CN105818140B - Imitative insect creeping motion type inspection robot mechanical structure and its obstacle-detouring method - Google Patents
Imitative insect creeping motion type inspection robot mechanical structure and its obstacle-detouring method Download PDFInfo
- Publication number
- CN105818140B CN105818140B CN201610319609.4A CN201610319609A CN105818140B CN 105818140 B CN105818140 B CN 105818140B CN 201610319609 A CN201610319609 A CN 201610319609A CN 105818140 B CN105818140 B CN 105818140B
- Authority
- CN
- China
- Prior art keywords
- manipulator
- roller
- frame
- circuit
- connecting rod
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Catching Or Destruction (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of imitative insect creeping motion type inspection robot mechanical structure and its obstacle-detouring method, belong to robotic technology field, the imitative insect creeping motion type inspection robot mechanical structure includes frame, the top of frame be provided with can both sides open closure roller arm, split type roller is set on roller arm, the bottom of frame is provided with least one forward direction mechanical arm and backward mechanical arm, forward direction mechanical arm includes first connecting rod be hinged successively, second connecting rod, third connecting rod and fourth link, the end of fourth link is provided with the first manipulator that circuit is grabbed for being embraced from side, backward mechanical arm includes the 5th be hinged successively connecting rod, six-bar linkage, seven-link assembly and the 8th connecting rod, the end of 8th connecting rod is provided with the second manipulator that circuit is grabbed for being embraced from side, driven at each jointed shaft by motor.Compared with prior art, the present invention, which has, reduces labor intensity, reduces operating cost, and can crossing over blockage the advantages of.
Description
Technical field
The present invention relates to robotic technology field, particularly relate to a kind of imitative insect creeping motion type inspection robot mechanical structure and
Its obstacle-detouring method.
Background technology
Extra high voltage network distribution site is more, area is wide, and residing with a varied topography, natural environment is severe.Power line and bar
Tower annex is influenceed by mechanical tension, electric flashover, material aging etc. for a long time, can produce stranded, abrasion, corrosion equivalent damage, such as
Repair not in time, major accident will be caused, very big hidden danger is brought to power transmission.Therefore, it is necessary to transmission line of electricity is carried out regular
Walkaround inspection, the running situation and circuit surrounding environment and the change feelings in route protection area of transmission line of electricity are grasped and understood at any time
Condition, find and remove a hidden danger in time, the generation prevented accident, it is ensured that power supply safety.
The traditional approach of inspection to transmission line of electricity is mainly using ground artificial range estimation inspection and helicopter aerial survey.Before
Person's inspection precision is low, and labor intensity is big, inspection blind area be present, and forest disease and wild animal also bring safety hidden to tour personnel
Suffer from；There is flight safety hidden danger and line walking somewhat expensive in the latter, directly limit being widely popularized for helicopter routing inspection.
The inspection for developing into transmission line of electricity of robot technology and operation of removing obstacles provide a kind of new platform.Robot energy
Enough live line works, are creeped with certain speed along power transmission line, and can cross over the barrier such as stockbridge damper, strain clamp, suspension clamp, shaft tower
Hinder, using the sensor apparatus of carrying to the close inspection of the implementation such as shaft tower, wire and lightning conducter, insulator, line hardware, line channel
Survey, enter row line using self-contained device and remove obstacles, the inspection of power circuit and work of removing obstacles are carried out instead of worker.Therefore,
Power transmission line inspection obstacle removing robot turns into the focus of robot technology research.
The current high pressure studied both at home and abroad, extra high voltage network robot are mostly both arms antisymmetry structure, three-arm arrangement
And more arm configurations, its running environment are mostly aerial earth wire.The line robot on aerial earth wire is installed on not only in running
External force easily in by natural environment is influenceed, and causes fluctuation of service, or even is dropped from transmission line of electricity, but also it is clear inspection to be present
Barrier is limited in scope, ineffective shortcoming.The developed countries such as Japan, Canada, the U.S. have successively carried out inspection robot
Research work, for situations such as insulator chain, aluminium hydraulic pressed connecting pipe and suspension clamp on transmission line of electricity be present, it can not cross over, it is impossible to realize
The continuous inspection of extra high voltage network.Chinese Academy of Sciences's Shenyang Institute of Automation, Shandong University, Wuhan University, Beijing Aviation space flight are big
Etc. unit carries out the development of this respect technology and equipment also for the continuous inspection demand of extra high voltage network, achieves one
Fixed corresponding achievement, but also do not possess obstacle crossing function.
The content of the invention
Reduced labor intensity the technical problem to be solved in the present invention is to provide one kind, reduce operating cost, and can crossed
The imitative insect creeping motion type inspection robot mechanical structure and its obstacle-detouring method of obstacle.
In order to solve the above technical problems, present invention offer technical scheme is as follows：
A kind of imitative insect creeping motion type inspection robot mechanical structure, including frame, wherein：
The top of the frame be provided with can both sides open the roller arm of closure, split type rolling is set on the roller arm
Wheel；
The bottom of the frame is provided with least one forward direction mechanical arm, and the forward direction mechanical arm includes successively be hinged the
One connecting rod, second connecting rod, third connecting rod and fourth link, the end of the fourth link is provided with grabs circuit for being embraced from side
The first manipulator；
The bottom of the frame is provided with least one backward mechanical arm, and the backward mechanical arm includes successively be hinged the
Five connecting rods, six-bar linkage, seven-link assembly and the 8th connecting rod, the end of the 8th connecting rod is provided with grabs circuit for being embraced from side
The second manipulator；
Driven at each jointed shaft by motor.
Further, the roller arm by motor-driven jointed shaft by being connected in the frame.
Further, the split type roller is arranged on the end of the roller arm.
Further, first manipulator, the second manipulator are rotary structure.
Further, first manipulator, the second manipulator include the upper mechanical paw to cooperate and lower machinery
Split type roller is arranged on the end of the roller arm described in paw.
Further, the upper mechanical paw and lower mechanical paw are L hook-like configurations.
The obstacle-detouring method of above-mentioned imitative insect creeping motion type inspection robot mechanical structure, including：
Step 1：When not running into obstacle, the first manipulator positioned at frame front opens, and the second manipulator catches circuit, rolls
Wheel belt motivation frame moves forward after a segment distance, and the first manipulator keeps open configuration reach, and then the first manipulator catches circuit, the
Two manipulators open and moved forward, and roller stops after driving frame one segment distance of reach, and the second manipulator catches circuit, repeats
The step 1；
Step 2：When running into obstacle, the first manipulator positioned at frame front opens, and the second manipulator catches circuit, then
The reach of first manipulator and cut-through thing catch circuit, and roller drives frame reach, and then the second manipulator opens reach simultaneously
After catching circuit, roller to open drive frame cut-through thing under roller arm drive, roller is set up on the line again, and second
Manipulator opens reach and cut-through thing catches circuit, goes to step 1, waits obstacle detouring next time.
The invention has the advantages that：
The present invention is all made up of based on imitative insect creeping motion type inspection robot mechanical structure, the structure hinge arrangement, machine
The top of frame be provided with can both sides open the roller arm of closure, split type roller is set on roller arm, it is this to be designed to make machine
Device people when level tangent track is walked, play a supporting role by roller, and roller plays clamping action during obstacle detouring, strengthens overall stability.
It is linkage that frame lower, which sets at least one forward direction mechanical arm and at least one backward mechanical arm, mechanical arm, this design
Simple and compact for structure, weight is small, and power control part can also be integrated on mechanical arm or roller arm.The course of work can be
When not running into obstacle, the first manipulator positioned at frame front opens, and the second manipulator catches circuit, and roller drives frame reach
After one segment distance, the first manipulator keeps open configuration reach, and then the first manipulator catches circuit, and the second manipulator opens simultaneously
Reach, roller stop after driving frame one segment distance of reach, and the second manipulator catches circuit, when running into obstacle, before frame
First manipulator in portion opens, and the second manipulator catches circuit, and then simultaneously cut-through thing catches circuit to the reach of the first manipulator,
Roller drives frame reach, and then the second manipulator, which opens, is moved forward and catch circuit, and roller opens under roller arm drive to be driven
After frame cut-through thing, roller is set up on the line again, and the second manipulator opens reach and cut-through thing catches circuit.
This course of work make it that at least a manipulator and roller act on circuit all the time during walking with obstacle detouring for robot
On, the stabilization of system can be maintained.The present invention can the non-flat straight line paths such as straight and various resistance to bracing cables, drainage thread it is up walk,
Solve in the prior art, the problem of artificial line walking labor intensity is big and aircraft line walking operating cost is high, and conventional barrier can be crossed
Hinder thing (such as insulator chain, aluminium hydraulic pressed connecting pipe, suspension clamp etc.), realize the continuous inspection to high-voltage line.Therefore, with prior art phase
Than, the present invention, which has, to reduce labor intensity, reduces operating cost, and can crossing over blockage the advantages of.
Brief description of the drawings
Fig. 1 is the structural representation of the imitative insect creeping motion type inspection robot mechanical structure of the present invention；
Fig. 2-Fig. 8 is each step pair of the obstacle-detouring method of the imitative insect creeping motion type inspection robot mechanical structure of the present invention
The view answered.
Embodiment
To make the technical problem to be solved in the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and tool
Body embodiment is described in detail.
On the one hand, the present invention provides a kind of inspection robot mechanical structure, as shown in figure 1, including frame 1, wherein：
The top of frame 1 set two can both sides open the roller 2 of closure, split type roller is set on the roller arm 2
3, the bottom of frame 1 sets at least one forward direction mechanical arm, and forward direction mechanical arm is to being provided with first connecting rod 5 be hinged successively, the
Two connecting rods 6, third connecting rod 7 and fourth link 8, the end of fourth link 8 are provided with the first machine that circuit is grabbed for being embraced from side
Tool hand 4, the bottom of frame 1 set at least one backward mechanical arm, backward mechanical arm be provided with the 5th be hinged successively connecting rod 9,
Six-bar linkage 10, the connecting rod 12 of seven-link assembly 11 and the 8th, the end of the 8th connecting rod 12 is provided with grabs circuit for being embraced from side
Second manipulator 13.
Driven at each jointed shaft by motor.
The present invention is all made up of based on imitative insect creeping motion type inspection robot mechanical structure, the structure hinge arrangement, machine
Set on frame two can both sides open the roller arm of closure, split type roller is set on roller arm, it is this to be designed to make machine
People when level tangent track is walked, play a supporting role by roller, and roller plays clamping action during obstacle detouring, strengthens overall stability.Machine
It is linkage that frame bottom, which sets at least one forward direction mechanical arm and at least one backward mechanical arm, mechanical arm, this design knot
Structure simple and compact, weight is small, and power control part can be integrated on mechanical arm or roller arm.
Preferably, roller arm 2 is connected in the frame 1 by jointed shaft.This design structure is simple, easy to control.
Further, split type roller 3 is arranged on the end of roller arm 2.This easily controllable roller of design structure is opened
Close, and frame and roller arm, roller smoothness are connected.
Further, the first manipulator 4, the second manipulator 13 are rotary structure.It is this to be designed to improve line walking
Flexibility and stability when robot ambulation and obstacle detouring.
Further, the first manipulator 4, the second manipulator 13 include cooperate upper mechanical paw 4-1,13-1 and
Lower mechanical paw 4-2,13-2.This structure design can improve fastness when robot moves on the line.
Further, upper mechanical paw 4-1,13-1 and lower mechanical paw 4-2,13-2 are L hook-like configurations.This structure
Design can make the action of mechanical paw finer, further improve the accuracy embraced and grabbed.
As a kind of optimization of the present invention, power control part can be integrated on mechanical arm or roller arm, this design,
Power control part can not only provide the energy for the motion of inspection robot, can also take into account simplified overall structure, mitigate weight
Amount.
High voltage power transmission process is a diversified process, according to the difference of transmission voltage and transmits electricity features of terrain not
Together, whole transmission line structure is also not quite similar.The inspection robot mechanical structure of the present invention merely illustrates robot body
Mechanical structure, being not directed to other auxiliary devices (such as the camera of observation of walking, the manipulator of rubbish removing)
Design.In addition, in terms of control system, the present invention can use the intelligent control of ground remote control table or robot itself
Two ways processed.
On the other hand, as shown in Fig. 2-Fig. 8, the present invention also provides a kind of above-mentioned based on imitative insect creeping motion type line walking machine
The obstacle-detouring method of people's mechanical structure, including：
Step 1：When not running into obstacle, first manipulator 4 anterior positioned at frame 1 opens, and the second manipulator 13 catches line
Road, after roller 3 drives one segment distance of reach of frame 1, the first manipulator 4 keeps open configuration reach, and then the first manipulator 4 is grabbed
Firmly circuit, the second manipulator 13 open and moved forward, and roller 3 stops after driving one segment distance of reach of frame 1, and the second manipulator 13 is grabbed
Firmly circuit, repeat the step 1；
Step 2：When running into obstacle, first manipulator 4 anterior positioned at frame 1 opens, and the second manipulator 13 catches circuit,
Then the reach of the first manipulator 4 and cut-through thing catch circuit, and roller 3 drives frame 1 to move forward, and then the second manipulator 14 is opened
Open after moving forward and catching circuit, roller 3 to open the drive cut-through thing of frame 1 under the drive of roller arm 2, roller 3 is set up again
On the line, the second manipulator 14 opens reach and cut-through thing catches circuit, goes to step 1, waits obstacle detouring next time.
This course of work causes robot during walking with obstacle detouring, and an at least manipulator and roller are made all the time
With on the line, the stabilization of system can be maintained.The present invention can be in non-flat straight line paths such as straight and various resistance to bracing cables, drainage threads
Upper walking, solve in the prior art, the problem of artificial line walking labor intensity is big and aircraft line walking operating cost is high, and can cross
Conventional obstacles (such as insulator chain, aluminium hydraulic pressed connecting pipe, suspension clamp etc.), realize the continuous inspection to high-voltage line.Therefore, with it is existing
Technology is compared, and the present invention, which has, to reduce labor intensity, reduces operating cost, and can crossing over blockage the advantages of.
Described above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, on the premise of principle of the present invention is not departed from, some improvements and modifications can also be made, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (4)
- A kind of 1. imitative insect creeping motion type inspection robot mechanical structure, it is characterised in that including frame, wherein：The top of the frame be provided with can both sides open the roller arm of closure, split type roller is set on the roller arm；The bottom of the frame is provided with least one forward direction mechanical arm, and the forward direction mechanical arm includes the first be hinged successively company Bar, second connecting rod, third connecting rod and fourth link, the end of the fourth link is provided with grabs the of circuit for being embraced from side One manipulator；The bottom of the frame is provided with least one backward mechanical arm, and the backward mechanical arm includes the 5th be hinged successively company Bar, six-bar linkage, seven-link assembly and the 8th connecting rod, the end of the 8th connecting rod is provided with grabs the of circuit for being embraced from side Two manipulators；Driven at each jointed shaft by motor；The roller arm by motor-driven jointed shaft by being connected in the frame；The split type roller is arranged on the end of the roller arm；The obstacle-detouring method of described imitative insect creeping motion type inspection robot mechanical structure, including：Step 1：When not running into obstacle, the first manipulator positioned at frame front opens, and the second manipulator catches circuit, roller band Motivation frame moves forward after a segment distance, and the first manipulator keeps open configuration reach, and then the first manipulator catches circuit, the second machine Tool hand opens and moved forward, and roller stops after driving frame one segment distance of reach, and the second manipulator catches circuit, repeats the step Rapid 1；Step 2：When running into obstacle, the first manipulator positioned at frame front opens, and the second manipulator catches circuit, and then first Manipulator reach and cut-through thing catch circuit, and roller drives frame reach, and then the second manipulator, which opens, moves forward and catch Circuit, after roller opens drive frame cut-through thing under roller arm drive, roller is set up on the line again, the second machinery Hand opens reach and cut-through thing catches circuit, goes to step 1, waits obstacle detouring next time.
- 2. imitative insect creeping motion type inspection robot mechanical structure according to claim 1, it is characterised in that first machine Tool hand, the second manipulator are rotary structure.
- 3. according to any described imitative insect creeping motion type inspection robot mechanical structure in claim 1-2, it is characterised in that institute Stating the first manipulator, the second manipulator includes the upper mechanical paw of mutual cooperation and lower mechanical paw.
- 4. imitative insect creeping motion type inspection robot mechanical structure according to claim 3, it is characterised in that the upper machinery Paw and lower mechanical paw are L hook-like configurations.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610319609.4A CN105818140B (en) | 2016-05-12 | 2016-05-12 | Imitative insect creeping motion type inspection robot mechanical structure and its obstacle-detouring method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610319609.4A CN105818140B (en) | 2016-05-12 | 2016-05-12 | Imitative insect creeping motion type inspection robot mechanical structure and its obstacle-detouring method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105818140A CN105818140A (en) | 2016-08-03 |
| CN105818140B true CN105818140B (en) | 2018-04-03 |
Family
ID=56529535
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610319609.4A Active CN105818140B (en) | 2016-05-12 | 2016-05-12 | Imitative insect creeping motion type inspection robot mechanical structure and its obstacle-detouring method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105818140B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1658460A (en) * | 2005-03-18 | 2005-08-24 | 山东大学 | Robot of autonomous moving along 110KV transmission line and its working method |
| CN1689769A (en) * | 2004-04-30 | 2005-11-02 | 中国科学院沈阳自动化研究所 | Super-voltage transmission line monitoring and detecting robot mechanism |
| CN101859989A (en) * | 2010-04-26 | 2010-10-13 | 华南理工大学 | Three-wheel inspection robot mechanism capable of crossing over catenary of pole and tower |
| CN102593751A (en) * | 2012-03-07 | 2012-07-18 | 武汉大学 | Conductor repairing device of high-tension transmission line |
| CN202910857U (en) * | 2012-12-05 | 2013-05-01 | 山东电力集团公司电力科学研究院 | Overhead transmission circuit inspection robot system |
| CN204333773U (en) * | 2015-01-19 | 2015-05-13 | 国家电网公司 | Three arm combined type inspection robot mechanisms |
| CN205734920U (en) * | 2016-05-12 | 2016-11-30 | 山东大学 | Imitative insecticide creeping motion type inspection robot frame for movement |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9020639B2 (en) * | 2009-08-06 | 2015-04-28 | The Regents Of The University Of California | Multimodal dynamic robotic systems |
-
2016
- 2016-05-12 CN CN201610319609.4A patent/CN105818140B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1689769A (en) * | 2004-04-30 | 2005-11-02 | 中国科学院沈阳自动化研究所 | Super-voltage transmission line monitoring and detecting robot mechanism |
| CN1658460A (en) * | 2005-03-18 | 2005-08-24 | 山东大学 | Robot of autonomous moving along 110KV transmission line and its working method |
| CN101859989A (en) * | 2010-04-26 | 2010-10-13 | 华南理工大学 | Three-wheel inspection robot mechanism capable of crossing over catenary of pole and tower |
| CN102593751A (en) * | 2012-03-07 | 2012-07-18 | 武汉大学 | Conductor repairing device of high-tension transmission line |
| CN202910857U (en) * | 2012-12-05 | 2013-05-01 | 山东电力集团公司电力科学研究院 | Overhead transmission circuit inspection robot system |
| CN204333773U (en) * | 2015-01-19 | 2015-05-13 | 国家电网公司 | Three arm combined type inspection robot mechanisms |
| CN205734920U (en) * | 2016-05-12 | 2016-11-30 | 山东大学 | Imitative insecticide creeping motion type inspection robot frame for movement |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105818140A (en) | 2016-08-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105798901B (en) | Imitative insect creeping motion type two-wheel two-arm inspection robot mechanical structure and its obstacle-detouring method | |
| CN205734919U (en) | Imitative insecticide creeping motion type two-wheel two-arm inspection robot frame for movement | |
| CN105870837B (en) | Adapt to the envelop-type inspection robot structure and its obstacle-detouring method of single conductor | |
| CN106142049B (en) | Hot line robot | |
| CN105826865B (en) | Adapt to the suspension type inspection robot structure and its obstacle-detouring method of single conductor | |
| CN102039590B (en) | Double-arm four-wheel polling robot mechanism | |
| CN105846352B (en) | Adapt to the inspection robot mechanical structure and its obstacle-detouring method of solid conductor | |
| CN109244934B (en) | Ground wire suspension inspection robot | |
| CN107097866A (en) | Power line operation walking robot and its obstacle-detouring method | |
| CN102136696A (en) | Transmission line patrolling or deicing robot | |
| CN103001151A (en) | Line robot drive arm with obstacle crossing function | |
| CN102941570A (en) | Patrol robot for power transmission lines | |
| CN101771251B (en) | Moving obstacle-crossing mechanism of inspection robot | |
| CN101771250B (en) | Inspection robot mechanism | |
| CN102938544B (en) | A kind of transmission line active obstacle travelling robot | |
| CN102039591A (en) | Variable-pitch wheel-arm composite inspection robot mechanism | |
| CN105846351B (en) | Inspection robot mechanical structure and its obstacle-detouring method | |
| CN103594967A (en) | Overturning obstacle crossing type overhead line work robot | |
| CN205734920U (en) | Imitative insecticide creeping motion type inspection robot frame for movement | |
| CN105826862B (en) | Engagement driving walking wheel construction, inspection robot mechanical structure and its obstacle-detouring method | |
| CN105818140B (en) | Imitative insect creeping motion type inspection robot mechanical structure and its obstacle-detouring method | |
| CN205706949U (en) | Apery walking inspection robot frame for movement | |
| CN105835985B (en) | Apery walking inspection robot mechanical structure and its obstacle-detouring method | |
| CN105846347B (en) | Double mechanical arms climb type inspection robot mechanical structure and its obstacle-detouring method | |
| CN105826861B (en) | Six arm robot mechanical structures and its obstacle-detouring method based on slide block mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |