CN105799803A - Insulator detecting robot mechanism - Google Patents
Insulator detecting robot mechanism Download PDFInfo
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- CN105799803A CN105799803A CN201410848171.XA CN201410848171A CN105799803A CN 105799803 A CN105799803 A CN 105799803A CN 201410848171 A CN201410848171 A CN 201410848171A CN 105799803 A CN105799803 A CN 105799803A
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- annular arm
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Abstract
The invention relates to a mobile robot mechanism, in particular to an insulator detecting robot mechanism which comprises an opening and closing mechanism, a detecting mechanism and a plurality of moving parts. The moving parts are evenly distributed on the opening and closing mechanism in the circumferential direction. The detecting mechanism is arranged on the opening and closing mechanism or any one moving part. When an insulator string is detected, the robot mechanism climbs on the insulator string through the moving parts and detects the insulator string through the detecting mechanism. The opening and closing mechanism is provided with a self-locked worm and gear structure, the moving parts are the same in structure and each comprise an upper connecting rod, a second rotary joint, an upper wheel leg, a lower connecting rod, a third rotary joint and a lower wheel leg, and the upper wheel leg and the lower wheel leg are the same in structure. The insulator detecting robot mechanism has high adaptability to insulators of different types and is high in moving speed, convenient to detect and high in reliability, and the detecting mechanism is easy to arrange.
Description
Technical field
The present invention relates to mobile robot mechanism, specifically a kind of insulator detecting robot mechanism.
Background technology
In the insulator detecting robot mechanism of prior art, creeping motion type, crawler type and wheel leg type three class can be divided into according to the move mode of robot, wherein creeping motion type walking mechanism utilizes bionic principle to creep along suspension insulator, this mechanism kinematic is reliable and stable, but its gait control is complicated.Crawler type walking mechanism relies primarily on crawler belt to carry out roller along insulator surface and creeps, and this mechanism bearing capacity is strong, have very strong surface adaptive capacity, is widely used in all kinds of barrier-surpassing robot, but its structure is complicated, volume is heavy.Wheel leg type walking mechanism is a kind of to utilize wheel lower limb to contact with insulator porcelain patticoat to realize the mechanism that moves along suspension insulator, mechanism principle is simple, lightweight and portable in volume, but existing wheel leg type walking mechanism is usually present the shortcomings such as robust motion is excessively poor, easy and insulator interferes, motion credibility is poor.
Summary of the invention
For the problems referred to above, it is an object of the invention to provide a kind of insulator detecting robot mechanism.Insulator detecting robot mechanism kinematic stationarity is good for this, not easily interfere with insulator, strong adaptability, movement velocity are fast, reliability is high.
To achieve these goals, the present invention is by the following technical solutions:
A kind of insulator detecting robot mechanism, including open-and-close mechanism, testing agency and organize moving component, wherein many group moving components are along the circumferential direction distributed on open-and-close mechanism, and described testing agency is arranged on open-and-close mechanism or any one group of moving component more；When insulator chain is detected, creep on insulator chain by organizing moving component more and by testing agency, insulator chain detected.
Described open-and-close mechanism includes first annular arm, the second annular arm, the first rotary joint, the 3rd annular arm, fourth annular arm and guide post, wherein one end of first annular arm and the second annular arm is connected by the first rotary joint vertically arranged, described 3rd annular arm and fourth annular arm are laid respectively at first annular arm and the top of the second annular arm, described 3rd annular arm and fourth annular arm and are connected with first annular arm and the second annular arm respectively by guide post.
Described 3rd annular arm is connected with first annular arm by the first guide rod and the second guide rod, and described fourth annular arm is connected by the 3rd guide rod and the second annular arm.
The structure of described many group moving components is identical, all include connecting rod, the second rotary joint, on take turns lower limb, lower link, the 3rd rotary joint and lower whorl lower limb, the upper end wherein going up connecting rod is connected with fourth annular arm or the 3rd annular arm, lower end by the second rotary joint of horizontal positioned with on take turns lower limb and be connected, the lower end of described lower link is connected with the second annular arm or first annular arm, upper end is connected with lower whorl lower limb by the 3rd rotary joint of horizontal positioned, described lower whorl lower limb with on to take turns lower limb corresponding.
Lower limb is taken turns identical with lower whorl lower limb structure on described, all include bar one, bar two, bar three, wheel one, wheel two and wheel three, its king-rod one, bar two and bar three are evenly distributed and one end is connected, and the end of described bar one, bar two and bar three is connected with wheel one, wheel two and wheel three respectively.The length of described bar one, bar two and bar three is equal.Described moving component is three groups.
Described testing agency includes the first gear, the second gear, the first probe, the second probe and testing agency's drive motor, wherein the first gear, the second gear and testing agency's drive motor may be contained within open-and-close mechanism or any one group of moving component, described first gear is connected with the output shaft of testing agency's drive motor and engages with the second gear, and described first probe and the second probe are vertical with the both sides rotating shaft of the second gear respectively to be connected.
Advantages of the present invention and good effect be:
1. the present invention is to different types of insulator strong adaptability.The present invention adopts wheel leg type reptile fashion, and robot is suitable for the different types of insulator chains such as level, I type, V-type and Y type.
2. movement velocity of the present invention is fast.Insulator detecting robot mechanism is walked along insulator chain by the motion of wheel leg type, and therefore mechanism kinematic speed is fast.
3. the present invention adopts lower whorl lower limb structure, on take turns lower limb and lower whorl lower limb and alternately alternately contact with insulator, robust motion is good.
4. take turns lower limb on identical with lower whorl lower limb structure, all include wheel bar 120 degree uniform, not easily interfere with insulator.
5. the present invention is prone to arrange testing agency, it is simple to detection.Detecting device can be disposed at open-and-close mechanism or the optional position of three groups of moving components, it is simple to realizes the detection to insulator.
6. reliability of the present invention is high.Owing to the open-and-close mechanism of this robot adopts the worm and gear slowing-down structure with self-locking performance, ensureing that mechanism will not come off from insulator chain in work process, robot manipulating task reliability is high.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structural representation of open-and-close mechanism in the present invention；
Fig. 3 is the structural representation of moving component in the present invention；
Fig. 4 be in the present invention moving component on take turns lower limb and the structural representation of lower whorl lower limb；
Fig. 5 is the structural representation of testing agency in the present invention；
Fig. 6 a be in the present invention moving component on take turns the initial position schematic diagram of lower limb and lower whorl lower limb；
Fig. 6 b be in the present invention moving component on take turns lower limb and lower whorl lower limb rotates the schematic diagram of 30 ° counterclockwise；
Fig. 6 c be in the present invention moving component on take turns lower limb and lower whorl lower limb rotates the schematic diagram of 60 ° counterclockwise；
Fig. 6 d be in the present invention moving component on take turns lower limb and the schematic diagram of lower whorl lower limb half-twist counterclockwise；
Fig. 6 e be in the present invention moving component on take turns lower limb and lower whorl lower limb rotates the schematic diagram of 120 ° counterclockwise；
Fig. 7 is the first step schematic diagram that the present invention creeps on insulator chain and detects；
Fig. 8 is the second step schematic diagram that the present invention creeps on insulator chain and detects；
Fig. 9 is the 3rd step schematic diagram that the present invention creeps on insulator chain and detects；
Figure 10 is the 4th step schematic diagram that the present invention creeps on insulator chain and detects.
Wherein: 1 is open-and-close mechanism, and 1-1 is first annular arm, and 1-2 is the second annular arm, 1-3 is the first rotary joint, and 1-4 is the 3rd annular arm, and 1-5 is fourth annular arm, 1-6 is the first guide rod, 1-7 is the second guide rod, and 1-8 is the 3rd guide rod, and 2 is first group of moving component, 2-1 is upper connecting rod, 2-2 is the second rotary joint, 2-3 be on take turns lower limb, 2-4 is lower link, 2-5 is the 3rd rotary joint, 2-6 is lower whorl lower limb, and 3 is testing agency, and 3-1 is the first gear, 3-2 is the second gear, 3-3 is the first probe, and 3-4 is the second probe, and 4 is insulator chain.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in further detail.
As it is shown in figure 1, the present invention includes open-and-close mechanism 1, testing agency 3 and organizes moving component more, wherein many group moving components are along the circumferential direction distributed on open-and-close mechanism 1, and described testing agency 3 is arranged on open-and-close mechanism 1 or any one group of moving component；When insulator chain 4 is detected, creep on insulator chain 4 by organizing moving component more and by testing agency 3, insulator chain 4 detected.
As shown in Figure 2, described open-and-close mechanism 1 includes first annular arm 1-1, the second annular arm 1-2, the first rotary joint 1-3, the 3rd annular arm 1-4, fourth annular arm 1-5 and guide post, wherein one end of first annular arm 1-1 and the second annular arm 1-2 is connected by the first rotary joint 1-3 vertically arranged, described 3rd annular arm 1-4 and fourth annular arm 1-5 lays respectively at first annular arm 1-1 and the top of the second annular arm 1-2, and described 3rd annular arm 1-4 and fourth annular arm 1-5 is connected with first annular arm 1-1 and the second annular arm 1-2 respectively by guide post.Drive the first rotary joint 1-3 to realize the first circular type arm 1-1 and the second circular type arm 1-2 folding by motor, due to the connected effect of leading truck, and then realize the folding of tricyclic arm 1-4 and the four circular type arm 1-5.
In the present embodiment, described 3rd annular arm 1-4 is connected with first annular arm 1-1 by the first guide rod 1-6 and the second guide rod 1-7, and described fourth annular arm 1-5 is connected by the 3rd guide rod 1-8 and the second annular arm 1-2.
Described open-and-close mechanism 1 has employing and has the worm and gear slowing-down structure (prior art) of self-locking performance, it is achieved the self-locking performance of open-and-close mechanism 1.
As shown in Figure 3, the structure of described many group moving components is identical, all include connecting rod 2-1, second rotary joint 2-2, on take turns lower limb 2-3, lower link 2-4, 3rd rotary joint 2-5 and lower whorl lower limb 2-6, the upper end wherein going up connecting rod 2-1 is connected with fourth annular arm 1-5 or the 3rd annular arm 1-4, lower end by the second rotary joint 2-2 of horizontal positioned with on take turns lower limb 2-3 and be connected, the lower end of described lower link 2-4 is connected with the second annular arm 1-2 or first annular arm 1-1, upper end is connected with lower whorl lower limb 2-6 by the 3rd rotary joint 2-5 of horizontal positioned, described lower whorl lower limb 2-6 with on to take turns lower limb 2-3 corresponding.
As shown in Figure 4, lower limb 2-3 is taken turns identical with lower whorl lower limb 2-6 structure on described, all include bar one 2-3-1, bar two 2-3-2, bar three 2-3-3, take turns a 2-3-4, take turns two 2-3-5 and wheel three 2-3-6, its king-rod one 2-3-1, bar two 2-3-2 and bar three 2-3-3 is evenly distributed, and one end is connected, described bar one 2-3-1, the end of bar two 2-3-2 and bar three 2-3-3 respectively with take turns a 2-3-4, take turns two 2-3-5 and wheel three 2-3-6 to connect, described bar one 2-3-1, the length of bar two 2-3-2 and bar three 2-3-3 is equal, angle between adjacent two bars is 120 degree, described take turns a 2-3-4, take turns two 2-3-5 and wheel three 2-3-6 to rotate along own axes.When robot is on insulator chain, the axis of insulator chain, by taking turns a 2-3-4, is being taken turns in the determined plane of central point of two 2-3-5 and wheel three 2-3-6.In the present embodiment, described moving component is three groups.
As shown in Figure 5, described testing agency 3 includes the first gear 3-1, the second gear 3-2, the first probe 3-3, the second probe 3-4 and testing agency's drive motor, wherein the first gear 3-1, the second gear 3-2 and testing agency's drive motor may be contained within open-and-close mechanism 1 or any one group of moving component, described first gear 3-1 is connected with the output shaft of testing agency's drive motor and engages with the second gear 3-2, and described first probe 3-3 and the second probe 3-4 is vertical with the both sides rotating shaft of the second gear 3-2 respectively to be connected.In the present embodiment, described testing agency 3 is arranged on the 3rd annular arm 1-4.Drive the first gear 3-1 to rotate by testing agency's drive motor, drive the second gear 3-2 to rotate, so realize the first probe 3-3 and the second probe 3-4 rotate overlap joint to insulator chain steel cap.
As shown in Fig. 6 a-6e, take turns lower limb 2-3 and lower whorl lower limb 2-6 on described and rotated the view of 30 °, 60 °, 90 ° and 120 ° by 0 degree (initial position) edge counterclockwise, lower limb 2-3 and lower whorl lower limb 2-6 is taken turns when initial position on described, bar one 2-3-1 of lower limb 2-3 is taken turns vertically upward on described, bar two 2-3-2 of described lower whorl lower limb 2-6 vertically downward, takes turns on described and differs 60 degree between bar one 2-3-1 of lower limb 2-3 and lower whorl lower limb 2-6.
The present invention can realize the insulator chains 4 such as level, I type, Y type or V-type are detected, and a piece of isolator detecting of I type insulator chain 4 is illustrated by the existing equivalent mechanism for robot.
The process that the present invention creeps on insulator chain 4 is:
The first step, open-and-close mechanism 1 is opened, on take turns lower limb 2-3 and lower whorl lower limb 2-6 and be placed in initial position, both differ 60 degree, as shown in Figure 7.
Second step, open-and-close mechanism 1 closes, on take turns lower limb 2-3 and lower whorl lower limb 2-6 and rotate counterclockwise 120 degree, mechanism upwards creeps a piece of insulator, as shown in Figure 8.
3rd step, the probe of testing agency 3 swings and realizes insulator resistance is detected, as shown in Figure 9.
4th step, detection terminates the probe of rear testing agency 3 and returns to initial position, completes the detection of a piece of insulator, as shown in Figure 10.
Claims (7)
1. an insulator detecting robot mechanism, it is characterized in that: include open-and-close mechanism (1), testing agency (3) and organize moving component more, wherein many group moving components are along the circumferential direction distributed on open-and-close mechanism (1), and described testing agency (3) is arranged on open-and-close mechanism (1) or any one group of moving component；When insulator chain (4) is detected, creep on insulator chain (4) by organizing moving component more and by testing agency (3), insulator chain (4) detected.
2. by the insulator detecting robot mechanism described in claim 1, it is characterized in that: described open-and-close mechanism (1) includes first annular arm (1-1), second annular arm (1-2), first rotary joint (1-3), 3rd annular arm (1-4), fourth annular arm (1-5) and guide post, wherein one end of first annular arm (1-1) and the second annular arm (1-2) is connected by the first rotary joint (1-3) vertically arranged, described 3rd annular arm (1-4) and fourth annular arm (1-5) lay respectively at first annular arm (1-1) and the top of the second annular arm (1-2), described 3rd annular arm (1-4) and fourth annular arm (1-5) are connected with first annular arm (1-1) and the second annular arm (1-2) respectively by guide post.
3. by the insulator detecting robot mechanism described in claim 2, it is characterized in that: described 3rd annular arm (1-4) is connected with first annular arm (1-1) by the first guide rod (1-6) and the second guide rod (1-7), described fourth annular arm (1-5) is connected with the second annular arm (1-2) by the 3rd guide rod (1-8).
null4. by the insulator detecting robot mechanism described in claim 1，It is characterized in that: the structure of described many group moving components is identical，All include connecting rod (2-1)、Second rotary joint (2-2)、On take turns lower limb (2-3)、Lower link (2-4)、3rd rotary joint (2-5) and lower whorl lower limb (2-6)，The upper end wherein going up connecting rod (2-1) is connected with fourth annular arm (1-5) or the 3rd annular arm (1-4)，Lower end by second rotary joint (2-2) of horizontal positioned with on take turns lower limb (2-3) and be connected，The lower end of described lower link (2-4) is connected with the second annular arm (1-2) or first annular arm (1-1)，Upper end is connected with lower whorl lower limb (2-6) by the 3rd rotary joint (2-5) of horizontal positioned，Described lower whorl lower limb (2-6) with on to take turns lower limb (2-3) corresponding.
5. by the insulator detecting robot mechanism described in claim 4, it is characterized in that: take turns lower limb (2-3) on described identical with lower whorl lower limb (2-6) structure, all include bar one (2-3-1), bar two (2-3-2), bar three (2-3-3), wheel one (2-3-4), wheel two (2-3-5) and wheel three (2-3-6), its king-rod one (2-3-1), bar two (2-3-2) and bar three (2-3-3) are evenly distributed, and one end is connected, described bar one (2-3-1), the end of bar two (2-3-2) and bar three (2-3-3) respectively with wheel one (2-3-4), wheel two (2-3-5) and wheel three (2-3-6) connect.
6. by the insulator detecting robot mechanism described in claim 5, it is characterised in that: the length of described bar one (2-3-1), bar two (2-3-2) and bar three (2-3-3) is equal.
7. by the insulator detecting robot mechanism described in claim 1, it is characterized in that: described testing agency (3) includes the first gear (3-1), second gear (3-2), first probe (3-3), second probe (3-4) and testing agency's drive motor, wherein the first gear (3-1), second gear (3-2) and testing agency's drive motor may be contained within open-and-close mechanism (1) or any one group of moving component, described first gear (3-1) is connected with the output shaft of testing agency's drive motor, and engage with the second gear (3-2), described first probe (3-3) is vertical with the both sides rotating shaft of the second gear (3-2) respectively with the second probe (3-4) to be connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410848171.XA CN105799803B (en) | 2014-12-29 | 2014-12-29 | A kind of insulator detecting robot mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410848171.XA CN105799803B (en) | 2014-12-29 | 2014-12-29 | A kind of insulator detecting robot mechanism |
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| CN105799803A true CN105799803A (en) | 2016-07-27 |
| CN105799803B CN105799803B (en) | 2018-03-20 |
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Cited By (2)
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| CN110386200A (en) * | 2019-06-28 | 2019-10-29 | 广西电网有限责任公司电力科学研究院 | A kind of insulator chain climbing mechanism |
| CN110632471A (en) * | 2019-09-24 | 2019-12-31 | 国网山东省电力公司电力科学研究院 | Robot and method for detecting insulator strings on and off line |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111232080B (en) * | 2020-03-12 | 2021-01-12 | 国网安徽省电力有限公司电力科学研究院 | Surrounding type pole-climbing robot |
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