CN105870832B - A kind of three arm combined type inspection robot mechanisms - Google Patents

A kind of three arm combined type inspection robot mechanisms Download PDF

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Publication number
CN105870832B
CN105870832B CN201510025554.1A CN201510025554A CN105870832B CN 105870832 B CN105870832 B CN 105870832B CN 201510025554 A CN201510025554 A CN 201510025554A CN 105870832 B CN105870832 B CN 105870832B
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China
Prior art keywords
arm
motor
travel
luffing
clamping
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CN201510025554.1A
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Chinese (zh)
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CN105870832A (en
Inventor
楼鸿平
姜勇
王海龙
王洪光
梁育彬
岳湘
李斐明
凌烈
张勇
孙鹏
赵彦平
王慧刚
张景沛
李丽
裴长生
康文杰
王峰
段星辉
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State Grid Shanxi Electric Power Co Maintenance Branch
State Grid Corp of China SGCC
Shenyang Institute of Automation of CAS
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State Grid Shanxi Electric Power Co Maintenance Branch
State Grid Corp of China SGCC
Shenyang Institute of Automation of CAS
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Application filed by State Grid Shanxi Electric Power Co Maintenance Branch, State Grid Corp of China SGCC, Shenyang Institute of Automation of CAS filed Critical State Grid Shanxi Electric Power Co Maintenance Branch
Priority to CN201510025554.1A priority Critical patent/CN105870832B/en
Publication of CN105870832A publication Critical patent/CN105870832A/en
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Abstract

The present invention relates to mobile robot,Specifically a kind of three arm combined type inspection robot mechanisms,Including preceding arm mechanism,Middle arm mechanism,Arm mechanism and electric appliance box afterwards,Before wherein,Arm mechanism includes the tire mechanism being sequentially connected afterwards,Luffing mechanism,Slew gear and tire travel mechanism,Tire mechanism provided with locking wheel and road wheel drives pitch rotation by luffing mechanism and drives horizontal rotation by slew gear,Middle arm mechanism includes the middle clip claw mechanism being sequentially connected,Middle elevating mechanism,Middle luffing mechanism and middle travel mechanism,Middle clip claw mechanism provided with left clamping jaw and right clamping jaw drives lifting by middle elevating mechanism and drives pitch rotation by middle luffing mechanism,Before,Arm mechanism is driven by tire travel mechanism move respectively afterwards,Middle arm mechanism is driven by middle travel mechanism and moved,Tire travel mechanism and middle travel mechanism may be contained within electric appliance box.The present invention can quickly cross over different circuitry obstacle things, and inspection operation process is safe and reliable.

Description

A kind of three arm combined type inspection robot mechanisms
Technical field
The present invention relates to mobile robot, specifically a kind of three arm combined type inspection robot mechanisms.
Background technology
Transmission line of electricity is the particularly important part of power system, in order to ensure that it is safely and steadily run, it is necessary to fixed Phase carries out walkaround inspection.The method used at present mainly has manual inspection and helicopter routing inspection.The efficiency of manual inspection is low, work Intensity is big, dangerous high;The cost of helicopter routing inspection is high, and the easy climate of inspection quality influences.Therefore, it is necessary to which developing to carry The robot of inspection device and power tool come replace manually to transmission line of electricity carry out automatic detecting, to improve efficiency, it is ensured that defeated The safe operation of electric line.In existing EHV transmission line patrol robot mechanism, it is most of using by wheel type mobile and The composite moving mechanism that compound linkages combine is (referring to document 1:Jun Sawada, Kazuyuki Kusumoto, Tadashi Munakata, Yasuhisa Maikawa, Yoshinobu Ishikawa, " A Mobile Robot For Inspection of Power Transmission Lines ", IEEE Trans.Power Delivery, 1991, Vol.6, No.1:pp..309-315;Document 2:Mineo Higuchi, Yoichiro Maeda, Sadahiro Tsutani, Shiro Hagihara, " Development of a Mobile Inspection Robot for Power Transmission Lines ", J.of the Robotics Society of Japan, Japan, Vol.9, No.4, pp.457-463,1991), Or Multi-degree-of-freedom moving mechanism (the document 3 being composed in series using multigroup mobile unit:Shin-ichi Aoshima, Takeshi Tsujimura, Tetsuro Yabuta, " A Wire Mobile Robot with Multi-unit Structure ", IEEE/RSJ Intermational Workshop on Intelligent Robots and Systems, Sep.4-6,1989, Tsukuba, Japan, pp.414-421).The complicated of these mechanisms, weight are big, across obstacle mistake Journey is complicated, should not control, can not be crossed over for barrier more complicated in line environment, most crusing robots can only be used In ground wire patrol checking, accordingly, it is difficult to applied in actual extra high voltage network inspection operation.
The content of the invention
It is an object of the invention to provide a kind of three arm combined type inspection robot mechanisms, different circuits can be quickly crossed over Barrier, at the same it is simple in construction, be easily manipulated, inspection operation process it is safe and reliable.
The purpose of the present invention is achieved through the following technical solutions:
A kind of three arm combined type inspection robot mechanisms, including preceding arm mechanism, middle arm mechanism, rear arm mechanism and electric appliance box, Wherein preceding arm mechanism is identical with postbrachium mechanism structure, includes tire mechanism, luffing mechanism, slew gear and the wheel being sequentially connected Pawl travel mechanism, wherein one end are provided with locking wheel and the tire mechanism of road wheel drives pitch rotation by the luffing mechanism, The tire mechanism and luffing mechanism drive horizontal rotation by the slew gear, and the slew gear is away from the pitching machine One end of structure is connected with tire travel mechanism;The middle arm mechanism include be sequentially connected middle clip claw mechanism, middle elevating mechanism, in Luffing mechanism and middle travel mechanism, wherein one end are provided with left clamping jaw and the middle clip claw mechanism of right clamping jaw passes through the middle elevating mechanism Driving lifting, the middle clip claw mechanism and middle elevating mechanism drive pitch rotation, the middle pitching by the middle luffing mechanism The one end of mechanism away from the middle elevating mechanism is connected with middle travel mechanism, and the preceding arm mechanism and rear arm mechanism pass through wheel respectively The driving movement of pawl travel mechanism, the middle arm mechanism are driven by middle travel mechanism and moved, the tire travel mechanism and middle shifting Motivation structure may be contained within electric appliance box.
The tire mechanism also includes clamping motor, movable motor, worm and gear machine in addition to the locking wheel and road wheel Structure, swing rod, live axle and wheel carrier are clamped, wherein live axle is arranged in the wheel carrier bending part of the wheel carrier upper end, described Live axle is connected with the movable motor on the outside of the wheel carrier bending part, and the road wheel is packed in the live axle On, it is provided with below the road wheel and clamps swing rod and clamping motor, the clamping swing rod and clamping motor may be contained within wheel carrier And the clamping motor is connected by a worm-and-wheel gear with the clamping swing rod, the locking wheel is arranged at the clamping The one end of swing rod away from the clamping motor, and the locking wheel is respectively arranged at road wheel both sides.
The preceding arm mechanism and the luffing mechanism on rear arm mechanism and the middle luffing mechanism structure on the middle arm mechanism It is identical, it is horizontally disposed with including pitching motor, pitch axis and bearing, wherein pitch axis and is installed in rotation on the bearing On, pitching motor is installed in the support outer, the pitch axis is connected with the output shaft of the pitching motor, the forearm Tire mechanism in mechanism and rear arm mechanism is connected with the pitch axis in the luffing mechanism, the middle clamping jaw on the middle arm mechanism Mechanism is connected with the pitch axis in the middle luffing mechanism.
The slew gear includes turning motor, worm shaft, worm screw, worm gear, pivoted lever and support frame, and wherein worm shaft is pacified On support frame as described above, one end of the worm shaft is connected with the turning motor on the outside of support frame, the worm shaft On be set with worm screw, it is vertical in support frame as described above and be rotatably mounted with a pivoted lever, be connected on the pivoted lever There is a worm gear, the worm gear and the worm engaging, the upper end of the pivoted lever are connected with the luffing mechanism, the support Frame is connected with the tire travel mechanism.
The middle clip claw mechanism in addition to the left clamping jaw and right clamping jaw also include clamping motor, guide rod, support, left nut, Leading screw and right nut are clamped, leading screw is rack-mount wherein clamping, and the folder for clamping leading screw and being arranged on stent outer Tight motor is connected, and the clamping leading screw is provided with screw thread and screw thread is divided into two sections, respectively left-hand thread section and right-hand thread section, wherein Left nut is arranged with left-hand thread section, right nut is arranged with right-hand thread section, the middle part of left clamping jaw is connected with the left nut, right The middle part of clamping jaw is connected with the right nut, a guide rod parallel with the clamping leading screw is provided with support, on guide rod Provided with two movable sliding blocks, one end end of left clamping jaw and right clamping jaw is connected from different sliding blocks respectively.
The middle elevating mechanism includes lifting motor, driving gear, elevating screw, lifting nut, driven gear, lifting cunning Block, crane and riser guide, wherein lifting motor are arranged on crane, the output shaft of driving gear and the lifting motor It is connected, the lifting nut is arranged on the crane and is arranged with the lifting nut and is meshed with the driving gear Driven gear, elevating screw be threadedly coupled with the lifting nut and by the lifting nut drive lift, the lifting Guide rail parallel is set in the elevating screw and lower end is connected with the elevating screw lower end, and lifting slider is packed in the lifting It is slidably connected on frame and with the riser guide, the elevating screw upper end is connected with the middle clip claw mechanism, the crane It is connected with the middle luffing mechanism.
The preceding arm mechanism is parallel with the tire travel mechanism of rear arm mechanism and the middle travel mechanism of the middle arm mechanism Set, and Liang Ge tires travel mechanism is respectively arranged at the both sides of electric appliance box, middle travel mechanism is arranged at two tire moving machines Between structure.
The preceding arm mechanism, the tire travel mechanism of rear arm mechanism are identical with middle travel mechanism's structure of the middle arm mechanism And be motor leading screw drive form, including mobile motor, mobile leading screw, travelling nut and rail brackets, wherein the guide rail branch Frame is arranged on electric appliance box, and mobile leading screw is arranged on the rail brackets, and one end of the mobile leading screw is with being arranged on guide rail The output shaft of the mobile motor of stent outer is connected, and travelling nut, preceding arm mechanism and postbrachium are threaded with mobile leading screw The middle luffing mechanism on slew gear and middle arm mechanism in mechanism is connected with travelling nut.
The preceding arm mechanism, the tire travel mechanism of rear arm mechanism are identical with middle travel mechanism's structure of the middle arm mechanism And be timing belt drive form, including driving pulley, driven pulley, timing belt and movable block, wherein driving pulley is with being arranged on The output shaft fixed connection of motor on electric appliance box, driven pulley are arranged in the electric appliance box and by timing belt and the master Movable belt pulley is connected, and movable block is arranged on the timing belt, preceding arm mechanism and the slew gear on rear arm mechanism and middle arm machine Middle luffing mechanism on structure is connected with movable block.
Advantages of the present invention is with good effect:
1. the present invention uses three-arm arrangement, by the hanging wire of middle arm during obstacle detouring, it can keep both arms online simultaneously, subtract Small wire deformation, obstacle detouring process stabilization, securely and reliably, and can be crossed over more during obstacle detouring by the booster action of middle arm Kind barrier.
2. the tire mechanism on the preceding arm mechanism and rear arm mechanism of the present invention uses the Double-wheel structure of road wheel and guide wheel, in Left clamping jaw and right clamping jaw are then set on arm mechanism, wire is clamped by clamping jaw, road wheel, guide wheel three, so that robot has The ability in different conductor section can be clamped by having.
3. the crusing robot travel mechanism of ultra-high-tension power transmission line and telephone line is the composite can be widely applied to, using model Enclose wide.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention;
Fig. 2 is the structural representation of forward and backward arm mechanism in Fig. 1;
Fig. 3 is the tire structural representation in Fig. 2;
Fig. 4 is the luffing mechanism schematic diagram in Fig. 2;
Fig. 5 is the slew gear schematic diagram in Fig. 2;
Fig. 6 is the slew gear top view in Fig. 5;
Fig. 7 is the structural representation of middle arm mechanism in Fig. 1;
Fig. 8 is the middle clip claw mechanism schematic diagram in Fig. 7;
Fig. 9 is the middle elevating mechanism schematic diagram in Fig. 7;
Figure 10 is the structural representation of the tire travel mechanism in Fig. 1;
Figure 11 is the structural representation of another embodiment of the tire travel mechanism in Fig. 1;
Figure 12 is the schematic diagram of power transmission line,
Figure 13 is that obstacle detouring process first element describes schematic diagram;
Figure 14 is second action description schematic diagram of obstacle detouring process;
Figure 15 is the 3rd action description schematic diagram of obstacle detouring process;
Figure 16 is the 4th action description schematic diagram of obstacle detouring process;
Figure 17 is the 5th action description schematic diagram of obstacle detouring process.
Wherein, 1 is preceding arm mechanism, and 2 be middle arm mechanism, and 3 be rear arm mechanism, and 4 be electric appliance box, and 5 be tire mechanism, and 6 be to bow Mechanism is faced upward, 7 be slew gear, and 8 be tire travel mechanism, and 9 be middle clip claw mechanism, and 10 be middle elevating mechanism, and 11 be middle pitching machine Structure, 12 be middle travel mechanism, and 13 be parallel groove clamp, and 14 be locking wheel, and 15 be road wheel, and 16 be clamping motor, and 17 be walking electricity Machine, 18 be worm-and-wheel gear, and 19 is clamp swing rod, and 20 be wheel carrier bending part, and 21 be live axle, and 22 be locking nut, 23 It is pitching motor for wheel carrier, 24,25 be pitch axis, and 26 be bearing, and 27 be turning motor, and 28 be worm shaft, and 29 be worm screw, and 30 are Pivoted lever, 31 be worm gear, and 32 be support frame, and 33 be left clamping jaw, and 34 be right clamping jaw, and 35 be clamping motor, and 36 be guide rod, and 37 be branch Frame, 38 be left-hand thread section, and 39 be left nut, and 40 is clamp screw mandrel, and 41 be right-hand thread section, and 42 be right nut, and 43 be lifting motor, 44 be driving gear, and 45 be elevating screw, and 46 be lifting nut, and 47 be driven gear, and 48 be lifting slider, and 49 be crane, 50 be riser guide, and 51 be mobile motor, and 52 be mobile leading screw, and 53 be travelling nut, and 54 be rail brackets, and 55 be main belt Wheel, 56 be timing belt, and 57 be movable block, and 58 be driven pulley, and 59 be damper, and 60 be wire, and 61 be strain clamp, and 62 be to draw Streamline.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings.
As shown in figure 1, the present invention includes preceding arm mechanism 1, middle arm mechanism 2, rear arm mechanism 3 and electric appliance box 4, the forearm machine Structure 1, middle arm mechanism 2, rear arm mechanism 3 are movably arranged on electric appliance box 4, wherein the knot of preceding arm mechanism 1 and rear arm mechanism 3 Structure is identical, and as shown in Fig. 1~2, the preceding arm mechanism 1 and rear arm mechanism 3 include tire mechanism 5, luffing mechanism 6, turn-around machine Structure 7 and tire travel mechanism 8, wherein one end of tire mechanism 5 are provided with locking wheel 14 and road wheel 15, and the locking wheel 14 is set The both sides of road wheel 15 are placed in, the tire mechanism 5 clamps wire 60 and in wire by the locking wheel 14 and road wheel 15 Walked on 60, the other end of the tire mechanism 5 is then connected with luffing mechanism 6, and the tire mechanism 5 passes through the luffing mechanism 6 driving pitch rotations in vertical plane, the one end of the luffing mechanism 6 away from tire mechanism 5 is connected with slew gear 7, described Tire mechanism 5 and luffing mechanism 6 realize horizontal rotation by the slew gear 7 driving, and the slew gear 7 is bowed away from described The one end for facing upward mechanism 6 is connected with tire travel mechanism 8, and the tire travel mechanism 8 is arranged in electric appliance box 4, and preceding arm mechanism 1 The both sides of electric appliance box 4 are respectively arranged at the tire travel mechanism 8 of rear arm mechanism 3, preceding arm mechanism 1 and rear arm mechanism 3 are overall logical Cross the length direction movement of the drives edge electric appliance box 4 of tire travel mechanism 8.
As shown in figure 3, the tire mechanism 5 on the preceding arm mechanism 1 and rear arm mechanism 3 removes the locking wheel 14 and road wheel Outside 15, in addition to clamping motor 16, movable motor 17, worm-and-wheel gear 18, clamping swing rod 19, live axle 21 and wheel carrier 23, wherein the upper end of the wheel carrier 23 is provided with wheel carrier bending part 20 of the cross section in " recessed " type of inversion, 21 liang of live axle End is arranged in the wheel carrier bending part 20 by bearing supporting, and a walking electricity is provided with the outside of wheel carrier bending part 20 Machine 17, the live axle 21 are connected with the output shaft of the movable motor 17, and the road wheel 15 is solid by locking nut 22 On the live axle 21, when mechanism works, road wheel 15 is positioned on wire 60 and driven by the movable motor 17 Dynamic to walk on a lead 60, two locking wheels 14 are arranged at the lower section of road wheel 15 and are arranged at 15 liang of the road wheel Side, the locking wheel 14, which is arranged on, to be clamped on swing rod 19, and the clamping swing rod 19 is arranged on wheel carrier 23 by bearing supporting, One clamping motor 16 is installed, the clamping motor 16 is put by a worm-and-wheel gear 18 and described clamp on wheel carrier 23 Bar 19 is connected, and the wherein worm gear in worm-and-wheel gear 18 and the described one end of clamping swing rod 19 away from the locking wheel 14 is coaxial It is connected, the worm screw in worm-and-wheel gear 18 is connected with the output shaft of clamping motor 16, and the clamping swing rod 19 passes through the folder The tight driving of motor 16 is swung, so as to drive the locking wheel 14 to clamp wire 60.
As shown in figure 4, the luffing mechanism 6 on the preceding arm mechanism 1 and rear arm mechanism 3 includes pitching motor 24, pitch axis 25 and bearing 26, wherein pitch axis 25 is horizontally disposed and is arranged on by bearing supporting on the bearing 26, the pitch axis 25 It is connected with the lower end of wheel carrier 23 in the tire mechanism 5, pitching motor 24, the pitch axis is installed in the outside of bearing 26 25 are connected with the output shaft of the pitching motor 24, and the pitch axis 25 is rotated by the pitching motor 24 driving, and then The elevating movement in vertical plane of tire mechanism 5 is driven, the bearing 26 is connected with the slew gear 7 of lower section.
As shown in Fig. 5~6, the slew gear 7 on the preceding arm mechanism 1 and rear arm mechanism 3 includes turning motor 27, worm screw Axle 28, worm screw 29, worm gear 31, pivoted lever 30 and support frame 32, wherein worm shaft 28 are arranged on the support by bearing supporting On frame 32, and one end of the worm shaft 28 is connected with the output shaft of the turning motor 27 installed in the outside of support frame 32, described Worm screw 29 is set with worm shaft 28, it is vertical in support frame as described above 32 and be rotatably mounted with a pivoted lever 30, in institute State and a worm gear 31 is fixed with pivoted lever 30, the worm gear 31 engages with the worm screw 29 being arranged on worm shaft 28, the revolution The upper end of bar 30 is connected with the bearing 26 of the luffing mechanism 6, and turning motor 27 is driven back by the worm screw 29 and worm gear 31 Bull stick 30 rotates, and then drives the tire mechanism 5 and luffing mechanism 6 to realize horizontal rotation, support frame as described above 32 and lower section Tire travel mechanism 8 is connected.
As shown in fig. 7, the middle arm mechanism 2 include middle clip claw mechanism 9, middle elevating mechanism 10, middle luffing mechanism 11 and in Travel mechanism 12, wherein one end of middle clip claw mechanism 9 is provided with left clamping jaw 33 and right clamping jaw 34, the middle clip claw mechanism 9 passes through The left clamping jaw 33 and right clamping jaw 34 realize clamping, and the other end of the middle clip claw mechanism 9 is connected with middle elevating mechanism 10, described Middle clip claw mechanism 9 is by the middle driving of elevating mechanism 10 lifting, and the middle elevating mechanism 10 is away from the middle clip claw mechanism 9 One end is connected with middle luffing mechanism 11, and middle clip claw mechanism 9 and middle elevating mechanism 10 drive pitching by the middle luffing mechanism 11 Rotate, the one end of the middle luffing mechanism 11 away from the middle elevating mechanism 10 is connected with middle travel mechanism 12, the middle movement Mechanism 12 is arranged on electric appliance box 4 and is arranged between Liang Ge tires travel mechanism 8, and middle arm mechanism 2 passes through the middle movement The length direction movement of the drives edge electric appliance box 4 of mechanism 12.
As shown in figure 8, the middle clip claw mechanism 9 of the middle arm mechanism 2 also includes in addition to the left clamping jaw 33 and right clamping jaw 34 Clamping motor 35, guide rod 36, support 37, left nut 39, clamping leading screw 40 and right nut 42, wherein clamping leading screw 40 is arranged on branch On frame 37, the one end for clamping leading screw 40 is connected with the output shaft of the clamping motor 35 installed in the outside of support 37, clamps leading screw 40 On screw thread be divided into two sections, respectively left-hand thread section 38 and right-hand thread section 41, wherein clamp leading screw 40 left-hand thread section 38 on cover Provided with left nut 39, clamp and right nut 42 is arranged with the right-hand thread section 41 of leading screw 40, the middle part of left clamping jaw 33 and the left spiral shell Mother 39 is connected, and the middle part of right clamping jaw 34 is connected with the right nut 42, and a guide rod 36, the guide rod 36 are provided with support 37 It is parallel with the clamping leading screw 40, two movable sliding blocks, one end of left clamping jaw 33 and right clamping jaw 34 are provided with guide rod 36 End is connected with the sliding block respectively, and the left nut 39 and right nut 42 clamp the phase of leading screw 40 by the drives edge of clamping motor 35 To or it is opposite mobile, so as to drive the left clamping jaw 33 and right clamping jaw 34 to open or clamp.
As shown in figure 9, the middle elevating mechanism 10 of the middle arm mechanism 2 includes lifting motor 43, driving gear 44, lifting silk Thick stick 45, lifting nut 46, driven gear 47, lifting slider 48, crane 49 and riser guide 50, wherein lifting motor 43 are installed On crane 49, the output shaft fixed connection of driving gear 44 and the lifting motor 43, the lifting nut 46 is arranged on described On crane 49, the driven gear 47 being meshed with the driving gear 44, elevating screw are arranged with the lifting nut 46 45 are threadedly coupled with the lifting nut 46, and the lifting nut 46 is driven by the lifting motor 43 to be rotated, and then is driven The elevating screw 45 lifts, the riser guide 50 set parallel to the elevating screw 45 and lower end by a cross bar with The lower end of elevating screw 45 is connected, and lifting slider 48, which is packed on the crane 49 and slided with the riser guide 50, to be connected Connect, the upper end of elevating screw 45 is connected with the middle clip claw mechanism 9, the crane 49 and the phase of middle luffing mechanism 11 of lower section Even.
The middle luffing mechanism 11 is identical with the structure of luffing mechanism 6 on preceding arm mechanism 1 and rear arm mechanism 3, includes bowing Motor 24, pitch axis 25 and bearing 26 are faced upward, wherein the pitch axis 25 is connected with the crane 49 in the middle elevating mechanism 10, The bearing 26 is connected with the middle travel mechanism 12 of lower section.
The preceding arm mechanism 1, the tire travel mechanism 8 of rear arm mechanism 3 and the knot of middle travel mechanism 12 of the middle arm mechanism 2 Structure is identical, is driven using the driving of motor leading screw or timing belt.
The preceding arm mechanism 1, the tire travel mechanism 8 of rear arm mechanism 3 and the middle travel mechanism 12 of the middle arm mechanism 2 adopt During with motor leading screw drive form, as shown in Figure 10, including mobile motor 51, mobile leading screw 52, travelling nut 53 and guide rail branch Frame 54, wherein the rail brackets 54 is arranged on electric appliance box 4, mobile leading screw 52 is arranged on the rail brackets 54, described One end of mobile leading screw 52 is connected with the output shaft of the mobile motor 51 installed in the outside of rail brackets 54, on mobile leading screw 52 It is threaded with travelling nut 53, the middle pitching on slew gear 7 and middle arm mechanism 2 on preceding arm mechanism 1 and rear arm mechanism 3 Mechanism 11 is connected with the travelling nut 53, and preceding arm mechanism 1, rear arm mechanism 3 and middle arm mechanism 2 pass through the mobile motor Mobile leading screw 52 moves described in 51 drives edges.
The preceding arm mechanism 1, the tire travel mechanism 8 of rear arm mechanism 3 and the middle travel mechanism 12 of the middle arm mechanism 2 adopt During with timing belt drive form, as shown in figure 11, including driving pulley 55, driven pulley 58, timing belt 56 and movable block 57, its The output shaft fixed connection of middle driving pulley 55 and the motor on electric appliance box 4, driven pulley 58 are arranged at the electrical equipment It is connected in case 4 and by timing belt 56 with the driving pulley 55, movable block 57 is arranged on the timing belt 56, preceding arm mechanism 1 and slew gear 7 and middle arm mechanism 2 on rear arm mechanism 3 on middle luffing mechanism 11 be connected with the movable block 57, institute Stating motor drives the driving pulley 55 to rotate, and then drives timing belt 56 to drive the movable block 57 to move, timing belt Drive form can mitigate the quality of robot, increase the load capacity of robot, improve the dynamic characteristic of robot.
The present invention operation principle be:
As shown in figure 12, main barrier is damper 59, strain clamp 61, drainage thread 62 and ditch on a lead 60 Wire clamp 13 etc..Driven by movable motor 17 during present invention work and walked on a lead 60, and may span across the various barriers on wire 60 Hinder thing.
As shown in Figure 13~17, the tire mechanism 5 on preceding arm mechanism 1 and rear arm mechanism 3 drives edge to lead by road wheel 15 Line 60 is walked, and is stopped when running into barrier, such as when running into strain clamp 61, arm mechanism during at this moment middle travel mechanism 12 drives 2 move forward, and the middle forward pitch of luffing mechanism 10, make middle clip claw mechanism 9 close close to strain clamp 61, central clip claw mechanism 9 After strain clamp 61, the middle elongation of elevating mechanism 11 makes middle clip claw mechanism 9 contact strain clamp 61 and makes left clamping jaw 33 and right clamping jaw 34 clamp strain clamps 61, the tire before the Union Movement of luffing mechanism 6 in preceding arm mechanism 1 and rear arm mechanism 3 makes in arm mechanism 1 Tire mechanism 5 before mechanism 5 rises and made by the slew gear 7 in preceding arm mechanism 1 in arm mechanism 1 turns round 180 °, and completing should The off-line of tire mechanism 5, the wheel before then the travel mechanism 8 in preceding arm mechanism 1 and the Union Movement of luffing mechanism 6 make in arm mechanism 1 Strain clamp 61 is crossed over by pawl mechanism 5, and the tire mechanism 5 in preceding arm mechanism 1 is located at the surface of drainage thread 62, then such as schemes Shown in 16, luffing mechanism 6 and slew gear 7 in preceding arm mechanism 1 turn round, the line of fall of tire mechanism 5 before making in arm mechanism 1, so After repeat above-mentioned action sequence, as shown in figure 17, tire mechanism 5 in rear arm mechanism 3 is crossed over strain clamp 61, the present invention exists Motion on drainage thread 62, the intersection for exactly repeating the tire mechanism 5 of preceding arm mechanism 1 and rear arm mechanism 3 move ahead.

Claims (7)

  1. A kind of 1. three arm combined type inspection robot mechanisms, it is characterised in that:Including preceding arm mechanism (1), middle arm mechanism (2), after Arm mechanism (3) and electric appliance box (4), wherein preceding arm mechanism (1) is identical with rear arm mechanism (3) structure, include the wheel being sequentially connected Pawl mechanism (5), luffing mechanism (6), slew gear (7) and tire travel mechanism (8), wherein one end are provided with locking wheel (14) and row The tire mechanism (5) for walking wheel (15) drives pitch rotation, the tire mechanism (5) and pitching machine by the luffing mechanism (6) Structure (6) drives horizontal rotation, the one end of the slew gear (7) away from the luffing mechanism (6) by the slew gear (7) It is connected with tire travel mechanism (8);The middle arm mechanism (2) includes middle clip claw mechanism (9), the middle elevating mechanism being sequentially connected (10), middle luffing mechanism (11) and middle travel mechanism (12), wherein one end are provided with the middle folder of left clamping jaw (33) and right clamping jaw (34) By middle elevating mechanism (10) the driving lifting, the middle clip claw mechanism (9) and middle elevating mechanism (10) pass through for pawl mechanism (9) The middle luffing mechanism (11) drives pitch rotation, the one end of the middle luffing mechanism (11) away from the middle elevating mechanism (10) It is connected with middle travel mechanism (12), the preceding arm mechanism (1) and rear arm mechanism (3) are driven by tire travel mechanism (8) respectively Mobile, the middle arm mechanism (2) is driven by middle travel mechanism (12) and moved, the tire travel mechanism (8) and middle moving machine Structure (12) may be contained within electric appliance box (4);
    The tire mechanism (5) also includes clamping motor (16), movable motor in addition to the locking wheel (14) and road wheel (15) (17), worm-and-wheel gear (18), clamping swing rod (19), live axle (21) and wheel carrier (23), wherein live axle (21) are set It is placed in the wheel carrier bending part (20) of the wheel carrier (23) upper end, the live axle (21) is with being arranged on the wheel carrier bending part (20) movable motor (17) on the outside of is connected, and the road wheel (15) is packed on the live axle (21), the road wheel (15) lower section, which is provided with, clamps swing rod (19) and clamping motor (16), and the clamping swing rod (19) and clamping motor (16) may be contained within On wheel carrier (23) and the clamping motor (16) is connected by a worm-and-wheel gear (18) with the clamping swing rod (19), institute State locking wheel (14) and be arranged at the described one end of clamping swing rod (19) away from the clamping motor (16), and the locking wheel (14) It is respectively arranged at road wheel (15) both sides;
    The middle movement of the tire travel mechanism (8) and the middle arm mechanism (2) of the preceding arm mechanism (1) and rear arm mechanism (3) Mechanism (12) be arranged in parallel, and Liang Ge tires travel mechanism (8) is respectively arranged at the both sides of electric appliance box (4), middle travel mechanism (12) it is arranged between Liang Ge tires travel mechanism (8).
  2. 2. three arms combined type inspection robot mechanism according to claim 1, it is characterised in that:The preceding arm mechanism (1) It is identical with middle luffing mechanism (11) structure on the luffing mechanism (6) and the middle arm mechanism (2) on rear arm mechanism (3), Including pitching motor (24), pitch axis (25) and bearing (26), wherein pitch axis (25) is horizontally disposed and is installed in rotation on On the bearing (26), pitching motor (24), the pitch axis (25) and the pitching are installed on the outside of the bearing (26) The output shaft of motor (24) is connected, the tire mechanism (5) on the preceding arm mechanism (1) and rear arm mechanism (3) and the pitching machine Pitch axis (25) in structure (6) is connected, the middle clip claw mechanism (9) on the middle arm mechanism (2) and the middle luffing mechanism (11) In pitch axis (25) be connected.
  3. 3. three arms combined type inspection robot mechanism according to claim 1, it is characterised in that:The slew gear (7) Including turning motor (27), worm shaft (28), worm screw (29), worm gear (31), pivoted lever (30) and support frame (32), wherein worm screw Axle (28) is arranged on support frame as described above (32), one end of the worm shaft (28) and the revolution on the outside of support frame (32) Motor (27) is connected, and worm screw (29) is set with the worm shaft (28), in support frame as described above (32) vertically and rotationally One pivoted lever (30) is installed, is fixed with a worm gear (31) on the pivoted lever (30), the worm gear (31) with it is described Worm screw (29) engages, and the upper end of the pivoted lever (30) is connected with the luffing mechanism (6), support frame as described above (32) and the wheel Pawl travel mechanism (8) is connected.
  4. 4. three arms combined type inspection robot mechanism according to claim 1, it is characterised in that:The middle clip claw mechanism (9) clamping motor (35), guide rod (36), support (37), left nut are also included in addition to the left clamping jaw (33) and right clamping jaw (34) (39) leading screw (40) and right nut (42), are clamped, is arranged on wherein clamping leading screw (40) on support (37), and the clamping leading screw (40) it is connected with the clamping motor (35) on the outside of support (37), the clamping leading screw (40) is provided with screw thread and screw thread point For two sections, respectively left-hand thread section (38) and right-hand thread section (41) are wherein arranged with left nut (39) in left-hand thread section (38), right Right nut (42) is arranged with thread segment (41), the middle part of left clamping jaw (33) is connected with the left nut (39), right clamping jaw (34) Middle part be connected with the right nut (42), one and the guide rod that to clamp leading screw (40) parallel are provided with the support (37) (36), be provided with two movable sliding blocks on guide rod (36), one end end of left clamping jaw (33) and right clamping jaw (34) respectively with Different sliding blocks are connected.
  5. 5. three arms combined type inspection robot mechanism according to claim 1, it is characterised in that:The middle elevating mechanism (10) lifting motor (43), driving gear (44), elevating screw (45), lifting nut (46), driven gear (47), lifting are included Sliding block (48), crane (49) and riser guide (50), wherein lifting motor (43) are arranged on crane (49), driving gear (44) with the output shaft fixed connection of the lifting motor (43), the lifting nut (46) is arranged on the crane (49) and institute State the driven gear (47) for being arranged with lifting nut (46) and being meshed with the driving gear (44), elevating screw (45) and institute State lifting nut (46) threaded connection and driven by the lifting nut (46) and lifted, the riser guide (50) is parallel to institute State elevating screw (45) setting and lower end is connected with the elevating screw (45) lower end, lifting slider (48) is packed in the lifting It is slidably connected on frame (49) and with the riser guide (50), elevating screw (45) upper end and the middle clip claw mechanism (9) It is connected, the crane (49) is connected with the middle luffing mechanism (11).
  6. 6. three arms combined type inspection robot mechanism according to claim 1, it is characterised in that:The preceding arm mechanism (1), The tire travel mechanism (8) of arm mechanism (3) is identical with middle travel mechanism (12) structure of the middle arm mechanism (2) afterwards and is motor Leading screw drive form, including mobile motor (51), wherein mobile leading screw (52), travelling nut (53) and rail brackets (54), institute Rail brackets (54) is stated on electric appliance box (4), mobile leading screw (52) is arranged on the rail brackets (54), the movement One end of leading screw (52) is connected with the output shaft of the mobile motor (51) on the outside of rail brackets (54), mobile leading screw (52) it is threaded with travelling nut (53) on, slew gear (7) and middle arm on preceding arm mechanism (1) and rear arm mechanism (3) Middle luffing mechanism (11) in mechanism (2) is connected with travelling nut (53).
  7. 7. three arms combined type inspection robot mechanism according to claim 1, it is characterised in that:The preceding arm mechanism (1), The tire travel mechanism (8) of arm mechanism (3) is identical with middle travel mechanism (12) structure of the middle arm mechanism (2) and for synchronously afterwards Band drive form, including driving pulley (55), driven pulley (58), timing belt (56) and movable block (57), wherein driving pulley (55) it is arranged at the electric appliance box (4) with the output shaft fixed connection of the motor on electric appliance box (4), driven pulley (58) In and be connected with the driving pulley (55) by timing belt (56), movable block (57) is arranged on the timing belt (56), preceding The middle luffing mechanism (11) on slew gear (7) and middle arm mechanism (2) on arm mechanism (1) and rear arm mechanism (3) with shifting Motion block (57) is connected.
CN201510025554.1A 2015-01-19 2015-01-19 A kind of three arm combined type inspection robot mechanisms Active CN105870832B (en)

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CN107565447A (en) * 2017-08-16 2018-01-09 国家电网公司 A kind of power grid transmission line line inspection device
CN107611849A (en) * 2017-10-26 2018-01-19 深圳市益海洋电力安装器材有限公司 A kind of self-propelled power transmission cable crusing robot
CN109742683A (en) * 2019-03-08 2019-05-10 江南大学 Along power transmission line crusing robot obstacle-surmounting travelling gear
CN110142739A (en) * 2019-05-30 2019-08-20 西安交通大学 A kind of three-stage high voltage transmission line slides crusing robot

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