CN106025922A - Robot for inspection of overhead high-voltage power transmission line - Google Patents

Robot for inspection of overhead high-voltage power transmission line Download PDF

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Publication number
CN106025922A
CN106025922A CN201610528461.5A CN201610528461A CN106025922A CN 106025922 A CN106025922 A CN 106025922A CN 201610528461 A CN201610528461 A CN 201610528461A CN 106025922 A CN106025922 A CN 106025922A
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CN
China
Prior art keywords
lifting
arm
motor
forearm
traffic cycle
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CN201610528461.5A
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Chinese (zh)
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CN106025922B (en
Inventor
秦科技
刘国平
孙茂文
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南昌大学
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    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02GINSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G1/00Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
    • H02G1/02Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables

Abstract

The invention discloses a robot for inspection of an overhead high-voltage power transmission line. A small rotation disc and a large rotation disc are installed on a telescoping mechanism, a front arm is installed on the small rotation disc, a supporting plate support is installed on the large rotation disc, and a middle arm and a rear arm which have the same structure are installed on the supporting plate support; the front arm, the middle arm and the rear arm are linearly arranged and are used for line walking, the front arm drives the rear arm and the middle arm to advance, the front arm, the middle arm and the rear arm are arranged in the shape of T and are used for line barrier crossing, and the front arm, the middle arm and the rear arm advance alternatively; the front arm comprises a front support, an elevating block, an elevating table connected with the elevating block, a driving wheel assembly arranged on the elevating table, and a compaction wheel assembly disposed below the driving wheel assembly and above a wire, and a space for clamping the wire is formed between the compaction wheel assembly and the driving wheel block; and the middle arm comprises a driven wheel arranged on a middle arm support and a brake mechanism in front of the driven wheel. The robot provided by the invention is compact in structure, light in weight, low in energy consumption and high in interchangeability, and can walk and cross barriers on a single-strand wire.

Description

A kind of robot patrolled and examined for aerial high-voltage power transmission line
Technical field
The present invention relates to robotics, particularly relate to a kind of machine patrolled and examined for aerial high-voltage power transmission line People.
Background technology
Ultra-high-tension power transmission line is one of critical facility of power system, is also national basis Facilities Construction and society simultaneously " tremulous pulse " of exhibition, its safe operation directly affects the economic development of China and the foundation of infrastructure.Yet with for a long time Expose to the weather and the impact of natural disaster, the external impact also having the factor such as bird pest, artificial destruction, thus cause high-voltage line By damage in various degree, if finding not in time and eliminating, will result in immeasurable consequence.Therefore, in order to ensure transmission of electricity Line security, stably run, need transmission line of electricity is regularly patrolled and examined.
Common routine inspection mode includes manual inspection, aerophotographic method and crusing robot at the early-stage, and manual inspection is time-consuming Arduously, there is also potential safety hazard;Transmission tower cannot closely be checked by aerophotographic method, and being affected by weather, operation routine is numerous simultaneously Trivial, thus cause operating cost high and be difficult to be promoted;Crusing robot is up at wire or ground wire by robot Walk, closely ultra-high-tension power transmission line is maked an inspection tour by adding a series of equipment etc. on robot body, inspection machine People's live line work, creeps along defeated high-voltage line with certain speed, and may span across stockbridge damper, strain clamp, suspension clamp, shaft tower etc. Obstacle, utilizes the sensor apparatus carried that shaft tower, wire and lightning conducter, insulator, line hardware, line channel etc. are implemented low coverage From detection, and then replace workman to carry out power circuit polling work, be effectively increased and patrol and examine working performance and patrol and examine precision, it is ensured that Line upkeep quality, reduces operation and maintenance cost, takes into account economic and social benefit, adapts to the demand in market, the prospect of industrialization Wide, it is the focus that technical research patrolled and examined by high-voltage line in recent years.But up to the present, owing to robot body is required height, Design difficulty is big, the most really carries out commercialization production, and the crusing robot designed has the disadvantage that
Structure is complicated, and weight is big, and multi-joint big energy-consuming, obstacle detouring is wayward, it is impossible to realize angle tower obstacle-overpass, to high pressure The infringement of line is big, and rests on laboratory stage, does not carries out large-scale production.
Summary of the invention
Technical problem solved by the invention is to provide a kind of robot patrolled and examined for aerial high-voltage power transmission line, with Solve the shortcoming in above-mentioned background technology.
Technical problem solved by the invention realizes by the following technical solutions:
A kind of robot patrolled and examined for aerial high-voltage power transmission line, including forearm, middle arm, postbrachium, gripper shoe support, little Rotating disk, traffic cycle and telescoping mechanism;Wherein, mini-roundabout and traffic cycle are arranged on telescoping mechanism, and forearm is arranged on mini-roundabout, Gripper shoe support is installed on traffic cycle, gripper shoe support is provided with the identical middle arm of structure and postbrachium;Forearm and middle arm, after Arm is that yi word pattern is used for carrying out walking on line, forearm drive postbrachium and middle arm to move ahead, and forearm and middle arm, postbrachium are that tee T is used In carrying out obstacle detouring on line, forearm, middle arm and postbrachium alternately move ahead;Each mechanism concrete structure is as follows:
Forearm includes fore-stock, is that the lifting chunk of guide rail is come down to a lower group with liter by being arranged on fore-stock both sides lifting mobile jib Block connect lifting platform, the driving wheel chunk being arranged on lifting platform and be positioned at the compression under driving wheel chunk, on electric wire Wheel chunk, forms the space of clamping electric wire between contact roller chunk and driving wheel module;Lifting chunk includes lifting Timing Belt Wheel, lifting Timing Belt, lower lifting synchronous pulley, lifting motor and fixture, upper lifting synchronous pulley is positioned at below fore-stock also It is connected with fore-stock, upper lifting synchronous pulley and lower lifting synchronous pulley are wound with lifting Timing Belt, lifting Timing Belt and lifting Platform connects, thus drives lifting platform to lift;The fixture being connected with contact roller chunk, lifting motor it is provided with on lifting platform Being connected with lower lifting synchronous pulley, lifting mobile jib respectively, lifting chunk is fixed on mini-roundabout;Lifting mobile jib had both been taken as support Bar plays a supportive role, and can be taken as again the guide groove use that lifting is used, when lifting motor drives lifting by lifting synchronous pulley When Timing Belt carries out transmission, underdrive on the whole chunk that will be arranged on lifting platform, thus complete the lifting of driving wheel chunk Function, to realize reaching the standard grade and rolling off the production line and auxiliary movement during obstacle detouring;
Middle arm includes supporting roller, braking mechanism, is positioned at the middle arm support on gripper shoe support and is fixed on middle arm support On supporting roller support, supporting roller support is close to middle arm support upper end and is connected with middle arm support fixing, and supporting roller is V-groove knot Structure, is made up of r c aluminium alloy, while ensureing rigidity, adds again the frictional force with electric wire, and braking mechanism sets Put in supporting roller front;Braking mechanism includes that clamping motor, gripper, fastening teeth wheel belt, brake block, leading screw and screw mandrel are sliding Block, clamping motor is arranged on above supporting roller support, and is fixed with supporting roller support by motor fixing frame, clamping motor defeated Shaft coordinates fixing with gripper, and gripper is wound with gear band, and gear band is connected with leading screw, by fastening teeth wheel belt band Dynamic screw turns;Slide bar and leading screw are separately fixed on supporting roller support, are used for playing the guiding role, and leading screw are cased with screw mandrel sliding Block, screw mandrel slide block is fixed with brake block, and slide bar is positioned at the both sides of brake block with leading screw, drives fastening teeth by clamping motor Wheel transmission, reaches leading screw by powered rotation, and when forearm carries out obstacle detouring on the acclive electric wire of tool, middle arm and postbrachium are on line Prevent robot from sliding by brake block clamping electric wire;
Telescoping mechanism include elastic fixed mount and the telescopic fixed bracket of left and right telescopic fixed bracket composition, flexible bearing pin, Flexible gear, flexible Timing Belt, set of rails, mini-roundabout link, traffic cycle link, traffic cycle motor and mini-roundabout motor; Telescopic fixed bracket not only acts as support effect, also serves as flexible chute and uses;Elastic fixed mount two ends are respectively arranged with stretches Contracting gear, the flexible Timing Belt playing telescopic action is fixed by flexible gear, and traffic cycle is by traffic cycle link, mini-roundabout It is connected with flexible Timing Belt by mini-roundabout link, drives traffic cycle and mini-roundabout to move by flexible Timing Belt;Set of rails Including guide rail and slide block, guide rail is arranged on the telescopic fixed bracket of left and right, and is affixed on inside the telescopic fixed bracket of left and right, in proof strength While, can prevent from coming off, slide block is connected with mini-roundabout link, traffic cycle link;Mini-roundabout motor is fixed by motor Frame is connected with mini-roundabout link, and mini-roundabout driven by motor mini-roundabout gear and mini-roundabout engagement rotation, gripper shoe support is positioned at Being connected on traffic cycle and with traffic cycle, traffic cycle motor is connected with gripper shoe support by motor fixing frame, traffic cycle motor Drive traffic cycle gear and traffic cycle engagement rotation;Mini-roundabout, traffic cycle form a closed loop with flexible Timing Belt, to promote Making two rotating disks synchronized in opposite directions or relative motion, the flexible Timing Belt being wound on flexible gear drives traffic cycle and mini-roundabout to synchronize Mobile;
Driving wheel chunk includes walking driving wheel on line, live axle, drive wheel bracket, movable motor, walking tooth Wheel and walking gear band;Driving wheel is fixed in drive wheel bracket by live axle, and movable motor drives driving wheel walking, and Being fixed in drive wheel bracket by motor fixing frame, movable motor connects a pair walking gear simultaneously, and walking gear is set with There is walking gear band, drive live axle to rotate by walking gear band, thus realize walking;
Contact roller chunk include provide compress the clamping motor of power, contact roller, for adjust the electric wire gradient revolute pair, Ball-screw and ball nut;Revolute pair includes contact roller support, cradle head, compression wheel seat, compresses bearing pin and light spring, Clamping motor is connected with ball-screw by shaft coupling, and the ball nut being positioned at ball-screw one end is fixed with fixture, ball The leading screw other end is connected with compressing wheel seat, and cradle head and contact roller support is strung by compressing bearing pin;It is positioned at contact roller Contact roller on support is under electric wire and forms the space of clamping electric wire with driving wheel, compresses wheel seat and passes through with contact roller support Two light springs connect, and coordinate with cradle head, and to realize the clamping to gradient difference electric wire, the position of contact roller can be with electricity The change of the line gradient and change;Structure that revolute pair is unpowered, it is possible to adapt to the vertical angle of electric wire, clamping motor uses lockable The ball-screw-transmission of worm and gear driven by motor big speed ratio.
In the present invention, gripper shoe support is that the light material such as carbon fiber or aluminium alloy is made.
In the present invention, lifting mobile jib is trench structure.
In the present invention, upper lifting synchronous pulley is connected with fore-stock by lifting synchronous pulley fixed mount.
In the present invention, the lifting motor being connected with lower lifting synchronous pulley is by motor fixture with lifting mobile jib even Connect.
In the present invention, lifting chunk is fixed on mini-roundabout by forearm base.
In the present invention, lifting platform includes lifting platform support, cantilevered axle and lifting pulley assembly, wherein, lifting platform support On the cantilevered axle for connecting lifting pulley assembly is installed, and lifting pulley assembly is set in lifting mobile jib, slides, Lifting pulley assembly includes four groups of pulleys.
In the present invention, middle arm support uses aluminium alloy light material to make.
In the present invention, supporting roller is fixed on supporting roller support by servo-actuated bearing pin.
In the present invention, gripper is with keyway.
In the present invention, slide bar and leading screw are fixed on supporting roller support by snap ring respectively.
In the present invention, flexible gear is arranged on elastic fixed mount two ends by flexible bearing pin.
In the present invention, mini-roundabout and traffic cycle are crossed roller bearing rotating disk, and face of gear passes through Quenching Treatment.
In the present invention, driving wheel is made up of r c aluminium alloy, while ensureing rigidity, can increase and electric wire Frictional force.
In the present invention, movable motor uses the motor of high pulling torque, it is possible to realize heavy grade moving obstacle-crossing.
Based on the robot for aerial high-voltage power transmission line described above, robot carries out patrolling and examining carrying out practically step As follows:
1) detecting when there is obstacle in front, the brake block of middle arm and postbrachium carries out locking to electric wire, and the contact roller of forearm is released Putting, traffic cycle rotational angle rolls off the production line simultaneously;
2) after forearm completes to roll off the production line action, carry out the flexible and rotation of cradle head simultaneously, promote forearm to complete ellipse Formula movement locus, robot surmounts obstacles;
3) when preceding object is aluminium hydraulic pressed connecting pipe or stockbridge damper, traffic cycle need not be rotated, by the ball of driving pressure bearing up pulley Leading screw, makes the contact roller of forearm and driving wheel middle built on stilts, then drives forearm to surmount obstacles by the telescoping mechanism on body frame;
4) after forearm surmounts obstacles, rotate traffic cycle simultaneously and drive flexible cradle head, promoting electric wire to be positioned at compression Between wheel and driving wheel, then regulate the lifting platform of forearm and the lifting of contact roller to complete reaching the standard grade of grooved driving wheel;
5) after forearm is reached the standard grade, arm and the brake block of postbrachium in release, by the lift adjustment of forearm, it is achieved middle arm and after The action of rolling off the production line of arm, then rotates traffic cycle, adjusts forearm and middle arm, postbrachium to tee T, then by three arm telescopic adjustment To the shortest, after robot stabilized, grooved driving wheel is driven to move ahead, to complete the obstacle detouring of middle arm and postbrachium;
6) after in the middle of, arm and postbrachium surmount obstacles, the regulation lifting of forearm and the rotation of traffic cycle, make middle arm and postbrachium After supporting roller is positioned at the top of electric wire, then the lifting regulating forearm completes the process of reaching the standard grade of aligning arm and postbrachium, can complete whole Individual obstacle detouring action.
Beneficial effect:
1, the present invention uses V-type rubber tire, is suitable for the electric wire in the most collinear footpath, has the strongest adaptation ability, range of application Extensively;
2, in the present invention, arm is identical with rear arm structure, and interchangeability is strong;
3, present configuration is compact, lightweight, and volume is little, is changed to realize fast obstacle by the intersection of degree of freedom, has It is beneficial to reduce and electric wire is damaged.
Accompanying drawing explanation
Fig. 1 is the structural representation of presently preferred embodiments of the present invention.
Fig. 2 is the mini-roundabout link in presently preferred embodiments of the present invention, traffic cycle link structural representation.
Fig. 3 is the telescoping mechanism structural representation in presently preferred embodiments of the present invention.
Fig. 4 is the middle arm configuration schematic diagram in presently preferred embodiments of the present invention.
Fig. 5 is the contact roller chunk structural representation in presently preferred embodiments of the present invention.
Fig. 6 is the forearm structure schematic diagram in presently preferred embodiments of the present invention.
Fig. 7 is the lifting platform structural representation in presently preferred embodiments of the present invention.
Fig. 8 is the driving wheel chunk structural representation in presently preferred embodiments of the present invention.
Fig. 9 be presently preferred embodiments of the present invention patrol and examine sequential chart.
Detailed description of the invention
For the technological means making the present invention realize, creation characteristic, reach purpose and be easy to understand with effect, below knot Conjunction is specifically illustrating, and the present invention is expanded on further.
See a kind of robot patrolled and examined for aerial high-voltage power transmission line of Fig. 1~8, including forearm 1, fore-stock 11, Lifting mobile jib 111, lifting chunk 12, upper lifting synchronous pulley 121, lifting synchronous pulley fixed mount 122, lifting Timing Belt 123, Lower lifting synchronous pulley 124, lifting motor 125, fixture 126, forearm base 127, lifting platform 13, lifting platform support 131, outstanding Arm axle 132, lifting pulley assembly 133, driving wheel chunk 14, grooved driving wheel 141, live axle 142, drive wheel bracket 143, Walking camera 144, walking gear 145, walking gear band 146, contact roller chunk 15, clamping motor 150, contact roller 151, compression Wheel support 153, cradle head 154, compress wheel seat 155, bearing pin 156, ball-screw 158, ball nut 159, middle arm 2, servo-actuated Wheel 21, servo-actuated bearing pin 211, braking mechanism 22, clamping motor 221, gripper 222, fastening teeth wheel belt 223, brake block 224, Leading screw 226, screw mandrel slide block 227, middle arm support 23, supporting roller support 24, postbrachium 3, gripper shoe support 4, mini-roundabout 5, mini-roundabout Gear 51, traffic cycle 6, traffic cycle gear 61, mini-roundabout motor 69, telescoping mechanism 7, left and right telescopic fixed bracket 71, elastic Fixed mount 72, flexible bearing pin 74, flexible gear 75, flexible Timing Belt 76, set of rails 77, mini-roundabout link 781, traffic cycle are even Connect frame 782 and mini-roundabout motor 79.
In the present embodiment, telescoping mechanism 7 is provided with mini-roundabout 5 and traffic cycle 6, mini-roundabout 5 is provided with forearm 1, Being provided with gripper shoe support 4 on traffic cycle 6, gripper shoe support 4 is made for the light material such as carbon fiber or aluminium alloy, and gripper shoe is propped up Being provided with the identical middle arm 2 of structure and postbrachium 3 on frame 4, three arms are that yi word pattern carries out walking on line, forearm 1 drive postbrachium 3 Moving ahead with middle arm 2, three arms are tee T, and now, during obstacle detouring, forearm 1, middle arm 2 and postbrachium 3 alternately move ahead and carry out more Barrier, each mechanism concrete structure is as follows:
As shown in Fig. 1,6,7, forearm 1 includes fore-stock 11, by being arranged on fore-stock 11 both sides lifting mobile jib 111 for leading Lifting platform 13, the driving wheel chunk 14 being arranged on lifting platform 13 and the position that the lifting chunk 12 of rail is connected with lifting chunk 12 Contact roller chunk 15 under driving wheel chunk 14, on electric wire, lifting mobile jib 111 is trench structure, contact roller chunk 15 And form the space of clamping electric wire between driving wheel module 14;Lifting chunk 12 includes that lifting synchronous pulley 121, lifting synchronize Belt wheel fixed mount 122, lifting Timing Belt 123, lower lifting synchronous pulley 124, lifting motor 125, fixture 126, forearm base 127, upper lifting synchronous pulley 121 is positioned at below fore-stock 11, and by lifting synchronous pulley fixed mount 122 with fore-stock 11 even Connect, and be around in lifting synchronous pulley 121 and be connected with lifting platform 13 with the lifting Timing Belt 123 on lower lifting synchronous pulley 124, Thus drive lifting platform 13 to lift;Be arranged on lifting platform 13 is the fixture 126 being connected with contact roller chunk 15, with The lifting motor 125 that lower lifting synchronous pulley 124 connects is connected with lifting mobile jib 111 by motor fixture, and whole liter is come down to a lower group Block 12 is fixed with mini-roundabout 5 by the forearm base 127 of lower section;Lifting mobile jib 111 had both been taken as support bar to play a supportive role, again The guide groove use that lifting is used can be taken as, when lifting motor 125 drives lifting Timing Belt 123 by lifting synchronous pulley 124 When carrying out transmission, can will be arranged on underdrive on the whole chunk on lifting platform 13, thus complete the lifting of driving wheel chunk 14 Function, to realize reaching the standard grade and rolling off the production line and auxiliary movement during obstacle detouring;
Lifting platform 13 includes lifting platform support 131, cantilevered axle 132 and lifting pulley assembly 133, wherein, lifting platform support Cantilevered axle 132 for connecting lifting pulley assembly 133 is installed on 131, and lifting pulley assembly 133 is set in lifting mobile jib In 111, sliding, lifting pulley assembly 133 includes four groups of pulleys;
As shown in Figure 4, postbrachium 3 is identical with middle arm 2 structure, and middle arm 2 includes supporting roller 21, braking mechanism 22, is positioned at Middle arm support 23 on gripper shoe support 4 and be fixed on the supporting roller support 24 on middle arm support 23, middle arm support 23 uses Aluminium alloy light material is made, and supporting roller support 24 is close to middle arm support 23 upper end and is connected with middle arm support 23 by bolt solid Fixed, supporting roller 21 is fixed on supporting roller support 24 by servo-actuated bearing pin 211, and supporting roller 21 uses V-groove structure, by rubber bag The aluminium alloy wrapped up in is made, and while ensureing rigidity, adds again the frictional force with electric wire, and braking mechanism 22 is arranged on supporting roller 21 fronts;Braking mechanism 22 includes clamping motor 221, gripper 222, fastening teeth wheel belt 223, brake block 224, leading screw 226 And screw mandrel slide block 227, it is positioned at the clamping motor 221 on supporting roller support 24 solid with supporting roller support 24 by motor fixing frame Fixed, the output shaft of clamping motor 221 directly coordinates fixing through a reduction box with the gripper 222 with keyway, gripper Being wound with gear band 223 on 222, gear band 223 is connected with leading screw 226, drives leading screw 226 to rotate by fastening teeth wheel belt 223;Sliding Bar 225 and leading screw 226 are fixed on supporting roller support 24 by snap ring respectively, be used for playing the guiding role, leading screw 226 is cased with silk Bar slide block 227, screw mandrel slide block 227 has been bolted brake block 224, and slide bar 225 is positioned at brake block with leading screw 226 The both sides of 224, drive gripper 222 transmission by clamping motor 221, powered rotation reach leading screw 226, when forearm 1 exists Having when carrying out obstacle detouring on acclive electric wire, middle arm 2 and postbrachium 3 clamp electric wire by brake block 224 on line and prevent robot Slide;
As shown in Figure 2,3, telescoping mechanism 7 includes the flexible of elastic fixed mount 72 and left and right telescopic fixed bracket 71 composition Fixed mount, telescope motor 73, flexible bearing pin 74, flexible gear 75, flexible Timing Belt 76, set of rails 77, mini-roundabout link 781, traffic cycle link 782 and mini-roundabout motor 79;Telescopic fixed bracket not only acts as support effect, also serves as flexible chute and makes With;The gear 75 that stretches for a pair is placed on elastic fixed mount 72 two ends by flexible bearing pin 74, plays the flexible same of telescopic action Step band 76 is fixed by flexible gear 75, and traffic cycle 6 passes through mini-roundabout link by traffic cycle link 782, mini-roundabout 5 781 are connected with flexible Timing Belt 76, drive traffic cycle 6 and mini-roundabout 5 to move by flexible Timing Belt 76;Set of rails 77 includes leading Rail and slide block, guide rail is arranged on left and right telescopic fixed bracket 71, and is affixed on inside left and right telescopic fixed bracket 71, in proof strength Meanwhile, can prevent from coming off, slide block is connected with mini-roundabout link 781, traffic cycle link 782;Mini-roundabout motor 69 is by electricity Machine fixed mount is connected with mini-roundabout link 781, and mini-roundabout motor 69 drives mini-roundabout gear 51 and mini-roundabout 5 engagement rotation, Gripper shoe support 4 is positioned on traffic cycle 6 and is connected with traffic cycle 6, and traffic cycle motor 79 is by motor fixing frame and gripper shoe Support 4 connects, and traffic cycle motor 79 drives traffic cycle gear 61 and traffic cycle 6 engagement rotation;Mini-roundabout 5, traffic cycle 6 are with flexible Timing Belt 76 forms a closed loop, two rotating disks can synchronized in opposite directions or relative motion, be wound on flexible gear 75 is flexible Timing Belt 76 drives traffic cycle 6 and mini-roundabout 5 synchronizing moving, and mini-roundabout 5, traffic cycle 6 all use the crossed roller that rigidity is bigger Bearing rotating disk, face of gear passes through Quenching Treatment;
As shown in Figure 8, driving wheel chunk 14 include walking grooved driving wheel 141 on line, live axle 142, drive Wheel support 143, movable motor 144, walking gear 145 and walking gear band 146;Driving wheel 141 is by r c aluminium alloy Make, while ensureing rigidity, the frictional force with electric wire can be increased;Driving wheel 141 is propped up with driving wheel by live axle 142 Frame 143 is fixed, and drives the movable motor 144 of driving wheel 141 walking to be fixed, OK with drive wheel bracket 143 by motor fixing frame Walk motor 144 and use the motor of high pulling torque, it is possible to realizing heavy grade moving obstacle-crossing, movable motor 144 connects a pair walking simultaneously Gear 145, drives live axle 142 to rotate by walking gear band 146, thus realizes walking;
As it is shown in figure 5, contact roller chunk 15 includes providing compresses the clamping motor 150 of power, contact roller 151, contact roller Bearing pin 152, for adjusting the revolute pair of the electric wire gradient, ball-screw 158 and ball nut 159;Revolute pair includes that contact roller props up Frame 153, cradle head 154, compression wheel seat 155, compression bearing pin 156 and light spring 157, clamping motor 150 passes through shaft coupling Being connected with ball-screw 158, the ball nut 159 being positioned at ball-screw 158 one end is fixed with fixture 126, ball-screw 158 The other end is connected with compressing wheel seat 155, and cradle head 154 and contact roller support 153 is strung by compressing bearing pin 156;Position Contact roller 151 on contact roller support 153 is under electric wire and forms the space of clamping electric wire, contact roller with driving wheel 141 Seat 155 is connected by two light springs 157 with contact roller support 153, coordinates with cradle head 154, can realize the gradient different The clamping of electric wire, the position of contact roller 151 can change with the change of the electric wire gradient;Structure that revolute pair is unpowered, it is possible to adapt to The vertical angle of electric wire, clamping motor 150 uses the ball-screw 158 of lockable worm and gear driven by motor big speed ratio to pass Dynamic.
As it is shown in figure 9, based on the robot for aerial high-voltage power transmission line described above, robot carries out patrolling and examining tool Running body step is as follows:
1) detecting when there is obstacle in front, the brake block 224 of middle arm 2 and rear 3 arms carries out locking, the pressure of forearm 1 to electric wire Bearing up pulley 151 discharges, and traffic cycle 6 rotates proper angle and rolls off the production line simultaneously;
2) after forearm 1 completes to roll off the production line action, carry out the flexible and rotation of big cradle head simultaneously, promote forearm 1 to complete Movement locus as ellipse, makes robot surmount obstacles;
3) when preceding object is aluminium hydraulic pressed connecting pipe or stockbridge damper, traffic cycle 6 need not be rotated, by the ball of driving pressure bearing up pulley Leading screw 158, makes the contact roller 151 of forearm 1 and driving wheel 141 middle built on stilts, before then being driven by the telescoping mechanism 7 on body frame Arm 1 surmounts obstacles;
4) after forearm 1 surmounts obstacles, rotate traffic cycle 6 simultaneously and drive flexible cradle head 154, promoting electric wire to be positioned at Between contact roller 151 and driving wheel 141, then regulate the lifting platform 13 of forearm 1 and the lifting of contact roller 151 to complete to drive Reaching the standard grade of wheel 141;
5) after forearm 1 is reached the standard grade, the brake block 224 of arm 2 and postbrachium 3 in release, by the lift adjustment of forearm 1, it is achieved Middle arm 2 and the action of rolling off the production line of postbrachium 3, then rotate traffic cycle 6, adjust forearm 1 and middle arm 2, postbrachium 3 to tee T, then will Three arm telescopic adjustment are to the shortest, after robot stabilized, drive driving wheel 141 to move ahead, to complete the obstacle detouring of middle arm and postbrachium;
6) after in the middle of, arm 2 and postbrachium 3 surmount obstacles, the regulation lifting of forearm and the rotation of traffic cycle 6, make middle arm 2 and after After the supporting roller of arm 3 is positioned at the top of electric wire, then the lifting regulating forearm 1 completes the process of reaching the standard grade of aligning arm 2 and postbrachium 3, i.e. Whole obstacle detouring action can be completed.
The ultimate principle of the present invention and principal character and advantages of the present invention have more than been shown and described.The technology of the industry Personnel, it should be appreciated that the present invention is not restricted to the described embodiments, simply illustrating this described in above-described embodiment and description The principle of invention, without departing from the spirit and scope of the present invention, the present invention also has various changes and modifications, and these become Change and improvement both falls within scope of the claimed invention.Claimed scope by appending claims and Equivalent defines.

Claims (10)

1. the robot patrolled and examined for aerial high-voltage power transmission line, including forearm, middle arm, postbrachium, gripper shoe support, little turn Dish, traffic cycle and telescoping mechanism;It is characterized in that, mini-roundabout and traffic cycle are arranged on telescoping mechanism, and forearm is arranged on little turn On dish, traffic cycle is provided with gripper shoe support, gripper shoe support is provided with the identical middle arm of structure and postbrachium;Forearm with in Arm, postbrachium are that yi word pattern is used for carrying out walking on line, forearm drive postbrachium and middle arm to move ahead, and forearm and middle arm, postbrachium are fourth Font is used for carrying out obstacle detouring on line, and forearm, middle arm and postbrachium alternately move ahead;Each mechanism concrete structure is as follows:
Forearm includes fore-stock, by being arranged on lifting chunk that fore-stock both sides lifting mobile jib is guide rail and lifting chunk even The lifting platform, the driving wheel chunk being arranged on lifting platform that connect and be positioned at the compression wheels under driving wheel chunk, on electric wire Block, forms the space of clamping electric wire between contact roller chunk and driving wheel module;Lifting chunk includes lifting synchronous pulley, liter Fall Timing Belt, lower lifting synchronous pulley, lifting motor and fixture, upper lifting synchronous pulley be positioned at below fore-stock and with front Frame connects, and upper lifting synchronous pulley and lower lifting synchronous pulley are wound with lifting Timing Belt, and lifting Timing Belt is connected with lifting platform, Thus drive lifting platform to lift;Be provided with the fixture being connected with contact roller chunk on lifting platform, lifting motor respectively with Lower lifting synchronous pulley, lifting mobile jib connect, and lifting chunk is fixed on mini-roundabout;When lifting motor is by lifting synchronous pulley When driving lifting Timing Belt to carry out transmission, underdrive on the whole chunk that will be arranged on lifting platform, thus complete to drive wheels The elevating function of block, to realize reaching the standard grade and rolling off the production line and auxiliary movement during obstacle detouring;
Middle arm includes supporting roller, braking mechanism, is positioned at the middle arm support on gripper shoe support and is fixed on middle arm support Supporting roller support, supporting roller support is close to middle arm support upper end and is connected with middle arm support fixing, and supporting roller is V-groove structure, Being made up of r c aluminium alloy, braking mechanism is arranged on supporting roller front;Braking mechanism includes clamping motor, fastening teeth Wheel, fastening teeth wheel belt, brake block, leading screw and screw mandrel slide block, clamping motor is arranged on above supporting roller support, and solid by motor Determining frame to fix with supporting roller support, the output shaft of clamping motor coordinates fixing with gripper, and gripper is wound with gear band, Gear band is connected with leading screw, drives screw turns by fastening teeth wheel belt;Slide bar and leading screw are separately fixed on supporting roller support, It is cased with screw mandrel slide block on leading screw, screw mandrel slide block is fixed with brake block, and slide bar is positioned at the both sides of brake block with leading screw, by folder Tight driven by motor gripper transmission, reaches leading screw by powered rotation, when forearm carries out obstacle detouring on the acclive electric wire of tool, Middle arm and postbrachium prevent robot from sliding by brake block clamping electric wire on line;
Telescoping mechanism includes elastic fixed mount and the telescopic fixed bracket of left and right telescopic fixed bracket composition, flexible bearing pin, stretches Gear, flexible Timing Belt, set of rails, mini-roundabout link, traffic cycle link, traffic cycle motor and mini-roundabout motor;Front and back Telescopic fixed bracket two ends are respectively arranged with flexible gear, and the flexible Timing Belt playing telescopic action is fixed by flexible gear, and big Rotating disk is connected with flexible Timing Belt, by flexible Timing Belt band by mini-roundabout link by traffic cycle link, mini-roundabout Dynamic traffic cycle and mini-roundabout move;Set of rails includes guide rail and slide block, and guide rail is arranged on the telescopic fixed bracket of left and right, and is affixed on a left side Inside right telescopic fixed bracket, slide block is connected with mini-roundabout link, traffic cycle link;Mini-roundabout motor passes through motor fixing frame Being connected with mini-roundabout link, mini-roundabout driven by motor mini-roundabout gear and mini-roundabout engagement rotation, gripper shoe support is positioned at greatly Being connected on rotating disk and with traffic cycle, traffic cycle motor is connected with gripper shoe support by motor fixing frame, traffic cycle motor belt motor Dynamic traffic cycle gear and traffic cycle engagement rotation;Mini-roundabout, traffic cycle are fixing with flexible Timing Belt forms a closed loop, with Promote two rotating disks synchronized in opposite directions or relative motion, the flexible Timing Belt being wound on flexible gear drive traffic cycle and mini-roundabout with Moved further;
Driving wheel chunk include walking driving wheel on line, live axle, drive wheel bracket, movable motor, walking gear and Walking gear band;Driving wheel is fixed in drive wheel bracket by live axle, and movable motor drives driving wheel walking, and passes through Motor fixing frame is fixed in drive wheel bracket, and movable motor connects a pair walking gear simultaneously, and walking gear is set with row Walk gear band, drive live axle to rotate by walking gear band, thus realize walking;
Contact roller chunk include provide compress the clamping motor of power, contact roller, for adjusting the revolute pair of the electric wire gradient, ball Leading screw and ball nut;Revolute pair includes contact roller support, cradle head, compression wheel seat, compresses bearing pin and light spring, compresses Motor is connected with ball-screw by shaft coupling, and the ball nut being positioned at ball-screw one end is fixed with fixture, ball-screw The other end is connected with compressing wheel seat, and cradle head and contact roller support is strung by compressing bearing pin;It is positioned at contact roller support On contact roller be under electric wire and form the space of clamping electric wire with driving wheel, compress wheel seat and contact roller support by two Light spring connects, and coordinates with cradle head, and to realize the clamping to gradient difference electric wire, the position of contact roller can be with electric wire slope Degree change and change.
A kind of robot patrolled and examined for aerial high-voltage power transmission line the most according to claim 1, it is characterised in that lifting Mobile jib is trench structure.
A kind of robot patrolled and examined for aerial high-voltage power transmission line the most according to claim 1, it is characterised in that rise Fall synchronous pulley is connected with fore-stock by lifting synchronous pulley fixed mount.
A kind of robot patrolled and examined for aerial high-voltage power transmission line the most according to claim 1, it is characterised in that under with The lifting motor that lifting synchronous pulley connects is connected with lifting mobile jib by motor fixture.
A kind of robot patrolled and examined for aerial high-voltage power transmission line the most according to claim 1, it is characterised in that lifting Chunk is fixed on mini-roundabout by forearm base.
A kind of robot patrolled and examined for aerial high-voltage power transmission line the most according to claim 1, it is characterised in that lifting Platform includes lifting platform support, cantilevered axle and lifting pulley assembly, wherein, lifting platform support is provided with for connecting lifting pulley The cantilevered axle of assembly, and lifting pulley assembly be set in lifting mobile jib in slide, lifting pulley assembly includes four groups of pulleys.
A kind of robot patrolled and examined for aerial high-voltage power transmission line the most according to claim 1, it is characterised in that servo-actuated Wheel is fixed on supporting roller support by servo-actuated bearing pin.
The control method of a kind of robot patrolled and examined for aerial high-voltage power transmission line the most according to claim 1, it is special Levying and be, flexible gear is arranged on elastic fixed mount two ends by flexible bearing pin.
The control method of a kind of robot patrolled and examined for aerial high-voltage power transmission line the most according to claim 1, it is special Levying and be, mini-roundabout and traffic cycle are crossed roller bearing rotating disk, and face of gear passes through Quenching Treatment.
10., according to a kind of robot patrolled and examined for aerial high-voltage power transmission line described in any one of claim 1~9, it is special Levying and be, it is as follows that robot carries out patrolling and examining carrying out practically step:
1) detecting when there is obstacle in front, the brake block of middle arm and postbrachium carries out locking to electric wire, the contact roller release of forearm, with Time traffic cycle rotational angle roll off the production line;
2) after forearm completes to roll off the production line action, carry out the flexible and rotation of cradle head simultaneously, promote forearm to complete elliptic fortune Dynamic track, robot surmounts obstacles;
3) when preceding object is aluminium hydraulic pressed connecting pipe or stockbridge damper, traffic cycle need not be rotated, by the ball-screw of driving pressure bearing up pulley, The contact roller and the driving wheel that make forearm are middle built on stilts, then drive forearm to surmount obstacles by the telescoping mechanism on body frame;
4) after forearm surmounts obstacles, rotate traffic cycle simultaneously and drive flexible cradle head, promote electric wire be positioned at contact roller and Between driving wheel, then regulate the lifting platform of forearm and the lifting of contact roller to complete reaching the standard grade of grooved driving wheel;
5) after forearm is reached the standard grade, arm and the brake block of postbrachium in release, by the lift adjustment of forearm, it is achieved middle arm and postbrachium Roll off the production line action, then rotate traffic cycle, forearm and middle arm, postbrachium are adjusted to tee T, then by three arm telescopic adjustment to Short, after robot stabilized, drive grooved driving wheel to move ahead, to complete the obstacle detouring of middle arm and postbrachium;
6) after in the middle of, arm and postbrachium surmount obstacles, the regulation lifting of forearm and the rotation of traffic cycle, make the servo-actuated of middle arm and postbrachium After wheel is positioned at the top of electric wire, then the lifting regulating forearm completes the process of reaching the standard grade of aligning arm and postbrachium, can complete whole getting over Barrier action.
CN201610528461.5A 2016-07-07 2016-07-07 A kind of robot for aerial high-voltage power transmission line inspection Active CN106025922B (en)

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CN101882765A (en) * 2010-05-11 2010-11-10 湖南大学 Traveling mechanism of robot on high voltage transmission line
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CN107017578A (en) * 2017-04-24 2017-08-04 南昌大学 A kind of aerial high-voltage power transmission line crusing robot retracting device
CN108988196A (en) * 2017-06-05 2018-12-11 克诺有限公司 Cable crusing robot and the cable method for inspecting for using the cable crusing robot
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CN108649515A (en) * 2018-08-03 2018-10-12 榆林学院 A kind of the obstacle detouring deicer and method of high-tension bus-bar
CN109449820A (en) * 2018-11-01 2019-03-08 国网新疆电力有限公司喀什供电公司 A kind of high voltage transmission line maintenance tool waggon and obstacle-detouring method
CN111682446A (en) * 2020-06-17 2020-09-18 贵阳中安科技集团有限公司 Cable inspection robot dog and cable inspection method
CN111682446B (en) * 2020-06-17 2021-03-30 贵阳中安科技集团有限公司 Cable inspection robot dog and cable inspection method

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