CN105977862B - A kind of inspection robot - Google Patents
A kind of inspection robot Download PDFInfo
- Publication number
- CN105977862B CN105977862B CN201610390671.2A CN201610390671A CN105977862B CN 105977862 B CN105977862 B CN 105977862B CN 201610390671 A CN201610390671 A CN 201610390671A CN 105977862 B CN105977862 B CN 105977862B
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- inspection robot
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- pincers
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- seton
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Classifications
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- 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
-
- 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
-
- 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
A kind of inspection robot system, including inspection robot system and camera system, it is characterized in that, inspection robot system includes seton device, high voltage transmission line position detecting device and inspection robot main body, wherein camera system is fixedly mounted on the both ends of inspection robot main body, it is mechanically connected and fixes between inspection robot main body and seton device, high voltage transmission line position detecting device, entire inspection robot system is connect by seton device with transmission line of electricity；The movements such as the driving that inspection robot system may be implemented in the seton device creeps, safe self-locking and off-line obstacle detouring；The high voltage transmission line position detecting device can make inspection robot system that the position of transmission line of electricity be accurately positioned, while realize the detection of barrier；The wobbling action of inspection robot system in three dimensions may be implemented in the inspection robot main body；The real-time acquisition and transmission of image may be implemented in the camera system.
Description
Technical field
The present invention relates to high-voltage maintenance robot technical fields, have position detecting device more specifically to one kind
And the high-voltage maintenance robot of detection of obstacles.
Background technique
The most important task of electric system is to provide the electric power of high quality and high reliability, and ultra-high-tension power transmission line is over long distances
The major way of transmission of electricity, the inspection of transmission line of electricity are the requisite measures for guaranteeing ultra-high-tension power transmission line and working normally.Since high pressure is defeated
The design feature of electric line itself, such as there is stockbridge damper, strain clamp, the indispensable device of suspension clamp, for another example have
The regions such as wire jumper, so that human inspection route becomes complicated and difficult.The appearance of electric inspection process robot substitutes human inspection,
Both the working efficiency of inspection had been improved, has reduced routing inspection cost, and greatly improve the safety of inspection.
In robot research field, Power Robot belongs to typical specialized robot, and the application range of research is not yet
Disconnected extension, forms unique Power Robot Applied research fields in the world.High-voltage maintenance robot has wide city
Field demand and good development prospect, receive the concern of domestic and international scientific and technical personnel.
Application No. is 201410181073.5, the patent of Publication No. CN103921270A discloses a kind of line walking machine
People and obstacle-detouring method, the inspection robot include wheel group driving mechanism, wheel group open-and-close mechanism, clamping device and luffing mechanism.
The patent relies on its structure to provide a kind of effective obstacle-detouring method, improves the routing inspection efficiency of inspection robot.But the patent
Related inspection robot cannot effectively detect the position of inspection robot, cannot efficiently position line walking machine
Relative position between device people and transmission line of electricity, and since robot body is integration, it cannot achieve and bob and weave more
Barrier.
The present invention for existing inspection robot line walking low efficiency, that structure is complicated is not restructural, can not efficiently position line walking
The problems such as relative position between robot and transmission line of electricity, a kind of new structural inspection robot is designed, and rely on line walking
The structure of robot provides a kind of method of effective position detecting device and detection of obstacles.
Summary of the invention
The present invention in view of the defects existing in the prior art, proposes a kind of novel inspection robot.Of the invention first
It is simple to be designed to provide a kind of structure, controls efficient inspection robot；Second object of the present invention is to provide one kind
The method of position detection and obstacle detouring.
The technical scheme adopted by the invention is as follows: a kind of inspection robot structure, including inspection robot system and camera shooting system
System, wherein inspection robot system includes seton device, high voltage transmission line position detecting device and inspection robot main body.Camera shooting system
System is fixedly mounted on the both ends of inspection robot joint body, between inspection robot joint body and seton device, position detecting device
Mechanical connection is fixed, and entire inspection robot system is connect by seton device with transmission line of electricity.
The seton device includes m left sub- seton devices and m right sub- seton devices, and left sub- seton device and right sub- seton device knot
Structure is identical, comprising referring on seton device, under seton device finger, driven wheel, driving wheel, upper finger driving motor, cantilever, rotate gear and
Refer to rotary electric machine up and down, m, which is greater than, waits 1.
The high voltage transmission line position detecting device includes left sub- position detecting device, right sub- position detecting device and Zuo Zi
Position detecting device is identical with right sub- position detecting device structure, comprising pincers index arm, position detecting device bracket, contact bullet
Spring, pincers refer to, z-axis line circle, y-axis circle, x-axis circle, pincers refer to control motor, microswitch.
The inspection robot main body includes first mechanical arm, second mechanical arm, and first mechanical arm and second mechanical arm
It is connected by ball axis joint, movement of the inspection robot main body within the scope of sphere space may be implemented；First mechanical arm and the
There are joint mounting hole in two mechanical arm outer surfaces, and inside is respectively mounted articulated driving equipment and battery, extension is respectively mounted outside the two
Line device and high voltage transmission line position detecting device.The joint includes ball axis joint, driving bracing wire；The ball axis joint includes
Joint connector, spherical axis, software hollow pipe, by spherical axis connection between joint connector, joint connector passes through joint
Mounting hole is connected with first mechanical arm, second mechanical arm, and software hollow pipe passes through the center of joint connector and spherical axis,
It can be used as the flexible axle in joint, and cable can be made to extend there through；Driving bracing wire one end is mounted on joint connector, the other end
It is mounted on articulated driving equipment, the left and right pitching that articulated driving equipment completes ball axis joint by control driving bracing wire is dynamic
Make.
Ball axis joint in the inspection robot main body could alternatively be universal axis joint, and the universal axis joint includes
Left/right rotation moving axis and pitching rotating shaft；Driving bracing wire one end is mounted on left/right rotation moving axis and pitching rotating shaft, other end installation
On articulated driving equipment, articulated driving equipment completes the left and right pitching motion of universal axis joint by control driving bracing wire.
Intercoupling for bracing wire is driven when this connection side can effectively eliminate universal shaft joint motions.
The effect of the seton device is connection inspection robot system and transmission line of electricity, realizes the drive of inspection robot system
It is dynamic creep, the movement such as safe self-locking and obstacle detouring；The effect of the position detecting device is by left and right sides z-axis line circle, y-axis
Coil, x-axis circle incude the size of generation electric current to adjust the center of inspection robot system, make inspection robot system
The position of transmission line of electricity is accurately positioned in system, while realizing the detection of barrier；The effect of the inspection robot main body is to carry
Seton device, position detecting device and articulated driving equipment, battery, while realizing inspection robot system in three dimensions
Wobbling action；The effect of the camera system is real time image collection and transmission.
The articulated driving equipment includes electric pushrod, driving arm, activation lever, mounting seat, wherein electric pushrod
It is mounted on driving arm, and is connect by activation lever with driving arm, driving arm is mounted on mounting seat, mounting seat
It is fixed on inside joint body；Driving bracing wire is fixed in activation lever, and each articulated driving equipment controls two driving bracing wires, electricity
The work of dynamic push rod drives activation lever to rotate around driving arm, to drive the flexible of driving bracing wire, and then controls ball axis and closes
Section rotation in space, the movement of the final three-dimensional space for realizing joint body, the movement of joint body in three dimensions can be with
Cooperate seton device to realize the obstacle crossing function of inspection robot system, can also realize inspection robot system with cooperation position detection device
The function of system position positioning.The electric pushrod could alternatively be the part that worm and gear motor etc. is able to achieve identity function.
There are three types of operation modes for the seton device tool, are driving walking mode, safe self-locking mode and off-line obstacle detouring respectively
Mode；The driving walking mode of the seton device is to drive rotate gear rotation, and then band by referring to that rotary electric machine works up and down
Referring on dynamic seton device and refers to closure under seton device, upper finger driving motor is connected with shaft, when the work of upper finger driving motor, band turn
Driving wheel rotation on axis, so that inspection robot system be driven to walk；The safe self-locking mode of the seton device is by upper
The work of lower finger rotary electric machine make to refer on seton device and seton device under refer to closure, upper fingers driving motor increase torque, make driving wheel without
Method rotation, to realize self-locking function；The off-line obstacle detouring mode of the seton device is by referring to that rotary electric machine work makes i.e. up and down
It will encounter and refer on the seton device of the seton device of barrier and refer to opening under seton device, remaining seton device remains closed and drives line walking
Robot system walking, when seton device clears the jumps, then by referring to that rotary electric machine work is closed seton device up and down, thus real
Existing obstacle detouring.
Microswitch in the position detecting device is mounted in position detecting device bracket, and by contact spring with
Index arm connection is clamped, pincers index arm and position detecting device bracket are rotatablely connected by shaft, and z-axis line circle, y-axis circle, x-axis circle twine
It is wound on the spheric seat of position detecting device bracket, and on the same center of circle, ectosphere valve jacket covers on the outside of spheric seat, rises
To the effect of protection coil；Pincers are installed to refer to, clamp and refer to that left gear, pincers refer to that right gear, pincers refer to shaft on pincers index arm, clamps and refers to including a left side
Pincers refer to it is right pincers refers to, it is left pincers refer to, it is right pincers refer to and clamp refer to left gear, pincers refer to right gear be separately mounted to pincers refer in shaft, and pincers
Refer to that left gear, pincers refer to that right gear is mutually twisted, pincers refer to that control motor is mounted on pincers index arm and refers to pincers and connect, when pincers refer to control
When motor works, pincers is driven to refer to that left gear and pincers refer to that right gear rotates, and then controls left pincers and refer to and the right opening or closure for clamping and referring to.
The camera system includes camera bottom motors installation set, camera top motor, camera mounting support, takes the photograph
As head bottom motors, camera outer cover, camera, camera bottom motors are mounted in camera bottom motors installation set, and
It is connected with camera outer cover, motor is mounted in camera outer cover at the top of camera, and is passed through camera mounting support and taken the photograph
As head is connected.
A kind of position detection implementation method of inspection robot system in the present invention are as follows: high voltage transmission line position detecting device
In z-axis line circle, y-axis circle, x-axis circle and capacity cell separately constitute 3 resonance circuits, resonance frequency and transmission line of electricity
Transmission current frequency it is identical, it is detectable across z-axis line circle, y-axis circle, x-axis circle by voltage magnitude on capacity cell
Magnetic field strength, three groups of orthogonal z-axis line circles, y-axis circle, x-axis circle detect the intensity of magnetic field in three directions respectively, obtain
To magnetic line of force direction, the distance of the left and right sides magnetic line of force detection ball of high voltage transmission line position detecting device be it is fixed, when patrolling
When line robot system is aligned with transmission line of electricity center, magnetic field strength is detected at left and right sides of high voltage transmission line position detecting device
It is equal, and in space vector, the center of transmission line of electricity must be with the side of the magnetic line of force detected by left and right sides detection ball
To on the perpendicular bisector for tangent line, to can be obtained by inspection robot according to the direction of two position magnetic lines of force and magnetic field strength
The relative position of system and transmission line of electricity.
A kind of obstacle detouring implementation method of inspection robot system in the present invention the following steps are included:
A: rotary electric machine works referring in each seton device up and down, make on each seton device corresponding two rotate gears opposite to
Inside rotation, to make to refer on seton device, refer to closure under seton device and hang on the transmission line；
B: referring to that rotary electric machine works up and down, drive rotate gear rotation, and then drives and refer on seton device and refer under seton device
Closure, upper finger driving motor are connected with shaft, when the work of upper finger driving motor, with the driving wheel rotation in shaft, to drive
Dynamic inspection robot system walking；
C: when encountering barrier, pincers index arm and bar contact in position detecting device squeeze pincers index arm around position
Detection device bracket rotates, and then contact spring is made to touch microswitch, to issue barrier touching signal；
D: after inspection robot system receives barrier touching signal, control will encounter the hanging wire of barrier side
Device refers to that rotary electric machine works up and down, makes to encounter finger and finger under seton device on the seton device of the seton device of barrier and opens,
Remaining seton device remains closed and inspection robot system is driven to walk；
E: when seton device clears the jumps, the position of transmission line of electricity is detected by position detecting device, then by up and down
Refer to that rotary electric machine work is closed seton device, makes seton device suspension on the transmission line, to realize obstacle detouring, then next phase
Adjacent seton device carries out obstacle detouring movement in the way of acting D；
F: repeating D~E, until inspection robot system fully passes over barrier.
In the present invention, inspection robot is the introduction that the explanation and embodiment method of structure are carried out with two sub- joint bodies
, it will be appreciated that be the minimum movement unit of inspection robot in the present invention composed by two sub- joint bodies,
The structure of inspection robot can be based on minimum movement unit, in conjunction with actual needs situation, free tandem junction in the present invention
Structure identical multiple sub- joint bodies are formed by new structural body and method of operating after series connection and are regarded as of the invention open up
It opens up and is protected.
In the present invention, inspection robot can realize the real-time Transmission of image by the camera system that both ends band carries, can also
To identify by image to barrier, obstacle detection signal is then sent, then controls seton device and carries out obstacle detouring, thus real
The function of existing image recognition obstacle detouring.
In the present invention, inspection robot can be realized by high-voltage power transmission device and take electricity in real time from transmission line of electricity and to storage
Battery charging, to improve the cruising ability of inspection robot.Specifically, the magnetic line of force, the magnetic line of force are generated around transmission line of electricity
Coil on position detecting device generates induced current, and then can produce voltage, at this time transmission line of electricity and position detection
Can be considered as between coil on device primary coil be single turn number, secondary side be multiturn number transformer, it is possible thereby to realize from
It carries out taking electricity on transmission line of electricity.
The present invention can realize above-mentioned function by automatic control system.
Since above-mentioned technical proposal is used, the present invention has following advantages and effect compared with prior art:
An effect of the invention is, ball axis joint or universal is driven using two sets of lever construction driving devices
Axis joint reduces driving quantity compared with common driving method；
An effect of the invention is that the driving bracing wire for controlling universal axis joint is connected respectively to a left side for universal axis joint
On right rotation shafts and pitching rotating shaft, intercoupling for bracing wire is driven when effectively eliminating universal shaft joint motions；
An effect of the invention is that robot has position detecting device, utilizes the direction of the coil-induced magnetic line of force
The relative position of seton device and transmission line of electricity is judged with magnetic field strength, improves the accuracy of seton device hooking transmission line of electricity；
An effect of the invention is that robot has high-voltage power transmission device, can improve machine from power transmission line electricity taking
Device people's cruising ability；
An effect of the invention is that robot has obstacle detector, can detect obstacle information in time；
An effect of the invention is that robot architecture can realize expansion combination, can connect according to actual needs multiple
Identical working cell works；
An effect of the invention is that mechanical arm may be implemented up and down by ball axis joint or universal axis connection
Swing obstacle detouring.
Detailed description of the invention
Fig. 1 is inspection robot system overall schematic；
Fig. 2 is inspection robot system entirety 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 overall 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 inspection robot seton device opens schematic diagram in the present invention；
Fig. 8 is inspection robot joint connection schematic 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 inspection robot pincers refer to structural decomposition diagram in the present invention；
Figure 13 is that inspection robot pincers refer to structure overall schematic in the present invention；
Figure 14 is that inspection robot pincers refer to expansion action schematic diagram in the present invention；
Figure 15 is inspection robot driving device 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 inspection robot drives bracing wire schematic diagram in the present invention；
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 third step action schematic diagram；
Figure 25 is inspection robot universal shaft connection schematic diagram；
Figure 26 is inspection robot universal shaft schematic diagram；
Figure 27 is worm and gear activation lever schematic diagram.
In attached drawing, component representated by each label: 1, transmission line of electricity 101, the magnetic line of force 2, inspection robot system 3, hanging wire
Device 301, right sub- seton device 311, refers on seton device and to refer to 313, driving wheel 314, driven under 312, seton device left sub- seton device 302
Wheel 315, upper fingers driving motor 316, cantilever 317, seton device mounting hole 318, rotate gear 319, up and down finger rotary electric machine 3110,
Mounting bracket 4, high voltage 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 bracket 412, contact spring 413, pincers
Refer to that 414, ectosphere valve jacket 415, z-axis line circle 416, y-axis circle 417, x-axis circle 418, pincers refer to control motor 419, microswitch
4110, pincers refer to that right gear 4111, pincers refer to that left gear 4112, pincers refer to that shaft 4113, left pincers refer to that 4114, right pincers refer to 5, inspection robot
Main body 501, first mechanical arm 502, second mechanical arm 6, camera system 601, left sub- camera system 602, right sub- camera system
610, camera bottom motors installation set 611, camera bottom motors 612, camera top motor 613, camera installation branch
Frame 614, camera 615, camera outer cover 7, joint 700, ball axis joint 701, joint connector 702, spherical axis 703, bracing wire
Via hole 704, software hollow pipe 710, universal axis joint 711, left/right rotation moving axis 712, pitching rotating shaft 8, driving bracing wire 801, steel
Silk 802, card cap 9, joint mounting hole 10, articulated driving equipment 1001, electric pushrod 1002, driving arm 1003, activation lever
1004, mounting seat 11, battery 12, controller 13, worm and gear motor 14, insulator string
Specific embodiment
The present invention is described further with reference to the accompanying drawing.Obviously, described embodiment is only the present invention one
Section Example, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making
Every other embodiment obtained under the premise of creative work out, shall fall within the protection scope of the present invention.
It is as shown in Figure 1 overall structure diagram of the invention, inspection robot system 2 includes seton device 3, high voltage power transmission
Line position detection device 4 and inspection robot main body 5, wherein camera system 6 is fixedly mounted on the two of inspection robot main body 5
End is mechanically connected between inspection robot main body 5 and seton device 3, high voltage transmission line position detecting device 4 and fixes, entire line walking
Robot system 2 is connect by seton device 3 with transmission line of electricity 1.
As shown in Fig. 5~7, the seton device 3 includes m left sub- seton devices 301 and m right sub- seton devices 302, and Zuo Zi
Seton device 301 is identical with right sub- 302 structure of seton device, comprising refer on seton device refer under 311, seton device 312, driving wheel 313,
Driven wheel 314, upper finger driving motor 315, cantilever 316, rotate gear 318 and up and down refer to rotary electric machine 319.
There are three types of operation modes for the tool of seton device 3, are driving walking mode, safe self-locking mode and off-line obstacle detouring respectively
Mode；The driving walking mode of the seton device 3 is to drive 318 turns of rotate gear by referring to that rotary electric machine 319 works up and down
It is dynamic, and then drive and refer to that 312 closure of finger drives actively when the work of upper finger driving motor 315 under 311 and seton device on seton device
313 rotation of wheel, so that inspection robot system 2 be driven to walk；The safe self-locking mode of the seton device 3 is turned by referring to up and down
The dynamic work of motor 319, which makes to refer on seton device, refers to 312 closures under 311 and seton device, upper finger driving motor 315 increases torque, makes to lead
Driving wheel 313 can not rotate, to realize self-locking function；The off-line obstacle detouring mode of the seton device 3 is by referring to rotation electricity up and down
Refer on the seton device for the seton device 3 that the work of machine 319 makes to encounter barrier and refers to that 312 open under 311 and seton device, remaining hanging wire
Device 3 remains closed and inspection robot system 2 is driven to walk, when seton device 3 clears the jumps, then by referring to rotary electric machine up and down
319 work are closed seton device, to realize obstacle detouring.
As can be seen from figures 8 and 9, the first mechanical arm 501 is connected with second mechanical arm 502 by joint 7, may be implemented
Movement of the inspection robot main body 5 within the scope of sphere space；The joint 7 includes ball axis joint 700, driving bracing wire 8: wherein
Ball axis joint 700 includes two joint connectors 701 and a spherical axis 702, passes through spherical axis between joint connector 701
702 connections, two joint connectors 701 are connected by joint mounting hole 9 with first mechanical arm 501 with second mechanical arm 502,
Software hollow pipe 704 passes through the center of joint connector 701 and spherical axis 702, the cabling for inspection robot system 2；
Ball axis joint 700 is driven by driving bracing wire 8, and wherein steel wire 801 passes through bracing wire via hole 703, and with articulated driving equipment 10
It is connected, card cap 802 is stuck on joint connector 701 by bracing wire via hole 703.
As shown in Figure 10~14, the position detecting device 4 includes left sub- position detecting device 401, right sub- position detection
Device 402 and left sub- position detecting device 401 is identical with right sub- 402 structure of position detecting device, comprising pincers index arm 410, position
It sets detection device bracket 411, contact spring 412, pincers and refers to that 413, z-axis line circle 415, y-axis circle 416, x-axis circle 417, pincers are accused
Motor 418 processed, microswitch 419.
Microswitch 419 in the position detecting device 4 is mounted in position detecting device bracket 411, and by connecing
Touching spring 412 is connect with pincers index arm 410, and pincers index arm 410 and position detecting device bracket 411 are rotatablely connected, z-axis line circle 415, y
Axial coil 416, x-axis circle 417 are wrapped on the spheric seat of position detecting device bracket 411, and on the same center of circle, outside
Spherical shell covers 414 sets of outsides in spheric seat, plays the role of protecting coil；Pincers are installed on pincers index arm 410 and refer to 413, pincers refer to 413
Be divided into left pincers refer to 4113 and 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, which are separately mounted to pincers, refers in shaft 4112, and pincers refer to that left gear 4111, pincers refer to that right gear 4110 is mutually twisted, and pincers refer to control
Motor 418 is mounted on pincers index arm 410 and refers to 413 connections with pincers, when pincers refer to that control motor 418 works, pincers is driven to refer to left tooth
Wheel 4111 with pincers refer to right gear 4110 rotate, and then control it is left pincers refer to 4113 and it is right pincers refer to 4114 opening or closure.
As seen in figs. 15-17, the articulated driving equipment 10 includes electric pushrod 1001, driving arm 1002, driving thick stick
Bar 1003, mounting seat 1004, wherein electric pushrod 1001 is mounted on driving arm 1002, and by activation lever 1003 with
Driving arm 1002 connects, and driving arm 1002 is mounted on mounting seat 1004, and mounting seat 1004 is fixed in joint body 3
Portion；Driving bracing wire 8 is fixed in activation lever 1003, and each articulated driving equipment 10 controls two driving bracing wires 8, electric pushrod
1001 work drives activation lever 1003 to rotate around driving arm 1002, to drive the flexible of driving bracing wire 8, and then controls
The rotation of joint 7 in space, the movement of the final three-dimensional space for realizing inspection robot main body 5, inspection robot main body 5 exist
Movement in three-dimensional space can cooperate seton device 3 to realize the obstacle crossing function of inspection robot system 2, can also be examined with cooperation position
Survey the function that device 4 realizes the positioning of 2 position of inspection robot system.
As shown in figure 18, the camera system 6 includes camera bottom motors installation set 610, camera top motor
612, camera mounting support 613, camera bottom motors 611, camera outer cover 615, camera 614, camera bottom electricity
Machine 611 is mounted in camera bottom motors installation set 610, and is connected with camera outer cover 615, motor at the top of camera
612 are mounted in camera outer cover 615, and are connected by camera mounting support 613 with camera 614.
As shown in figure 19, multiple and first mechanical arm 501, second mechanical arm may be implemented in the inspection robot system 2
The series combination of the identical mechanical arm of 502 structures can increase effective active length of inspection robot system 2.
As shown in Figure 20~21, a kind of position detection implementation method of inspection robot system, the implementation method are as follows: high
Press z-axis line circle 415 in power transmission line position detecting device 4, y-axis circle 416, x-axis circle 417 and capacity cell 400 group respectively
At 3 resonance circuits, resonance frequency is identical as the transmission current frequency of transmission line of electricity 1, passes through the voltage on capacity cell 400
The detectable magnetic field strength across z-axis line circle 415, y-axis circle 416, x-axis circle 417 of amplitude, three groups of orthogonal z-axis line circles
415, y-axis circle 416, x-axis circle 417 detect the intensity of magnetic field in three directions respectively, obtain 101 direction of the magnetic line of force, high
Pressure power transmission line position detecting device 4 the left and right sides magnetic line of force detection ball distance be it is fixed, when inspection robot system 2 with
When 1 center of transmission line of electricity is aligned, the magnetic field strength detected at left and right sides of high voltage transmission line position detecting device 4 is equal.Otherwise,
The left and right sides magnetic line of force 101 that detects respectively of detection ball is on the magnetic line of force space vector of respective test point, then transmission line of electricity 1
Center must for the two point magnetic line of force space vector vertical lines intersection point.To according to the direction of two position magnetic lines of force 101
It can be obtained by the relative position of inspection robot system 2 Yu transmission line of electricity 1 with magnetic field strength.
As shown in Figure 25~26, the ball axis joint 700 could alternatively be universal axis joint 710, and a universal shaft closes
Section 710 controls 4 driving bracing wires 8 by two articulated driving equipments 10 to complete its athletic performance；Wherein universal axis joint 710 is left
The driving bracing wire 8 of right swing is mounted on the left/right rotation moving axis 711 of universal axis joint 710, universal 710 pitching of axis joint
Driving bracing wire 8 is mounted on the pitching rotating shaft 712 of universal axis joint 710.
As shown in figure 27, the electric pushrod 1001 in the articulated driving equipment 10 could alternatively be worm and gear motor 13
Carry out drive control.
As shown in Figure 22~24, a kind of obstacle detouring implementation method of inspection robot system, the implementation method includes following
Step:
1: rotary electric machine 319 works referring in each seton device 3 up and down, makes corresponding two rotate gears on each seton device 3
318 opposed, inwardly directed side rotations refer to that 312 are closed and are suspended on transmission line of electricity 1 to make to refer on seton device under 311, seton device；
2: referring to that rotary electric machine 319 works, and drives rotate gear 318 to rotate up and down, and then drive and refer to 311 on seton device and hang
Refer to 312 closures under line device, when the work of upper finger driving motor 315, band driving wheel 313 is rotated, to drive inspection robot system
2 walking of system；
3: when encountering barrier, pincers index arm 410 and bar contact in position detecting device 4 squeeze pincers index arm 410
It rotates around position detecting device bracket 411, and then contact spring 412 is made to touch microswitch 419, to issue barrier
Touch signal；
4: after inspection robot system 2 receives barrier touching signal, control will encounter the extension of barrier side
Line device 3 refers to that rotary electric machine 319 works up and down, makes to refer to 311 and seton device on the seton device for the seton device 3 that will encounter barrier
Lower to refer to that 312 open, remaining seton device 3 remains closed and inspection robot system 2 is driven to walk；
5: when seton device 3 clears the jumps, then by referring to that the work of rotary electric machine 319 is closed seton device up and down, thus real
Existing obstacle detouring, then next adjacent seton device 3 carries out obstacle detouring movement in the way of movement 4；
6: 4~5 are repeated, until inspection robot system 2 fully passes over barrier.
The foregoing description of the disclosed embodiments, being only used for professional and technical personnel in the field can be realized or use this hair
It is bright.Various modifications to these embodiments will be readily apparent to those skilled in the art, and determine herein
The General Principle of justice can be realized in other embodiments without departing from the spirit or scope of the present invention, therefore sheet
Invention is not intended to be limited to the embodiments shown herein, and is to fit to and principles disclosed herein and innovative point phase
Consistent widest scope.
Claims (10)
1. a kind of inspection robot, including inspection robot system (2) and camera system (6), which is characterized in that inspection robot
System (2) includes seton device (3), high voltage transmission line position detecting device (4) and inspection robot main body (5), wherein camera shooting system
System (6) is fixedly mounted on the both ends of inspection robot main body (5), includes joint drive dress inside inspection robot main body (5)
It sets (10), is mechanically connected and fixes between external and seton device (3), high voltage transmission line position detecting device (4), entire line walking machine
People's system (2) is connect by seton device (3) with transmission line of electricity (1)；
The driving that inspection robot system (2) may be implemented in the seton device (3) creeps, safe self-locking and three kinds of off-line obstacle detouring
Operating mode；The high voltage transmission line position detecting device (4) can make inspection robot system (2) that transmission line of electricity is accurately positioned
(1) position, while realizing the detection of barrier and the charging to inspection robot system (2)；The inspection robot master
The wobbling action of inspection robot system (2) in three dimensions may be implemented in body (5)；The camera system (6) may be implemented
The real-time acquisition and transmission of image.
2. a kind of inspection robot as described in claim 1, which is characterized in that the inspection robot main body (5) includes the
One mechanical arm (501), second mechanical arm (502) and joint (7), first mechanical arm (501) pass through with second mechanical arm (502)
Joint (7) is connected come the movement for realizing inspection robot main body (5) within the scope of sphere space；The joint (7) includes ball axis
Joint (700), driving bracing wire (8)；First mechanical arm (501) and second mechanical arm (502) outer surface have joint mounting hole (9),
Internal respectively one articulated driving equipment (10) of installation and battery (11), first mechanical arm (501) and second mechanical arm (502)
Outside is respectively mounted seton device (3) and high voltage transmission line position detecting device (4)；The ball axis joint (700) includes that joint connects
Fitting (701), spherical axis (702), software hollow pipe (704) are connected by spherical axis (702) between joint connector (701),
Joint connector (701) is connected by joint mounting hole (9) with first mechanical arm (501), second mechanical arm (502), software
Hollow pipe (704), which passes through joint connector (701) and the center of spherical axis (702), makes cable therefrom as the flexible axle in joint
It passes through；Driving bracing wire (8) one end is mounted on joint connector (701), and the other end is mounted on articulated driving equipment (10), is closed
Section driving device (10) completes the left and right pitching motion of ball axis joint (700) by control driving bracing wire (8).
3. a kind of inspection robot as claimed in claim 2, which is characterized in that the ball in the inspection robot main body (5)
Axis joint (700) replaces with universal axis joint (710), and the universal axis joint (710) includes left/right rotation moving axis (711) and pitching
Rotation axis (712)；A part driving bracing wire (8) one end is mounted on left/right rotation moving axis (711), and the other end is mounted on joint drive dress
It sets on (10), another part driving bracing wire (8) one end is mounted on pitching rotating shaft (712), and the other end is mounted on joint drive
On dynamic device (10), articulated driving equipment (10) is bowed by control driving bracing wire (8) to complete the left and right of universal axis joint (710)
Face upward movement.
4. a kind of inspection robot as described in claim 1, which is characterized in that the inspection robot system (2) can be real
The series combination of existing multiple mechanical arms identical with first mechanical arm (501), second mechanical arm (502) structure, can increase line walking
Effective active length of robot system (2).
5. a kind of inspection robot as claimed in claim 2, which is characterized in that the articulated driving equipment (10) includes electronic
Push rod (1001), driving arm (1002), activation lever (1003), mounting seat (1004), and articulated driving equipment (10) point
First mechanical arm (501), the second mechanical arm (502) for not being mounted on ball axis joint (700) two sides are internal；The electric pushrod
(1001) it is mounted on driving arm (1002), and is connect by activation lever (1003) with driving arm (1002), driving branch
Frame (1002) is mounted on mounting seat (1004), and it is internal that mounting seat (1004) is fixed on inspection robot main body (5)；The drive
Dynamic bracing wire (8) are fixed on activation lever (1003), and each articulated driving equipment (10) controls two driving bracing wires (8), electronic
The work of push rod (1001) drives activation lever (1003) to rotate around driving arm (1002), to drive driving bracing wire (8)
It is flexible, and then the rotation of ball axis joint (700) in space is controlled to realize the dynamic of the three-dimensional space of inspection robot main body (5)
Make, it is final to realize that inspection robot system (2) realize bob and weave obstacle detouring and position positioning.
6. a kind of inspection robot as described in claim 1, which is characterized in that the seton device (3) includes m left sub- hanging wires
Device (301) and m right sub- seton devices (302), the left sub- seton device (301) include referring to refer under (311), seton device on seton device
(312), driving wheel (313), driven wheel (314), upper finger driving motor (315), cantilever (316), rotate gear (318) and up and down
Refer to rotary electric machine (319), wherein driving wheel (313), driven wheel (314) respectively with refer to (311) on seton device, refer under seton device
(312) it connects, refers to the rotation of two rotate gears (318) of job control of rotary electric machine (319) up and down；The right sub- seton device
(302) identical as left sub- seton device (301) structure；M is more than or equal to 1.
7. a kind of inspection robot as described in claim 1, which is characterized in that the high voltage transmission line position detecting device
It (4) include left sub- position detecting device (401), right sub- position detecting device (402), left sub- position detecting device (401) includes
Pincers index arm (410), position detecting device bracket (411), contact spring (412), pincers refer to (413), z-axis line circle (415), y-axis
Circle (416), x-axis circle (417), pincers refer to control motor (418), microswitch (419)；The microswitch (419) is mounted on
It in position detecting device bracket (411), and is connect by contact spring (412) with pincers index arm (410), clamps index arm (410) and position
Detection device bracket (411) rotation connection is set, z-axis line circle (415), y-axis circle (416), x-axis circle (417) are wrapped in position
On detection device bracket (411), and on the same center of circle；Z-axis line circle (415), y-axis circle (416), x-axis circle (417)
Respective plane where three coils is orthogonal；Be equipped on the pincers index arm (410) pincers refer to (413), pincers refer to left gear (4111),
Pincers refer to that right gear (4110), pincers refer to shaft (4112), and pincers refer to that (413) include that left pincers refer to that (4113) and right pincers refer to (4114), left pincers
Refer to that (4113), right pincers refer to that (4114) and pincers refer to that left gear (4111), pincers refer to that right gear (4110) is separately mounted to pincers and refers to shaft
(4112) on, and pincers refer to that left gear (4111), pincers refer to that right gear (4110) is mutually twisted；The pincers refer to control motor (418) peace
Refer to that (413) are connect on pincers index arm (410) and with pincers, when pincers refer to control motor (418) work, pincers is driven to refer to left gear
(4111) refer to that right gear (4110) are rotated with pincers, and then control left pincers refer to (4113) and right pincers refer to (4114) opening or closure；
The right sub- position detecting device (402) is identical as left sub- position detecting device (401) structure.
8. a kind of inspection robot as claimed in claim 7, which is characterized in that the high voltage transmission line position detecting device
(4) the z-axis line circle (415), y-axis circle (416), x-axis circle (417) in are humorous with three capacity cells (400) compositions 3 respectively
Shake circuit, and the resonance frequency of each resonance circuit is identical as the transmission current frequency of transmission line of electricity (1), each capacity cell
(400) voltage is generated on by corresponding amplifier (403) and then passes through corresponding A/D chip (404), is transferred to total control
Device (12) processed.
9. a kind of inspection robot as claimed in claim 5, which is characterized in that electronic in the articulated driving equipment (10)
Push rod (1001) replaces with worm and gear motor (13) and carries out drive control.
10. a kind of obstacle detouring implementation method of inspection robot system, which is characterized in that the implementation method the following steps are included:
A: rotary electric machine (319) work referring in each seton device (3) up and down, make upper corresponding two turning gears of each seton device (3)
(318) opposed, inwardly directed side rotation is taken turns, refers to that (312) are closed and are suspended on power transmission line under (311), seton device to make to refer on seton device
On road (1)；
B: refer to up and down rotary electric machine (319) work, drive rotate gear (318) rotation, and then drive seton device on refer to (311) and
Refer to (312) closure under seton device, when the work of upper finger driving motor (315), driving wheel (313) rotation is driven, so that driving is patrolled
Line robot system (2) walking；
C: pincers index arm (410) and insulation when encountering barrier insulator string (14), in high voltage transmission line position detecting device (4)
String (14) contact squeezes pincers index arm (410) and rotates around position detecting device bracket (411), and then makes contact spring (412)
It touches microswitch (419), to issue barrier touching signal；
D: after inspection robot system (2) receives barrier touching signal, control will encounter the hanging wire of barrier side
Device (3) refers to that rotary electric machine (319) work up and down, makes to refer on the seton device for the seton device (3) that will encounter insulator string (14)
(311) and under seton device refer to that (312) are opened, remaining seton device (3) remains closed and inspection robot system (2) is driven to walk；
E: when seton device (3) clears the jumps, then by referring to that rotary electric machine (319) work is closed seton device up and down, thus real
Existing obstacle detouring；Similarly, next adjacent seton device (3) carries out obstacle detouring movement in the way of acting D；
F: repeating D~E, until inspection robot system (2) fully pass over barrier.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2016103294839 | 2016-05-18 | ||
| CN201610329483 | 2016-05-18 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106514713B (en) * | 2016-10-21 | 2019-01-15 | 国网山东省电力公司电力科学研究院 | A kind of Intelligent Mobile Robot detection device plug and play connector and control method |
| CN106527436B (en) * | 2016-11-11 | 2019-05-07 | 广东电网有限责任公司电力科学研究院 | A kind of detection of robot pose and job control method and device |
| CN106921125B (en) * | 2017-05-15 | 2019-04-23 | 江苏小康电力科技有限公司 | A kind of power transmission line inspection device |
| CN106953268B (en) * | 2017-05-15 | 2019-05-14 | 南京苏特电气股份有限公司 | A kind of safety power transmission line data-logging device |
| CN109444613A (en) * | 2018-12-21 | 2019-03-08 | 北京史河科技有限公司 | Contact line detector |
| CN109818296B (en) * | 2019-03-20 | 2021-04-13 | 杭州申昊科技股份有限公司 | Inspection robot with safety mechanism |
| 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 |
| 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 |
| CN113300267B (en) * | 2020-10-13 | 2022-11-11 | 浙江华云信息科技有限公司 | Distribution line inspection robot with high obstacle crossing performance |
| CN112338842B (en) * | 2020-10-30 | 2022-03-29 | 广东省机器人创新中心有限公司 | Workpiece positioning device and workpiece assembling equipment using same |
| CN113391636B (en) * | 2021-07-02 | 2023-07-21 | 广东工贸职业技术学院 | Ultrasonic sensing obstacle avoidance intelligent patrol robot based on 5G communication for Internet of things |
| 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 |
| CN114994394B (en) * | 2022-08-04 | 2022-11-29 | 广东电网有限责任公司佛山供电局 | Current testing device for power supply system |
| 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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| CN101882765B (en) * | 2010-05-11 | 2012-08-22 | 湖南大学 | Traveling mechanism of robot on high voltage transmission line |
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| CN104269777A (en) * | 2014-10-18 | 2015-01-07 | 国家电网公司 | Patrol robot system for overhead high-voltage transmission line |
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