CN106313025A - Swing arm device for separating driving wheels of line inspection robot from conductor - Google Patents

Swing arm device for separating driving wheels of line inspection robot from conductor Download PDF

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Publication number
CN106313025A
CN106313025A CN201610917490.0A CN201610917490A CN106313025A CN 106313025 A CN106313025 A CN 106313025A CN 201610917490 A CN201610917490 A CN 201610917490A CN 106313025 A CN106313025 A CN 106313025A
Authority
CN
China
Prior art keywords
driving wheel
wire
inspection robot
arm device
departs
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201610917490.0A
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Chinese (zh)
Other versions
CN106313025B (en
Inventor
曹雷
郭锐
贾永刚
贾娟
仲亮
任杰
张宝栋
沈庆河
慕世友
李超英
傅孟潮
李建祥
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
State Grid Intelligent Technology Co Ltd
Original Assignee
State Grid Corp of China SGCC
Electric Power Research Institute of State Grid Shandong Electric Power Co Ltd
Shandong Luneng Intelligence Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by State Grid Corp of China SGCC, Electric Power Research Institute of State Grid Shandong Electric Power Co Ltd, Shandong Luneng Intelligence Technology Co Ltd filed Critical State Grid Corp of China SGCC
Priority to CN201610917490.0A priority Critical patent/CN106313025B/en
Publication of CN106313025A publication Critical patent/CN106313025A/en
Application granted granted Critical
Publication of CN106313025B publication Critical patent/CN106313025B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/02Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/048Pendulum type
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages
    • B25J5/02Manipulators mounted on wheels or on carriages travelling along a guideway
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/0009Constructional details, e.g. manipulator supports, bases

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a swing arm device for separating driving wheels of a line inspection robot from a conductor, comprising a central frame, driving wheels, a swing arm driving mechanism and a connecting plate; each of two ends of the central frame is provided with one of the driving wheels, and the bottom end of the central frame is provided with the connecting plate; the central frame is of an axisymmetric structure and comprises supporting arms located at two sides, connecting rods for connecting the two supporting arms together and driving shafts arranged at the lower ends of the two supporting arms; the swing arm driving mechanism drives the driving shafts to rotate; guide pins are arranged on positions where the supporting arms are connected with the connecting plate; one end of each guide pin is pinned in each guide plate, and the other end of each guide pin is connected with each execution hook; and the execution hooks are fixedly arranged at two ends of the driving shafts and move along the routes of the guide plates under the drive of the driving shafts to drive the driving wheels at the top end to swing and restore. The swing arm device is simple in structure, convenient to operate and independent and can be easily connected with different line inspection robots.

Description

A kind of inspection robot driving wheel departs from the swinging arm device of wire
Technical field
The present invention relates to a kind of inspection robot driving wheel and depart from the swinging arm device of wire.
Background technology
Along with development and the progress of society of national economy, the safe operation problem of power system is more and more important.High pressure Transmission line of electricity is the lifeblood of power system, and its fault directly threatens the safe operation of power system, and for a long time, China is to defeated Patrolling and examining of electric line relies primarily on manually, or telescope, or infrared thermography, walks while see, some special patrolling and examining also need Wanting power worker to climb up high-tension line to check, waste time and energy, dangerous very big, some virgin forest, cliff circuit are artificial Cannot patrol and examine at all.
At present, robot has been widely used for the charged line walking work in ultra-high-tension power transmission line field, particularly transmission line of electricity Industry, utilizes robot inspection of power transmission line and safeguards EHV transmission network, not only can alleviate workman's a thousand li line walking and livewire work Labor intensity, and accuracy of detection and detection efficiency can be improved, replace people's on-line operation occasion in high-risk, the most significantly Reduce human resources, to improving grid automation level of operation, ensureing that electric power netting safe running is significant.
Summary of the invention
The present invention is to solve the problems referred to above, it is proposed that a kind of inspection robot driving wheel departs from the swinging arm device of wire, The present invention uses tower structure, can be assembled on circuit line walking and Work robot, as robotically-driven take turns obstacle detouring time Swinging arm device, the driving wheel of robot can carry out along the path of particular design arranging disengaging wire and reset, when swinging arm device position When the top in path, the support arm at central frame two ends is in locking state, it is ensured that the safety on line of robot.
To achieve these goals, the present invention adopts the following technical scheme that
A kind of inspection robot driving wheel departs from the swinging arm device of wire, including central frame, driving wheel, swing arm driving machine Structure and connecting plate, wherein, described central frame two ends are each provided with a driving wheel, and central frame bottom is provided with connecting plate;
Described central frame structure axisymmetricly, including being positioned at the support arm of both sides, being linked together by two support arms Connecting rod, and it is arranged at the drive shaft of two support arm lower ends, described swing arm driving mechanism drives drive shaft turns, described support arm The position being connected with connecting plate is provided with guide finger, and one end of described guide finger is sold in guide plate, the other end and execution hook Being connected, described execution hook is fixed on drive shaft two ends, and under drive shaft drives, the path along guide plate is moved, and drives driving of top Driving wheel realizes arranging and resetting.
Preferably, described central frame and the laying plane parallel of driving wheel.
Preferably, described guide plate is fixed on connecting plate.
Preferably, described connecting rod has two, is connected with the support arm of both sides at certain intervals, plays the effect of support.
Preferably, the drive shaft middle-end of described central frame is provided with the driving axle bed for fixing swing arm driving mechanism.
Preferably, described connecting plate connects robot.
Preferably, when robot is positioned at the top in path, the support arm at central frame two ends is in locking state.
When needs driving wheel arranges disengaging wire, perform to be hooked under the drive of drive shaft and rotate, hook the one of guide finger End, now, the other end of guide finger is down walked only along the path of the planning of guide plate, thus drives support arm along set Path is away from wire.
When needs driving wheel resets on wire, drive shaft drives and performs hook reversion, performs the straightway meeting of hook end Block guide finger, thus drive support arm to reset on wire.
The panel path of the forms such as space, groove or the interval that guide finger can be arranged along guide plate moves, and changes into The path of whole oscillating arm mechanisms.
Preferably, described guide plate being provided with arc-shaped groove, guide finger is sheathed in groove.
The invention have the benefit that
(1) simple in construction, easy to operate, has independence, it is easy to connect from different walking operation robots;
(2) corresponding guide path can be designed according to different robot architectures, when being in the top of guide path, pendulum Arm mechanism is in locking state, it is possible to ensure safety on the line of robot.
Accompanying drawing explanation
Fig. 1 is swinging arm device general assembly drawing;
Fig. 2 is central frame structure figure;
Fig. 3 is guide frame figure;
Wherein, 1 driving wheel, 2 central frames, 3 swing arm driving mechanisms, 4 connecting plates, 5 support arms, 6 connecting rods, 7 guide plates, 8 guide fingers, 9 perform hook, 10 drive shafts, and 11 drive axle bed.
Detailed description of the invention:
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
A kind of inspection robot driving wheel departs from the swinging arm device of wire, and it mainly uses tower structure, including: center Framework, driving wheel, swing arm driving mechanism and connecting plate.
Both sides, described central frame top are each provided with driving wheel, and bottom is provided with swing arm driving mechanism and connecting plate, institute State connecting plate to be connected with robot.
The both sides of described central frame are symmetrical structure, and its structure includes support arm, connecting rod, guide plate, guide finger, holds Row hook, drive shaft and driving axle bed.
Described support arm lower end is hinged with drive shaft, and support arm lower end is hinged with guide finger simultaneously, and described execution hook is fixed At drive shaft two ends, can rotate under drive shaft drives;One end of described guide finger is sold in guide plate, and the other end can be with execution Hook is connected, and can move along the path of guide plate under the drive of drive shaft, thus drives the driving wheel on top to realize arranging and multiple Position.
Described guide plate is fixed on connecting plate.
Described connecting rod has two, is connected with the support arm of both sides respectively, plays the effect of support.
It is provided with swing arm driving mechanism in the middle of described drive shaft, drive shaft turns can be driven.
The present invention can be assembled on circuit line walking and Work robot, as robotically-driven take turns obstacle detouring time swing arm dress Put, as it is shown in figure 1, include central frame 2, driving wheel 1, swing arm driving mechanism 3 and connecting plate 4.
Both sides, Main subrack 2 frame top are each provided with driving wheel 1, and bottom is provided with swing arm driving mechanism 3 and connecting plate 4, even Fishplate bar 4 can be connected with robot.
The both sides of central frame 2 are symmetrical structure, its structure include support arm 5, connecting rod 6, guide plate 7, guide finger 8, Perform hook 9, drive shaft 10 and drive axle bed 11.
Support arm 5 lower end is hinged with drive shaft 11, and support arm 5 lower end is hinged with guide finger 8 simultaneously, performs hook 9 and is fixed on The two ends of drive shaft 10, can rotate under drive shaft 10 drives;One end of guide finger 8 is sold in guide plate 7, the other end can with hold Row hook 9 is connected, and the top, path performing hook 9 and guide plate 7 is all designed with one section of straightway;
Guide plate 7 is fixed on connecting plate 4, is provided with swing arm driving mechanism, can drive drive shaft 10 in the middle of drive shaft 10 Rotate.
When needs driving wheel 1 arranges disengaging wire, perform hook 9 and rotate under the drive of drive shaft 10, hook guide finger 8 One section, now, the other end of guide finger 8 is down walked only along the path of the planning of guide plate 7, thus drives support arm 5 along given route away from wire;Otherwise, when needs driving wheel 1 resets on wire, drive shaft 10 drives execution hook 9 to invert, The straightway performing hook 9 end can block guide finger 8, thus drives support arm 5 to reset on wire.
It is provided with arc-shaped groove on guide plate 7.Guide finger 8 is sheathed in groove.
Although the detailed description of the invention of the present invention is described by the above-mentioned accompanying drawing that combines, but not the present invention is protected model The restriction enclosed, one of ordinary skill in the art should be understood that on the basis of technical scheme, and those skilled in the art are not Need to pay various amendments or deformation that creative work can make still within protection scope of the present invention.

Claims (10)

1. inspection robot driving wheel departs from a swinging arm device for wire, it is characterized in that: include central frame, driving wheel, pendulum Arm drive mechanism and connecting plate, wherein, described central frame two ends are each provided with a driving wheel, and central frame bottom is provided with Connecting plate;
Described central frame structure axisymmetricly, including the support arm being positioned at both sides, the connection that linked together by two support arms Bar, and it is arranged at the drive shaft of two support arm lower ends, described swing arm driving mechanism drives drive shaft turns, described support arm and company The position that fishplate bar is connected is provided with guide finger, and one end of described guide finger is sold in guide plate, and the other end is connected with performing hook, Described execution hook is fixed on drive shaft two ends, and under drive shaft drives, the path along guide plate is moved, and drives the driving wheel on top Realization is arranged and resets.
A kind of inspection robot driving wheel the most as claimed in claim 1 departs from the swinging arm device of wire, it is characterized in that: in described Heart framework and the laying plane parallel of driving wheel.
A kind of inspection robot driving wheel the most as claimed in claim 1 depart from wire swinging arm device, it is characterized in that: described in lead It is fixed on connecting plate to plate.
A kind of inspection robot driving wheel the most as claimed in claim 1 departs from the swinging arm device of wire, it is characterized in that: described company Extension bar has two, is connected with the support arm of both sides at certain intervals, plays the effect of support.
A kind of inspection robot driving wheel the most as claimed in claim 1 departs from the swinging arm device of wire, it is characterized in that: in described The drive shaft middle-end of heart framework is provided with the driving axle bed for fixing swing arm driving mechanism.
A kind of inspection robot driving wheel the most as claimed in claim 1 departs from the swinging arm device of wire, it is characterized in that: described company Fishplate bar connects robot.
A kind of inspection robot driving wheel the most as claimed in claim 1 departs from the swinging arm device of wire, it is characterized in that: work as machine When people is positioned at the top in path, the support arm at central frame two ends is in locking state.
A kind of inspection robot driving wheel the most as claimed in claim 1 departs from the swinging arm device of wire, it is characterized in that: guide finger Panel path along guide plate moves, and changes into the path of whole oscillating arm mechanisms.
A kind of inspection robot driving wheel the most as claimed in claim 1 departs from the swinging arm device of wire, it is characterized in that: work as needs When driving wheel arranges disengaging wire, perform to be hooked under the drive of drive shaft and rotate, hook one end of guide finger, now, guide finger The other end down walk only along the path of the planning of guide plate, thus drive support arm along given route away from wire.
A kind of inspection robot driving wheel the most as claimed in claim 1 departs from the swinging arm device of wire, it is characterized in that: when needing When wanting driving wheel to reset on wire, drive shaft drives and performs hook reversion, and the straightway performing hook end can block guide finger, from And drive support arm to reset on wire.
CN201610917490.0A 2016-10-21 2016-10-21 A kind of inspection robot driving wheel is detached from the swinging arm device of conducting wire Active CN106313025B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610917490.0A CN106313025B (en) 2016-10-21 2016-10-21 A kind of inspection robot driving wheel is detached from the swinging arm device of conducting wire

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610917490.0A CN106313025B (en) 2016-10-21 2016-10-21 A kind of inspection robot driving wheel is detached from the swinging arm device of conducting wire

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CN106313025B CN106313025B (en) 2019-01-15

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019205483A1 (en) * 2018-04-25 2019-10-31 深圳市大疆创新科技有限公司 Mounting mechanism, and robot kit

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01248989A (en) * 1988-03-29 1989-10-04 Mitsuba Electric Mfg Co Ltd Circuit for controlling dc motor
CN201994593U (en) * 2010-12-30 2011-09-28 中国电力科学研究院 Inspection or de-icing robot of power transmission line
CN202952262U (en) * 2012-11-01 2013-05-29 北京国网富达科技发展有限责任公司 High-altitude quality inspection robot for power transmission lines
US20140208976A1 (en) * 2013-01-29 2014-07-31 Korea Institute Of Science And Technology Driving wheel of robot moving along the wire and robot having the same
CN104485607A (en) * 2014-12-29 2015-04-01 武汉科技大学 High voltage line patrol robot with single motor to control movement of three arms
CN105292288A (en) * 2015-10-09 2016-02-03 北京联合大学 Swing crossing type robotic arm and obstacle crossing method of aerial cable patrolled robot

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01248989A (en) * 1988-03-29 1989-10-04 Mitsuba Electric Mfg Co Ltd Circuit for controlling dc motor
CN201994593U (en) * 2010-12-30 2011-09-28 中国电力科学研究院 Inspection or de-icing robot of power transmission line
CN202952262U (en) * 2012-11-01 2013-05-29 北京国网富达科技发展有限责任公司 High-altitude quality inspection robot for power transmission lines
US20140208976A1 (en) * 2013-01-29 2014-07-31 Korea Institute Of Science And Technology Driving wheel of robot moving along the wire and robot having the same
CN104485607A (en) * 2014-12-29 2015-04-01 武汉科技大学 High voltage line patrol robot with single motor to control movement of three arms
CN105292288A (en) * 2015-10-09 2016-02-03 北京联合大学 Swing crossing type robotic arm and obstacle crossing method of aerial cable patrolled robot

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019205483A1 (en) * 2018-04-25 2019-10-31 深圳市大疆创新科技有限公司 Mounting mechanism, and robot kit
CN110545964A (en) * 2018-04-25 2019-12-06 深圳市大疆创新科技有限公司 Installation mechanism and robot suit

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Address after: Wang Yue Central Road Ji'nan City, Shandong province 250002 City No. 2000

Co-patentee after: National Network Intelligent Technology Co., Ltd.

Patentee after: Electric Power Research Institute of State Grid Shandong Electric Power Company

Co-patentee after: State Grid Corporation of China

Address before: Wang Yue Central Road Ji'nan City, Shandong province 250002 City No. 2000

Co-patentee before: Shandong Luneng Intelligent Technology Co., Ltd.

Patentee before: Electric Power Research Institute of State Grid Shandong Electric Power Company

Co-patentee before: State Grid Corporation of China

CP01 Change in the name or title of a patent holder
TR01 Transfer of patent right

Effective date of registration: 20201029

Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park)

Patentee after: National Network Intelligent Technology Co.,Ltd.

Address before: Wang Yue Central Road Ji'nan City, Shandong province 250002 City No. 2000

Patentee before: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co.

Patentee before: National Network Intelligent Technology Co.,Ltd.

Patentee before: STATE GRID CORPORATION OF CHINA

TR01 Transfer of patent right