CN105945891A - Walking wheel and mechanical arm combined transmission line inspection robot mechanical structure and obstacle crossing method thereof - Google Patents
Walking wheel and mechanical arm combined transmission line inspection robot mechanical structure and obstacle crossing method thereof Download PDFInfo
- Publication number
- CN105945891A CN105945891A CN201610321148.4A CN201610321148A CN105945891A CN 105945891 A CN105945891 A CN 105945891A CN 201610321148 A CN201610321148 A CN 201610321148A CN 105945891 A CN105945891 A CN 105945891A
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- Prior art keywords
- mechanical arm
- road wheel
- mechanical
- frame
- inspection robot
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- 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.)
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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
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
Abstract
The invention discloses a walking wheel and mechanical arm combined transmission line inspection robot mechanical structure and an obstacle crossing method thereof, and belongs to the technical field of robots. The walking wheel and mechanical arm combined transmission line inspection robot mechanical structure comprises a frame; at least two pairs of walking wheel support rods capable of extending and rotating in the lateral direction are arranged at the upper part of the frame; walking wheels are arranged at the tail ends of the walking wheel support rods; a first rotating base and a second rotating base are separately arranged at two ends of the frame, and are respectively provided with a first mechanical arm and a second mechanical arm; the first mechanical arm and the second mechanical arm are respectively provided with a pair of first manipulators and second manipulators capable of being opened and closed; and a counterweight is arranged at the lower part of the frame. Compared with the prior art, the walking wheel and mechanical arm combined transmission line inspection robot mechanical structure has the advantages of relief of the labor intensity, reduction of the operation cost and capability of crossing over an obstacle.
Description
Technical field
The present invention relates to robotics, particularly relate to a kind of road wheel and patrol with mechanical arm combination type
Line robotic's structure and obstacle-detouring method thereof.
Background technology
Employing high pressure and supertension overhead power transmission line are the major ways of distance transmission & distribution electric power.Electric lines of force
And shaft tower adnexa is chronically exposed to field, because of by lasting mechanical tension, electrically dodge iron, material old
The impact changed and easily produce disconnected stock, wear and tear, corrode equivalent damage, as repaired replacing not in time, the most micro-
Little breakage and defect, it is possible to expand, ultimately result in major accident, cause large-area power failure and huge
Big economic loss.The method that current transmission pressure patrols and examines, safeguard mainly has two kinds: ground ocular estimate
With aerophotographic method.Ocular estimate uses manual inspection, and this method labor intensity is big, work efficiency and detection essence
Spend low, poor reliability, there is inspection blind area；Aerophotographic method uses helicopter line walking, although this method
There are higher detection efficiency and precision, but this method is restricted by some environmental factorss, patrols simultaneously
The technical difficulty of inspection is high, and operating cost is higher.The development of inspection robot technology, for high voltage transmission line
Check that work provides new technological means.
The technical research of existing inspection robot has been achieved for certain corresponding achievement, but for transmission of electricity
Barrier present on circuit cannot be crossed over, it is impossible to realizes patrolling and examining continuously of extra high voltage network.Cause
This, it is necessary to provide one can reduce labor intensity, reduce operating cost, again can crossing over blockage
The inspection robot frame for movement of thing.
Summary of the invention
The technical problem to be solved in the present invention is to provide one and can reduce labor intensity, reduce and run into
This, again can throwing over barrier road wheel and mechanical arm combination type inspection robot frame for movement and
Obstacle-detouring method.
For solving above-mentioned technical problem, the present invention provides technical scheme as follows:
On the one hand, it is provided that a kind of road wheel and mechanical arm combination type inspection robot frame for movement, including
Frame, wherein:
The top of described frame is provided with at least two to walking that is scalable and that can rotate at lateral
Wheel support bar, the end of described road wheel support bar is provided with road wheel；
The two ends of described frame are respectively arranged with the first rotating base and the second rotating base, and described first
The first mechanical arm and the second mechanical arm it is respectively arranged with on rotating base and the second rotating base, described
Be respectively arranged with on one mechanical arm and the second mechanical arm that a pair expansible can be involutory grabs four points for embracing
Split the first mechanical hand and second mechanical hand of line；
The bottom of described frame is additionally provided with can joining along the direction of travel slide anteroposterior of described frame
Weight.
Further, each road wheel support bar is all connected by the rotating shaft along described frame fore-and-aft direction
In described frame, each rotating shaft is all driven by motor.
Further, described road wheel support bar is made up of two montant sockets with diameter difference
Liftable structure.
Further, every pair of road wheel support bar is all arranged symmetrically in the both sides of described frame, and two to row
Travelling wheel support bar is respectively positioned on the middle part and in tandem of described frame.
Further, described first mechanical arm and the second mechanical arm include the most hinged the most respectively
Mechanical upper arm, machinery forearm and mechanical wrist.
Further, described first rotating base and machinery upper arm between, described second rotating base and
Between machinery upper arm, between described machinery upper arm and machinery forearm, described first mechanical hand and mechanical hand
Jointed shaft between wrist and between described second mechanical hand and mechanical wrist is all driven by motor.
Further, described counterweight is power controling box.
Further, described counterweight is connected with described frame by leading screw.
On the other hand, it is provided that a kind of above-mentioned road wheel is tied with mechanical arm combination type inspection robot machinery
The obstacle-detouring method of structure, including:
Step 1: when not running into obstacle, described counterweight is positioned at the middle part of described frame, described first machine
Tool hands and the second mechanical hand open also respectively under the effect of described first mechanical arm and the second mechanical arm
Departing from circuit, described road wheel band mobile robot moves ahead；
Step 2: when running into obstacle, robot halts, and described first mechanical hand is described first
Grasping circuit under the effect of mechanical arm, described counterweight moves to the lower section of described first mechanical arm；
Step 3: described road wheel rises under the effect of described road wheel support bar and departs from circuit,
Described first mechanical hand maintains static, and described frame drives described walking by described first rotating base
Wheel and the second mechanical hand rotate 180 °, thus clear the jumps, now, and described second mechanical hand position
In the front end of described frame, described first mechanical hand is positioned at the rear end of described frame；
Step 4: described second mechanical hand grasps circuit under the effect of described second mechanical arm, institute
Stating road wheel again to set up on the line under the effect of described road wheel support bar, described counterweight moves to
The middle part of described frame, then, described first mechanical hand and the second mechanical hand are respectively at described first machine
Depart from circuit under the effect of mechanical arm and the second mechanical arm, go to step 1, wait obstacle detouring next time.
The method have the advantages that
The road wheel of the present invention and mechanical arm combination type inspection robot frame for movement and obstacle-detouring method thereof,
Road wheel can depart under the effect of road wheel support rod or set up on the line, and each mechanical hand is permissible
Under the effect of each mechanical arm involutory or open thus embrace and grab or depart from quadripartion line, frame can be the
Rotate under the effect of one rotating base or the second rotating base.When running into barrier, the first mechanical hand exists
Grasping circuit under the effect of the first mechanical arm, road wheel rises also under the effect of road wheel support bar
Departing from circuit, now, the first mechanical hand maintains static, and frame drives walking by the first rotating base
Wheel and the second mechanical hand rotate 180 °, thus clear the jumps, and at this moment the second mechanical hand is positioned at frame
Front end, road wheel sets up on the line under the effect of road wheel support bar again, the first mechanical hand
Departing from circuit under the effect of the first mechanical arm, inspection robot returns to normal walking states, next
During secondary obstacle detouring, the second gripper of manipulator being positioned at frame front end handles circuit；Counterweight can be along the row of frame
Walking direction slide anteroposterior, this structure can adjust center of gravity thus ensure the safety of robot self.
To sum up, the present invention solves in prior art, and artificial line walking labor intensity is big and aircraft line walking is transported
The problem that row cost is high, and conventional obstacles can be crossed (such as insulator chain, aluminium hydraulic pressed connecting pipe, suspension clamp
Deng), it is achieved that to patrolling and examining continuously of quadripartion line.Therefore, compared with prior art, present invention tool
Reduce labor intensity, reduce operating cost, and can the advantage of throwing over barrier.
Accompanying drawing explanation
Fig. 1 is that the road wheel of the present invention shows with the structure of mechanical arm combination type inspection robot frame for movement
It is intended to；
Fig. 2-Fig. 8 is the road wheel of the present invention and getting over of mechanical arm combination type inspection robot frame for movement
The view that each step of barrier method is corresponding.
Detailed description of the invention
For making the technical problem to be solved in the present invention, technical scheme and advantage clearer, below will knot
Conjunction drawings and the specific embodiments are described in detail.
On the one hand, the present invention provides a kind of road wheel to tie with mechanical arm combination type inspection robot machinery
Structure, as it is shown in figure 1, include frame 1, wherein:
The top of frame 1 be provided with at least two to scalable and can lateral rotate road wheel prop up
Strut 5, the end of road wheel support bar 5 is provided with road wheel 10；
The two ends of frame 1 are respectively arranged with the first rotating base 2 and the second rotating base 14, the first rotation
Turn and on base 2 and the second rotating base 14, be respectively arranged with the first mechanical arm 4 and the second mechanical arm 12,
Be respectively arranged with on first mechanical arm 4 and the second mechanical arm 12 that a pair expansible can be involutory for embracing
Grab the first mechanical hand 9 and the second mechanical hand 11 of quadripartion line；
The bottom of frame 1 is additionally provided with can be along the counterweight 16 of the direction of travel slide anteroposterior of frame 1.
The road wheel of the present invention and mechanical arm combination type inspection robot frame for movement, road wheel can be
Departing under the effect of road wheel support rod or set up on the line, the first mechanical hand and the second mechanical hand divide
Not can under the effect of the first mechanical arm and the second mechanical arm involutory or open thus embrace grab or depart from
Quadripartion line, frame can drive road wheel under the effect of the first rotating base or the second rotating base
Rotating thus across obstacle, counterweight can be along the direction of travel slide anteroposterior of frame, and this structure can
The safety of robot self is ensured to adjust center of gravity.To sum up, the present invention can reduce labor intensity,
Reduce operating cost, improve inspection robot safety, again can throwing over barrier.
Preferably, each road wheel support bar 5 is all by the rotating shaft 15 along frame 1 fore-and-aft direction even
Being connected in frame 1, each rotating shaft 15 is all driven by motor.This design simple in construction, controlling party
Just.
Further, road wheel support bar 5 is made up of two montant 13 sockets with diameter difference
Liftable structure.This structure can make road wheel first rise then to depart from circuit, reduces circuit
Abrasion, it is also possible to adjust the distance of frame and circuit, make road wheel the most chimeric with circuit, from
And stability when improving travelling robot walking.In addition to the above-mentioned embodiment be given, it is also
Can well known to a person skilled in the art other modes various to use, here is omitted.
Further, every pair of road wheel support bar 5 is all arranged symmetrically in the both sides of frame 1, and two to row
Travelling wheel support bar 5 is respectively positioned on the middle part and in tandem of frame 1.This location layout can improve and patrols
Safety during line robot ambulation.
As a modification of the present invention, the first mechanical arm 4 and the second mechanical arm 12 divide from bottom to up
Do not include the most hinged mechanical upper arm 3, machinery forearm 7 and mechanical wrist 8.This structure designs
The action that can make the first mechanical hand 9 and the second mechanical hand 11 is more fine, improves and embraces the accuracy grabbed.
It addition, the first rotating base 2 and machinery upper arm 3 between, the second rotating base 14 and machinery upper arm 3
Between, machinery upper arm 3 and machinery forearm 7 between, between the first mechanical hand 9 and mechanical wrist 8,
And the jointed shaft 6 that second between mechanical hand 11 and mechanical wrist 8 is all driven by motor.This
Design simple in construction, easy to control.
In the present invention, counterweight 16 is power controling box, it addition, counterweight 16 can pass through leading screw and machine
Frame 1 connects.In this design, power controling box can not only provide the energy for the motion of inspection robot,
Can also take into account as counterweight, and line walking machine can be made along the direction of travel slide anteroposterior of frame
People is steadily of centre of gravity when obstacle detouring.
On the other hand, the present invention also provides for a kind of above-mentioned road wheel and mechanical arm combination type line walking machine
The obstacle-detouring method of people's frame for movement, including:
Step 1: during as in figure 2 it is shown, do not run into obstacle, counterweight 16 is positioned at the middle part of frame 1, the
One mechanical hand 9 and the second mechanical hand 11 are respectively in the first mechanical arm 4 and effect of the second mechanical arm 12
Under open and depart from circuit, road wheel 10 band mobile robot moves ahead；
Step 2: during as it is shown on figure 3, run into obstacle, robot halts, the first mechanical hand 9
Grasping circuit under the effect of the first mechanical arm 4, counterweight 16 moves to the lower section of the first mechanical arm 4；
Step 3: as illustrated in figures 4-5, road wheel 10 rises also under the effect of road wheel support bar 5
Departing from circuit, the first mechanical hand 9 maintains static, and frame 1 drives walking by the first rotating base 2
Wheel 10 and the second mechanical hand 11 rotate 180 °, thus clear the jumps, now the second mechanical hand 11
Being positioned at the front end of frame 1, the first mechanical hand 9 is positioned at the rear end of frame 1；
Step 4: as shown in figs 6-8, the second mechanical hand 11 is grabbed under the effect of the second mechanical arm 12
Handling circuit, road wheel 10 again sets up on the line under the effect of road wheel support bar 5, joins
Weighing 16 middle parts moving to frame 1, then, the first mechanical hand 9 and the second mechanical hand 11 are respectively
Depart from circuit under the effect of one mechanical arm 4 and the second mechanical arm 12, go to step 1, wait next time
Obstacle detouring.
The road wheel of the present invention and the obstacle-detouring method of mechanical arm combination type inspection robot frame for movement,
When running into barrier, the first mechanical hand grasps circuit under the effect of the first mechanical arm, and road wheel exists
Rising under the effect of road wheel support bar and depart from circuit, now, the first mechanical hand maintains static, machine
Frame drives road wheel and the second mechanical hand to rotate 180 ° by the first rotating base, thus surmounts obstacles
Thing, at this moment the second mechanical hand is positioned at the front end of frame, and road wheel is weight under the effect of road wheel support bar
On the line, the first mechanical hand departs from circuit, line walking machine under the effect of the first mechanical arm in new erection
People returns to normal walking states, next time during obstacle detouring, is positioned at the second mechanical hand grasping of frame front end
Living circuit, now the second mechanical hand and the second rotating base have reformed into the first mechanical hand and the first rotation
Base.To sum up, the present invention solves in prior art, and artificial line walking labor intensity is big and aircraft line walking
The problem that operating cost is high, and conventional obstacles can be crossed (such as insulator chain, aluminium hydraulic pressed connecting pipe, catenary
Folder etc.), it is achieved that to patrolling and examining continuously of quadripartion line.Therefore, compared with prior art, the present invention
There is reducing labor intensity, reduce operating cost, and can the advantage of crossing over blockage.
It should be noted that the road wheel of the present invention and mechanical arm combination type inspection robot frame for movement
And obstacle-detouring method merely illustrates the frame for movement of robot body, it is not directed to other auxiliary device
The design of (such as photographic head, the mechanical hand etc. of refuse cleaning of walking observation).It addition, in control
System aspects processed, the present invention can use the intelligent control of ground remote control table or robot self
Two ways processed.
The above is the preferred embodiment of the present invention, it is noted that general for the art
For logical technical staff, on the premise of without departing from principle of the present invention, it is also possible to make some changing
Entering and retouch, these improvements and modifications also should be regarded as protection scope of the present invention.
Claims (9)
1. a road wheel and mechanical arm combination type inspection robot frame for movement, it is characterised in that
Including frame, wherein:
The top of described frame is provided with at least two to walking that is scalable and that can rotate at lateral
Wheel support bar, the end of described road wheel support bar is provided with road wheel；
The two ends of described frame are respectively arranged with the first rotating base and the second rotating base, and described first
The first mechanical arm and the second mechanical arm it is respectively arranged with on rotating base and the second rotating base, described
Be respectively arranged with on one mechanical arm and the second mechanical arm that a pair expansible can be involutory grabs four points for embracing
Split the first mechanical hand and second mechanical hand of line；
The bottom of described frame is additionally provided with can joining along the direction of travel slide anteroposterior of described frame
Weight.
Road wheel the most according to claim 1 is tied with mechanical arm combination type inspection robot machinery
Structure, it is characterised in that each road wheel support bar is all by the rotating shaft along described frame fore-and-aft direction even
Being connected in described frame, each rotating shaft is all driven by motor.
Road wheel the most according to claim 2 is tied with mechanical arm combination type inspection robot machinery
Structure, it is characterised in that described road wheel support bar is made up of two montant sockets with diameter difference
Liftable structure.
Road wheel the most according to claim 3 is tied with mechanical arm combination type inspection robot machinery
Structure, it is characterised in that every pair of road wheel support bar is all arranged symmetrically in the both sides of described frame, and two is right
Road wheel support bar is respectively positioned on the middle part and in tandem of described frame.
Road wheel the most according to claim 1 is tied with mechanical arm combination type inspection robot machinery
Structure, it is characterised in that described first mechanical arm and the second mechanical arm include cutting with scissors successively the most respectively
Mechanical upper arm, machinery forearm and the mechanical wrist connect.
Road wheel the most according to claim 5 is tied with mechanical arm combination type inspection robot machinery
Structure, it is characterised in that described first rotating base and machinery upper arm between, described second rotating base
And between machinery upper arm, between described machinery upper arm and machinery forearm, described first mechanical hand and machinery
Jointed shaft between wrist and between described second mechanical hand and mechanical wrist is all driven by motor
Dynamic.
7. according to the arbitrary described road wheel of claim 1-6 and mechanical arm combination type inspection robot
Frame for movement, it is characterised in that described counterweight is power controling box.
Road wheel the most according to claim 7 is tied with mechanical arm combination type inspection robot machinery
Structure, it is characterised in that described counterweight is connected with described frame by leading screw.
9. the arbitrary described road wheel of claim 1-8 and mechanical arm combination type inspection robot machinery
The obstacle-detouring method of structure, it is characterised in that including:
Step 1: when not running into obstacle, described counterweight is positioned at the middle part of described frame, described first machine
Tool hands and the second mechanical hand open also respectively under the effect of described first mechanical arm and the second mechanical arm
Departing from circuit, described road wheel band mobile robot moves ahead；
Step 2: when running into obstacle, robot halts, and described first mechanical hand is described first
Grasping circuit under the effect of mechanical arm, described counterweight moves to the lower section of described first mechanical arm；
Step 3: described road wheel rises under the effect of described road wheel support bar and departs from circuit,
Described first mechanical hand maintains static, and described frame drives described walking by described first rotating base
Wheel and the second mechanical hand rotate 180 °, thus clear the jumps, now, and described second mechanical hand position
In the front end of described frame, described first mechanical hand is positioned at the rear end of described frame；
Step 4: described second mechanical hand grasps circuit under the effect of described second mechanical arm, institute
Stating road wheel again to set up on the line under the effect of described road wheel support bar, described counterweight moves to
The middle part of described frame, then, described first mechanical hand and the second mechanical hand are respectively at described first machine
Depart from circuit under the effect of mechanical arm and the second mechanical arm, go to step 1, wait obstacle detouring next time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610321148.4A CN105945891B (en) | 2016-05-12 | 2016-05-12 | Road wheel and mechanical arm combined type inspection robot mechanical structure and its obstacle-detouring method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610321148.4A CN105945891B (en) | 2016-05-12 | 2016-05-12 | Road wheel and mechanical arm combined type inspection robot mechanical structure and its obstacle-detouring method |
Publications (2)
| Publication Number | Publication Date |
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| CN105945891A true CN105945891A (en) | 2016-09-21 |
| CN105945891B CN105945891B (en) | 2018-02-09 |
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Cited By (2)
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| CN106671060A (en) * | 2017-02-11 | 2017-05-17 | 崔子扬 | Mechanical arm for electric power maintenance |
| CN108161891A (en) * | 2018-02-12 | 2018-06-15 | 江西省送变电工程有限公司 | High voltage cable conductor spacer assists mounting robot and barrier-avoiding method |
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| CN108161891A (en) * | 2018-02-12 | 2018-06-15 | 江西省送变电工程有限公司 | High voltage cable conductor spacer assists mounting robot and barrier-avoiding method |
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| Publication number | Publication date |
|---|---|
| CN105945891B (en) | 2018-02-09 |
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