CN105904430B - Five lines are same to patrol spider-type Guo Gan robots and its crosses bar control method - Google Patents
Five lines are same to patrol spider-type Guo Gan robots and its crosses bar control method Download PDFInfo
- Publication number
- CN105904430B CN105904430B CN201610256872.3A CN201610256872A CN105904430B CN 105904430 B CN105904430 B CN 105904430B CN 201610256872 A CN201610256872 A CN 201610256872A CN 105904430 B CN105904430 B CN 105904430B
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- China
- Prior art keywords
- pair
- traveling wheel
- ground wire
- zero curve
- controlled
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Classifications
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- 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
Spider-type Guo Gan robots are patrolled together the invention discloses a kind of five lines and its cross bar control method, the robot includes robot body, five line is respectively a piece-root grafting ground wire, a piece zero curve and three firewires, it is equipped on the robot body by first pair of traveling wheel, second pair of traveling wheel, four pairs of traveling wheels that 3rd pair of traveling wheel and the 4th pair of traveling wheel are formed, and every a pair of traveling wheel, which is respectively provided with, is connected to the ground wire and zero curve to be grounded with the working condition walked on zero curve and depart from the off working state of the ground wire and zero curve, when this four pairs of traveling wheels are in the working condition, first pair of traveling wheel, second pair of traveling wheel, 3rd pair of traveling wheel and the 4th pair of traveling wheel compartment successively from front to back.This robot of the present invention can make an inspection tour five lines of power circuit simultaneously, and it is stronger more stable to cross bar ability.
Description
Technical field
The present invention relates to inspection robot field, especially a kind of five lines are same to patrol spider-type Guo Gan robots and its crosses bar control
Method processed.
Background technology
Visible technical data shows that current inspection robot is mostly single line line walking mode, crosses bar and uses suspension side more
Formula has the following disadvantages：
1) single line line walking mode efficiency is than relatively low；
2) due to using single line line walking mode, hang can only be taken by crossing bar；
3) hang is affected by wind bigger, particularly the opposite high-altitude residing for high-voltage line, is easier to cause
Bar is slipped up.
The content of the invention
The present invention seeks to：For above-mentioned technical problem, propose that patrol spider-type crosses bar to five strong lines of a kind of bar ability excessively together
Robot and its excessively bar control method.
The technical scheme is that：A kind of five lines are same to patrol spider-type Guo Gan robots, including robot body, described five
Line is respectively a piece-root grafting ground wire, a zero curve and three firewires, be equipped on the robot body by first pair of traveling wheel,
Four pairs of traveling wheels that second pair of traveling wheel, the 3rd pair of traveling wheel and the 4th pair of traveling wheel are formed, and have per a pair of of traveling wheel
Have and be connected to the ground wire and zero curve with the working condition walked on ground wire and zero curve and depart from the ground wire and zero
The off working state of line, when this four pairs of traveling wheels are in the working condition, first pair of traveling wheel, second pair of walking
Wheel, the 3rd pair of traveling wheel and the 4th pair of traveling wheel compartment successively from front to back.
This five line of the present invention further includes following excellent with spider-type Guo Gan robots are patrolled based on the above technical solutions
Select scheme：
The safety device for preventing off-line is both provided on per a pair of traveling wheel.
Five cameras for being maked an inspection tour to five line are installed on the robot body.
The camera is to be mounted on by connecting rod on the robot body.
The connecting rod is the telescopic rod of adjustable in length control.
Above-mentioned five line patrols together the bar control method excessively of spider-type Guo Gan robots, comprises the following steps：
Step 1: the robot is placed on five line of power circuit, second pair of traveling wheel (2) is controlled to stretch out and divide
The ground wire and zero curve are not connected to, it is in running order, while the 3rd pair of traveling wheel stretching is controlled also to connect respectively
It is in running order in the ground wire and zero curve；It controls first pair of traveling wheel and the 4th pair of traveling wheel departs from and ground connection
The connection of line and zero curve, in off working state；
Step 2: when bar is crossed by the robot, when the stake bar is crossed in the working condition position of first pair of traveling wheel,
First pair of traveling wheel is controlled to stretch out and is connected on the ground wire and zero curve, it is in running order；Then control
Second pair of traveling wheel lifts and departs from and be grounded and the connection of zero curve, in off working state；
Step 3: control the 4th pair of traveling wheel is stretched out and is connected on the ground wire and zero curve, in work
Make state；Afterwards the 3rd pair of traveling wheel is controlled to lift and depart from and be grounded and the connection of zero curve, in off working state；
Step 4: when the stake bar is crossed in the working condition position of second pair of traveling wheel, described second pair of control
Traveling wheel is stretched out and is connected on the ground wire and zero curve, in running order；First pair of traveling wheel lift is controlled afterwards
It rises and departs from the connection with ground wire and zero curve, in off working state；
Step 5: when the stake bar is crossed in the working condition position of the 3rd pair of traveling wheel, the 3rd pair of walking is controlled
Wheel is stretched out and is connected on ground wire and zero curve, in running order；Afterwards the 4th pair of traveling wheel is controlled to lift and depart from
With ground wire and zero curve connection, in off working state.
This five line of the present invention patrols together the bar control method excessively of spider-type Guo Gan robots on the basis of above-mentioned technical proposal
On, further include following preferred embodiment：
In the step 1, five cameras in the robot is controlled to stretch out, with to five line of power circuit into
Row is maked an inspection tour；
In the step 2, five cameras in the robot is controlled to withdraw；
After the completion of the step 5, five cameras in the robot is controlled to stretch out again, with to the power line
Five line of road is maked an inspection tour.
It is an advantage of the invention that：This robot of the present invention can realize five lines with patrolling, and with the leap side of octal spider
Formula realized bar, and four feet (four pairs of traveling wheels) of robot are used alternatingly during work, and that realizes entire power circuit crosses bar and height
Five lines of efficiency are maked an inspection tour simultaneously.With following progress：
1) five lines are proposed with the thought and method patrolled；
2) five lines are significantly improved with the efficiency patrolled compared with single line line walking；
3) propose the alternate great-leap-forward of spider-type octal and cross bar method；
4) spider-type cross bar method performance it is more reliable and more stable.
Description of the drawings
The invention will be described further in the following with reference to the drawings and specific embodiments：
Fig. 1~Fig. 8 crosses bar mode demonstration graph for this Guo Gan robots of the embodiment of the present invention；
Wherein：1- first takes the photograph traveling wheel, the 3rd pair of traveling wheel of 3-, the 4th pair of traveling wheel of 4-, 5- traveling wheel, 2- second
As head, 6- robot bodies, 7- connecting rods；
PE- is grounded, N- zero curves, L1, L2, L3- firewire, a- bars.
Specific embodiment
Fig. 1~Fig. 8 shows this five line of the present invention with a specific embodiment for patrolling spider-type Guo Gan robots, described
Five lines refer to five line of power circuit, this five lines be respectively piece-root grafting ground wire a PE, a zero curve N and three firewire L1, L2,
L3。
The key improvements of the present embodiment are：Four pairs of traveling wheels on the robot body 6 are installed, are respectively first pair
1, second pair of traveling wheel 2 of traveling wheel, the 3rd pair of traveling wheel 3 and the 4th pair of traveling wheel 4.And it is respectively provided with connection per a pair of traveling wheel
Working condition and the disengaging ground wire in the ground wire PE and zero curve N to walk on the ground wire PE and zero curve N
The off working state of PE and zero curve N.When this four pairs of traveling wheels are in the working condition, first pair of traveling wheel 1,
Two pairs of traveling wheels 2, the 3rd pair of traveling wheel 3 and the 4th pair of traveling wheel 4 compartment successively from front to back.Described in the present embodiment
"front", "rear" is direction of travel when being maked an inspection tour using the robot as reference.
Moreover, this example is both provided with the safety device for preventing off-line on every a pair traveling wheel, to ensure robot
Stabilized walking on PE and zero curve N can be grounded described.It is equipped with to make an inspection tour five line on robot body 6
Five cameras 5, and each camera 5 is to be mounted on by connecting rod 7 on robot body 6, and the company
Bar 7 is the telescopic rod of adjustable in length control.
It refers again to shown in Fig. 1~Fig. 8, now controls this five line of the present embodiment with the bar of crossing for patrolling spider-type Guo Gan robots
Method is described below, and this method comprises the following steps：
Step 1: it is shown in reference picture 1, Fig. 2, which is placed on five line of power circuit, described second pair of control
Traveling wheel 2 stretches out and is connected to the ground wire PE and zero curve N, in running order, while controls the 3rd pair of row
It walks wheel 3 and stretches out also to be connected to the ground wire PE and zero curve N, it is in running order；Control first pair of traveling wheel, 1 He
4th pair of traveling wheel 4 departs from the connection with ground wire PE and zero curve N, in off working state.
At this point, second pair of in running order traveling wheel 2 and the 3rd pair of traveling wheel 3 drive ground connection described in the Robot
Line PE and zero curve N advance forward.
Step 2: with reference to shown in Fig. 4 and Fig. 5, when which crosses bar, the working condition of first pair of traveling wheel 1 is treated
When the stake bar a is crossed in position, first pair of traveling wheel 1 is controlled to stretch out and be connected to the ground wire PE and zero curve N
On, it is in running order；Then second pair of traveling wheel 2 is controlled to lift and departs from the connection with ground wire PE and zero curve N, place
In off working state.
At this point, first pair of in running order traveling wheel 1 and the 3rd pair of traveling wheel 3 drive ground connection described in the Robot
Line PE and zero curve N advance forward.
Stationarity during in order to ensure that bar is crossed by the robot, control first pair of traveling wheel 1 it is in running order it
Before, the connection leg of the 3rd pair of traveling wheel 3 and robot body 6 can first be controlled to extend certain length, so that at robot body 6
In horizontality, as shown in Figure 3.
Step 3: control the 4th pair of traveling wheel 4 is stretched out and is connected on the ground wire PE and zero curve N, place
In working condition；Afterwards the 3rd pair of traveling wheel 3 is controlled to lift and depart from the connection with ground wire PE and zero curve N, in inoperative
State, figure omit.
At this point, first pair of in running order traveling wheel 1, the 4th pair of traveling wheel 4 are driven together described in the Robot
Ground wire PE and zero curve N advances forward.
Step 4: as shown in fig. 6, when the stake bar a is crossed in the working condition position of second pair of traveling wheel 2, control
Second pair of traveling wheel 2 is made to stretch out and be connected on the ground wire PE and zero curve N, it is in running order；It controls afterwards
First pair of traveling wheel 1 of system lifts and departs from the connection with ground wire PE and zero curve N, in off working state.
At this point, second pair of in running order traveling wheel 2, the 4th pair of traveling wheel 4 are driven together described in the Robot
Ground wire PE and zero curve N advances forward.
Step 5: as shown in Figure 7 and Figure 8, treat that the stake bar a is crossed in the working condition position of the 3rd pair of traveling wheel 3
When, the 3rd pair of traveling wheel 3 of control is stretched out and is connected on ground wire PE and zero curve N, in running order；Is controlled afterwards
Four pairs of traveling wheels 4 lift and depart from the connection with ground wire PE and zero curve N, in off working state.So as to complete entire machine
People's crosses bar action, and bar action of crossing afterwards also so carries out.
Because the robot need to carry out line walking work, therefore in the step 1, five in the robot need to be controlled to take the photograph
As first 5 stretchings, to be maked an inspection tour to five line of power circuit.In the step 2, because bar was wanted in robot, stake bar a
Can hinder camera 5 and connecting rod 7 by that therefore in the step 2, five in the robot cameras 5 need to be controlled to receive
It returns.After the completion of the step 5, five in the robot cameras 5 is controlled to stretch out again, to five line of power circuit
It is maked an inspection tour.
Certainly, the above embodiments merely illustrate the technical concept and features of the present invention, and its object is to make people much of that
Solution present disclosure is simultaneously implemented according to this, and it is not intended to limit the scope of the present invention.All major techniques according to the present invention
The equivalent transformation or modification that the Spirit Essence of scheme is done, should be covered by the protection scope of the present invention.
Claims (7)
1. a kind of five lines are with spider-type Guo Gan robots are patrolled, including robot body (6), five line is respectively a piece-root grafting ground wire
(PE), a zero curve (N) and three firewires (L1, L2, L3), it is characterised in that：Be equipped on the robot body (6) by
Four pairs of rows that first pair of traveling wheel (1), second pair of traveling wheel (2), the 3rd pair of traveling wheel (3) and the 4th pair of traveling wheel (4) are formed
Wheel is walked, and is respectively provided with per a pair of of traveling wheel and is connected to the ground wire (PE) and zero curve (N) in ground wire (PE) and zero curve
(N) working condition and the disengaging ground wire (PE) walked on and the off working state of zero curve (N), at this four pairs of traveling wheels
When the working condition, first pair of traveling wheel (1), second pair of traveling wheel (2), the 3rd pair of traveling wheel (3) and the 4th pair
Traveling wheel (4) is spaced apart successively from front to back；Wherein, when by stake bar (a), non-adjacent two couple traveling wheel is in
The working condition, and traveling wheel described in two further pairs is in off working state.
2. five line according to claim 1 is same to patrol spider-type Guo Gan robots, it is characterised in that：Per a pair of traveling wheel
On be both provided with the safety device for preventing off-line.
3. five line according to claim 1 is same to patrol spider-type Guo Gan robots, it is characterised in that：The robot body
(6) five cameras (5) for being maked an inspection tour to five line are installed on.
4. five line according to claim 3 is same to patrol spider-type Guo Gan robots, it is characterised in that：The camera (5) is
It is mounted on by connecting rod (7) on the robot body (6).
5. five line according to claim 4 is same to patrol spider-type Guo Gan robots, it is characterised in that：The connecting rod (7) is length
Spend the telescopic rod being adjustably controlled.
6. a kind of five lines as described in claim 1 or 2 or 3 or 4 or 5 patrol together the bar controlling party excessively of spider-type Guo Gan robots
Method, it is characterised in that this method comprises the following steps：
Step 1: the robot is placed on five line of power circuit, second pair of traveling wheel (2) is controlled to stretch out and is connected respectively
The ground wire (PE) and zero curve (N) are connected on, it is in running order, while the 3rd pair of traveling wheel (3) is controlled to stretch out and is also divided
The ground wire (PE) and zero curve (N) are not connected to, it is in running order；Control first pair of traveling wheel (1) and the 4th pair
Traveling wheel (4) departs from the connection with ground wire (PE) and zero curve (N), in off working state；
Step 2: when the robot passes through stake bar (a), treat first pair of traveling wheel (1) working condition position cross it is described
During stake bar (a), first pair of traveling wheel (1) is controlled to stretch out and is connected on the ground wire (PE) and zero curve (N), place
In working condition；Then second pair of traveling wheel (2) is controlled to lift and departs from the connection with ground wire (PE) and zero curve (N),
In off working state；
Step 3: control the 4th pair of traveling wheel (4) is stretched out and is connected on the ground wire (PE) and zero curve (N),
It is in running order；Afterwards the 3rd pair of traveling wheel (3) is controlled to lift and depart from the connection with ground wire (PE) and zero curve (N), place
In off working state；
Step 4: when the stake bar (a) is crossed in the working condition position of second pair of traveling wheel (2), control described second
Traveling wheel (2) is stretched out and is connected on the ground wire (PE) and zero curve (N), it is in running order；Is controlled afterwards
A pair of of traveling wheel (1) lifts and departs from the connection with ground wire (PE) and zero curve (N), in off working state；
Step 5: when the stake bar (a) is crossed in the working condition position of the 3rd pair of traveling wheel (3), the 3rd pair of row is controlled
Wheel (3) is walked to stretch out and be connected on ground wire (PE) and zero curve (N), it is in running order；The 4th pair of walking is controlled afterwards
Wheel (4) lifts and departs from the connection with ground wire (PE) and zero curve (N), in off working state.
7. five line according to claim 6 patrols together the bar control method excessively of spider-type Guo Gan robots, it is characterised in that：
In the step 1, five cameras (5) in the robot is controlled to stretch out, to be carried out to five line of power circuit
It makes an inspection tour；
In the step 2, five cameras (5) in the robot is controlled to withdraw；
After the completion of the step 5, five cameras (5) in the robot is controlled to stretch out again, with to the power circuit
Five lines are 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 CN105904430A (en) | 2016-08-31 |
| CN105904430B true 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 |
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| CN (1) | CN105904430B (en) |
Family Cites Families (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 |
| JP6068226B2 (en) * | 2013-03-28 | 2017-01-25 | 株式会社かんでんエンジニアリング | Gold wheel equipment and overhead ground wire replacement 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 |
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2016
- 2016-04-22 CN CN201610256872.3A patent/CN105904430B/en not_active Expired - Fee Related
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| Publication number | Publication date |
|---|---|
| CN105904430A (en) | 2016-08-31 |
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