CN106314587A - Swinging arm type high-voltage cable crawling robot with obstacle crossing function - Google Patents
Swinging arm type high-voltage cable crawling robot with obstacle crossing function Download PDFInfo
- Publication number
- CN106314587A CN106314587A CN201610823710.3A CN201610823710A CN106314587A CN 106314587 A CN106314587 A CN 106314587A CN 201610823710 A CN201610823710 A CN 201610823710A CN 106314587 A CN106314587 A CN 106314587A
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- China
- Prior art keywords
- swing arm
- voltage line
- base
- wheel
- climbing robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a swinging arm type high-voltage cable crawling robot with an obstacle crossing function. Multiple swinging arm combinations are arranged on a base of the swinging arm type high-voltage cable crawling robot in one direction. Each swinging arm combination comprises two swinging arms arranged symmetrically, walking wheel elements driven by motors are arranged on the inner sides of the upper ends of the swinging arms, the lower ends of the swinging arms are hinged to the base, and pushing mechanisms for achieving opening and closing action of the swinging arms are arranged between the swinging arms and the base. On a high-voltage cable without an obstacle, the swinging arms are closed inwards, the waking wheel elements at the upper ends of the corresponding two swinging arms conduct tight pressing to be combined into a walking wheel, the motors drive the walking wheels to rotate, and the robot moves forwards along the high-voltage cable; when the robot meets an obstacle, the corresponding swinging arms drive the corresponding walking wheel elements to be opened outwards, and the robot crosses the obstacle. The high-voltage cable crawling robot can cross the obstacle on the high-voltage cable, and the obstacle crossing capability is enhanced.
Description
Technical field
The invention belongs to specialized robot technology, particularly there is the arm-type high-voltage line of swing of obstacle crossing function and creep machine
People.
Background technology
In on-the-spot application, the height that high voltage plane is located at the top of steel tower, high-voltage wire is aerial, overhead more than tens meters
Distance.Need the operations such as detection, maintenance after operation after a while when high-voltage line, engineering staff climbs to pylon top, with
The pulley bracket placed on high-voltage line is means of transport, fulfils assignment, and risk factor is high, operation complexity.To this end, correlative technology field
Research staff devise the device high-voltage line climbing robot can creeped on high-voltage line, use motor to drive and hang
At the road wheel of high-voltage line, driving device advances, and device is installed detection equipment, the instrument of simple operation, is automatically performed
The operations such as detection, maintenance, instead of the part work of engineers and technicians, have certain progress.
According to the needs set up, high-voltage line is fixed on high voltage transmission line tower by line pier.But, the high-voltage line of prior art is climbed
Row robot can only creep on smooth high-voltage line, and when high-voltage line climbing robot is creeped and run into line pier, high-voltage line is creeped
Robot halts.Owing to high-voltage line climbing robot does not possess obstacle climbing ability, high-voltage line climbing robot can not be fine
The detection of adaptation distance, the engineer applied such as maintenance.
Summary of the invention
In order to solve to be not suitable with the engineerings such as distance detection, maintenance because high-voltage line climbing robot does not possess obstacle climbing ability
The problem of application, the invention provides a kind of high-voltage line being realized obstacle crossing function by swing arm and separable road wheel element
Climbing robot.
Concrete technical scheme: what the present invention provided has the base swinging arm-type high-voltage line climbing robot of obstacle crossing function
Top arranges along single direction and organizes the combination of mutually isostructural swing arm more, often the combination of group swing arm comprise two along base vertically in
The swing arm that heart face is arranged symmetrically, the lower end of swing arm is hinged with base respectively, the side that jointed shaft is arranged with swing arm combination
To identical.Often it is provided with pushing mechanism between swing arm and the base of group swing arm combination, for promoting two swing arms along hinge
Spindle rotates, it is achieved the action that swing arm is flared out simultaneously or the most inwardly closes.Walking is installed inside the upper end of swing arm
Wheel element, the jointed shaft of the axis of road wheel element and swing arm lower end arranges in vertical direction, and each road wheel element passes through
Individually motor provides power.Two swing arm structures being arranged symmetrically of described swing arm combination are identical, swing arm group
Two swing arms closed are parallel with the jointed shaft of base, and two jointed shafts are symmetrical along the vertical median plane of base.
Wherein, described road wheel element has unilateral wheel rim, and wheel rim is disposed adjacent to the side of swing arm, and wheel rim is arranged
In the side away from swing arm, wheel rim front end face is provided with the projection along wheel rim circumference uniform distribution.When swing arm the most inwardly Guan Bi
Time, described projection is mutually twisted, and road wheel element the most inwardly closed becomes road wheel so that two side flange pressures of road wheel
Tight in the both sides of high-voltage line, the wheel rim of road wheel is pressed on the upside of high-voltage line.
Further, motor passes through storage battery power supply, and accumulator is arranged on base, and control system is also mounted at base
On, base arranges the interface of alignment installation and detection tool or power tool.
Wherein, the pushing mechanism between described swing arm and base includes coaxial with jointed shaft and fixes on a swing arm
Gear, the tooth bar vertically arranged engaged with gear and promote the reciprocating dynamical element of tooth bar, described dynamical element
Being fixed on base, dynamical element specifically can use electric pushrod, electric magnet, motor-driven feed screw nut parts etc. to produce
The element of raw linear motion or mechanism.
It is provided with the sensor of detection high-voltage line barrier on base, sends detection signal, control system to control system
Carrying out logical operations, control swing arm opening and closing action, described sensor senses before including the wheel before being arranged at swing arm
Device, is arranged at sensor after the wheel after swing arm.Sensor uses infrared ray sensor, ultrasonic sensor, vision sensor
Deng, control system uses single-chip microcomputer, Programmable Logic Controller etc., is the industrial products of technology maturation, high pressure of the present invention
Line includes all being set up in aerial circuit, such as power transmission line, holding wire etc..
The arm-type high-voltage line climbing robot of the swing with obstacle crossing function that the present invention provides, work process is as follows: at list
On root high-voltage line, the swing arm of described high-voltage line climbing robot all closes, and the wheel rim of road wheel is pressed on high-voltage line
End face, wheel rim is pressed on the side of high-voltage line, and road wheel drives high-voltage line climbing robot to advance.When wheel front sensor detects
Barrier, transfers signals to control system, controls swing arm and opens to both sides, and swing arm is in the walking wheel driving of closure state
Dynamic lower advance, surmounts obstacles.After wheel after swing arm, sensor detects barrier, transfers signals to control system, controls
The swing arm being in open configuration inwardly closes.
Beneficial effects of the present invention: relative to prior art, the arm-type height of the swing with obstacle crossing function that the present invention provides
Line ball climbing robot is by arranging many groups swing arm pushing mechanism hinged with base and being arranged on swing arm on base
On separable road wheel element is set, it is achieved swing arm drives road wheel to be flared out and the function that clears the jumps.Gram
Take the shortcoming that the high-voltage line climbing robot of prior art is only applicable to creep on the high-voltage line do not have barrier, enhanced
The obstacle climbing ability of high-voltage line climbing robot.
Accompanying drawing explanation
The high-voltage line climbing robot overall structure schematic diagram that Fig. 1 present invention provides.
Fig. 2 swing arm is in the schematic diagram of closure state.
Fig. 3 swing arm is in the schematic diagram of open configuration.
The road wheel component structure schematic diagram of Fig. 4 high-voltage line climbing robot.
The control system schematic diagram of Fig. 5 high-voltage line climbing robot.
The schematic diagram that first group of swing arm of Fig. 6 high-voltage line climbing robot surmounts obstacles.
The schematic diagram that second group of swing arm of Fig. 7 high-voltage line climbing robot surmounts obstacles.
In figure, 01-base, 02-swing arm, 03-pushing mechanism, 031-gear, 032-tooth bar 033-dynamical element, 04-
Motor, 05-road wheel element, 051-wheel rim, 052-wheel rim, 053-is protruding, 06-sensor, and 061-takes turns front sensor, and 062-takes turns
Rear sensor.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.
As it is shown in figure 1, the high-voltage line climbing robot overall structure schematic diagram provided for the present invention.In figure, high-voltage line is climbed
The base 01 of row robot is provided above the combination of three groups of identical swing arms, and often the combination of group swing arm comprises two and is arranged symmetrically
Swing arm 02, the lower end of swing arm 02 is hinged with base 01.Often set between swing arm 02 and the base 01 of group swing arm combination
It is equipped with pushing mechanism 03, is coaxial with jointed shaft and fixing gear 031 on a swing arm specific to the present embodiment, nibbles with gear
The tooth bar 032 vertically arranged closed and the promotion reciprocating dynamical element of tooth bar 033, dynamical element 033 specifically uses motor
The screw-nut body driven, drives the motor of leading screw to be fixed on base, and tooth bar 031 includes two, and symmetry is fixed on nut
On parts.Road wheel element 05 is arranged on the inner side of swing arm 02, and wheel rim 051 passes through near swing arm 02, road wheel element 05
Motor 04 drives；The sensor 06 for detecting high-voltage line barrier it is provided with on base.
As in figure 2 it is shown, be in the schematic diagram of closure state for swing arm.The motor of pushing mechanism 03 drives leading screw forward to turn
Dynamic, feed screw nut parts move down, and the tooth bar 032 being fixed on feed screw nut parts moves downwardly together, two side gears 031
Rotate, drive swing arm inwardly to close.
As it is shown on figure 3, be in the schematic diagram of open configuration for swing arm.The motor of pushing mechanism 03 drives leading screw reversely to turn
Dynamic, feed screw nut parts move up, and the tooth bar 032 being fixed on feed screw nut parts moves upwardly together, two side gears 031
Rotate, drive swing arm to be flared out.
As shown in Figure 4, the road wheel component structure schematic diagram of the high-voltage line climbing robot provided for the present invention.In figure,
Described road wheel element includes unilateral wheel rim 051, is arranged on the wheel rim 052 of wheel rim side, and wheel rim 052 front end is provided with circumference
Uniform projection 053, during swing arm Guan Bi, protruding 053 is mutually twisted, and the external diameter of wheel rim 052 is less than the external diameter of wheel rim 051, wheel
The inner face of edge 051 smooths.
As it is shown in figure 5, the control system schematic diagram of high-voltage line climbing robot.Singlechip controller is as control system
Logic arithmetic element, the information of sensor after the information of reception operation order remote input, wheel front sensor, wheel, and according to upper
Information of stating controls road wheel motor, the operation of swing arm pushing motor, and Operation Conditions remotely exports ground.
As shown in Figure 6, the schematic diagram that first group of swing arm of high-voltage line climbing robot surmounts obstacles.When first group of swing arm
02 close to barrier on high-voltage line time, the wheel front sensor 061 before first group of swing arm detects barrier, is transmitted by signal
To control system, control pushing mechanism 03 and promote the swing arm 02 of first group to open to both sides, second group, the 3rd group of swing arm guarantor
Holding closure state, high-voltage line climbing robot advances under the road wheel 05 of second group, the 3rd group swing arm 02 drives, first group
Swing arm 02 surmounts obstacles；After wheel, sensor 062 detects barrier, and first group of swing arm 02 inwardly closes.
As it is shown in fig. 7, the schematic diagram that second group of swing arm of high-voltage line climbing robot surmounts obstacles.When second group of swing arm
02 close to barrier on high-voltage line time, the wheel front sensor 061 before second group of swing arm detects barrier, controls promotion machine
Structure 03 promotes second group of swing arm 02 to open to both sides, first group, the 3rd group of swing arm be kept closed, high-voltage line creeper
Device people advances under the road wheel 05 of first group, the 3rd group swing arm 02 drives so that second group of swing arm 02 surmounts obstacles；When
After wheel after second group of swing arm, sensor 062 detects that barrier, control system control second group of swing arm 02 and inwardly close.
The process phase that the process that other swing arm surmounts obstacles surmounts obstacles with first group of swing arm, second group of swing arm
With, repeat no more.
The swing arm combination of the high-voltage line climbing robot that the present invention provides can arrange many groups.When swing arm group number is more than
When three groups, swing arm obstacle detouring process is same as described above, repeats no more.
Based on the embodiment in the present invention, those of ordinary skill in the art are obtained under not making creative work premise
The every other embodiment obtained, broadly falls into the scope of protection of the invention.
Claims (7)
1. there is the swing arm-type high-voltage line climbing robot of obstacle crossing function, it is characterised in that described high-voltage line is creeped machine
People includes the combination of the swing arm no less than three groups arranged above base (01) and base, often group swing arm combination along single direction
Comprising two swing arms (02) being arranged symmetrically along the vertical median plane of base, the lower end of swing arm (02) is cut with scissors with base (01)
Connecing, the direction that jointed shaft is arranged with swing arm combination is identical；Often between swing arm (02) and the base (01) of group swing arm combination
It is provided with pushing mechanism (03), for promoting two swing arms (02) to rotate along jointed shaft, it is achieved swing arm (02) is the most outwards
The action opened or the most inwardly close；Road wheel element (05) is installed in the upper end of swing arm (02), road wheel element (05)
Axis and the perpendicular layout of jointed shaft of swing arm (02) lower end, described road wheel element (05) includes wheel rim (051), arranges
At the wheel rim (052) of wheel rim side, road wheel element (05) is arranged on the inner side of swing arm (02), and wheel rim (051) is near swinging
Arm (02)；During swing arm (02) Guan Bi, the axle articulation of two upper road wheel elements (05) installed of swing arm (02) is identical, institute
Road wheel element (05) the front end face Guan Bi stated and be combined into the road wheel with two side flange, road wheel is driven by motor (04)
Dynamic；The sensor (06) of detection high-voltage line barrier it is provided with on base (01).
High-voltage line climbing robot the most according to claim 1, it is characterised in that two pendulum of described swing arm combination
Swing arm (02) is parallel with the jointed shaft of base (01), and two jointed shafts are arranged symmetrically with along base (01) vertically median plane.
High-voltage line climbing robot the most according to claim 2, it is characterised in that described swing arm (02) and base
(01) pushing mechanism (03) between includes gear (031) that is coaxial with jointed shaft and that be fixed on swing arm (02), with gear
(031) tooth bar (032) vertically arranged engaged and the promotion reciprocating dynamical element of tooth bar (033), dynamical element (033)
It is fixed on base (01).
High-voltage line climbing robot the most according to claim 4, it is characterised in that described dynamical element (033) is electricity
Dynamic push rod, electric magnet, motor-driven feed screw nut parts.
High-voltage line climbing robot the most according to claim 1, it is characterised in that the wheel of described road wheel element (05)
Circle (052) front end face is provided with the projection (053) along wheel rim circumference uniform distribution, when swing arm (02) inwardly closes, and protruding (053) phase
Occlusion mutually.
High-voltage line climbing robot the most according to claim 1, it is characterised in that described sensor (06) includes arranging
Wheel front sensor (061) before swing arm, is arranged at sensor (062) after the wheel after swing arm.
7. a method of work for the high-voltage line climbing robot described in any one of claim 1-6, its method includes: single
On high-voltage line, the swing arm (02) of described high-voltage line climbing robot the most inwardly Guan Bi, the road wheel on two swing arms
Element (05) front end face Guan Bi forms the road wheel with two side flange, and wheel rim (052) is pressed on the end face of high-voltage line, two side wheels
Edge (051) is pressed on the side of high-voltage line, and road wheel rotates, and drives high-voltage line climbing robot to advance；When swing foremost
During barrier on the nearly high-voltage line of knee-joint, it is arranged on the wheel front sensor (061) before swing arm and barrier detected, signal is passed
Being passed to control system, control pushing mechanism (03) and promote swing arm (02) to open to both sides, other swing arms are kept closed,
High-voltage line climbing robot advances under the traction drive of the swing arm (02) being kept closed so that be in open configuration
Swing arm (02) surmount obstacles；After the swing arm opened crosses the barrier on high-voltage line, it is arranged on the wheel after swing arm
Rear sensor (062) detects barrier, transfers signals to control system, and control pushing mechanism (03) promotes to be in opens shape
The swing arm (02) of state inwardly closes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610823710.3A CN106314587A (en) | 2016-09-15 | 2016-09-15 | Swinging arm type high-voltage cable crawling robot with obstacle crossing function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610823710.3A CN106314587A (en) | 2016-09-15 | 2016-09-15 | Swinging arm type high-voltage cable crawling robot with obstacle crossing function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106314587A true CN106314587A (en) | 2017-01-11 |
Family
ID=57787934
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610823710.3A Pending CN106314587A (en) | 2016-09-15 | 2016-09-15 | Swinging arm type high-voltage cable crawling robot with obstacle crossing function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106314587A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116773648A (en) * | 2023-06-30 | 2023-09-19 | 国网江苏省电力有限公司泰州供电分公司 | Crawling detection device and method for transformer substation structure support |
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| WO2004070902A1 (en) * | 2003-02-04 | 2004-08-19 | Hydro-Quebec | Remote-controlled vehicle which travels on conductors and which can pass over obstacles by means of temporary support rotors |
| CN1658460A (en) * | 2005-03-18 | 2005-08-24 | 山东大学 | Robot of autonomous moving along 110KV transmission line and its working method |
| WO2005101600A1 (en) * | 2004-04-15 | 2005-10-27 | Hydro-Quebec | Remote-controlled vehicle designed to be mounted on a support and capable of clearing an obstacle |
| CN102110959A (en) * | 2010-12-20 | 2011-06-29 | 重庆市电力公司綦南供电局 | Walking device for intelligently inspecting running state of high voltage line |
| CN104659706A (en) * | 2015-01-23 | 2015-05-27 | 国家电网公司 | Palm opening and closing device |
| CN105826865A (en) * | 2016-05-25 | 2016-08-03 | 山东大学 | Suspended line inspection robot structure applicable to single wires and obstacle crossing method thereof |
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2016
- 2016-09-15 CN CN201610823710.3A patent/CN106314587A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2004070902A1 (en) * | 2003-02-04 | 2004-08-19 | Hydro-Quebec | Remote-controlled vehicle which travels on conductors and which can pass over obstacles by means of temporary support rotors |
| WO2005101600A1 (en) * | 2004-04-15 | 2005-10-27 | Hydro-Quebec | Remote-controlled vehicle designed to be mounted on a support and capable of clearing an obstacle |
| CN1658460A (en) * | 2005-03-18 | 2005-08-24 | 山东大学 | Robot of autonomous moving along 110KV transmission line and its working method |
| CN102110959A (en) * | 2010-12-20 | 2011-06-29 | 重庆市电力公司綦南供电局 | Walking device for intelligently inspecting running state of high voltage line |
| CN104659706A (en) * | 2015-01-23 | 2015-05-27 | 国家电网公司 | Palm opening and closing device |
| CN105826865A (en) * | 2016-05-25 | 2016-08-03 | 山东大学 | Suspended line inspection robot structure applicable to single wires and obstacle crossing method thereof |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116773648A (en) * | 2023-06-30 | 2023-09-19 | 国网江苏省电力有限公司泰州供电分公司 | Crawling detection device and method for transformer substation structure support |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170111 |
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| WD01 | Invention patent application deemed withdrawn after publication |