CN105904430A - Five-line simultaneous patrol spider type bar-crossing robot and bar-crossing control method thereof - Google Patents
Five-line simultaneous patrol spider type bar-crossing robot and bar-crossing control method thereof Download PDFInfo
- Publication number
- CN105904430A CN105904430A CN201610256872.3A CN201610256872A CN105904430A CN 105904430 A CN105904430 A CN 105904430A CN 201610256872 A CN201610256872 A CN 201610256872A CN 105904430 A CN105904430 A CN 105904430A
- Authority
- CN
- China
- Prior art keywords
- pair
- road wheel
- robot
- zero line
- earth lead
- 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.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
Abstract
The invention discloses a five-line simultaneous patrol spider type bar-crossing robot and a bar-crossing control method thereof. The robot comprises a robot body, and five lines comprise one grounded line, one null line and three live lines correspondingly. Four pairs of walking wheels formed by the first pair of walking wheels, the second pair of walking wheels, the third pair of walking wheels and the fourth pair of walking wheels are mounted on the robot body. Each pair of walking wheels has a work state and a non-work state, in the work state, the walking wheels are connected to the grounded line and the null line to walk on the grounded line and the null line, and in the non-work state, the walking wheels are separated from the grounded line and the null line. When the four pairs of walking wheels are all in the work state, the first pair of walking wheels, the second pair of walking wheels, the third pair of walking wheels and the fourth pair of walking wheels are sequentially distributed from front to back at intervals. The robot can patrol the five lines of a power line simultaneously, and the bar-crossing capacity is higher and more stable.
Description
Technical field
The present invention relates to inspection robot field, a kind of five lines with patrol spider-type Guo Gan robot and
Cross bar control method.
Background technology
Visible technical data shows, current inspection robot mostly is single line line walking mode, crosses the many employings of bar
Hang, has the disadvantage in that
1) single line line walking mode efficiency comparison is low；
2) owing to using single line line walking mode, cross bar and can only take hang；
3) hang is affected by wind bigger, and particularly the relative high-altitude residing for high-voltage line, compares appearance
Easily caused bar error.
Summary of the invention
The present invention seeks to: for above-mentioned technical problem, propose a kind of five strong lines of bar ability of crossing with patrolling Aranea
Shi Guo bar robot and excessively bar control method.
The technical scheme is that a kind of five lines with patrolling spider-type Guo Gan robot, including robot body,
Described five lines are respectively an earth lead, a zero line and three live wires, and described robot body is installed
Have by first pair of road wheel, second pair of road wheel, the 3rd pair of road wheel and the 4th couple of four couple that road wheel is constituted
Road wheel, and every a pair road wheel be respectively provided with and be connected to described earth lead and zero line with at earth lead and zero line
The duty of upper walking and the described earth lead of disengaging and the off working state of zero line, when these four pairs of road wheels are equal
When being in described duty, described first pair of road wheel, second pair of road wheel, the 3rd pair of road wheel and
Four pairs of road wheel compartments the most successively.
This five lines of the present invention, with patrolling spider-type Guo Gan robot on the basis of technique scheme, also include
Following preferred version:
The safety preventing off-line it are provided with on road wheel described in every a pair.
Five photographic head for making an inspection tour described five lines are installed on described robot body.
Described photographic head is arranged on described robot body by connecting rod.
Described connecting rod is the expansion link that adjustable in length controls.
Above-mentioned five lines cross bar control method with patrol spider-type Guo Gan robot, comprise the following steps:
Step one, this robot is placed on power circuit five line, controls described second pair of road wheel (2)
Stretch out and be connected to described earth lead and zero line, in running order, control the described 3rd to row simultaneously
Travelling wheel stretches out and is also connected to described earth lead and zero line, in running order；Control described first to row
Travelling wheel and the 4th pair of road wheel depart from and earth lead and the connection of zero line, are in off working state；
When bar is crossed by step 2, this robot, treat that the duty position of described first pair of road wheel is crossed described
During stake bar, control described first pair of road wheel and stretch out and be connected on described earth lead and zero line, be in
Duty；Then control described second pair of road wheel to lift and depart from the connection with earth lead and zero line, place
In off working state；
Step 3, control described 4th pair of road wheel and stretch out and be connected on described earth lead and zero line,
In running order；Control the 3rd pair of road wheel afterwards to lift and depart from the connection with earth lead and zero line, place
In off working state；
Step 4, when described stake bar is crossed in the duty position of described second pair of road wheel, control described
Second pair of road wheel stretches out and is connected on described earth lead and zero line, in running order；Control afterwards
Road wheel is lifted and departs from the connection with earth lead and zero line by system first, is in off working state；
Step 5, when described stake bar is crossed in the duty position of described 3rd pair of road wheel, control the 3rd
Road wheel is stretched out and is connected on earth lead and zero line, in running order；Control the 4th afterwards right
Road wheel lifts and departs from the connection with earth lead and zero line, is in off working state.
This five lines of the present invention cross bar control method in technique scheme with patrol spider-type Guo Gan robot
On the basis of, also include following preferred version:
In described step one, control in this robot five photographic head and stretch out, with to described power circuit
Five lines are maked an inspection tour；
In described step 2, five photographic head controlled in this robot are regained；
After described step 5 completes, again control in this robot five photographic head and stretch out, with to described
Power circuit five line is maked an inspection tour.
The invention have the advantage that this robot of the present invention is capable of five lines with patrolling, and with octal Aranea
Leap mode realized bar, and during work, four feet (four pairs of road wheels) of robot are used alternatingly, it is achieved whole
Bar and high efficiency five lines excessively of power circuit are maked an inspection tour simultaneously.There is following progress:
1) five lines are proposed with the thought patrolled and method；
2) same the patrolling of five lines significantly improves compared with the efficiency of single line line walking；
3) propose spider-type octal great-leap-forward alternately and cross bar method；
4) to cross the performance of bar method more reliable and more stable for spider-type.
Accompanying drawing explanation
The invention will be described further with specific embodiment below in conjunction with the accompanying drawings:
Fig. 1～Fig. 8 be the embodiment of the present invention this Guo Gan robot cross bar mode demonstration graph；
Wherein: 1-first is to road wheel, and 2-second is to road wheel, and the 3rd pair of road wheel of 3-, 4-the 4th is to walking
Wheel, 5-photographic head, 6-robot body, 7-connecting rod；
PE-earth lead, N-zero line, L1, L2, L3-live wire, a-stake bar.
Detailed description of the invention
Fig. 1～Fig. 8 show this five lines of the present invention with patrolling a specific embodiment of spider-type Guo Gan robot,
Five described lines refer to power circuit five line, and these five lines are respectively an earth lead PE, a zero line N and
Three live wires L1, L2, L3.
The key improvements of the present embodiment is: be provided with four pairs of road wheels on described robot body 6, respectively
It is 1, second pair of road wheel 2 of first pair of road wheel, the 3rd pair of road wheel 3 and the 4th pair of road wheel 4.And
Every a pair road wheel is respectively provided with and is connected to described earth lead PE and zero line N with at described earth lead PE and zero line
The duty of the upper walking of N and the described earth lead PE of disengaging and the off working state of zero line N.When this is four to row
When travelling wheel is in described duty, 1, second pair of road wheel the 2, the 3rd of described first pair of road wheel is to row
Travelling wheel 3 and the 4th pair of road wheel 4 compartment the most successively."front", "rear" described in the present embodiment,
Be with this robot make an inspection tour time direction of travel as reference.
And, this example is provided with the safety preventing off-line on road wheel described in every a pair, to ensure
Robot can on described earth lead PE and zero line N stabilized walking.Be provided with on robot body 6 for
Five photographic head 5 that described five lines are maked an inspection tour, and each photographic head 5 is to be installed by connecting rod 7
On robot body 6, and the expansion link that described connecting rod 7 controls for adjustable in length.
Refer again to shown in Fig. 1～Fig. 8, existing by this for the present embodiment five lines with the mistake patrolling spider-type Guo Gan robot
Bar control method is described below, and the method comprises the following steps:
Shown in step one, reference Fig. 1, Fig. 2, this robot is placed on power circuit five line, controls institute
State second pair of road wheel 2 and stretch out and be connected to described earth lead PE and zero line N, in running order,
Control described 3rd pair of road wheel 3 to stretch out and be also connected to described earth lead PE and zero line N simultaneously, be in
Duty；Control described first pair of road wheel 1 and the 4th pair of road wheel 4 departs from and earth lead PE and zero line
The connection of N, is in off working state.
Now, second pair of in running order road wheel 2 and the 3rd pair of road wheel 3 drive this Robot
Described earth lead PE and zero line N advances forward.
Shown in step 2, reference Fig. 4 and Fig. 5, when bar is crossed by this robot, treat described first pair of road wheel 1
Duty position when crossing described stake bar a, control described first pair of road wheel 1 and stretch out and connect respectively
On described earth lead PE and zero line N, in running order；Then described second pair of road wheel 2 is controlled
Lift and depart from and earth lead PE and the connection of zero line N, be in off working state.
Now, first pair of in running order road wheel 1 and the 3rd pair of road wheel 3 drive this Robot
Described earth lead PE and zero line N advances forward.
In order to ensure stationarity when bar is crossed by this robot, it is in work controlling described first pair of road wheel 1
Before state, can first control the connection leg elongation certain length of the 3rd pair of road wheel 3 and robot body 6,
So that robot body 6 is in level, as shown in Figure 3.
Step 3, control described 4th pair of road wheel 4 and stretch out and be connected to described earth lead PE and zero line
On N, in running order；Control the 3rd pair of road wheel 3 afterwards to lift and depart from and earth lead PE and zero line
The connection of N, is in off working state, and figure is slightly.
Now, in running order first pair of road wheel 1, the 4th pair of road wheel 4 drive this robot together
Advance forward along described earth lead PE and zero line N.
Step 4, as shown in Figure 6, treats that described stake is crossed in the duty position of described second pair of road wheel 2
During bar a, control described second pair of road wheel 2 and stretch out and be connected on described earth lead PE and zero line N,
In running order；Control first afterwards road wheel 1 to be lifted and departs from and earth lead PE and the company of zero line N
Connect, be in off working state.
Now, in running order second pair of road wheel 2, the 4th pair of road wheel 4 drive this robot together
Advance forward along described earth lead PE and zero line N.
Step 5, as shown in Figure 7 and Figure 8, treats that the duty position of described 3rd pair of road wheel 3 is crossed
During described stake bar a, control the 3rd pair of road wheel 3 and stretch out and be connected on earth lead PE and zero line N,
In running order；Control the 4th pair of road wheel 4 afterwards to lift and depart from and earth lead PE and the company of zero line N
Connect, be in off working state.Thus completing the bar action excessively of whole robot, bar action excessively afterwards is the most such as
This carry out.
Because this robot need to carry out line walking work, therefore in described step one, need to control in this robot
Five photographic head 5 stretch out, to make an inspection tour described power circuit five line.In described step 2, because
Robot bar to be crossed, stake bar a can hinder passing through of photographic head 5 and connecting rod 7, therefore in described step 2,
In this robot five photographic head 5 need to be controlled regain.After described step 5 completes, again control this machine
Five photographic head 5 on device people stretch out, and make an inspection tour described power circuit five line.
Certainly, above-described embodiment, only for technology design and the feature of the explanation present invention, its object is to allow people
Will appreciate that present disclosure and implement according to this, can not limit the scope of the invention with this.All
The equivalent transformation done according to the spirit of main technical schemes of the present invention or modification, all should contain in the present invention
Protection domain within.
Claims (7)
1. five lines are with patrolling a spider-type Guo Gan robot, and including robot body (6), described five lines are respectively
Being an earth lead (PE), a zero line (N) and three live wires (L1, L2, L3), its feature exists
In: be provided with on described robot body (6) by first pair of road wheel (1), the second pair of road wheel (2),
Four pairs of road wheels that 3rd pair of road wheel (3) and the 4th pair of road wheel (4) are constituted, and every a pair walking
Wheel is respectively provided with and is connected to described earth lead (PE) and zero line (N) with at earth lead (PE) and zero line (N)
The duty of upper walking and depart from described earth lead (PE) and the off working state of zero line (N), when this four
When road wheel is in described duty, described first pair of road wheel (1), the second pair of road wheel (2),
3rd pair of road wheel (3) and the 4th pair of road wheel (4) compartment the most successively.
Five lines the most according to claim 1 are with patrolling spider-type Guo Gan robot, it is characterised in that: each
To being provided with the safety preventing off-line on described road wheel.
Five lines the most according to claim 1 are with patrolling spider-type Guo Gan robot, it is characterised in that: described
Five photographic head (5) for making an inspection tour described five lines are installed on robot body (6).
Five lines the most according to claim 3 are with patrolling spider-type Guo Gan robot, it is characterised in that: described
Photographic head (5) is arranged on described robot body (6) by connecting rod (7).
Five lines the most according to claim 4 are with patrolling spider-type Guo Gan robot, it is characterised in that: described
Connecting rod (7) is the expansion link that adjustable in length controls.
6. five lines as described in claim 1 or 2 or 3 or 4 or 5 are with patrolling spider-type Guo Gan robot
Cross bar control method, it is characterised in that the method comprises the following steps:
Step one, this robot is placed on power circuit five line, controls described second pair of road wheel (2)
Stretch out and be connected to described earth lead (PE) and zero line (N), in running order, control institute simultaneously
State the 3rd pair of road wheel (3) to stretch out and be also connected to described earth lead (PE) and zero line (N), be in work
Make state；Control described first pair of road wheel (1) and the 4th pair of road wheel (4) departs from and earth lead (PE)
With the connection of zero line (N), it is in off working state；
When bar is crossed by step 2, this robot, treat that the duty position of described first pair of road wheel (1) is crossed
During described stake bar (a), control described first pair of road wheel (1) and stretch out and be connected to described earth lead
(PE) and on zero line (N), in running order；Then control described second pair of road wheel (2) to lift
And depart from and earth lead (PE) and the connection of zero line (N), it is in off working state；
Step 3, control described 4th pair of road wheel (4) and stretch out and be connected to described earth lead (PE)
With on zero line (N), in running order；Control the 3rd pair of road wheel (3) afterwards to lift and depart from and connect
Ground wire (PE) and the connection of zero line (N), be in off working state；
Step 4, when described stake bar (a) is crossed in the duty position of described second pair of road wheel (2),
Control described second pair of road wheel (2) and stretch out and be connected to described earth lead (PE) and zero line (N)
On, in running order；Afterwards control first road wheel (1) is lifted and depart from earth lead (PE) and
The connection of zero line (N), is in off working state；
Step 5, when described stake bar (a) is crossed in the duty position of described 3rd pair of road wheel (3),
Control the 3rd pair of road wheel (3) to stretch out and be connected to, on earth lead (PE) and zero line (N), to be in
Duty；Control the 4th pair of road wheel (4) afterwards to lift and depart from and earth lead (PE) and zero line (N)
Connection, be in off working state.
Five lines the most according to claim 6 cross bar control method with patrol spider-type Guo Gan robot, its
It is characterised by:
In described step one, control in this robot five photographic head (5) and stretch out, with to described electric power
Circuit five line is maked an inspection tour；
In described step 2, five photographic head (5) controlled in this robot are regained；
After described step 5 completes, again control in this robot five photographic head (5) and stretch out, with right
Described power circuit five line is maked an inspection tour.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610256872.3A CN105904430B (en) | 2016-04-22 | 2016-04-22 | Five lines are same to patrol spider-type Guo Gan robots and its crosses bar control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610256872.3A CN105904430B (en) | 2016-04-22 | 2016-04-22 | Five lines are same to patrol spider-type Guo Gan robots and its crosses bar control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105904430A true CN105904430A (en) | 2016-08-31 |
| CN105904430B CN105904430B (en) | 2018-06-01 |
Family
ID=56751687
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610256872.3A Expired - Fee Related CN105904430B (en) | 2016-04-22 | 2016-04-22 | Five lines are same to patrol spider-type Guo Gan robots and its crosses bar control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105904430B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101941479A (en) * | 2010-07-20 | 2011-01-12 | 哈尔滨理工大学 | Spider robot |
| CN202103365U (en) * | 2011-05-16 | 2012-01-04 | 山东电力集团公司超高压公司 | Transmission line equipotential stride type robot |
| CN203151000U (en) * | 2013-03-09 | 2013-08-21 | 平顶山学院 | A spider robot walking on power transmission lines |
| JP2014193078A (en) * | 2013-03-28 | 2014-10-06 | Kanden Engineering Corp | Sheave device and overhead ground wire rebuilding method |
| KR101469492B1 (en) * | 2013-10-25 | 2014-12-05 | 한국과학기술연구원 | Robot moving along the wire |
| CN104691646A (en) * | 2013-12-09 | 2015-06-10 | 孙宝恒 | Eight-legged spider-bionic robot |
-
2016
- 2016-04-22 CN CN201610256872.3A patent/CN105904430B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101941479A (en) * | 2010-07-20 | 2011-01-12 | 哈尔滨理工大学 | Spider robot |
| CN202103365U (en) * | 2011-05-16 | 2012-01-04 | 山东电力集团公司超高压公司 | Transmission line equipotential stride type robot |
| CN203151000U (en) * | 2013-03-09 | 2013-08-21 | 平顶山学院 | A spider robot walking on power transmission lines |
| JP2014193078A (en) * | 2013-03-28 | 2014-10-06 | Kanden Engineering Corp | Sheave device and overhead ground wire rebuilding method |
| KR101469492B1 (en) * | 2013-10-25 | 2014-12-05 | 한국과학기술연구원 | Robot moving along the wire |
| CN104691646A (en) * | 2013-12-09 | 2015-06-10 | 孙宝恒 | Eight-legged spider-bionic robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105904430B (en) | 2018-06-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104022458B (en) | Suspended inspection robot on superhigh-voltage power transmission line | |
| ES2361318T3 (en) | METHOD FOR TENDING AND EMPALMATING A DRIVER WITH CURRENT. | |
| CN105870837B (en) | Adapt to the envelop-type inspection robot structure and its obstacle-detouring method of single conductor | |
| CN100594101C (en) | Mobile robot mechanism | |
| CN108082318A (en) | A kind of flexible tensioning entirety robot of six bars, 30 rope | |
| CN105811310A (en) | Traveling mechanism, mechanical structure of inspection robot and obstacle crossing method of mechanical structure | |
| CN110076754A (en) | A kind of mobile parallel connection mechanism and its control method of multi-locomotion mode | |
| CN205791203U (en) | Adapt to the suspension type inspection robot structure of single conductor | |
| CN102780178A (en) | Obstacle bridging construction method for power line wiring and wiring pulleys | |
| CN109765899A (en) | Self-movement robot system | |
| CN205791204U (en) | Adapt to the envelop-type inspection robot structure of single conductor | |
| CN107139161A (en) | Suspension type guide rails of robots, suspension type robot and its runtime | |
| CN105904430A (en) | Five-line simultaneous patrol spider type bar-crossing robot and bar-crossing control method thereof | |
| CN108367686A (en) | Electric energy is transmitted to vehicle in proximity using the successive section of operation simultaneously | |
| KR101124606B1 (en) | Cross-type segment power supply | |
| CN206813140U (en) | Transfer robot | |
| CN106938673A (en) | Transfer robot | |
| CN105798902B (en) | Apery climbs formula inspection robot mechanical structure and its obstacle-detouring method | |
| CN105835087B (en) | Inspection robot mechanical structure and its obstacle-detouring method based on subdivision wheel and mechanical arm | |
| CN203866694U (en) | Mountain land along-bridge operating vehicle | |
| CN205753193U (en) | Walking mechanism, inspection robot frame for movement | |
| CN109167300A (en) | Great-leap-forward line data-logging delimbing machine | |
| CN205114337U (en) | Automatic guide primary and secondary car | |
| CN106828647A (en) | Combination driving method is driven in a kind of timesharing point | |
| CN104309142B (en) | The latch of a kind of post-vulcanization inflating device for tire and the attachment structure of chuck seat |
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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180601 Termination date: 20210422 |