CN106505463A - A kind of HVDC magnetic suspension crusing robot obstacle avoidance apparatus - Google Patents
A kind of HVDC magnetic suspension crusing robot obstacle avoidance apparatus Download PDFInfo
- Publication number
- CN106505463A CN106505463A CN201610968318.8A CN201610968318A CN106505463A CN 106505463 A CN106505463 A CN 106505463A CN 201610968318 A CN201610968318 A CN 201610968318A CN 106505463 A CN106505463 A CN 106505463A
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- China
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- box body
- coil
- left box
- right case
- cavity casing
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of HVDC magnetic suspension crusing robot obstacle avoidance apparatus; including can folding left box body and the cavity casing of right case composition, linkage, traveling wheel mechanism and control cabinet; wire-protecting set is provided with the middle part of cavity casing, and what wire-protecting covered is formed around driving coil and suspended coil；Traveling wheel mechanism includes two groups of road wheels for being individually fixed in left box body and right case side；Wire-protecting set, suspended coil and driving coil are divided equally into two, are individually fixed in inside left box body and right case；With left box body and the right case folding of cavity casing, wire-protecting set, driving coil, suspended coil can separate or be close in high-voltage line surrounding, and two groups of road wheels can separate or be adjacent on high-voltage line；Cavity casing controls its folding, control cabinet controls connecting rod mechanism, driving coil and suspended coil by linkage.Present invention achieves a kind of brand-new crusing robot obstacle detouring mode, its simple structure, stable performance.
Description
Technical field
The present invention relates to high-voltage line crusing robot avoidance field, more particularly, to a kind of HVDC magnetic suspension survey monitor
Device people's obstacle avoidance apparatus.
Background technology
Aerial high-voltage power transmission line Work robot mainly includes crusing robot, deicing robot, insulator cleaning machine
Device people etc. and other Intelligent Measurements and maintained equipment.Since last century the eighties, aerial high-voltage power transmission line working rig
Device people is always the study hotspot of robotics.The country such as the U.S., Japan, Canada, China has successively carried out built on stilts
The research work of ultra-high-tension power transmission line Work robot.2008, Debenest of Japan et al. aimed at high pressure multiple fission conductor
Have developed the crusing robot of entitled " Expliner ".2000, the graduate Montambault of Quebec, CAN water power
Et al. have developed the remote operated vehicle of entitled HQ Line- ROVer, the dolly is used initially to remove on power transmission line ground wire
Accumulated ice, gradually develops into for the multiduty mobile platform such as line data-logging, maintenance.2006 are so far, Montambault and
Pouliot et al. is developed on the basis of HQ LineROVer and has been developed crusing robot of new generation, is named
" LineScout ", its Technical comparing are advanced, and function is more complete, and the robot not only can patrol and examine circuit, can also complete to lead
The relatively simple line upkeep operations such as line is repaired, bolt fastening.
The research of domestic crusing robot also achieves breakthrough, the research that such as Wuhan University professor Wu Gongping leads
Team has developed two kinds of autonomous inspection machines for adapting to divide circuit 220kV architomys circuit and 220-550kV respectively more
People's type.The high pressure crusing robot of research mostly adopts wheel arm type structure both at home and abroad, by between driving wheel and circuit surface
The movement of stiction traction robot, when circuit surface situation is complicated（Such as icing）, stiction be not enough to overcome gravity and
Cause to skid.Skid and can have a strong impact on the energy burden that patrols and examines efficiency, increase robot of robot, damage transmission line of electricity, beat
When cunning is serious, robot becomes to be difficult to control to.
For the problem that crusing robot skids on high-voltage line, the Xu Xianjin of Hubei University Of Technology proposes a kind of magnetic force and drives
Dynamic crusing robot eliminates slippage problems.High-pressure magnetic drives crusing robot to instead of conventional motors driving, servomechanism installation, biography
Dynamic device and cantilever design, substantially improve the weight for patrolling and examining efficiency and mitigation crusing robot of crusing robot.But should
Robot obstacle detouring is relatively difficult.
Content of the invention
The present invention relates to the obstacle detouring structure of above crusing robot, by the control to source moving part, has robot and opens
Function is closed, obstacle detouring is realized.Present invention mainly solves overhead high-voltage wire crusing robot obstacle detouring step is more, leaping over obstacles operation is unstable
Fixed；Provide a kind of obstacle detouring step few, obstacle detouring process is steady, may span across the obstacles such as conductor spacer, stockbridge damper, straight line folder.
In order to solve above-mentioned technical problem, the technical solution used in the present invention is：
A kind of HVDC magnetic suspension crusing robot obstacle avoidance apparatus, it is characterised in that：Including can free-open-close cavity casing,
Linkage, traveling wheel mechanism and control cabinet, are provided with the wire-protecting set of protection high-voltage line, cavity case in the middle part of the cavity casing
What wire-protecting covered in vivo is formed around driving coil and suspended coil, and the traveling wheel mechanism includes two groups of road wheels, described
Cavity casing be divided into can folding left box body and right case, two groups of road wheels be individually fixed in cavity casing can folding a left side
Casing and the side of right case, the wire-protecting set, suspended coil and driving coil are divided equally into two, are individually fixed in left case
Inside body and right case；With left box body and the right case folding of cavity casing, wire-protecting set, suspended coil and driving coil
Can separate or be close in high-voltage line surrounding, two groups of road wheels can separate or be adjacent on high-voltage line；The cavity casing is by connecting
Linkage controls its folding, and the control cabinet is used for controls connecting rod mechanism kinematic, the driving force of driving coil and suspended coil
For the suspending power that robot is provided.
As improvement, the linkage include pedestal, two pieces of gripper shoes being parallel to each other at the top of the pedestal, respectively with
The drive that multiple curved rods, fixed pin shaft, slidiing pin and the driving slidiing pin that left box body is connected with right case is moved up and down
Motivation structure, the fixed pin shaft are fixed at the top of two pieces of gripper shoes, and slidiing pin can be between two pieces of gripper shoes freely up and down
Mobile；Corner in the middle part of the curved rod is hinged on fixed pin shaft, relative with cavity casing curved rod one end with
Slidiing pin is hinged and connected by corresponding articulated linkage respectively, is driven slidiing pin to slide up and down by drive mechanism, is driven
The curved rod being connected with left box body and right case respectively is rotated in opposite directions around fixed pin shaft, so as to realize the folding of cavity casing.
Used as improvement, the drive mechanism of the slidiing pin is the leading screw and nut mechanism on pedestal, the screw mandrel spiral shell
Parent agency includes the servomotor of screw mandrel, the nut being enclosed within screw mandrel and drive screw rotation, and the screw mandrel is solid by bearing
It is scheduled on pedestal, the nut is fixedly linked with slidiing pin.
Used as improvement, the drive mechanism of the slidiing pin can also be the cylinder on pedestal.
Used as improvement, two pieces of gripper shoe opposite sides are provided with equal chute, and the slidiing pin two ends are respectively arranged on two
In chute, slidiing pin is moved up and down by the spacing stable between two pieces of gripper shoes of chute.
The invention has the beneficial effects as follows：
The invention provides a kind of new crusing robot obstacle detouring mode, the arm-type barrier-surpassing robot of contrast wheel, its simple structure, machine
Device people's small volume, weight are low, mitigate the load of high-voltage line, and obstacle detouring action is simple, obstacle detouring efficiency high.
Description of the drawings
Fig. 1 opens stereogram for embodiment of the present invention casing.
Fig. 2 is that embodiment of the present invention casing closes stereogram.
Fig. 3 is curved rod structural representation.
Fig. 4 is traveling wheel mechanism three-dimensional structure diagram.
Fig. 5 is linkage arrangement schematic diagram.
Fig. 6 is pedestal and supporting plate structure schematic diagram.
Fig. 7 is base plate stereogram.
Fig. 8 is leading screw and nut mechanism schematic diagram.
Fig. 9 is used for crusing robot avoidance structural representation for the present invention.
In figure, 1- cavity casings, 101- wire-protecting sets, 102- driving coils, 103- left box bodies, 104- right cases,
105- suspended coils, 2- traveling wheel mechanisms, 201- turning rolls, 202- clamp wheel shaft, 203- pinch wheels, 3- high-voltage lines, 4- connecting rods
Mechanism, 401- pedestals, 402- gripper shoes, 403- curved rods, 404- fixed pin shafts, 405- slidiing pins, 406- articulated linkages,
407th, 408- pin-and-holes, 409- chutes, 5- base plates, 501- control system bus mouths, 502- control system branching ports, 6- control cabinets,
7- leading screw and nut mechanisms, 701- screw mandrels, 702- nuts.
Specific embodiment
Fig. 1 be high-voltage line electromagnetic levitation type crusing robot in leaping over obstacles, robot opens stereogram, and Fig. 2 is high pressure
After leaping over obstacles, robot closes stereogram to line electromagnetic levitation type crusing robot.
As depicted in figs. 1 and 2, a kind of HVDC magnetic suspension crusing robot obstacle avoidance apparatus, including can free-open-close
Cavity casing 1, linkage 4, traveling wheel mechanism 2 and control cabinet 6, are provided with leading for protection high-voltage line 3 in the middle part of the cavity casing 1
Line protective case 101, the cavity casing 1 inside conductor protective case 101 are formed around driving coil 102 and suspended coil 105, institute
Stating traveling wheel mechanism 2 includes two groups of road wheels, 1 point of the cavity casing for can folding left box body 103 and right case 104, institute
State two groups of road wheels be individually fixed in cavity casing 1 can folding left box body 103 and the side of right case 104, the wire protects
Sheath 101, suspended coil 105 and driving coil 102 are divided equally into two, are individually fixed in left box body 103 and right case 104
Portion；With 104 folding of left box body 103 and right case of cavity casing 1, wire-protecting set 101, suspended coil 105 and drives line
Circle 102 can separate or be close in 3 surrounding of high-voltage line, and two groups of road wheels can separate or be adjacent on high-voltage line 3；The cavity casing
1 is provided with the linkage 4 for controlling its folding, and the control cabinet 6 is moved for controls connecting rod mechanism 4, the driving of driving coil 102
The suspending power that power and suspended coil 105 are provided for robot.
As shown in figure 4, the road wheel includes that turning rolls 201, clamping wheel shaft 202 and pinch wheels 203 are constituted, robot is patrolled
During inspection work, pinch wheels 203 are being rolled along high-voltage line 3, and turning rolls 201 is bolted on left box body 103 or right case
104 side, pinch wheels 203 are fixed on turning rolls 201 by clamping wheel shaft 202.
As shown in figure 5, two pieces of supports that the linkage 4 includes pedestal 401, is parallel to each other at the top of pedestal 401
Plate 402, the curved rod 403 being connected with left box body 103 and right case 104 respectively, fixed pin shaft 404, slidiing pin 405 and
The drive mechanism for driving slidiing pin 405 to move up and down, the multiple curved rods being connected with left box body 103 and right case 104
403 corner is hinged at the top of two pieces of gripper shoes 402 by fixed pin shaft 404, and two pieces of gripper shoes, 402 opposite side is equal
Vertical chute 409 is provided with, in two chutes 409, slidiing pin 405 can be in two pieces of gripper shoes 402 at slidiing pin 405 two ends
Between freely up and down move, the slidiing pin 405 is cut with scissors with 403 other end of curved rod by corresponding articulated linkage 406 respectively
Connect connected, the slidiing pin 405 is driven down by drive mechanism and also moved up and down between two pieces of gripper shoes 402, drive point
The curved rod 403 not being connected with left box body 103 and right case 104 around 404 opposite rotation of fixed pin shaft, so as to realize cavity casing
1 folding..
In the present embodiment, 403 points of curved rod is two groups, and one has four, on left box body 103 and right case 104 respectively
Connection two, curved rod 403 are the short substantially l-shaped in the long one end in one end, the slight camber in one end that curved rod 403 is grown and left box body
103 and right case 104 be connected by screw, 403 corner of curved rod is provided with pin-and-hole 407, and four curved rods 403 pass through turning
The pin-and-hole 407 at place is hinged with fixed pin shaft 404, and after two groups of curved rods 403 are assembled, its turning is inwardly；Curved rod 403 short one
End is also equipped with pin-and-hole 408, and by the pin-and-hole 408 at this, the short one end of curved rod 403 is hinged with slidiing pin 405；
As shown in fig. 7, the drive mechanism of the slidiing pin 405 is the leading screw and nut mechanism 7 on pedestal 401, the silk
Stem nut mechanism 7 includes the servomotor of screw mandrel 701, the nut 702 being enclosed within screw mandrel 701 and drive screw 701 rotation,
The screw mandrel 701 is fixed on the base 401 by bearing, and the nut 702 is fixedly connected with slidiing pin 405.
Used as an other embodiment, the drive mechanism of the slidiing pin 405 can also be the cylinder on pedestal 401.
During use, as shown in figure 8, the obstacle avoidance apparatus of three the present embodiment are installed certain intervals on base plate 5, so
Control cabinet 6 is loaded onto by control system bus mouth 501 and control system branching port 502 on bottom 5 afterwards, by aid,
Crusing robot is reached the standard grade, drives this to patrol and examine by the suspended coil 105 inside three obstacle avoidance apparatus and driving coil 102
The suspension and walking of robot, when barrier is encountered, control cabinet 6 controls the screw mandrel spiral shell of the obstacle avoidance apparatus for contacting barrier at first
7 action of parent agency, cavity casing 1 is opened, and in the case where the driving coil 102 inside two follow-up obstacle avoidance apparatus drives, is patrolled and examined
Robot walks on；When the obstacle avoidance apparatus for contacting barrier at first clear the jumps, control cabinet 6 controls to contact obstacle at first
The action again of leading screw and nut mechanism 7 of the obstacle avoidance apparatus of thing, the cavity casing 1 of the obstacle avoidance apparatus is closed, three are continued through
Driving coil 102 inside obstacle avoidance apparatus drives the crusing robot walking.
When the second obstacle avoidance apparatus encounter barrier, repeat first obstacle avoidance apparatus action so that second obstacle avoidance apparatus
Cavity casing 1 open, break the barriers, then close；So it is repeated up to three obstacle avoidance apparatus all to clear the jumps, so
Whole crusing robot has just fully passed over barrier, you can carries out next step and patrols and examines.
Although the more cavity casings 1 of this paper, wire-protecting set 101, driving coil 102, left box body 103, right case 104,
Suspended coil 105, traveling wheel mechanism 2, turning rolls 201 clamp wheel shaft 202, pinch wheels 203, high-voltage line 3, linkage 4, base
Seat 401, gripper shoe 402, curved rod 403, fixed pin shaft 404, slidiing pin 405, chute 406, pin-and-hole 407,408, chute
409, base plate 5, control system bus mouth 501, control system branching port 502,6 grade term of control cabinet, but be not precluded from using which
The possibility of its term.Using these terms just for the sake of more easily describing and explaining the essence of the present invention, they are solved
It is all contrary with spirit of the invention to be interpreted into any additional restriction.
Claims (4)
1. a kind of HVDC magnetic suspension crusing robot obstacle avoidance apparatus, it is characterised in that：Including can free-open-close cavity case
Body, linkage, traveling wheel mechanism and control cabinet, are provided with the wire-protecting set of protection high-voltage line in the middle part of the cavity casing, empty
Chamber casing inside conductor protective case is formed around driving coil and suspended coil, and the traveling wheel mechanism includes two groups of road wheels,
The cavity casing be divided into can folding left box body and right case, two groups of road wheels are individually fixed in cavity casing can folding
Left box body and right case side, the wire-protecting set, suspended coil and driving coil divide equally into two, be individually fixed in
Inside left box body and right case；With left box body and the right case folding of cavity casing, wire-protecting set, suspended coil and driving
Coil can separate or be close in high-voltage line surrounding, and suspended coil provides the gravity with the balance of robot, and driving coil is machine
People provides the power for advancing, and two groups of road wheels can separate or be adjacent on high-voltage line；The cavity casing passes through linkage control
Its folding is made, it is robot that the control cabinet is used for controls connecting rod mechanism kinematic, the driving force of driving coil and suspended coil
Offer suspending power.
2. a kind of HVDC magnetic suspension crusing robot obstacle avoidance apparatus according to claim 1, it is characterised in that：The company
Linkage includes pedestal, two pieces of gripper shoes being parallel to each other at the top of the pedestal, many with what left box body and right case were connected respectively
The drive mechanism that individual curved rod, fixed pin shaft, slidiing pin and driving slidiing pin are moved up and down, the fixed pin shaft are solid
Surely, at the top of two pieces of gripper shoes, slidiing pin can be freely up and down moved between two pieces of gripper shoes；In the middle part of the curved rod
Corner is hinged on fixed pin shaft, and curved rod one end relative with cavity casing passes through corresponding respectively with slidiing pin
Articulated linkage is hinged and connected, by drive mechanism drive slidiing pin slide up and down, drive respectively with left box body and right case phase
Curved rod even is rotated in opposite directions around fixed pin shaft, so as to realize the folding of cavity casing.
3. a kind of HVDC magnetic suspension crusing robot obstacle avoidance apparatus according to claim 2, it is characterised in that：The cunning
The drive mechanism of dynamic bearing pin is the leading screw and nut mechanism on pedestal, and the leading screw and nut mechanism includes screw mandrel, is enclosed within screw mandrel
On nut and drive screw rotation servomotor, the screw mandrel is fixed on pedestal by bearing, the nut and cunning
Dynamic bearing pin is fixedly linked.
4. a kind of HVDC magnetic suspension crusing robot obstacle avoidance apparatus according to claim 3, it is characterised in that：Described two
Block gripper shoe opposite side is equipped with chute, and the slidiing pin two ends are respectively arranged in two chutes, and slidiing pin passes through chute
Spacing stable between two pieces of gripper shoes move up and down.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610968318.8A CN106505463B (en) | 2016-10-26 | 2016-10-26 | A kind of high voltage direct current magnetic suspension crusing robot obstacle avoidance apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610968318.8A CN106505463B (en) | 2016-10-26 | 2016-10-26 | A kind of high voltage direct current magnetic suspension crusing robot obstacle avoidance apparatus |
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| CN106505463A true CN106505463A (en) | 2017-03-15 |
| CN106505463B CN106505463B (en) | 2018-05-29 |
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| CN201610968318.8A Expired - Fee Related CN106505463B (en) | 2016-10-26 | 2016-10-26 | A kind of high voltage direct current magnetic suspension crusing robot obstacle avoidance apparatus |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107040119A (en) * | 2017-04-21 | 2017-08-11 | 湖北工业大学 | A kind of magnetic driving equipment and driving method of the high pressure crusing robot based on magnetic conduction conductive material |
| CN108494289A (en) * | 2018-04-19 | 2018-09-04 | 湖北工业大学 | High-voltage dc transmission electric wire magnetic force machine device people's suspension Force control system and control method |
| CN108555910A (en) * | 2018-04-19 | 2018-09-21 | 湖北工业大学 | High-voltage dc transmission electric wire magnetic force machine device people rotates Force control system and control method |
| CN108792168A (en) * | 2018-04-28 | 2018-11-13 | 史彦辉 | A kind of permeability type adjusting kit |
| CN109546573A (en) * | 2018-12-14 | 2019-03-29 | 杭州申昊科技股份有限公司 | A kind of high altitude operation crusing robot |
| CN112034847A (en) * | 2020-08-13 | 2020-12-04 | 广州仿真机器人有限公司 | Obstacle avoidance method and device of split type simulation robot with double walking modes |
| CN115561584A (en) * | 2022-12-07 | 2023-01-03 | 湖北工业大学 | Distribution network ground fault positioning equipment matched with in-station equipment |
| CN117142249A (en) * | 2023-10-30 | 2023-12-01 | 国网山东省电力公司齐河县供电公司 | High-voltage wire traction protection recovery device |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107040119A (en) * | 2017-04-21 | 2017-08-11 | 湖北工业大学 | A kind of magnetic driving equipment and driving method of the high pressure crusing robot based on magnetic conduction conductive material |
| CN108494289A (en) * | 2018-04-19 | 2018-09-04 | 湖北工业大学 | High-voltage dc transmission electric wire magnetic force machine device people's suspension Force control system and control method |
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| CN108792168A (en) * | 2018-04-28 | 2018-11-13 | 史彦辉 | A kind of permeability type adjusting kit |
| CN108792168B (en) * | 2018-04-28 | 2020-11-24 | 深圳市研元生物科技有限公司 | Ventilative formula adjustment kit |
| CN109546573A (en) * | 2018-12-14 | 2019-03-29 | 杭州申昊科技股份有限公司 | A kind of high altitude operation crusing robot |
| CN112034847A (en) * | 2020-08-13 | 2020-12-04 | 广州仿真机器人有限公司 | Obstacle avoidance method and device of split type simulation robot with double walking modes |
| CN112034847B (en) * | 2020-08-13 | 2021-04-13 | 广州仿真机器人有限公司 | Obstacle avoidance method and device of split type simulation robot with double walking modes |
| CN115561584A (en) * | 2022-12-07 | 2023-01-03 | 湖北工业大学 | Distribution network ground fault positioning equipment matched with in-station equipment |
| CN117142249A (en) * | 2023-10-30 | 2023-12-01 | 国网山东省电力公司齐河县供电公司 | High-voltage wire traction protection recovery device |
| CN117142249B (en) * | 2023-10-30 | 2024-02-06 | 国网山东省电力公司齐河县供电公司 | High-voltage wire traction protection recovery device |
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