CN105945891B - Road wheel and mechanical arm combined type inspection robot mechanical structure and its obstacle-detouring method - Google Patents

Road wheel and mechanical arm combined type inspection robot mechanical structure and its obstacle-detouring method Download PDF

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Publication number
CN105945891B
CN105945891B CN201610321148.4A CN201610321148A CN105945891B CN 105945891 B CN105945891 B CN 105945891B CN 201610321148 A CN201610321148 A CN 201610321148A CN 105945891 B CN105945891 B CN 105945891B
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mechanical
road wheel
mechanical arm
frame
manipulator
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CN105945891A (en
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杜宗展
高琦
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Shandong University
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Shandong University
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages
    • B25J5/007Manipulators mounted on wheels or on carriages mounted on wheels
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/08Programme-controlled manipulators characterised by modular constructions

Abstract

The invention discloses a kind of road wheel and mechanical arm combined type inspection robot mechanical structure and its obstacle-detouring method, belong to robotic technology field.The road wheel includes frame with mechanical arm combined type inspection robot mechanical structure, and the top of the frame is provided with least two pairs road wheel support bars that are scalable and being rotated in lateral, and the end of the road wheel support bar is provided with road wheel;The both ends of the frame are respectively arranged with the first rotating base and the second rotating base, first mechanical arm and second mechanical arm are respectively arranged with first rotating base and the second rotating base, be respectively arranged with the first mechanical arm and second mechanical arm a pair of expansibles can pairing the first manipulator and the second manipulator;The bottom of the frame is additionally provided with counterweight.Compared with prior art, the present invention, which has, reduces labor intensity, reduces operating cost, and can throwing over barrier the advantages of.

Description

Road wheel and mechanical arm combined type inspection robot mechanical structure and its obstacle-detouring method
Technical field
The present invention relates to robotic technology field, particularly relates to a kind of road wheel and mechanical arm combined type inspection robot machine Tool structure and its obstacle-detouring method.
Background technology
It is the major way of long range transmission & distribution electric power using high pressure and super-pressure overhead power transmission line.Power line and shaft tower annex Field is chronically exposed to, because by lasting mechanical tension, electrically sudden strain of a muscle is ironed, material aging is influenceed and it is stranded easily to produce, mill Damage, corrosion equivalent damage, such as repair and change, originally small breakage and defect may expand, and ultimately result in serious thing not in time Therefore cause the power failure of large area and huge economic loss.Current transmission pressure inspection, the method safeguarded mainly have two kinds:Ground Face ocular estimate and aerophotographic method.Ocular estimate uses manual inspection, and this method labor intensity is big, and operating efficiency and detection accuracy are low, Poor reliability, inspection blind area be present;Aerophotographic method uses helicopter line walking, although this method has higher detection efficiency and essence Degree, but this method is restricted by some environmental factors, while the technical difficulty of inspection is high, operating cost is higher.Line walking machine The development of device people's technology, new technological means is provided for the inspection work of high voltage transmission line.
The technical research of existing inspection robot has been achieved for certain corresponding achievement, but for existing on transmission line of electricity Barrier can not cross over, it is impossible to realize the continuous inspection of extra high voltage network.Therefore, it is necessary to providing one kind can mitigate Labor intensity, reduce operating cost, the inspection robot mechanical structure of the enough throwing over barrier of and can.
The content of the invention
It can be reduced labor intensity the technical problem to be solved in the present invention is to provide one kind, reduce operating cost, and can is enough The road wheel of throwing over barrier and mechanical arm combined type inspection robot mechanical structure and its obstacle-detouring method.
In order to solve the above technical problems, present invention offer technical scheme is as follows:
On the one hand, there is provided a kind of road wheel and mechanical arm combined type inspection robot mechanical structure, including frame, wherein:
The top of the frame is provided with least two pairs road wheel support bars that are scalable and being rotated in lateral, institute The end for stating road wheel support bar is provided with road wheel;
The both ends of the frame are respectively arranged with the first rotating base and the second rotating base, first rotating base and First mechanical arm and second mechanical arm are respectively arranged with second rotating base, is divided in the first mechanical arm and second mechanical arm Be not provided with a pair of expansibles can pairing be used for embrace first manipulator and the second manipulator for grabbing quadripartion line;
The bottom of the frame is additionally provided with the counterweight that can be slid back and forth along the direction of travel of the frame.
Further, each road wheel support bar is connected to the frame by the rotating shaft along the frame fore-and-aft direction On, each rotating shaft is driven by motor.
Further, the road wheel support bar is socketed the liftable knot formed by two montants with diameter difference Structure.
Further, each pair road wheel support bar is arranged symmetrically in the both sides of the frame, two pairs of road wheel support bars It is respectively positioned on the middle part of the frame and in tandem.
Further, the first mechanical arm and second mechanical arm include being hinged successively mechanically from bottom to up respectively Arm, mechanical forearm and mechanical wrist.
Further, between first rotating base and mechanical upper arm, second rotating base and mechanical upper arm it Between, between the mechanical upper arm and mechanical forearm, between first manipulator and mechanical wrist and second manipulator Jointed shaft between mechanical wrist is driven by motor.
Further, the counterweight is power controling box.
Further, the counterweight is connected by leading screw with the frame.
On the other hand, there is provided a kind of above-mentioned road wheel and the obstacle detouring side of mechanical arm combined type inspection robot mechanical structure Method, including:
Step 1:When not running into obstacle, the counterweight is located at the middle part of the frame, first manipulator and the second machine Tool hand opens in the presence of the first mechanical arm and second mechanical arm and departs from circuit respectively, the road wheel band movement machine People moves ahead;
Step 2:When running into obstacle, robot halts, effect of first manipulator in the first mechanical arm Under grasp circuit, the counterweight moves to the lower section of the first mechanical arm;
Step 3:The road wheel rises in the presence of the road wheel support bar and departs from circuit, first machinery Hand is fixed, and the frame drives the road wheel and the second manipulator to rotate 180 ° by first rotating base, from And clear the jumps, now, second manipulator is located at the front end of the frame, and first manipulator is located at the frame Rear end;
Step 4:Second manipulator grasps circuit in the presence of the second mechanical arm, and the road wheel is in institute To state and set up again on the line in the presence of road wheel support bar, the counterweight moves to the middle part of the frame, then, described One manipulator and the second manipulator depart from circuit in the presence of the first mechanical arm and second mechanical arm respectively, go to step 1, wait obstacle detouring next time.
The invention has the advantages that:
Road wheel and mechanical arm combined type inspection robot mechanical structure and its obstacle-detouring method of the present invention, road wheel can be with In the presence of road wheel support rod depart from or set up on the line, each manipulator can in the presence of each mechanical arm pairing or Open and grab so as to embrace or depart from quadripartion line, frame can rotate in the presence of the first rotating base or the second rotating base. When running into barrier, the first manipulator grasps circuit in the presence of first mechanical arm, and road wheel is in road wheel support bar Rise under effect and depart from circuit, now, the first manipulator is fixed, frame by the first rotating base drive road wheel and Second manipulator rotates 180 °, and so as to clear the jumps, at this moment the second manipulator is located at the front end of frame, and road wheel is in road wheel Set up again in the presence of support bar on the line, the first manipulator departs from circuit, line walking machine in the presence of first mechanical arm Device people returns to normal walking states, and next time during obstacle detouring, the second manipulator positioned at frame front end grasps circuit;With Beijing South Maxpower Technology Co. Ltd Enough to be slid back and forth along the direction of travel of frame, this structure can adjust center of gravity so as to ensure the safety of robot itself.
To sum up, the present invention solves in the prior art, and artificial line walking labor intensity is big and aircraft line walking operating cost is high Problem, and conventional obstacles (such as insulator chain, aluminium hydraulic pressed connecting pipe, suspension clamp etc.) can be crossed, realize to the continuous of quadripartion line Inspection.Therefore, compared with prior art, the present invention has and reduces labor intensity, reduces operating cost, and being capable of throwing over barrier The advantages of.
Brief description of the drawings
Fig. 1 is structural representation of the road wheel with mechanical arm combined type inspection robot mechanical structure of the present invention;
Fig. 2-Fig. 8 is each of road wheel and the obstacle-detouring method of mechanical arm combined type inspection robot mechanical structure of the present invention View corresponding to step.
Embodiment
To make the technical problem to be solved in the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and tool Body embodiment is described in detail.
On the one hand, the present invention provides a kind of road wheel and mechanical arm combined type inspection robot mechanical structure, such as Fig. 1 institutes Show, including frame 1, wherein:
The top of frame 1 is provided with least two pairs road wheel support bars 5 that are scalable and being rotated in lateral, walking The end of wheel support bar 5 is provided with road wheel 10;
The both ends of frame 1 are respectively arranged with the first rotating base 2 and the second rotating base 14, the first rotating base 2 and First mechanical arm 4 and second mechanical arm 12 are respectively arranged with two rotating bases 14, in first mechanical arm 4 and second mechanical arm 12 Be respectively arranged with a pair of expansibles can pairing be used for embrace first manipulator 9 and the second manipulator 11 for grabbing quadripartion line;
The bottom of frame 1 is additionally provided with the counterweight 16 that can be slid back and forth along the direction of travel of frame 1.
The road wheel of the present invention and mechanical arm combined type inspection robot mechanical structure, road wheel can support in road wheel Depart from the presence of bar or set up on the line, the first manipulator and the second manipulator respectively can be in first mechanical arms and second Pairing or opening are grabbed so as to embrace or depart from quadripartion line in the presence of mechanical arm, and frame can revolve in the first rotating base or second Turn to drive road wheel rotation in the presence of base so as to which across obstacle, counterweight can slide back and forth along the direction of travel of frame, This structure can adjust center of gravity so as to ensure the safety of robot itself.To sum up, the present invention can be reduced labor intensity, reduced Operating cost, improve inspection robot security, the enough throwing over barrier of and can.
Preferably, each road wheel support bar 5 is connected in frame 1 by the rotating shaft 15 along the fore-and-aft direction of frame 1, respectively Rotating shaft 15 is driven by motor.This design structure is simple, easy to control.
Further, road wheel support bar 5 is socketed the liftable structure formed by two montants 13 with diameter difference. This structure can make road wheel first rise and then depart from circuit, reduce the abrasion to circuit, can also adjust frame and circuit Distance, make road wheel preferably chimeric with circuit, stability during so as to improve travelling robot walking.Provided except above-mentioned Embodiment beyond, its can also use well known to a person skilled in the art various other modes, here is omitted.
Further, each pair road wheel support bar 5 is arranged symmetrically in the both sides of frame 1, and two pairs of road wheel support bars 5 are equal Positioned at the middle part of frame 1 and in tandem.This location layout can improve security during travelling robot walking.
As a modification of the present invention, first mechanical arm 4 and second mechanical arm 12 include cutting with scissors successively from bottom to up respectively Mechanical upper arm 3, mechanical forearm 7 and the mechanical wrist 8 connect.This structure design can make the first manipulator 9 and the second manipulator 11 Action it is finer, improve and embrace the accuracy grabbed.In addition, between the first rotating base 2 and mechanical upper arm 3, second rotation bottom Between seat 14 and mechanical upper arm 3, between mechanical upper arm 3 and mechanical forearm 7, between the first manipulator 9 and mechanical wrist 8 and Jointed shaft 6 between second manipulator 11 and mechanical wrist 8 is driven by motor.This design structure is simple, easy to control.
In the present invention, counterweight 16 is power controling box, in addition, counterweight 16 can be connected by leading screw with frame 1.The design In, power controling box can not only provide the energy for the motion of inspection robot, can also take into account as counterweight, and being capable of edge The direction of travel of frame slides back and forth, and makes inspection robot steadily of centre of gravity in obstacle detouring.
On the other hand, the present invention also provides a kind of above-mentioned road wheel and mechanical arm combined type inspection robot mechanical structure Obstacle-detouring method, including:
Step 1:As shown in Fig. 2 when not running into obstacle, counterweight 16 is located at the middle part of frame 1, the first manipulator 9 and second Manipulator 11 opens in the presence of first mechanical arm 4 and second mechanical arm 12 and departs from circuit respectively, and road wheel 10 is with motivation Device people moves ahead;
Step 2:As shown in figure 3, when running into obstacle, robot halts, and the first manipulator 9 is in first mechanical arm 4 Circuit is grasped under effect, counterweight 16 moves to the lower section of first mechanical arm 4;
Step 3:As illustrated in figures 4-5, road wheel 10 rises in the presence of road wheel support bar 5 and departs from circuit, and first Manipulator 9 is fixed, and frame 1 drives the manipulator 11 of road wheel 10 and second to rotate 180 ° by the first rotating base 2, so as to Clear the jumps, now the second manipulator 11 is located at the front end of frame 1, and the first manipulator 9 is located at the rear end of frame 1;
Step 4:As shown in figs 6-8, the second manipulator 11 grasps circuit, road wheel in the presence of second mechanical arm 12 10 set up on the line again in the presence of road wheel support bar 5, and counterweight 16 moves to the middle part of frame 1, then, the first machinery The manipulator 11 of hand 9 and second departs from circuit in the presence of first mechanical arm 4 and second mechanical arm 12 respectively, goes to step 1, etc. Treat obstacle detouring next time.
The road wheel of the present invention and the obstacle-detouring method of mechanical arm combined type inspection robot mechanical structure, are running into barrier When, the first manipulator grasps circuit in the presence of first mechanical arm, and road wheel rises in the presence of road wheel support bar And depart from circuit, now, the first manipulator is fixed, and frame drives road wheel and the second manipulator by the first rotating base 180 ° of rotation, so as to clear the jumps, at this moment the second manipulator is located at the front end of frame, work of the road wheel in road wheel support bar Set up again under on the line, the first manipulator departs from circuit in the presence of first mechanical arm, and inspection robot returns to Normal walking states, next time during obstacle detouring, the second manipulator positioned at frame front end grasps circuit, now the second manipulator and Second rotating base has reformed into the first manipulator and the first rotating base.To sum up, the present invention solves in the prior art, manually The problem of line walking labor intensity is greatly and aircraft line walking operating cost is high, and conventional obstacles (such as insulator chain, crimping can be crossed Pipe, suspension clamp etc.), realize the continuous inspection to quadripartion line.Therefore, compared with prior art, the present invention, which has, mitigates Labor intensity, reduce operating cost, and can crossing over blockage the advantages of.
It should be noted that the road wheel of the present invention and mechanical arm combined type inspection robot mechanical structure and its obstacle detouring side Method merely illustrates the mechanical structure of robot body, is not directed to other auxiliary devices (such as camera, the rubbish of observation of walking Manipulator of rubbish removing etc.) design.In addition, in terms of control system, the present invention can use ground remote control table Or robot itself intelligentized control method two ways.
Described above is the preferred embodiment of the present invention, it is noted that for those skilled in the art For, on the premise of principle of the present invention is not departed from, some improvements and modifications can also be made, these improvements and modifications It should be regarded as protection scope of the present invention.

Claims (7)

1. a kind of road wheel and mechanical arm combined type inspection robot mechanical structure, it is characterised in that including frame, wherein:
The top of the frame is provided with least two pairs road wheel support bars that are scalable and being rotated in lateral, the row The end for walking to take turns support bar is provided with road wheel;
The both ends of the frame are respectively arranged with the first rotating base and the second rotating base, first rotating base and second First mechanical arm and second mechanical arm are respectively arranged with rotating base, is set respectively in the first mechanical arm and second mechanical arm Be equipped with a pair of expansibles can pairing be used for embrace first manipulator and the second manipulator for grabbing quadripartion line;
The bottom of the frame is additionally provided with the counterweight that can be slid back and forth along the direction of travel of the frame;
Each road wheel support bar is connected in the frame by the rotating shaft along the frame fore-and-aft direction, and each rotating shaft is logical Cross motor driving;
The first mechanical arm and second mechanical arm include be hinged successively mechanical upper arm, mechanical forearm and machine respectively from bottom to up Tool wrist.
2. road wheel according to claim 1 and mechanical arm combined type inspection robot mechanical structure, it is characterised in that institute State road wheel support bar and be socketed the liftable structure formed by two montants with diameter difference.
3. road wheel according to claim 2 and mechanical arm combined type inspection robot mechanical structure, it is characterised in that every The both sides of the frame are arranged symmetrically in road wheel support bar, two pairs of road wheel support bars are respectively positioned on the middle part of the frame And in tandem.
4. road wheel according to claim 3 and mechanical arm combined type inspection robot mechanical structure, it is characterised in that institute State between the first rotating base and mechanical upper arm, between second rotating base and mechanical upper arm, the mechanical upper arm and machine Between tool forearm, between first manipulator and mechanical wrist and the hinge between second manipulator and mechanical wrist Spindle is driven by motor.
5. according to any described road wheels of claim 1-4 and mechanical arm combined type inspection robot mechanical structure, its feature It is, the counterweight is power controling box.
6. road wheel according to claim 5 and mechanical arm combined type inspection robot mechanical structure, it is characterised in that institute Counterweight is stated to be connected with the frame by leading screw.
7. any described road wheels of claim 1-6 and the obstacle-detouring method of mechanical arm combined type inspection robot mechanical structure, It is characterised in that it includes:
Step 1:When not running into obstacle, the counterweight is located at the middle part of the frame, first manipulator and the second manipulator Opened respectively in the presence of the first mechanical arm and second mechanical arm and depart from circuit, before the road wheel band mobile robot OK;
Step 2:When running into obstacle, robot is halted, and first manipulator is grabbed in the presence of the first mechanical arm Circuit is handled, the counterweight moves to the lower section of the first mechanical arm;
Step 3:The road wheel rises in the presence of the road wheel support bar and departs from circuit, and first manipulator is consolidated Fixed motionless, the frame drives the road wheel and the second manipulator to rotate 180 ° by first rotating base, so as to more Barrier is crossed, now, second manipulator is located at the front end of the frame, after first manipulator is located at the frame End;
Step 4:Second manipulator grasps circuit in the presence of the second mechanical arm, and the road wheel is in the row To walk to take turns and set up again on the line in the presence of support bar, the counterweight moves to the middle part of the frame, then, first machine Tool hand and the second manipulator depart from circuit in the presence of the first mechanical arm and second mechanical arm respectively, go to step 1, etc. Treat obstacle detouring next time.
CN201610321148.4A 2016-05-12 2016-05-12 Road wheel and mechanical arm combined type inspection robot mechanical structure and its obstacle-detouring method Active CN105945891B (en)

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CN106671060B (en) * 2017-02-11 2019-03-08 烟台知兴知识产权咨询服务有限公司 A kind of power equipment maintaining mechanical arm
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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