CN105429051A - Travelling and clamping combined tail end executor for inspection robot of power transmission line - Google Patents
Travelling and clamping combined tail end executor for inspection robot of power transmission line Download PDFInfo
- Publication number
- CN105429051A CN105429051A CN201510967617.5A CN201510967617A CN105429051A CN 105429051 A CN105429051 A CN 105429051A CN 201510967617 A CN201510967617 A CN 201510967617A CN 105429051 A CN105429051 A CN 105429051A
- Authority
- CN
- China
- Prior art keywords
- clamping
- cable
- road wheel
- power transmission
- inspection robot
- Prior art date
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a travelling and clamping combined tail end executor for an inspection robot of a power transmission line. The composite tail end executor comprises a split type travelling wheel assembly and a clamping jaw mechanism assembly, wherein the two assemblies are connected into a whole by a clamping jaw support; in the travelling and clamping combined tail end executor, only a travelling wheel is in contact with a cable when the robot is travelling at a straight segment; and when the robot is confronted with an obstacle, a clamping jaw at the tail end of a mechanical arm at one end tightly clamps the cable, a mechanical arm at the other end moves to the other end of the obstacle, the clamping jaw tightly clamps the cable, the clamping jaw, previously clamping the cable, at the tail end of the mechanism arm loosens the cable, and the mechanical arm is moved to the other end of the obstacle. In the travelling and clamping combined tail end executor, a tire is much more convenient to replace due to the design of a travelling wheel tire, the problem that a steel wire rope of a steel wire rope transmission type clamping jaw mechanism is easy to be broken due to the design of the clamping jaw mechanism is prevented, and thus, the safety is improved.
Description
Technical field
The present invention relates to a kind of walking and clamping compound end effector, especially a kind of for power transmission line inspection robot ambulation and clamping compound end effector.
Background technology
Aerial high-voltage power transmission line inspection robot is a kind of mobile robot patrolled and examined transmission line.Road wheel is the necessary end of inspection robot, and by ground-engaging wheel, robot can advance along circuit thus patrol and examine by way of circuit.Owing to transmission line there being the barrier such as stockbridge damper, suspension clamp, road wheel can not directly pass through, therefore usually jaw and road wheel need with the use of.What current inspection robot end road wheel generally adopted is integral structure, and the road wheel tire of this structure adopts glue to be bonded on steel road wheel, and tire is once wearing and tearing, and changing can be very complicated, and whole road wheel all will be changed even.The steel wire tow line flexible structure that clip claw mechanism adopts now, in use, steel wire rope easily ruptures thus causes clip claw mechanism to lose efficacy, and this is very unsafe.
Summary of the invention
The present invention mainly solves the complicated and clip claw mechanism of road wheel tire changing existing for prior art and easily lost efficacy and cause unsafe problem; Propose a kind of compound end effector for aerial high-voltage power transmission line travelling robot walking and clamping.
Above-mentioned technical problem of the present invention is mainly solved by following technical proposals:
A kind of walking and clamping compound end effector, is characterized in that, comprise a split type road wheel assembly and a clip claw mechanism assembly; Described road wheel assembly is comprised the coaxial live axle, the wheel hub that are connected by rolling bearing and is threaded connection the roller rib at the tire two ends be fixed on wheel hub and is fastened on the tire in the middle of two roller ribs by pin, is arranged on the road wheel motor of live axle inside, the motor cover of sealed electric-motor, the interior coupling coordinated with motor output shaft, the outer coupling coordinated with interior coupling, the driving-disc that coordinates with outer coupling; Described driving-disc and wheel hub are threaded connection, and when motor shaft rotates, drive the driving-disc coordinated with coupling, whole wheel hub and road wheel also and then rotate; Described clip claw mechanism assembly comprises a jaw support affixed with live axle, be arranged on motor and the clamping motor gear be connected with motor output shaft, the clamping screw gear be engaged with of jaw internal stent, support the clamping screw mandrel fixing to clamp screw gear, the rack nut, the jaw that coordinates with rack nut that coordinate with clamping screw mandrel, in order to seal the gear cap of whole clip claw mechanism assembly, line case lid and motor case lid.
At the walking of above-mentioned one and clamping compound end effector, there is certain interval between interior coupling and outer coupling, can be used for regulating driving-disc and motor shaft out-of-alignment problem.
At the walking of above-mentioned one and clamping compound end effector, described clamping screw mandrel, one end is used for fixed support clamping screw gear, and the other end is external screw thread, coordinates with rack nut; Described rack nut profile is spline-simulating, and embedded SMA actuators has internal thread for coordinating with clamping screw mandrel, when clamping screw mandrel and rotating, rack nut just can be driven to move left and right.
At the walking of above-mentioned one and clamping compound end effector, described jaw, one end is gear-like, engages with rack nut, and the other end is paw shape, and when tooth bar moves, jaw will rotate, thus unclamps or firmly grasp power transmission cable.
A working method for walking and clamping compound end effector, is characterized in that, comprising:
Straight line moving: when robot walks at straightway, jaw unclamps cable, a road wheel and cable contact, the electric machine rotation be arranged in live axle drives road wheel to roll on cable, thus inspection robot advances along cable;
Across obstacle: when inspection robot runs into barrier, the mechanical arm tail end jaw clamping cable of one end, other end mechanical arm moves to the other end of barrier, then jaw clamping cable, then before, the mechanical arm tail end jaw of clamping cable unclamps cable, mobile mechanical arm is to the barrier other end, and such robot spans barrier with regard to whole;
Road wheel is changed: when road wheel walking certain distance, tire has wearing and tearing, but other part of road wheel can continue to use, and therefore only needs re-type.The process of re-type is as follows: remove the screw connecting roller rib and wheel hub, take off roller rib and tire, the tire more renewed, be finally fixed on wheel hub by the roller rib pulled down.
Therefore, tool of the present invention has the following advantages: compared with integral type wheeled construction, and the Objective that split type road wheel structure is changed is stronger, and tire changing is convenient; Clip claw mechanism adopts positive drive can avoid the problem of wire rope gearing formula clip claw mechanism steel wire rope easy fracture, adds fail safe.
Accompanying drawing explanation
Fig. 1 is a kind of three-dimensional structure diagram of power transmission line inspection robot ambulation of the present invention and clamping compound end effector.
Fig. 2 is the road wheel assemble cross-section in the present invention.
Fig. 3 is the three-dimensional structure diagram after jaw support removed by walking described in the present invention and clamping compound end effector.
Fig. 4 is power transmission line inspection robot ambulation of the present invention and clamping compound end effector location drawing in power transmission line inspection robot.
Embodiment
Below by embodiment, and by reference to the accompanying drawings, technical scheme of the present invention is described in further detail.In figure, jaw 1, motor case lid 2, driving-disc 3, tire 4, roller rib 5, live axle 6, motor cover 7, jaw support 8, gear cap 9, encoder 10, road wheel motor 11, wheel hub 12, interior coupling 13, outer coupling 14, rolling bearing 15, rack nut 16, clamping motor 17, clamping screw mandrel 18, reasoning ball bearing 19, clamping motor gear 20, clamping screw gear, line case lid 22, bearing cap 23, barrier 24, cable 25, mechanical arm 26, jaw 27, mechanical arm 28, jaw 29, road wheel 30, road wheel 31.
Embodiment:
1. first introduce mechanical mechanism of the present invention: as shown in Figure 2, one walking involved in the present invention and clamping compound end effector, comprise a split type road wheel assembly and a clip claw mechanism assembly; Two assemblies are linked to be an entirety by jaw support 8.As shown in Figure 2 and Figure 3, road wheel assembly is comprised the coaxial live axle 6, the wheel hub 12 that are connected by rolling bearing 15 and is threaded connection the roller rib 5 at tire 4 two ends be fixed on wheel hub 12 and is fastened on the tire 4 in the middle of two roller ribs 5 by pin, is arranged on the road wheel motor 11 of live axle 6 inside, the motor cover 7 of sealed electric-motor 11, the interior coupling 13 coordinated with motor 11 output shaft, the outer coupling 14 coordinated with interior coupling 13, the driving-disc 3 that coordinates with outer coupling 14; Described driving-disc 3 is threaded connection with wheel hub 12, and when motor shaft rotates, drive the driving-disc 3 coordinated with outer coupling 14, whole wheel hub 12 and road wheel also and then rotate; As shown in Fig. 2 and Fig. 4, described clip claw mechanism assembly comprises a jaw support 8 affixed with live axle 6, be arranged on clamping motor 17 and the clamping motor gear 20 be connected with motor 17 output shaft, the clamping screw gear 21 be engaged with of jaw support 8 inside, support the clamping screw mandrel 18 fixing to clamp screw gear 21, the rack nut 16, the jaw 1 that coordinates with rack nut 16 that coordinate with clamping screw mandrel 18, in order to seal the gear cap 9 of whole clip claw mechanism assembly, line case lid 22 and motor case lid 2.
Wherein, between interior coupling 13 and outer coupling 14, there is certain interval, can be used for regulating driving-disc 3 and road wheel motor 11 output shaft out-of-alignment problem.
Clamping screw mandrel 18 described in the present invention, one end is used for fixed support clamping screw gear 21, and the other end is external screw thread, coordinates with rack nut 16; Described rack nut 16 profile is spline-simulating, and embedded SMA actuators has internal thread for coordinating with clamping screw mandrel 18, when clamping screw mandrel 18 and rotating, rack nut 16 just can be driven to move left and right.
Jaw 1 described in the present invention, one end is gear-like, engages with rack nut 16, and the other end is paw shape, and when rack nut 16 moves, jaw 1 will rotate, thus unclamps or firmly grasp power transmission cable 25.
2. introduce the working condition of a kind of walking of the present invention and clamping compound end effector below.
When robot walks at straightway, jaw 27,29 unclamps cable 25, road wheel 30,31 contacts with cable 25, and the road wheel motor 11 be arranged in live axle 6 rotates and drives road wheel 30,31 to roll on cable 25, thus inspection robot advances along cable 25; When inspection robot runs into barrier 24, the mechanical arm 26 end jaw 27 of one end clamps cable 25, other end mechanical arm 28 moves to the other end of barrier 24, then the jaw 29 of mechanical arm 28 clamps cable 25, then before, the jaw 27 of mechanical arm 26 end of clamping cable 25 unclamps cable 25, mobile mechanical arm 26 is to barrier 24 other end, and such robot spans barrier 24 with regard to whole;
3. introduce the substitute mode of road wheel in a kind of walking of the present invention and clamping compound end effector below.
When road wheel 30,31 walking certain distance, tire 4 has wearing and tearing, but other part of road wheel 30,31 can continue to use, and therefore only needs re-type 4.The process of re-type 4 is as follows: remove and connect roller rib 5 and the screw of wheel hub 12, take off roller rib 5 and tire 4, the tire 4 more renewed, be finally fixed by screws on wheel hub 12 by the roller rib 5 pulled down.
Although more employ jaw 1 herein, motor case lid 2, driving-disc 3, tire 4, roller rib 5, live axle 6, motor cover 7, jaw support 8, gear cap 9, encoder 10, road wheel motor 11, wheel hub 12, interior coupling 13, outer coupling 14, rolling bearing 15, rack nut 16, clamping motor 17, clamping screw mandrel 18, reasoning ball bearing 19, clamping motor gear 20, clamping screw gear, line case lid 22, bearing cap 23, barrier 24, cable 25, mechanical arm 26, jaw 27, mechanical arm 28, jaw 29, road wheel 30, term such as road wheel 31 grade, but do not get rid of the possibility using other term.These terms are used to be only used to describe and explain essence of the present invention more easily; The restriction that they are construed to any one additional is all contrary with spirit of the present invention.
Claims (9)
1., for power transmission line inspection robot ambulation and a clamping compound end effector, it is characterized in that, comprise a split type road wheel assembly and a clip claw mechanism assembly.
2. one according to claim 1 is used for power transmission line inspection robot ambulation and clamping compound end effector, it is characterized in that, a described split type road wheel assembly comprises the coaxial live axle (6) connected by rolling bearing (15), wheel hub (12) and be threaded connection tire (4) two ends be fixed on wheel hub (12) roller rib (5) and by pin be fastened on two rollers gear (5) limits in the middle of tire (4), be arranged on the road wheel motor (11) that live axle (6) is inner, the motor cover (7) of sealed electric-motor, coupling (13) in coordinating with motor output shaft, the outer coupling (14) coordinated with interior coupling (13), the driving-disc (3) coordinated is saved with outer shaft coupling (14).
3. one according to claim 2 is used for power transmission line inspection robot ambulation and clamping compound end effector, it is characterized in that, described driving-disc (3) and wheel hub (12) are threaded connection, when road wheel motor (11) rotates, drive the driving-disc (3) coordinated with outer coupling (14), whole wheel hub (12) and road wheel (30,31) also and then rotate.
4. one according to claim 2 is used for power transmission line inspection robot ambulation and clamping compound end effector, it is characterized in that, there is certain interval between interior coupling (13) and outer coupling (14), can be used for regulating driving-disc (3) and road wheel motor (11) out-of-alignment problem.
5. one according to claim 1 is used for power transmission line inspection robot ambulation and clamping compound end effector, it is characterized in that, a described clip claw mechanism assembly comprises a jaw support (8) affixed with live axle (6), the clamping motor gear (20) being arranged on the inner clamping motor (17) of jaw support (8) and being connected with motor output shaft, the clamping screw gear (21) be engaged with, support fixes to clamp the clamping screw mandrel (18) of screw gear (21), the rack nut (16) coordinated with clamping screw mandrel (18), the jaw (1) coordinated with rack nut (16), in order to seal the gear cap (9) of whole clip claw mechanism assembly, line case lid (22) and motor case lid (2).
6. one according to claim 5 is used for power transmission line inspection robot ambulation and clamping compound end effector, it is characterized in that, described clamping screw mandrel (18), one end is used for fixed support clamping screw gear (21), the other end is external screw thread, coordinate with rack nut (16), described rack nut (16) profile is spline-simulating, embedded SMA actuators has internal thread for coordinating with clamping screw mandrel (18), when clamping screw mandrel (18) and rotating, rack nut (16) just can be driven to move left and right.
7. be used for power transmission line inspection robot ambulation and clamping compound end effector according to one according to claim 5, it is characterized in that, described jaw (1), one end is gear-like, engage with rack nut (16), the other end is paw shape, when tooth bar moves, jaw (1) will rotate, thus unclamps or firmly grasp power transmission cable (25).
8., according to according to claim 1 a kind of for power transmission line inspection robot ambulation and the working method clamping compound end effector, it is characterized in that, comprising:
During straight line moving, when robot walks at straightway, jaw (27, 29) cable (25) is unclamped, road wheel (30, 31) contact with cable (25), the road wheel motor (11) be arranged in live axle (6) rotates and drives road wheel (30, 31) in the upper rolling of cable (25), thus inspection robot advances along cable (25), time across obstacle (24), when inspection robot runs into barrier (24), mechanical arm (26) the end jaw (27) clamping cable (25) of one end, other end mechanical arm (28) moves to the other end of barrier (25), then the jaw (29) clamping cable (25) of mechanical arm (28), then mechanical arm (26) the end jaw (27) clamping cable (25) before unclamps cable (25), mobile mechanical arm (26) is to barrier (24) other end, such robot spans barrier (24) with regard to whole.
9. according to a kind of replacing for road wheel in power transmission line inspection robot ambulation and clamping compound end effector according to claim 1, it is characterized in that: when road wheel (30, 31) walking certain distance, tire (4) has wearing and tearing, but other part of road wheel can continue to use, therefore re-type (4) is only needed, the process of re-type (4) is as follows: remove the screw connecting roller rib (5) and wheel hub (12), take off roller rib (5) and tire (4), the tire (4) more renewed, finally the roller rib (5) pulled down is fixed on wheel hub (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510967617.5A CN105429051A (en) | 2015-12-22 | 2015-12-22 | Travelling and clamping combined tail end executor for inspection robot of power transmission line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510967617.5A CN105429051A (en) | 2015-12-22 | 2015-12-22 | Travelling and clamping combined tail end executor for inspection robot of power transmission line |
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| CN105429051A true CN105429051A (en) | 2016-03-23 |
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| CN201510967617.5A Pending CN105429051A (en) | 2015-12-22 | 2015-12-22 | Travelling and clamping combined tail end executor for inspection robot of power transmission line |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106246474A (en) * | 2016-10-21 | 2016-12-21 | 成都世唯科技有限公司 | A kind of blade docking adjusting means |
| CN106532563A (en) * | 2016-12-13 | 2017-03-22 | 马鞍山市华能电力线路器材有限责任公司 | Overhead support mechanism convenient to replace fittings |
| CN106786174A (en) * | 2016-12-13 | 2017-05-31 | 马鞍山市华能电力线路器材有限责任公司 | A kind of optical cable for clamping wire in conveying circuit clamps hardware fitting structure |
| CN107492833A (en) * | 2017-09-15 | 2017-12-19 | 广东科凯达智能机器人有限公司 | A kind of rescue end equipment for hot line robot |
| CN108462102A (en) * | 2018-03-15 | 2018-08-28 | 长沙理工大学 | A kind of hot line maintenance robot anti-dropping apparatus |
| CN108565776A (en) * | 2018-05-15 | 2018-09-21 | 国家电网公司 | A kind of suspension clamp replacement tool |
| CN108649480A (en) * | 2018-04-12 | 2018-10-12 | 广州供电局有限公司 | Crusing robot, traveling wheel and its manufacturing method |
| CN109659862A (en) * | 2019-02-28 | 2019-04-19 | 西南交通大学 | A kind of armful line running gear of ultra-high-tension power transmission line inspection robot |
| CN110405792A (en) * | 2019-08-26 | 2019-11-05 | 贵州电网有限责任公司 | A kind of travelling robot walking wheel lead screw guide rails clamp system and clamping means of walking |
| CN110921227A (en) * | 2019-11-08 | 2020-03-27 | 中国科学院自动化研究所 | Carrying mechanism for on-line walking |
| CN115102123A (en) * | 2022-07-14 | 2022-09-23 | 杭州申昊科技股份有限公司 | Transmission line walking deicing robot |
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Cited By (18)
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| CN106246474B (en) * | 2016-10-21 | 2019-04-02 | 成都世唯科技有限公司 | A kind of blade docking regulating device |
| CN106246474A (en) * | 2016-10-21 | 2016-12-21 | 成都世唯科技有限公司 | A kind of blade docking adjusting means |
| CN106532563A (en) * | 2016-12-13 | 2017-03-22 | 马鞍山市华能电力线路器材有限责任公司 | Overhead support mechanism convenient to replace fittings |
| CN106786174A (en) * | 2016-12-13 | 2017-05-31 | 马鞍山市华能电力线路器材有限责任公司 | A kind of optical cable for clamping wire in conveying circuit clamps hardware fitting structure |
| CN107492833A (en) * | 2017-09-15 | 2017-12-19 | 广东科凯达智能机器人有限公司 | A kind of rescue end equipment for hot line robot |
| CN108462102A (en) * | 2018-03-15 | 2018-08-28 | 长沙理工大学 | A kind of hot line maintenance robot anti-dropping apparatus |
| CN108649480B (en) * | 2018-04-12 | 2024-05-28 | 广东电网有限责任公司广州供电局 | Inspection robot, travelling wheel and manufacturing method thereof |
| CN108649480A (en) * | 2018-04-12 | 2018-10-12 | 广州供电局有限公司 | Crusing robot, traveling wheel and its manufacturing method |
| CN108565776A (en) * | 2018-05-15 | 2018-09-21 | 国家电网公司 | A kind of suspension clamp replacement tool |
| CN109659862A (en) * | 2019-02-28 | 2019-04-19 | 西南交通大学 | A kind of armful line running gear of ultra-high-tension power transmission line inspection robot |
| CN109659862B (en) * | 2019-02-28 | 2023-12-01 | 西南交通大学 | Line holding walking device of high-voltage transmission line inspection robot |
| CN110405792B (en) * | 2019-08-26 | 2024-02-20 | 贵州电网有限责任公司 | Walking wheel lead screw guide rail clamping mechanism and walking clamping method of line inspection robot |
| CN110405792A (en) * | 2019-08-26 | 2019-11-05 | 贵州电网有限责任公司 | A kind of travelling robot walking wheel lead screw guide rails clamp system and clamping means of walking |
| CN110921227A (en) * | 2019-11-08 | 2020-03-27 | 中国科学院自动化研究所 | Carrying mechanism for on-line walking |
| CN110921227B (en) * | 2019-11-08 | 2020-10-16 | 中国科学院自动化研究所 | Carrying mechanism for on-line walking |
| US11283247B2 (en) | 2019-11-08 | 2022-03-22 | Institute Of Automation, Chinese Academy Of Sciences | Carrier mechanism for walking on line |
| CN115102123A (en) * | 2022-07-14 | 2022-09-23 | 杭州申昊科技股份有限公司 | Transmission line walking deicing robot |
| CN115102123B (en) * | 2022-07-14 | 2023-01-24 | 杭州申昊科技股份有限公司 | Transmission line walking deicing robot |
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