CN105977862A - Line inspection robot - Google Patents
Line inspection robot Download PDFInfo
- Publication number
- CN105977862A CN105977862A CN201610390671.2A CN201610390671A CN105977862A CN 105977862 A CN105977862 A CN 105977862A CN 201610390671 A CN201610390671 A CN 201610390671A CN 105977862 A CN105977862 A CN 105977862A
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- China
- Prior art keywords
- inspection robot
- pincers
- refer
- joint
- robot system
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Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/003—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring position, not involving coordinate determination
Abstract
The invention discloses a line inspection robot, comprising a line inspection robot system and shooting systems. The line inspection robot is characterized in that the line inspection robot system comprises a line hanging device, a high voltage power transmission line position detection device and a line inspection robot main body; the shooting systems are fixedly installed on two ends of the line inspection robot main body; the line inspection robot main body is in mechanical fixed connection with the line hanging device and the high voltage power transmission line position detection device; the whole line inspection robot system is connected to the power transmission line through the line hanging device; the line hanging device can realize motions like driven crawling, safe self-locking, off-line obstacle crossing, etc, of the line inspection robot system; the high voltage power transmission line position detection device enables the line inspection robot system to accurately position the power transmission line and realizes obstacle detection; the line inspection robot main body can realize the fact that the line inspection robot system performs swinging in a 3D space; and the shooting system can realize real time collection and transmission of an image.
Description
Technical field
The present invention relates to high-voltage maintenance robot technical field, more particularly, it relates to one has position inspection
Survey device and the high-voltage maintenance robot of detection of obstacles.
Background technology
The most important task of power system is to provide the electric power of high-quality and high reliability, and ultra-high-tension power transmission line is
The major way of long distance powedr transmission, transmission line of electricity patrol and examine the necessity being to ensure that ultra-high-tension power transmission line normally works
Measure.Due to the construction features of ultra-high-tension power transmission line self, as having stockbridge damper, strain clamp, catenary
The indispensable devices such as folder, and for example have the regions such as wire jumper so that manpower is patrolled and examined circuit and become complicated and tired
Difficult.The appearance of electric inspection process robot, substitutes manpower and patrols and examines, both improve the work efficiency patrolled and examined, reduce
Routing inspection cost, greatly improves again the safety patrolled and examined.
In robot research field, Power Robot belongs to typical specialized robot, the application model of its research
Enclose and the most constantly extend, define the Power Robot Applied research fields of uniqueness in the world.High-voltage maintenance machine
Device people has the wide market demand and good development prospect, receives the concern of domestic and international scientific and technical personnel.
Application No. 201410181073.5, the patent of Publication No. CN103921270A, disclose one and patrol
Line robot and obstacle-detouring method, this inspection robot includes wheels drive mechanism, wheels open-and-close mechanism, folder
Hold mechanism and luffing mechanism.This patent relies on its structure to provide a kind of effective obstacle-detouring method, improves and patrols
Line robot patrols and examines efficiency.But the inspection robot involved by this patent, it is impossible to effective to line walking machine
The position of people is detected, it is impossible to the relative position between efficient location inspection robot and transmission line of electricity,
And owing to robot body is integrated, it is impossible to realize bobbing and weaving obstacle detouring.
The present invention is directed to that existing inspection robot line walking efficiency is low, the complicated not restructural of structure, cannot efficiently determine
The problems such as the relative position between position inspection robot and transmission line of electricity, design the line walking machine of a kind of new structure
Device people, and rely on the structure of inspection robot, it is provided that a kind of effective position detecting device and obstacle quality testing
The method surveyed.
Summary of the invention
The present invention is directed to the defect that prior art exists, it is proposed that a kind of novel inspection robot.The present invention's
First purpose is to provide a kind of simple in construction, controls efficient inspection robot；Second of the present invention
Purpose is to provide the detection of a kind of position and the method for obstacle detouring.
The technical scheme that the present invention takes is: a kind of inspection robot structure, including inspection robot system and
Camera system, wherein inspection robot system includes seton device, high voltage transmission line position detecting device and line walking
Robot body.Camera system is fixedly mounted on the two ends of inspection robot joint body, inspection robot joint
Being mechanically connected fixing between body and seton device, position detecting device, whole inspection robot system passes through hanging wire
Device is connected with transmission line of electricity.
Described seton device includes m left sub-seton device and m right sub-seton device, and left sub-seton device and right son
Seton device structure is identical, all comprise refer on seton device, finger, driven pulley, drivewheel, upper finger drive under seton device
Galvanic electricity machine, cantilever, rotation gear and refer to rotary electric machine up and down, m is more than waiting 1.
Described high voltage transmission line position detecting device includes left sub-position detecting device, right sub-position detecting device
And left sub-position detecting device is identical with right sub-position detecting device structure, all comprise pincers index arm, position detection
Appliance stand, contact spring, pincers refer to, z-axis coil, y-axis coil, x-axis coil, pincers accuse motor processed,
Microswitch.
Described inspection robot main body includes the first mechanical arm, the second mechanical arm, and the first mechanical arm and second
Mechanical arm is connected by ball axle joint, it is possible to achieve the motion in the range of sphere space of the inspection robot main body；
First mechanical arm and the second mechanical arm outer surface have joint installing hole, inside be respectively mounted articulated driving equipment and
Accumulator, is respectively mounted seton device and high voltage transmission line position detecting device outside the two.Described joint includes
Ball axle joint, driving bracing wire；Described ball axle joint includes joint connector, spherical axle, software hollow pipe,
Connected by spherical axle between joint connector, joint connector by joint installing hole and the first mechanical arm,
Second mechanical arm is connected, and software hollow pipe passes joint connector and the center of spherical axle, can conduct
The flexible axle in joint, it is possible to make cable extend there through；Bracing wire one end is driven to be arranged on joint connector, separately
One end is arranged on articulated driving equipment, and articulated driving equipment completes ball axle joint by controlling driving bracing wire
Left and right pitching motion.
Ball axle joint in described inspection robot main body could alternatively be universal drive shaft joint, and described universal drive shaft closes
Joint includes left/right rotation moving axis and pitching rotating shaft；Bracing wire one end is driven to be arranged on left/right rotation moving axis and pitch rotation
On axle, the other end is arranged on articulated driving equipment, and articulated driving equipment completes by controlling driving bracing wire
The left and right pitching motion in universal drive shaft joint.When this connection can effectively eliminate universal drive shaft joint motions
Drive intercoupling of bracing wire.
The effect of described seton device is to connect inspection robot system and transmission line of electricity, it is achieved inspection robot system
The actions such as the driving of system is creeped, safe self-locking and obstacle detouring；The effect of described position detecting device is by a left side
Right both sides z-axis coil, y-axis coil, x-axis coil are sensed produces the size of electric current to adjust inspection robot
The center of system, makes inspection robot system be accurately positioned the position of transmission line of electricity, realizes obstacle simultaneously
The detection of thing；The effect of described inspection robot main body is to carry seton device, position detecting device and joint
Driving means, accumulator, realize inspection robot system wobbling action in three dimensions simultaneously；Described
The effect of camera system is real time image collection and transmission.
Described articulated driving equipment includes electric pushrod, driving arm, activation lever, mounting seat, wherein
Electric pushrod is arranged on driving arm, and is connected with driving arm by activation lever, and driving arm is installed
In mounting seat, mounting seat is fixed on inside joint body；Bracing wire is driven to be fixed in activation lever, each
Articulated driving equipment controls two and drives bracing wire, and the work of electric pushrod drives activation lever to turn around driving arm
Dynamic, thus drive and drive the flexible of bracing wire, and then control the rotation in space of ball axle joint, finally realize
The three-dimensional action of joint body, joint body action in three dimensions can coordinate seton device to realize patrolling
The obstacle crossing function of line robot system, it is also possible to cooperation position detection device realizes inspection robot alliance
The function of location.Described electric pushrod could alternatively be worm and gear motor etc. can realize the part of identity function.
Described seton device has three kinds of operation modes, is to drive walking mode, safe self-locking mode and take off respectively
Line obstacle detouring mode；The driving walking mode of described seton device is by referring to that rotary electric machine works up and down, drives and turns
Moving gear rotates, and then refers to and refer under seton device Guan Bi on drive seton device, and upper finger drives motor and rotating shaft phase
Even, when upper finger drives motor work, the drivewheel in band rotating shaft rotates, thus drives inspection robot system
System walking；The safe self-locking mode of described seton device is by referring to that rotary electric machine work makes finger on seton device up and down
Closing with finger under seton device, upper finger drives motor to increase moment, makes drivewheel to rotate, thus realization is certainly
Lock function；The off-line obstacle detouring mode of described seton device is by referring to that rotary electric machine work makes to run into barrier up and down
Hinder thing seton device seton device on refer to and seton device under refer to open, remaining seton device remains closed and drives and patrols
Line robot system is walked, when seton device clears the jumps, then by referring to that rotary electric machine work makes hanging wire up and down
Device closes, thus realizes obstacle detouring.
Microswitch in described position detecting device is arranged in position detecting device support, and by contact
Spring is connected with pincers index arm, and pincers index arm is connected by axis of rotation with position detecting device support, z-axis coil,
Y-axis coil, x-axis coil are wrapped on the spheric seat of position detecting device support, and are on the same center of circle,
Ectosphere valve jacket covers on the outside of spheric seat, plays the effect of protection coil；On pincers index arm, pincers are installed to refer to, clamp
Referring to that left gear, pincers refer to that right gear, pincers refer to that rotating shaft, pincers refer to that including left pincers to refer to right pincers refers to, left pincers refer to, right pincers
Refer to and pincers refer to that left gear, pincers refer to that right gear is separately mounted to pincers and refers in rotating shaft, and pincers refer to that left gear, pincers refer to
Right gear is mutually twisted, and pincers accuse that motor processed is arranged on pincers index arm and refers to be connected with pincers, when system electricity accused by pincers
During machine work, left gear and pincers refer to that right gear rotates to drive pincers to refer to, and then control left pincers and refer to that refer to right pincers opens
Open or close.
Described camera system includes that photographic head bottom motors installs set, photographic head top motor, photographic head are installed
Support, photographic head bottom motors, photographic head outer housing, photographic head, photographic head bottom motors is arranged at the bottom of photographic head
Portion's motor is installed in set, and is connected with photographic head outer housing, and photographic head top motor is arranged on photographic head outer housing
In, and be connected with photographic head by camera mounting support.
In the present invention, the position detection implementation method of a kind of inspection robot system is: high voltage power transmission line position is examined
Survey the z-axis coil in device, y-axis coil, x-axis coil and capacity cell and separately constitute 3 resonance circuits,
Its resonant frequency is identical with the transmission current frequency of transmission line of electricity, can be examined by the voltage magnitude on capacity cell
Survey through z-axis coil, y-axis coil, the magnetic field intensity of x-axis coil, three groups of orthogonal z-axis coils, y-axis
Coil, x-axis coil detect magnetic field intensity in three directions respectively, obtain magnetic line of force direction, high voltage power transmission
The distance of the left and right sides magnetic line of force detection ball of line position detection device is fixing, when inspection robot system
During with transmission line of electricity center alignment, the high voltage transmission line position detecting device left and right sides detects magnetic field intensity phase
Deng, and in space vector, the center of transmission line of electricity must be with the magnetic detected by left and right sides detection ball
The direction of the line of force is on the perpendicular bisector of tangent line, thus according to the direction of two position magnetic lines of force and magnetic field intensity just
The relative position of inspection robot system and transmission line of electricity can be obtained.
In the present invention, the obstacle detouring implementation method of a kind of inspection robot system comprises the following steps:
A: refer to that rotary electric machine works up and down in each seton device, makes two rotation gears corresponding on each seton device
Opposed, inwardly directed side rotates, so that referring to Guan Bi on seton device under finger, seton device and being suspended on transmission line of electricity；
B: refer to that rotary electric machine works up and down, drives and rotates pinion rotation, and then drives finger and hanging wire on seton device
Refer under device that Guan Bi, upper finger drive motor to be connected with rotating shaft, when upper finger drives motor work, in band rotating shaft
Drivewheel rotates, thus drives inspection robot system to walk；
C: when running into barrier, the pincers index arm in position detecting device and bar contact, extruding pincers index arm
Rotate around position detecting device support, and then make contact spring touch microswitch, thus send obstacle
Thing touching signal；
After D: inspection robot system receives barrier touching signal, control will run into barrier side
Seton device refer to that rotary electric machine works up and down, make to run on the seton device of the seton device of barrier refer to and
Referring under seton device open, remaining seton device remains closed and drives inspection robot system to walk；
E: when seton device clears the jumps, is detected the position of transmission line of electricity, then leads to by position detecting device
Cross and refer to that rotary electric machine work makes seton device close up and down, make seton device be suspended on transmission line of electricity, thus realize
Obstacle detouring, the most next adjacent seton device carries out obstacle detouring action according to the mode of action D；
F: repeat D～E, until inspection robot system fully passes over barrier.
In the present invention, inspection robot is explanation and the embodiment method carrying out structure with two sub-joint bodies
Introduction, it will be appreciated that line walking machine in the simply present invention that formed of two sub-joint bodies
The minimum movement unit of people, in the present invention structure of inspection robot can based on minimum movement unit,
In conjunction with being actually needed situation, many sub-joint bodies that free cascaded structure is identical, formed after its series connection is new
Structure and method of operating be regarded as the expansion of the present invention and be protected.
In the present invention, inspection robot can realize the real-time Transmission of image by the camera system that two ends band carries,
By image, barrier can also be identified, then send obstacle detection signal, then control seton device
Carry out obstacle detouring, thus realize the function of image recognition obstacle detouring.
In the present invention, inspection robot can pass through high-voltage power transmission device, it is achieved from the real-time power taking of transmission line of electricity
And accumulator is charged, thus improve the flying power of inspection robot.Specifically, around transmission line of electricity
Producing the magnetic line of force, the magnetic line of force, through the coil on position detecting device, produces faradic current, and then can produce
Raw voltage, now can be considered as primary coil between the coil on transmission line of electricity and position detecting device is single turn
Number, secondary is the transformator of many numbers of turn, thus can realize carrying out power taking from transmission line of electricity.
The present invention can realize above-mentioned functions by automatic control system.
Owing to technique scheme is used, the present invention compared with prior art has following advantages and an effect:
One effect of the present invention is, uses two set lever construction driving means to drive a ball axle joint
Or universal drive shaft joint, reduce compared with common type of drive and drive quantity；
One effect of the present invention is, the driving bracing wire controlling universal drive shaft joint is connected respectively to universal drive shaft pass
On the left/right rotation moving axis of joint and pitching rotating shaft, when effectively eliminating universal drive shaft joint motions, drive the phase of bracing wire
Mutual coupling；
One effect of the present invention is, robot has position detecting device, utilizes the coil-induced magnetic line of force
Direction judge the relative position of seton device and transmission line of electricity with magnetic field intensity, improve the transmission of electricity of seton device hooking
The accuracy of circuit；
One effect of the present invention is, robot has high-voltage power transmission device, can from power transmission line electricity taking,
Improve robot flying power；
One effect of the present invention is, robot has obstacle detector, can detect obstacle in time
Thing information；
One effect of the present invention is, robot architecture can realize expanding combination, can go here and there according to actual needs
Join multiple identical working cell to be operated；
One effect of the present invention is, mechanical arm is connected by ball axle joint or universal drive shaft, it is possible to achieve on
Under swing obstacle detouring.
Accompanying drawing explanation
Fig. 1 is inspection robot system overall schematic；
Fig. 2 is inspection robot system unitary side view in the present invention；
Fig. 3 is inspection robot system entirety front view in the present invention；
Fig. 4 is inspection robot system entirety top view in the present invention；
Fig. 5 is 30 degree of side views of inspection robot seton device in the present invention；
Fig. 6 is 45 degree of side views of inspection robot seton device in the present invention；
Fig. 7 is that in the present invention, inspection robot seton device opens schematic diagram；
Fig. 8 is inspection robot joint connection diagram in the present invention；
Fig. 9 is inspection robot universal shaft structure schematic diagram in the present invention；
Figure 10 is inspection robot position detecting device right side structure schematic diagram in the present invention；
Figure 11 is inspection robot position detecting device left side structure schematic diagram in the present invention；
Figure 12 is that in the present invention, inspection robot pincers refer to STRUCTURE DECOMPOSITION schematic diagram；
Figure 13 is that in the present invention, inspection robot pincers refer to structure overall schematic；
Figure 14 is that in the present invention, inspection robot pincers refer to expansion action schematic diagram；
Figure 15 is inspection robot driving means scheme of installation in the present invention；
Figure 16 is inspection robot driving device structure schematic diagram in the present invention；
Figure 17 is that in the present invention, inspection robot drives bracing wire schematic diagram；
Figure 18 is inspection robot camera system schematic diagram in the present invention；
Figure 19 is inspection robot multi-joint unit series connection schematic diagram；
Figure 20 is inspection robot position detecting device induced current schematic diagram；
Figure 21 is inspection robot position detecting device voltage detecting schematic diagram；
Figure 22 is inspection robot obstacle detouring first step action schematic diagram；
Figure 23 is inspection robot obstacle detouring second step action schematic diagram；
Figure 24 is inspection robot obstacle detouring the 3rd step action schematic diagram；
Figure 25 is inspection robot universal drive shaft connection diagram；
Figure 26 is inspection robot universal drive shaft schematic diagram；
Figure 27 is worm and gear activation lever schematic diagram.
In accompanying drawing, the parts representated by each label: 1, transmission line of electricity 101, the magnetic line of force 2, line walking machine
On people's system 3, seton device 301, left sub-seton device 302, right sub-seton device 311, seton device refer to 312,
Under seton device refer to 313, drivewheel 314, driven pulley 315, upper refer to drive motor 316, cantilever 317,
Seton device installing hole 318, rotate gear 319, refer to rotary electric machine 3110, mounting bracket 4, high pressure up and down
Power transmission line position detecting device 400, capacity cell 401, left sub-position detecting device 402, right sub-position
Detection device 403, amplifier 404, A/D chip 410, pincers index arm 411, position detecting device support 412,
Contact spring 413, pincers refer to 414, ectosphere valve jacket 415, z-axis coil 416, y-axis coil 417, x-axis
Coil 418, pincers accuse that motor 419 processed, microswitch 4110, pincers refer to that right gear 4111, pincers refer to left tooth
Wheel 4112, pincers refer to that rotating shaft 4113, left pincers refer to 4114, right pincers refer to 5, inspection robot main body 501,
First mechanical arm the 502, second mechanical arm 6, camera system 601, left sub-camera system 602, right son are taken the photograph
As system 610, photographic head bottom motors install set 611, photographic head bottom motors 612, photographic head top
Motor 613, camera mounting support 614, photographic head 615, photographic head outer housing 7, joint 700, ball
Axle joint 701, joint connector 702, spherical axle 703, bracing wire via 704, software hollow pipe 710,
Universal drive shaft joint 711, left/right rotation moving axis 712, pitching rotating shaft 8, drive bracing wire 801, steel wire 802,
Card cap 9, joint installing hole 10, articulated driving equipment 1001, electric pushrod 1002, driving arm 1003,
Activation lever 1004, mounting seat 11, accumulator 12, controller 13, worm and gear motor 14,
Insulator string
Detailed description of the invention
Below in conjunction with the accompanying drawings the present invention is described further.Obviously, described embodiment is only this
Invent a part of embodiment rather than whole embodiments.Based on the embodiment in the present invention, this area is general
The every other embodiment that logical technical staff is obtained under not making creative work premise, broadly falls into this
The scope of invention protection.
Be illustrated in figure 1 the overall structure schematic diagram of the present invention, inspection robot system 2 include seton device 3,
High voltage transmission line position detecting device 4 and inspection robot main body 5, wherein camera system 6 is fixedly mounted on and patrols
The two ends of line robot body 5, inspection robot main body 5 and seton device 3, high voltage power transmission line position detection dress
Putting to be mechanically connected between 4 and fix, whole inspection robot system 2 is by seton device 3 with transmission line of electricity 1 even
Connect.
As shown in Fig. 5～7, described seton device 3 includes m left 301 and m right sub-seton devices of sub-seton device
302, and left sub-seton device 301 is identical with right sub-seton device 302 structure, all comprise refer to 311 on seton device,
Under seton device, finger 312, drivewheel 313, driven pulley 314, upper finger drive motor 315, cantilever 316, rotate
Gear 318 and refer to rotary electric machine 319 up and down.
Described seton device 3 has three kinds of operation modes, be respectively drive walking mode, safe self-locking mode and
Off-line obstacle detouring mode；The driving walking mode of described seton device 3 is by referring to that rotary electric machine 319 works up and down,
Drive rotation gear 318 to rotate, and then refer to 312 Guan Bis under finger 311 and seton device on drive seton device, when
Upper finger, when driving motor 315 works, drives drivewheel 313 to rotate, thus drives inspection robot system 2
Walking；The safe self-locking mode of described seton device 3 is by referring to that rotary electric machine 319 work makes seton device up and down
Refer under upper finger 311 and seton device that 312 Guan Bis, upper finger drive motor 315 to increase moment, make drivewheel 313
Cannot rotate, thus realize auto-lock function；The off-line obstacle detouring mode of described seton device 3 be by refer to up and down turn
Galvanic electricity machine 319 work makes to run into and refers under finger 311 and seton device on the seton device of the seton device 3 of barrier
312 open, and remaining seton device 3 remains closed and drive inspection robot system 2 to walk, when seton device 3 is got over
Cross barrier, then by referring to that rotary electric machine 319 work makes seton device close up and down, thus realize obstacle detouring.
As can be seen from figures 8 and 9, described first mechanical arm 501 and the second mechanical arm 502 are by joint 7 phase
Even, it is possible to achieve the inspection robot main body 5 motion in the range of sphere space；Described joint 7 includes ball
Axle joint 700, driving bracing wire 8: wherein ball axle joint 700 includes two joint connectors 701 and a ball
Oblique crank Z 702, is connected by spherical axle 702 between joint connector 701, and two joint connectors 701 pass through
Joint installing hole 9 is connected with the second mechanical arm 502 with the first mechanical arm 501, and software hollow pipe 704 is worn
Cross joint connector 701 and the center of spherical axle 702, for the cabling of inspection robot system 2；Ball
Axle joint 700 is by driving bracing wire 8 to drive, and wherein steel wire 801 is through bracing wire via 703, and and joint
Driving means 10 is connected, and card cap 802 is stuck on joint connector 701 by bracing wire via 703.
As shown in Figure 10～14, described position detecting device 4 includes left sub-position detecting device 401, right sub-position
Put detection device 402 and left sub-position detecting device 401 be identical with right sub-position detecting device 402 structure,
All comprise pincers index arm 410, position detecting device support 411, contact spring 412, pincers refer to 413, z-axis coil
415, y-axis coil 416, x-axis coil 417, pincers accuse motor 418 processed, microswitch 419.
Microswitch 419 in described position detecting device 4 is arranged in position detecting device support 411,
And be connected with pincers index arm 410 by contact spring 412, pincers index arm 410 and position detecting device support 411
Being rotationally connected, z-axis coil 415, y-axis coil 416, x-axis coil 417 are wrapped in position detecting device support
On the spheric seat of 411, and being on the same center of circle, ectosphere valve jacket 414 is enclosed within the outside of spheric seat, plays
The effect of protection coil；Being provided with pincers on pincers index arm 410 and refer to 413, pincers refer to that 413 are divided into left pincers to refer to 4113 Hes
Right pincers refer to 4114, left pincers refer to 4113, right pincers refer to 4114 and pincers refer to that left gear 4111, pincers refer to right gear 4110
It is separately mounted to pincers and refers in rotating shaft 4112, and pincers refer to that left gear 4111, pincers refer to that right gear 4110 is mutually twisted,
Pincers accuse that motor 418 processed is arranged on pincers index arm 410 and refers to that 413 are connected with pincers, when motor 418 processed accused by pincers
During work, drive pincers to refer to that left gear 4111 and pincers refer to that right gear 4110 rotates, and then control left pincers and refer to 4113
4114 open or close is referred to right pincers.
As seen in figs. 15-17, described articulated driving equipment 10 include electric pushrod 1001, driving arm 1002,
Activation lever 1003, mounting seat 1004, wherein electric pushrod 1001 is arranged on driving arm 1002,
And be connected with driving arm 1002 by activation lever 1003, driving arm 1002 is arranged on mounting seat
1004, it is internal that mounting seat 1004 is fixed on joint body 3；Bracing wire 8 is driven to be fixed on activation lever 1003
On, each articulated driving equipment 10 controls two and drives bracing wire 8, and the work of electric pushrod 1001 drives and drives
Lever 1003 rotates around driving arm 1002, thus drives and drive the flexible of bracing wire 8, and then controls joint 7
Rotation in space, finally realizes the three-dimensional action of inspection robot main body 5, inspection robot
Main body 5 action in three dimensions can coordinate seton device 3 to realize the obstacle detouring merit of inspection robot system 2
Can, it is also possible to cooperation position detection device 4 realizes the function of inspection robot system 2 location positioning.
As shown in figure 18, described camera system 6 includes that photographic head bottom motors installs set 610, the shooting crown
Portion's motor 612, camera mounting support 613, photographic head bottom motors 611, photographic head outer housing 615, take the photograph
As 614, photographic head bottom motors 611 is arranged on photographic head bottom motors and installs in set 610, and with shooting
Head outer housing 615 is connected, and photographic head top motor 612 is arranged in photographic head outer housing 615, and by taking the photograph
As head mounting bracket 613 is connected with photographic head 614.
As shown in figure 19, described inspection robot system 2 can realize multiple with the first mechanical arm 501, the
The series combination of the mechanical arm that two mechanical arm 502 structures are identical, can increase the effective of inspection robot system 2
Active length.
As shown in Figure 20～21, the position detection implementation method of a kind of inspection robot system, described implementation method
For: the z-axis coil 415 in high voltage transmission line position detecting device 4, y-axis coil 416, x-axis coil 417
With the transmission current that capacity cell 400 separately constitutes 3 resonance circuits, its resonant frequency and transmission line of electricity 1
Frequency is identical, can be detected through z-axis coil 415, y-axis coil by the voltage magnitude on capacity cell 400
416, the magnetic field intensity of x-axis coil 417, three groups of orthogonal z-axis coils 415, y-axis coil 416, x-axis
Coil 417 detects magnetic field intensity in three directions respectively, obtains the magnetic line of force 101 direction, high voltage power transmission
The distance of the left and right sides magnetic line of force detection ball of line position detection device 4 is fixing, when inspection robot system
When system 2 and transmission line of electricity 1 center alignment, high voltage transmission line position detecting device 4 left and right sides detects
Magnetic field intensity is equal.Otherwise, the magnetic line of force 101 that detection ball in the left and right sides detects respectively is at respective test point
Magnetic line of force space vector on, then the center of transmission line of electricity 1 must be the two point magnetic line of force space vector hang down
The intersection point of line.Thus the direction and magnetic field intensity according to two position magnetic lines of force 101 can be obtained by line walking machine
The relative position of device people's system 2 and transmission line of electricity 1.
As shown in Figure 25～26, described ball axle joint 700 could alternatively be universal drive shaft joint 710, and one ten thousand
Being controlled 4 to axle joint 710 by two articulated driving equipments 10 drives bracing wire 8 to complete its athletic performance；
The bracing wire 8 that drives that wherein universal drive shaft joint 710 swings is arranged on the left-right rotation in universal drive shaft joint 710
On axle 711, the bracing wire 8 that drives of universal drive shaft joint 710 pitching is arranged on bowing of universal drive shaft joint 710
Face upward in rotary shaft 712.
As shown in figure 27, the electric pushrod 1001 in described articulated driving equipment 10 could alternatively be worm gear snail
Bar motor 13 is driven controlling.
As shown in Figure 22～24, the obstacle detouring implementation method of a kind of inspection robot system, described implementation method bag
Include following steps:
1: each seton device 3 refers to that rotary electric machine 319 works up and down, make corresponding on each seton device 3 two
Rotate the opposed, inwardly directed side of gear 318 to rotate, so that referring to 312 Guan Bis under finger 311, seton device also on seton device
It is suspended on transmission line of electricity 1；
2: refer to that rotary electric machine 319 works up and down, drive rotation gear 318 to rotate, and then drive on seton device
312 Guan Bis are referred under finger 311 and seton device, when upper finger drives motor 315 to work, 313 turns of band drivewheel
Dynamic, thus drive inspection robot system 2 to walk；
3: when running into barrier, the pincers index arm 410 in position detecting device 4 and bar contact, extruding
Pincers index arm 410 rotates around position detecting device support 411, and then makes contact spring 412 touch fine motion
Switch 419, thus send barrier touching signal；
4: after inspection robot system 2 receives barrier touching signal, control will run into barrier one
The seton device 3 of side refer to that rotary electric machine 319 works up and down, make to run into the extension of the seton device 3 of barrier
Referring to that 312 open under finger 311 and seton device on line device, remaining seton device 3 remains closed and drives line walking machine
People's system 2 is walked；
5: when seton device 3 clears the jumps, then by referring to that rotary electric machine 319 work makes seton device close up and down,
Thus realizing obstacle detouring, the most next adjacent seton device 3 carries out obstacle detouring action according to the mode of action 4；
6: repeat 4～5, until inspection robot system 2 fully passes over barrier.
Described above to the disclosed embodiments, is only used for professional and technical personnel in the field and is capable of or makes
Use the present invention.Multiple amendment to these embodiments will be aobvious and easy for those skilled in the art
See, generic principles defined herein can without departing from the spirit or scope of the present invention,
Realizing in other embodiments, therefore the present invention is not intended to be limited to the embodiments shown herein, and
It is to fit to the widest scope consistent with principles disclosed herein and innovative point.
Claims (10)
1. an inspection robot system, including inspection robot system (2) and camera system (6), its
Being characterised by, inspection robot system (2) includes seton device (3), high voltage transmission line position detecting device (4)
With inspection robot main body (5), wherein camera system (6) is fixedly mounted on inspection robot main body (5)
Two ends, inspection robot main body (5) and seton device (3), high voltage transmission line position detecting device (4)
Between be mechanically connected fixing, whole inspection robot system (2) is by seton device (3) and transmission line of electricity (1)
Connect；
Described seton device (3) can realize the driving of inspection robot system (2) creep, safe self-locking with
And the action such as off-line obstacle detouring；Described high voltage transmission line position detecting device (4) can make inspection robot system
(2) it is accurately positioned the position of transmission line of electricity (1), realizes the detection of barrier simultaneously；Described line walking machine
Human agent (5) can realize inspection robot system (2) wobbling action in three dimensions；Described take the photograph
As system (6) can realize Real-time Collection and the transmission of image.
2. a kind of inspection robot system as claimed in claim 1, it is characterised in that described line walking machine
Human agent (5) includes the first mechanical arm (501), the second mechanical arm (502) and joint (7), first
Mechanical arm (501) and the second mechanical arm (502) are connected by joint (7) and realize inspection robot main body
(5) motion in the range of sphere space；Described joint (7) includes ball axle joint (700), drives and draw
Line (8)；First mechanical arm (501) and the second mechanical arm (502) outer surface have joint installing hole (9),
An internal each articulated driving equipment (10) and the accumulator (11) of installing, the first mechanical arm (501) with
Second mechanical arm (502) is outside is respectively mounted seton device (3) and high voltage transmission line position detecting device (4)；
Described ball axle joint (700) includes joint connector (701), spherical axle (702), software hollow pipe (704),
Being connected by spherical axle (702) between joint connector (701), joint connector (701) passes through joint
Installing hole (9) is connected with the first mechanical arm (501), the second mechanical arm (502), software hollow pipe (704)
Through joint connector (701) and the center of spherical axle (702), can as the flexible axle in joint, and
Cable can be made to extend there through；Bracing wire (8) one end is driven to be arranged on joint connector (701), another
End is arranged on articulated driving equipment (10), and articulated driving equipment (10) is by controlling driving bracing wire (8)
Complete the left and right pitching motion in ball axle joint (700).
3. a kind of inspection robot system as claimed in claim 1, it is characterised in that described line walking machine
Ball axle joint (700) in device human agent (5) could alternatively be universal drive shaft joint (710), described universal
Axle joint (710) includes left/right rotation moving axis (711) and pitching rotating shaft (712)；Drive bracing wire (8)
End is arranged on left/right rotation moving axis (711) and pitching rotating shaft (712), and the other end is arranged on joint drive
On device (10), articulated driving equipment (10) completes universal drive shaft joint by controlling driving bracing wire (8)
(710) left and right pitching motion.
4. a kind of inspection robot system as claimed in claim 1, it is characterised in that described line walking machine
People's system (2) can realize multiple with the first mechanical arm (501), the second mechanical arm (502) structure identical
The series combination of mechanical arm, effective active length of inspection robot system (2) can be increased.
5. a kind of inspection robot system as claimed in claim 1, it is characterised in that described joint drive
Device (10) includes electric pushrod (1001), driving arm (1002), activation lever (1003), installs
Base (1004), and articulated driving equipment (10) is separately mounted to the first of ball axle joint (700) both sides
Mechanical arm (501), the second mechanical arm (502) are internal；Described electric pushrod (1001) is arranged on driving
On frame (1002), and it is connected with driving arm (1002) by activation lever (1003), driving arm (1002)
Being arranged on mounting seat (1004), it is internal that mounting seat (1004) is fixed on inspection robot main body (5)；
Described driving bracing wire (8) is fixed in activation lever (1003), and each articulated driving equipment (10) controls
Two drive bracing wire (8), and the work of electric pushrod (1001) drives activation lever (1003) around driving
Frame (1002) rotates, thus drives and drive the flexible of bracing wire (8), and then control ball axle joint (700) exists
Rotation in space, to realize the three-dimensional action of inspection robot main body (5), finally realizes line walking machine
Device people's system (2) realizes bobbing and weaving obstacle detouring and location positioning.
6. a kind of inspection robot system as claimed in claim 1, it is characterised in that described seton device (3)
Including m left sub-seton device (301) and m right sub-seton device (302), described left sub-seton device (301)
Including refer on seton device to refer under (311), seton device (312), drivewheel (313), driven pulley (314),
Upper finger drives motor (315), cantilever (316), rotates gear (318) and refer to rotary electric machine (319) up and down,
Wherein drivewheel (313), driven pulley (314) are logical respectively refers to refer to (312) under (311), seton device on seton device
Connect, refer to that the job control two of rotary electric machine (319) rotates the rotation of gear (318) up and down；Described
Right sub-seton device (302) is identical with left sub-seton device (301) structure；M is more than or equal to 1.
7. a kind of inspection robot system as claimed in claim 1, it is characterised in that described high voltage power transmission
Line position detection device (4) includes left sub-position detecting device (401), right sub-position detecting device (402),
Left sub-position detecting device (401) includes clamping index arm (410), position detecting device support (411), contact
Spring (412), pincers refer to (413), z-axis coil (415), y-axis coil (416), x-axis coil (417),
Pincers accuse motor processed (418), microswitch (419)；Described microswitch (419) is arranged on position detection
In appliance stand (411), and it is connected with pincers index arm (410) by contact spring (412), pincers index arm (410)
It is rotationally connected with position detecting device support (411), z-axis coil (415), y-axis coil (416), x-axis
Coil (417) is wrapped on position detecting device support (411), and is on the same center of circle；Z-axis line
Circle (415), y-axis coil (416), (417) three coil places of x-axis coil respective plane orthogonal；
Be provided with on described pincers index arm (410) pincers refer to (413), pincers refer to left gear (4111), pincers refer to right gear (4110),
Pincers refer to that rotating shaft (4112), pincers refer to that (413) include that left pincers refer to that (4113) and right pincers refer to (4114), and left pincers refer to
(4113), right pincers refer to that (4114) and pincers refer to that left gear (4111), pincers refer to that right gear (4110) is respectively
It is arranged on pincers and refers in rotating shaft (4112), and pincers refer to that left gear (4111), pincers refer to that right gear (4110) is mutual
Occlusion；Described pincers accuse that motor processed (418) is arranged on pincers index arm (410) and above and refers to that with pincers (413) are connected,
When motor processed (418) work accused by pincers, left gear (4111) and pincers refer to right gear (4110) to drive pincers to refer to
Rotate, and then control left pincers and refer to that (4113) and right pincers refer to opening or closing of (4114)；Described right sub-position
Put detection device (402) identical with left sub-position detecting device (401) structure.
8. a kind of inspection robot system as claimed in claim 1, it is characterised in that described high voltage power transmission
Z-axis coil (415) in line position detection device (4), y-axis coil (416), x-axis coil (417)
Separately constituting 3 resonance circuits with capacity cell (400), its resonant frequency is defeated with transmission line of electricity (1)
Electricity power frequency is identical, and the upper voltage that produces of capacity cell (400) is after amplifier (403), then warp
Cross A/D chip (404), be transferred to controller (12).
9. a kind of inspection robot system as claimed in claim 1, it is characterised in that described joint drive
Electric pushrod (1001) in device (10) could alternatively be worm and gear motor (13) and is driven control
System.
10. the obstacle detouring implementation method of an inspection robot system, it is characterised in that described implementation method bag
Include following steps:
A: refer to that rotary electric machine (319) works up and down in each seton device (3), makes on each seton device (3)
Two corresponding rotation gear (318) opposed, inwardly directed sides rotate, so that referring to (311), hanging wire on seton device
Refer under device that (312) close and are suspended on transmission line of electricity (1)；
B: refer to that rotary electric machine (319) works up and down, drives and rotates gear (318) rotation, and then drive extension
Refer to refer under (311) and seton device (312) Guan Bi on line device, when upper finger drives motor (315) work,
Drive drivewheel (313) to rotate, thus drive inspection robot system (2) to walk；
C: the pincers when running into barrier insulator string (14), in high voltage transmission line position detecting device (4)
Index arm (410) contacts with insulator string (14), and extruding pincers index arm (410) is around position detecting device support (411)
Rotate, and then make contact spring (412) touching microswitch (419), thus send barrier touching
Signal；
After D: inspection robot system (2) receives barrier touching signal, control will run into obstacle
The seton device (3) of thing side refer to that rotary electric machine (319) works up and down, make to run into insulator string (14)
Seton device (3) seton device on refer to that under (311) and seton device, finger (312) opens, remaining seton device (3)
Remain closed and drive inspection robot system (2) to walk；
E: when seton device (3) clears the jumps, then by referring to that rotary electric machine (319) work makes hanging wire up and down
Device closes, thus realizes obstacle detouring；Similarly, next adjacent seton device (3) is according to the mode of action D
Carry out obstacle detouring action；
F: repeat D～E, until inspection robot system (2) fully passes over barrier.
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| CN201610329483 | 2016-05-18 | ||
| CN2016103294839 | 2016-05-18 |
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| CN106527436A (en) * | 2016-11-11 | 2017-03-22 | 广东电网有限责任公司电力科学研究院 | Robot attitude detection and work control method and device |
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| CN106921125A (en) * | 2017-05-15 | 2017-07-04 | 柳州译海网络科技有限公司 | A kind of power transmission line inspection device |
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| CN110829266B (en) * | 2019-11-26 | 2021-09-24 | 长沙理工大学 | Power transmission line online electricity taking rolling obstacle crossing robot and application method thereof |
| CN110829266A (en) * | 2019-11-26 | 2020-02-21 | 长沙理工大学 | Power transmission line online electricity taking rolling obstacle crossing robot and application method thereof |
| CN111884125A (en) * | 2020-08-07 | 2020-11-03 | 南方电网科学研究院有限责任公司 | Cable wiring device |
| CN111884125B (en) * | 2020-08-07 | 2021-05-11 | 南方电网科学研究院有限责任公司 | Cable wiring device |
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| CN112338842A (en) * | 2020-10-30 | 2021-02-09 | 广东省机器人创新中心有限公司 | Workpiece positioning device and workpiece assembling equipment using same |
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| CN114142391A (en) * | 2021-11-11 | 2022-03-04 | 国网河北省电力有限公司石家庄供电分公司 | High tension transmission line surmounting patrol car |
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| CN115366123B (en) * | 2022-08-26 | 2024-02-23 | 国网江苏省电力有限公司苏州供电分公司 | Line inspection robot for high-voltage transmission line and working method thereof |
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