed on roller, and the position of two Rolling motors and fixed pulley is shortened.Drawing of the elbow arm in flexible cable 7
In the presence of power, bend, body rises.
As shown in figure 14, it is that the action that elbow arm is stretched, body is descending is illustrated：This action illustrates phase with Figure 12 illustrated acts
Instead, it is not repeated.
Because there is fixed pulley in wrist joint, and ancon joint uses back-moving spring, when two Rolling motors do not apply restraining force
When, robotic arm unbending movement is rotated close to shoulder joint pine.
During robot obstacle detouring, described horizontal rotation joint 3 is used for the posture for adjusting the road wheel of walking mechanism 1,
Barrier can be got around.
During robot obstacle detouring, flexible cable 7 is mainly used in bearing the weight of robot, and adjusting its length can reach
Adjust the centroid position of robot and the figure of adjustment robot.
It was length (including the flexible cable 7 and reversely for adjusting flexible cable on two robotic arms that this aerial cable inspection robot is logical
Flexible cable 71) and the coordinated movement of various economic factors in each joint realize the obstacle crossing function of robot.
When obstacle length size is smaller, such as barrier is single overhanging golden tool, aerial cable line walking machine of the present invention
People can use sideswinging type obstacle detouring, and this mode obstacle detouring is apart from relatively small, but obstacle detouring speed, obstacle detouring process as shown in figure 15,
In figure：
1) first, stop moving ahead when aerial cable inspection robot of the present invention runs into barrier, referring to Figure 15 (A), this
When, the equal stress of flexible cable that (shoulder joint) is connected between two wrist joints and body two-end-point；
2) Rolling motor (the first Rolling motor 61 and second tin roller motor 81) controlled rotation, robot in two shoulder joint
The elbow joint bending of preceding robotic arm, robot barycenter is moved up, referring to Figure 15 (B), be below robotic arm make contact height prepare, after
Face robotic arm off-line.Now, the flexible cable stress of previous machine arm；The flexible cable of robotic arm is loosened below；
3) the horizontal rotation joint of previous machine arm leans to one side to rotate, when the road wheel of the walking mechanism end of robotic arm below
When clearing the jumps below arrival cable, behind robotic arm stretch out, its articulations digitorum manus completes to make contact action, referring to Figure 15 (C)；This
When, forearm flexible cable stress；Postbrachium flexible cable is loosened.
4) joint of arm horizontal rotation below leans to one side to rotate, when current machine arm end road wheel is reached below cable, before
Robotic arm stretches out, and its articulations digitorum manus completes action of making contact, referring to Figure 15 (D)；Now, the flexible cable stress of robotic arm behind；Above machine
The flexible cable of device arm is loosened, robot reduction original state, completes obstacle detouring process.
When obstacle length size is when larger, such as barrier is double overhanging golden tools, aerial cable line walking machine of the present invention
Device people can be using swinging more formula obstacle detouring mode, and this mode obstacle detouring is in larger distance, and speed also controls taking for two robotic arms quickly, simply
Line and off-line time necessarily coordinate and (completed by control system, this can be that prior art is realized, not repeat herein).Frame of the present invention
The obstacle detouring process of empty cable inspection robot is as shown in figure 16：
A) in Figure 16 (E), to swing more preceding SBR, the aerial cable inspection robot runs into barrier stopping first
Move ahead；
B) in Figure 16 (F), rear machine brachiocylloosis save up strength can, preceding robotic arm unfolds (equivalent to the radius swung more), specific dynamic
As the elbow arm bending of robotic arm behind aerial cable inspection robot, the elbow arm of previous machine arm unfolds gradually straight, makes robot
Barycenter upwards, be moved back by；
C) Figure 16 (G) is swings robotic arm off-line behind more link, aerial cable inspection robot, and then forearm is horizontally rotated
Joint rotates, behind robotic arm do the center of circle with the road wheel of above robotic arm and rotate forward and swing more, until walking mechanism end below
Road wheel is held to reach when the lower section of barrier cable, rear robotic arm stretches out, its articulations digitorum manus completes action of making contact；
D) Figure 16 (H) for lean to one side rotation adjustment direction of advance, now, behind robotic arm horizontal rotation joint rotation, before
Robotic arm off-line and rotation adjustment direction of advance of leaning to one side, until when reaching below across barrier cable, preceding robotic arm stretches out, its
Articulations digitorum manus completes action of making contact.
As seen from Figure 16, to swing more formula obstacle detouring similar with sideswinging type obstacle detouring elemental motion for robot, but warming-up exercise is not
Together, the main distinction is that sideswinging type obstacle detouring mode robot is preceding brachiocylloosis and makees axis of rotation, postbrachium do off-line, make contact it is dynamic
Make.And it is machine brachiocylloosis below to swing more formula barrier-surpassing robot, the road wheel of previous machine arm walking mechanism does the center of circle, forearm and
Body is radius, does movement in a curve, meanwhile, forearm horizontal rotation joint or axis of rotation.
The above-mentioned more formula obstacle detouring that swings is contrasted with the rotary obstacle detouring of document [1], by 7 simple motions of decomposition, is also combined into 4
Composite move, improves the speed of obstacle detouring.
Especially when robot quality is excessive, the present invention can more highlight its superiority, and there is being inclination angle in original robot
It is even more that can not complete to pluck off-line function on the cable of degree, because equivalent to lifting a very heavy thing during original robot off-line
Body, and the strength that cable is pressed downward by object can be lifted up when reducing automatically so that change in location less, is caused between the two
Off-line is difficult.And the robot with robotic arm of the present invention takes off-line mechanism using special, when completing off-line action, off-line
Motor discharges cable suddenly, and whole robot is declined suddenly by the effect of gravity, and cable is not by the downward pulling force of robotic arm,
Rapid under tension to rise, separation between the two can be rapider.
In above-mentioned every motion, the start and stop of described each motor are controlled by electric-control system, and the control technology is existing
Technology can be realized, not repeated herein.
The various embodiments described above can be subject to some changes without departing from the scope of the invention, therefore the explanation of the above is included and answered
Be considered as it is exemplary, and be not used to limit the present patent application patent protection domain.
Claims (6)
1. a kind of aerial cable inspection robot swings more formula robotic arm, the aerial cable inspection robot is by body and control
System composition, described body at least includes a body, a pair of walking mechanisms, a pair of articulations digitorum manus groups and a pair of robotic arms, each row
Mechanism is walked on the robotic arm of respective side and is connected with the articulations digitorum manus group of the respective side；
A pair of described robotic arms are separately mounted in the two ends of body, each robotic arm include a horizontal rotation joint, a wrist
Joint, an elbow arm and a shoulder joint with elbow joint, wherein, described shoulder joint is located at the end points of body；
Flexible cable is connected between the wrist joint and body two-end-point of each robotic arm；It is fixed sliding provided with one in each wrist joint
Wheel, provided with two Rolling motors at each shoulder joint；It is connected between the wrist joint and body two-end-point of each robotic arm
Flexible cable is the rope of one whole, and the rope one end is fixed and is around on the Rolling motor at body end point shoulder joint, middle
Bypassed via the fixed pulley of wrist joint, the other end is fixed and is around on the Rolling motor at another end points shoulder joint of body；
It is characterized in that：
At least include a road wheel in described walking mechanism；Each articulations digitorum manus group is by being symmetrically distributed in road wheel two
One articulations digitorum manus of side is constituted, include in each articulations digitorum manus a helical axis, one make contact motor and one is held line motor；Institute
The motor of making contact stated is fixed in walking mechanism；One end of the helical axis is fixed on the output revolving shaft for motor of making contact, with
Make contact motor Double-directional rotary and realize and make contact and off-line with cable；And the termination of the helical axis side with suspension hold line electricity
The output revolving shaft of machine is fixedly connected, to realize the rotation of helical axis with the rotation for holding line motor；
Described articulations digitorum manus group is integrated into the off-line device of making contact of a combined type with the walking mechanism being connected, the off-line utensil of making contact
Have：
The frame of one " U " formula；
Walking mechanism is connected by a moving fulcrum on the top of the frame side vertical frame, the walking mechanism has a framework,
Road wheel and transmission turbine are arranged with the framework；A sensitive bar, the transmission of a circular arc are installed on the top of the side vertical frame
Bar and one can touch the trigger mechanism of walking mechanism action；One end of the sensitive bar and the fulcrum activity in the frame vertical frame
Connect and around the fulcrum；Described drive link is connected by a moving fulcrum with the vertical frame of the side, one end of the drive link
The lower end of sensitive bar is against, the other end can touch trigger mechanism when rotating, between the vertical frame of the middle part of the drive link and frame
It is connected with back-moving spring；The limiting card for being used for limiting walking mechanism is provided with the top of the side vertical frame；
Movable motor, reducing gear and output turbine, institute are sequentially arranged with the top of the frame opposite side vertical frame
The movable motor stated is connected by reducing gear with output turbine, and also installing a top simultaneously at the top of the side vertical frame carries
The electrical apparatus release of bayonet socket；
When the framework of the frame side is engaged by the electrical apparatus release top bayonet socket in opposite side vertical frame, described transmission turbine with
Export the mutual toe joint of turbine.
2. aerial cable inspection robot as claimed in claim 1 swings more formula robotic arm, it is characterised in that：It is described via wrist
The rope that joint fixed pulley is bypassed at least winds a circle on fixed pulley.
3. aerial cable inspection robot as claimed in claim 1 swings more formula robotic arm, it is characterised in that：Described triggering
Mechanism includes the lock of a lockable walking mechanism, and the lock is implemented to loosen, implemented to tense by back-moving spring by frizzen；
A drive block is installed on the framework of walking mechanism, the position that the drive block is installed is so that frizzen when it can be triggered is propped up
Drive the framework of walking mechanism descending together downwards.
4. aerial cable inspection robot as claimed in claim 1 swings more formula robotic arm, it is characterised in that：Described dropout
Device includes the corresponding assistant support of a pair of main vertical poles and a pair of positions, and the top of each main vertical pole is carried at the top of dop, the main vertical pole
The bayonet socket on electrical apparatus release top is constituted between the top of dop and assistant support；It is connected between each main vertical pole and corresponding assistant support
Support spring, provided with an electrical apparatus release fulcrum on main vertical pole；The electrical apparatus release is also equipped with an off-line motor and a bias
Cam, described eccentric cam is set on the output shaft of off-line motor, and the rotation of the eccentric cam can promote electrical apparatus release to carry
The main vertical pole of dop is rotated counterclockwise.
5. a kind of obstacle-detouring method of aerial cable inspection robot, the aerial cable inspection robot has in Claims 1-4
More formula robotic arm is swung described in any；It is characterized in that：When running into barrier, using sideswinging type or more formula obstacle detouring is swung；Its
In,
Described sideswinging type obstacle-detouring method is as follows：
The aerial cable inspection robot runs into barrier and stops moving ahead first；
Rolling motor at two robotic arm shoulder joint is rotated respectively, the elbow arm bending of robotic arm, the matter of robot before robot
Move in the heart；
Robotic arm off-line afterwards；The horizontal rotation joint of preceding robotic arm lean to one side rotate, drive off-line rear robotic arm using it in
The heart rotates forward leap, when the road wheel of the walking mechanism above rear robotic arm is reached across the cable lower section of barrier,
The corresponding articulations digitorum manus of the rear robotic arm is stretched out, and completion is made contact action；
Therewith, preceding robotic arm off-line；The horizontal rotation joint of robotic arm leans to one side to rotate afterwards, drives the preceding robotic arm of off-line with it
Centered on rotation is crossed over forward again, the walking mechanism road wheel above current machine arm is approached or arrived at across barrier
When below cable, the corresponding articulations digitorum manus of the preceding robotic arm stretches out completion and made contact action；
Aerial cable inspection robot reduces original state, completes obstacle detouring process；
It is described that to swing more formula obstacle-detouring method as follows：
The aerial cable inspection robot runs into barrier and stops moving ahead first；
The elbow arm bending of robotic arm after aerial cable inspection robot, the elbow arm of preceding robotic arm unfolds gradually straight, makes the matter of robot
The heart is upward, be moved back by；
Robotic arm off-line after aerial cable inspection robot, then preceding robotic arm horizontal rotation joint rotation, rear robotic arm with
The front end road wheel of walking mechanism above preceding robotic arm is that 180 degree rotate and does to swing and more moves forward in the center of circle, up to rear machine
When the road wheel across obstacle of walking mechanism approaches or arrives at the height of cable on arm, corresponding articulations digitorum manus stretches out and completes to take
Line is acted；
Now, the horizontal rotation joint rotation of rear robotic arm, preceding robotic arm off-line and rotation of leaning to one side, adjust direction of advance, until
When reaching below across barrier cable, the corresponding articulations digitorum manus of preceding robotic arm stretches out and completes action of making contact；
Aerial cable inspection robot reduces original state, completes obstacle detouring process；
Wherein,
In the sideswinging type and swing more formula obstacle-detouring method：
The specific method made contact is:Motor rotation of making contact on robot articulations digitorum manus, drives its helical axis to be flapped toward cable,
When helical axis touches cable, the rotation of line electric motor starting is held, drives the screw thread on helical axis rotation, helical axis to drive cable to put down
Row motion, when cable is reached immediately below the road wheel of walking mechanism, the motor of making contact of articulations digitorum manus reversely rotates 90 degree, by gravity
Effect, the road wheel of walking mechanism is ridden on cable；
The specific method of the off-line is:Motor of making contact on robot articulations digitorum manus rotates forward 90 degree, holds line motor reversal, takes off
During from walking mechanism front end or the upright projection area of the road wheel of rear end, motor of making contact reversely rotates 90 degree, completes off-line action.
6. a kind of obstacle-detouring method of aerial cable inspection robot, the aerial cable inspection robot has institute in claim 1
That states swings more formula robotic arm；It is characterized in that：When running into barrier, using sideswinging type or more formula obstacle detouring is swung；Wherein,
Described sideswinging type obstacle-detouring method is as follows：
The aerial cable inspection robot runs into barrier and stops moving ahead first；
Rolling motor at two robotic arm shoulder joint is rotated respectively, the elbow arm bending of robotic arm, the matter of robot before robot
Move in the heart；
Robotic arm off-line afterwards；The horizontal rotation joint of preceding robotic arm lean to one side rotate, drive off-line rear robotic arm using it in
The heart rotates forward leap, when the road wheel of the walking mechanism above rear robotic arm is reached across the cable lower section of barrier,
The corresponding articulations digitorum manus of the rear robotic arm is stretched out, and completion is made contact action；
Therewith, preceding robotic arm off-line；The horizontal rotation joint of robotic arm leans to one side to rotate afterwards, drives the preceding robotic arm of off-line with it
Centered on rotation is crossed over forward again, the walking mechanism road wheel above current machine arm is approached or arrived at across barrier
When below cable, the corresponding articulations digitorum manus of the preceding robotic arm stretches out completion and made contact action；
Aerial cable inspection robot reduces original state, completes obstacle detouring process；
It is described that to swing more formula obstacle-detouring method as follows：
The aerial cable inspection robot runs into barrier and stops moving ahead first；
The elbow arm bending of robotic arm after aerial cable inspection robot, the elbow arm of preceding robotic arm unfolds gradually straight, makes the matter of robot
The heart is upward, be moved back by；
Robotic arm off-line after aerial cable inspection robot, then preceding robotic arm horizontal rotation joint rotation, rear robotic arm with
The front end road wheel of walking mechanism above preceding robotic arm is that 180 degree rotate and does to swing and more moves forward in the center of circle, up to rear machine
When the road wheel across obstacle of walking mechanism approaches or arrives at the height of cable on arm, corresponding articulations digitorum manus stretches out and completes to take
Line is acted；
Now, the horizontal rotation joint rotation of rear robotic arm, preceding robotic arm off-line and rotation of leaning to one side, adjust direction of advance, until
When reaching below across barrier cable, the corresponding articulations digitorum manus of preceding robotic arm stretches out and completes action of making contact；
Aerial cable inspection robot reduces original state, completes obstacle detouring process；Wherein,
Described sideswinging type is swung in more formula obstacle-detouring method, and the specific method made contact is as follows：When described off-line device of making contact
Lifted by robot to when can catch cable height, cable contacts its sensitive bar, and this sensitive bar is moved downward, touch drive link,
The drive link touches frizzen again around fulcrum, and frizzen, which loosens, to be latched and make whole walking mechanism descending；Pushed away by drive link
The effect of power and self gravitation, the walking mechanism struts the bayonet socket on electrical apparatus release, and electrical apparatus release locks walking mechanism, exports whirlpool
Wheel is contacted with transmission turbine, the power from movable motor is sent into road wheel, to complete corresponding sports；
Described sideswinging type is swung in more formula obstacle-detouring method, and the specific method of the off-line is as follows：When needing off-line, off-line electricity
Machine is rotated, and drives eccentric cam to rotate, and eccentric cam promotes the main vertical pole of electrical apparatus release to rotate counterclockwise so that electrical apparatus release top
Bayonet socket loosens the occlusion to framework；Whole off-line device of making contact is moved down with respect to cable, and cable relative uplink drives walking mechanism
Move up, the stop motion when moving to limiting card in walking mechanism, lock now is also tightened up spring straining, clasps vehicle with walking machine
Structure, sensitive bar homing in the presence of back-moving spring waits work of making contact next time.
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| CN201510650556.XA CN105292288B (en) | 2015-10-09 | 2015-10-09 | Aerial cable inspection robot swings more formula robotic arm and obstacle-detouring method |
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| CN105826862B (en) * | 2016-05-12 | 2018-03-13 | 济南舜风科技有限公司 | Engagement driving walking wheel construction, inspection robot mechanical structure and its obstacle-detouring method |
| CN106313025B (en) * | 2016-10-21 | 2019-01-15 | 国网山东省电力公司电力科学研究院 | A kind of inspection robot driving wheel is detached from the swinging arm device of conducting wire |
| CN106786170B (en) * | 2017-03-09 | 2018-05-18 | 华北电力大学（保定） | Transmission line polling robot |
| CN110752540B (en) * | 2019-10-21 | 2021-02-23 | 广西明电建设有限公司 | Cable maintenance loading device capable of crossing barrier |
| CN112083060B (en) * | 2020-09-28 | 2023-11-24 | 安科智能检测技术(北京)有限公司 | Traction bend release and traction pipeline magnetic flux leakage detector experimental device |
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