CN108082317A - Open type hanging wire walking mechanism in inspection robot V-type - Google Patents
Open type hanging wire walking mechanism in inspection robot V-type Download PDFInfo
- Publication number
- CN108082317A CN108082317A CN201711352538.9A CN201711352538A CN108082317A CN 108082317 A CN108082317 A CN 108082317A CN 201711352538 A CN201711352538 A CN 201711352538A CN 108082317 A CN108082317 A CN 108082317A
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- Prior art keywords
- inverted
- handgrip
- shaped stent
- inspection robot
- hack lever
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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
-
- 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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides open type hanging wire walking mechanism in a kind of inspection robot V-type available for ultra-high-tension power transmission line maintenance, including upper handgrip and lower handgrip, upper handgrip is made of an inverted V-shaped stent, there are one the traveling wheels for being controlled by driving motor for sling setting in inverted V-shaped stent, lower handgrip is formed by a lower end with the U-bracket that inspection robot mechanical arm is connected, the one side hack lever of U-bracket and inverted V-shaped stent is attracted by closed-lock electromagnetism pin, the opposite side hack lever of U-bracket and inverted V-shaped stent is hinged by axis pin, it is equipped with to make the automatically controlled open-and-close mechanism that inverted V-shaped stent is rotated around axis pin on the side frame bar." above opening " formula structure that the present invention is formed using handgrip under handgrip on inverted V-shaped and U-shaped, this configuration reduces position control accuracy of the mechanical arm at " grabbing line ", motion control is easily achieved, the requirement of hanging wire walking mechanism " loose ends " and " grabbing line " during obstacle detouring and cross-line can be met.
Description
Technical field
The invention belongs to robot architecture's design field, it is related to and a kind of can be applied to the outstanding of ultra-high-tension power transmission line maintenance
Walking mechanism on arm-type inspection robot line.
Background technology
In the prior art, for ultra-high-tension power transmission line maintenance inspection robot mechanical structure it is varied, function and
Purposes is also different, though wherein most robot possesses obstacle crossing function on basic line, lacks " cross-line " function, Zhi Neng
It walks between two shaft towers.For inspection robot, rational mechanical structure is that it crosses over various obstacles, on transmission line of electricity
The basis of safety traffic, especially its " clamp " mechanism and " hoofing part " mechanism.Current inspection robot well known in the art
Mostly using cantilever structure, walking manner is to be pressed on by traveling wheel on electric wire on line, by gravity-pressing cotton rope, in motor
Drive under walked on line using the frictional force between wheel and rope, as Shandong University develop inspection robot and its walking mechanism
Deng.After this kind of walking mechanism runs into obstacle on transmission line of electricity, in a manner that three arms unclamp Forward in turn, obstacle detouring is realized
(cross-line refers to changing on another cotton rope from the cotton rope run at present and line is alternately grabbed by mechanical arm and realizes with cross-line
).
In tread systems design in addition to basic runner crimping walking structure, it is contemplated that mechanism " pine during obstacle detouring
Line ", " grabbing line " and the reset issues on the line of traveling wheel when external applied load is disturbed.Walking steps up walking mechanism master on common line
To be the mechanism with upper driving wheel and lower pinch wheels, the clamping of cotton rope is realized by the groove between upper and lower two-wheeled.This method
The reliability of clamp is preferable, influenced by external force it is small, can stabilized walking on line, but while reaching the standard grade need cotton rope is accurately right
It could just be clamped to two wheels are intermediate, after inspection robot loose ends obstacle detouring, to the control of manipulator motion position when reaching the standard grade again
System and accuracy of detection requirement are very high.Therefore in the application and mostly using the pendency walking mechanism of left and right two halves formula, at " loose ends "
When or so two parts separate, mechanical arm moves down realization " loose ends "；Mechanical arm controls cotton rope in structure or so when " grabbing line "
Among two parts, rear and then two parts close up, and mechanical arm drop-down makes " driving wheel " pressure realize operation of reaching the standard grade on line.Using this
The pendency walking mechanism of left and right two halves formula, driving wheel are made of left and right two parts, and two-part aperture can influence when reaching the standard grade or so
Grab the successful probability of line, the precision of target identification there are certain requirements, at the same structure divide right and left it is two-part design also can shadow
Ring the stability walked on line, it is also higher to the coherence request of left and right two-part structure processing and manufacturing, and the structure by
After driving wheel departs from cotton rope when being acted on to large wind load, due to the reset guide mechanism of no rope sheave, cotton rope is it is possible that card
In non-moving parts, service work of the inspection robot to transmission line of electricity is influenced.
The content of the invention
It is an object of the invention in place of overcoming the shortcomings of the prior art, provide it is a kind of it is simple in structure, easy to operate,
It is easily achieved open type hanging wire walking mechanism in the inspection robot V-type of motion control.
The technical solution used for achieving the above object is such：The inspection robot V-type provided
Upper open type hanging wire walking mechanism includes upper handgrip and lower handgrip, wherein, upper handgrip is made of an inverted V-shaped stent, in inverted V-shaped branch
Sling is set there are one the traveling wheel for being controlled by driving motor in frame, and lower handgrip is by a lower end and inspection robot mechanical arm phase
U-bracket even is formed, and the one side hack lever of U-bracket and inverted V-shaped stent is attracted by closed-lock electromagnetism pin, U-bracket
It is hinged with the opposite side hack lever of inverted V-shaped stent by axis pin, is equipped with that inverted V-shaped stent is made around axis pin to turn on the side frame bar
Dynamic automatically controlled open-and-close mechanism.
In above-mentioned inspection robot V-type in open type hanging wire walking mechanism, the automatically controlled open-and-close mechanism by rocking bar, connecting rod,
Crank, shaft coupling and stepper motor composition, stepper motor are arranged on the hack lever of U-bracket hinged end one side, and output shaft leads to
The one end for crossing shaft coupling and crank connects, and the other end of crank is connected by one end of connecting rod and rocking bar, the other end weldering of rocking bar
It is connected on the hack lever of inverted V-shaped stent hinged end one side.
In above-mentioned inspection robot V-type in open type hanging wire walking mechanism, symmetrically respectively set on the both sides hack lever of inverted V-shaped stent
It puts there are one bearing spider, the axostylus axostyle of traveling wheel is equipped with motor branch on two bearings bearing on the hack lever of inverted V-shaped stent
Seat, driving motor are mounted on motor support base, and output shaft is connected by shaft coupling with the axostylus axostyle of traveling wheel.
The present invention is hanging wire walking mechanism using handgrip group under handgrip on inverted V-shaped and U-shaped compared with the improvement of the prior art
Into " above opening " formula structure, the structure of " above opening " reduces position control accuracy of the mechanical arm at " grabbing line ", it is easy to accomplish fortune
Dynamic control, can meet the requirement of hanging wire walking mechanism " loose ends " and " grabbing line " during obstacle detouring and cross-line.In real work,
After upper handgrip opens, as long as cotton rope enters on inverted V-shaped after the scope of handgrip and closure live in handgrip, cotton rope will be in mechanical arm
It slips into traveling wheel groove along inverted V-shaped frame under the action of drop-down and gravity, cotton rope can be so controlled in walking mechanism
In.The inverted " v " design of upper handgrip also has the function of motion guide, can prevent the lower traveling wheel of wind load effect from departing from cotton rope.Separately
The outer present invention is designed in the lower section of cotton rope traveling wheel using " U-shaped ", and larger space is left to walking mechanism, can be straight in work
It connects and allowed the smaller barrier in part (such as stockbridge damper), walking mechanism is made to possess directly current energy when barrier is smaller
Power is engaged the efficiency for improving and walking on walking mechanism line with the structure of " above opening ".
Compared with prior art, structure of the invention is simple, easy to operate, during travelling robot walking, to machine
The movement position of tool arm accuracy of detection requirement it is very low, be easy to establishment design control algolithm, reduce to sensor and control be
The requirement of system processing analysis ability, so as to reduce the development difficulty of control system and cost.
Description of the drawings
Fig. 1 is the structure diagram of a specific embodiment of the invention.
Fig. 2 is the folding extreme position schematic diagram of the present invention, it is interior in dotted line for upper handgrip closure state, solid line is above grabs
Hand opening state.
Fig. 3 is the movement connection diagram of automatically controlled open-and-close mechanism.
Fig. 4-Fig. 5 is the direction schematic diagram that stepper motor drives upper handgrip movement, and wherein Fig. 4 is stepper motor rotation fortune
The direction schematic diagram that handgrip moves on half cycle before dynamic, Fig. 5 are that the direction of handgrip movement in stepper motor rotary motion second half shows
It is intended to.
Fig. 6-Fig. 7 is the schematic diagram of cotton rope motion mode in walking mechanism, and wherein Fig. 6 is showing for cotton rope access mechanism
It is intended to, Fig. 7 is the schematic diagram that inverted V-shaped structure carries out cotton rope guiding role.
Fig. 8 is the schematic diagram that the present invention walks state in cotton rope uplink.
The title of each number designation is respectively in figure：The upper handgrips of 1-, handgrip under 2-, 3- stepper motors, 4- cranks,
5- connecting rods, 6- driving motors, 7- motor support bases, 8- traveling wheels, 9- closed-lock electromagnetism pins, 10- axis pins, 11- shake
Bar, 12- shaft couplings, 13- cotton ropes.
Specific embodiment
Present invention is described further below with reference to attached drawing, but the present invention actual fabrication structure and not only limit
In embodiment shown in the drawings.
Referring to attached drawing, open type hanging wire walking mechanism is mainly by upper handgrip 1 under in inspection robot V-type of the present invention
Handgrip 2 forms.Upper handgrip 1 is made of an inverted V-shaped stent, and one is symmetrically each provided on the both sides hack lever of inverted V-shaped stent
Bearing spider, the axostylus axostyle of traveling wheel 8 is on two bearings bearing, equipped with motor support base 7, driving on the hack lever of inverted V-shaped stent
Motor 6 is mounted on motor support base 7, and output shaft is connected by shaft coupling with the axostylus axostyle of traveling wheel 8；Lower handgrip 2 uses U-shaped
Support Design, bottom is connected by four screws with inspection robot mechanical arm (only depicts coupling part, machinery in Fig. 1
Arm is not drawn into).The one side hack lever of U-bracket and inverted V-shaped stent is attracted by closed-lock electromagnetism pin 9, U-bracket and V
The opposite side hack lever of shape stent is hinged by axis pin 10, is equipped with to make inverted V-shaped stent on the side frame bar around 10 turns of axis pin
Dynamic automatically controlled open-and-close mechanism.
The movement connection mode of automatically controlled open-and-close mechanism is mainly as shown in Figure 3.Figure label 11 (welds for rocking bar with upper handgrip 1
Connect), 5 be connecting rod, and 4 be crank, and 3 be stepper motor, and 12 be the shaft coupling for stepper motor 3 and crank 4 to be connected.During work
Crank 4 drives rocking bar 11 to move under the control of stepper motor 3 by connecting rod 5, and rocking bar 11 is connected with the welding of upper handgrip, in stepping
Under the control of motor 3, upper handgrip 1 is rotated around axis pin 10, realizes opening and closing movement.Two extreme positions that upper handgrip 1 moves are for example attached
Shown in Fig. 2, the dotted line in Fig. 2 is upper handgrip closure state, and solid line is upper handgrip opening state.
Fig. 4-Fig. 5 is the direction schematic diagram that stepper motor drives upper handgrip movement.Fig. 4 is before 3 rotary motion of stepper motor
Half cycle, handgrip 1 is opened in drive, and Fig. 5 is 3 rotary motion second half of stepper motor, and 1 closure, the characteristics of motion are changed hands in drive
Meet crank and rocker mechanism feature, by the angle that stepper motor 3 is controlled to rotate, realize the control to upper 1 folding of handgrip.
Fig. 6-Fig. 7 is the schematic diagram of cotton rope motion mode in walking mechanism.As shown in fig. 6, upper open type hanging wire vehicle with walking machine
The overall construction design of structure contributes to mechanical arm " reaching the standard grade " to operate, and can reduce the precision of manipulator motion control.When upper handgrip 1
After opening, as long as the scope shown in cotton rope 13 into dotted line in figure, upper handgrip 1 is at this moment closed, it is possible to control cotton rope 13
In walking structure.The design of 1 inverted " v " shape of upper handgrip has the function of motion guide in Fig. 1.When upper handgrip 1 and lower handgrip 2 are closed
Afterwards, under the action of mechanical arm drop-down and gravity, as shown in fig. 7, line, 13 can slip into along inverted V-shaped frame in traveling wheel groove.
After hanging wire walking mechanism complete machine occurs to swing under the effect of high wind load, and traveling wheel 8 is caused to depart from cotton rope 13, under gravity,
Cotton rope 13 can also slip into the groove of traveling wheel 8 along inverted V-shaped frame, realize reset of the walking mechanism on cotton rope.
Lower handgrip 2 in the hanging wire walking mechanism is engaged with upper handgrip 1, is so existed using the structure design of U-bracket
The lower section of traveling wheel 8 can leave a part of larger space, and inspection robot runs into and is located at when walking on transmission line of electricity
It, can be directly by that need not carry out loose ends again, grab below transmission line of electricity during such as barrier of stockbridge damper one kind small volume
The action of line can improve the routing inspection efficiency of inspection robot.
Claims (3)
1. a kind of open type hanging wire walking mechanism in inspection robot V-type, it is characterised in that：Including upper handgrip (1) and lower handgrip
(2), the upper handgrip (1) is made of an inverted V-shaped stent, and there are one be controlled by driving for sling setting in inverted V-shaped stent
The traveling wheel (8) of motor (6)；The U-bracket structure that the lower handgrip (2) is connected by a lower end with inspection robot mechanical arm
Into the one side hack lever of U-bracket and inverted V-shaped stent is attracted by closed-lock electromagnetism pin (9), U-bracket and inverted V-shaped stent
Opposite side hack lever be hinged by axis pin (10), on the side frame bar be equipped with for make inverted V-shaped stent around axis pin (10) rotate
Automatically controlled open-and-close mechanism.
2. open type hanging wire walking mechanism in inspection robot V-type according to claim 1, it is characterised in that：The electricity
Control open-and-close mechanism is made of rocking bar (11), connecting rod (5), crank (4), shaft coupling (12) and stepper motor (3), stepper motor (3)
It is arranged on the hack lever of U-bracket hinged end one side, output shaft is connected by shaft coupling (12) with one end of crank (4), bent
The other end of handle (4) is connected by connecting rod (5) with one end of rocking bar (11), and the other end of rocking bar (11) is welded on inverted V-shaped stent
On the hack lever of hinged end one side.
3. open type hanging wire walking mechanism in inspection robot V-type according to claim 1, it is characterised in that：In inverted V-shaped branch
A bearing spider is symmetrically each provided on the both sides hack lever of frame, the axostylus axostyle of traveling wheel (8) is on two bearings bearing, in V
It is mounted on the hack lever of shape stent equipped with motor support base (7), driving motor (6) on motor support base (7), output shaft passes through shaft coupling
Device is connected with the axostylus axostyle of traveling wheel (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711352538.9A CN108082317A (en) | 2017-12-15 | 2017-12-15 | Open type hanging wire walking mechanism in inspection robot V-type |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711352538.9A CN108082317A (en) | 2017-12-15 | 2017-12-15 | Open type hanging wire walking mechanism in inspection robot V-type |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108082317A true CN108082317A (en) | 2018-05-29 |
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ID=62176837
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711352538.9A Pending CN108082317A (en) | 2017-12-15 | 2017-12-15 | Open type hanging wire walking mechanism in inspection robot V-type |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108082317A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114872812A (en) * | 2022-06-07 | 2022-08-09 | 安徽农业大学 | A running gear for field crop detects |
| CN116581687A (en) * | 2023-07-14 | 2023-08-11 | 陕西协成测试技术有限公司 | Self-propelled inspection device for power transmission line |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101471546A (en) * | 2007-12-26 | 2009-07-01 | 中国科学院沈阳自动化研究所 | Gripper mechanism with fault release function for walking of patrolling robot |
| CN204858415U (en) * | 2015-08-18 | 2015-12-09 | 西安科技大学 | Open hanging wire running gear in V of line robot type patrols |
-
2017
- 2017-12-15 CN CN201711352538.9A patent/CN108082317A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101471546A (en) * | 2007-12-26 | 2009-07-01 | 中国科学院沈阳自动化研究所 | Gripper mechanism with fault release function for walking of patrolling robot |
| CN204858415U (en) * | 2015-08-18 | 2015-12-09 | 西安科技大学 | Open hanging wire running gear in V of line robot type patrols |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114872812A (en) * | 2022-06-07 | 2022-08-09 | 安徽农业大学 | A running gear for field crop detects |
| CN114872812B (en) * | 2022-06-07 | 2022-12-09 | 安徽农业大学 | A running gear for field crop detects |
| CN116581687A (en) * | 2023-07-14 | 2023-08-11 | 陕西协成测试技术有限公司 | Self-propelled inspection device for power transmission line |
| CN116581687B (en) * | 2023-07-14 | 2023-09-19 | 陕西协成测试技术有限公司 | Self-propelled inspection device for power transmission line |
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Application publication date: 20180529 |