CN108161891A - High voltage cable conductor spacer assists mounting robot and barrier-avoiding method - Google Patents
High voltage cable conductor spacer assists mounting robot and barrier-avoiding method Download PDFInfo
- Publication number
- CN108161891A CN108161891A CN201810143693.8A CN201810143693A CN108161891A CN 108161891 A CN108161891 A CN 108161891A CN 201810143693 A CN201810143693 A CN 201810143693A CN 108161891 A CN108161891 A CN 108161891A
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- China
- Prior art keywords
- lifting
- arm
- driving wheel
- cable
- actuating arm
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
-
- 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
-
- 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
- B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
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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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of high voltage cable conductor spacer auxiliary mounting robot and barrier-avoiding method, including robot body, the first lifting actuating arm, first straight line motor, the second lifting actuating arm, third lifting actuating arm, second straight line motor, the 4th lifting actuating arm, the 5th lifting actuating arm, third linear motor, the 6th lifting actuating arm, the 7th lifting actuating arm, the 4th linear motor and the 8th lifting actuating arm.The present invention walks in which both ensure that robot security on cable, meanwhile, the obstacles such as conductor spacer on cable, damper can be effectively shielded from, and easy to operate, it is easy to accomplish.
Description
Technical field
The present invention relates to robotic technology field, more particularly to a kind of high voltage cable conductor spacer assists mounting robot and keeps away
Barrier method.
Background technology
A kind of high voltage cable conductor spacer auxiliary mounting robot when being set up for high voltage cable, the robot is between realization
It must walk on cable when stick is assisted and being installed.But since high voltage cable is with there are conductor spacer, suspension clamp, gusset pieces and anti-
The obstacles such as vibration hammer, robot will walk on cable, it is necessary to realize the avoidance to these obstacles.It is proposed to this end that one kind is directed to
The high voltage cable assists the barrier-avoiding method of mounting robot.
Invention content
The purpose of the present invention is to propose to a kind of high voltage cable conductor spacer auxiliary mounting robot and barrier-avoiding methods, realize the machine
Device people walks on high voltage cable and barrier avoiding function.
The present invention is achieved by the following technical solutions.
High voltage cable conductor spacer of the present invention assists mounting robot, is driven including robot body (1), the first lifting
Swing arm (2), first straight line motor (3), the second lifting actuating arm (4), third lifting actuating arm (11), second straight line motor
(12), the 4th lifting actuating arm (13), the 5th lifting actuating arm (20), third linear motor (21), the 6th lifting actuating arm
(22), the 7th lifting actuating arm (29), the 4th linear motor (30) and the 8th lifting actuating arm (31).Wherein, the first lifting is driven
Swing arm (2) is made of the first fixed arm (5), the first lifting arm (6) and the first driving wheel (7)；First straight line motor (3) is fixed on
On robot body (1), both ends are respectively fixed with the first lifting actuating arm (2) and the second lifting actuating arm (4)；Second straight line
Motor (12) is fixed on robot body (1), and both ends are respectively fixed with third lifting actuating arm (11) and the 4th lifting is driven
Swing arm (13)；Third linear motor (21) is fixed on robot body (1), and both ends are fixed with the 5th lifting actuating arm (20)
With the 6th lifting actuating arm (22)；4th linear motor (30) is fixed on robot body (1), and both ends are fixed with the 7th liter
Actuating arm (29) and the 8th lifting actuating arm (31) drop.First driving wheel (7) is fixed on the first lifting arm (6), the first lifting
Arm (6) can be moved up and down relative to the first fixed arm (5)；Second driving wheel (10) is fixed on the second lifting arm (9), and second
Lifting arm (9) can be moved up and down relative to the second fixed arm (8)；Third driving wheel (16) is fixed on third lifting arm (15)
On, third lifting arm (15) can be moved up and down relative to third fixed arm (14)；4th driving wheel (19) is fixed on the 4th liter
It drops on arm (18), the 4th lifting arm (18) can be moved up and down relative to the 4th fixed arm (17)；5th driving wheel (25) is fixed
In on the 5th lifting arm (24), the 5th lifting arm (24) can be moved up and down relative to the 5th fixed arm (23)；6th driving wheel
(28) it is fixed on the 6th lifting arm (27), the 6th lifting arm (27) can be moved up and down relative to the 6th fixed arm (26)；The
Seven driving wheels (34) are fixed on the 7th lifting arm (33), and the 7th lifting arm (33) can be lifted relative to the 7th fixed arm (32)
Movement；8th driving wheel (37) is fixed on the 8th lifting arm (36), and the 8th lifting arm (36) can be relative to the 8th fixed arm
(35) it moves up and down.
The specific implementation step of high voltage cable auxiliary mounting robot barrier-avoiding method of the present invention is as follows：
Step 1：High voltage cable assists mounting robot normal walking on cable, and the in the first lifting actuating arm (2)
One driving wheel (7) is pressed on cable I (38), and the second driving wheel (10) is pressed on cable II (39) in the second lifting actuating arm (4),
Third driving wheel (16) in third lifting actuating arm (11) is pressed on cable V (42), and the 4th lifting actuating arm (13) is pressed in cable
On line VI (43), the 5th driving wheel (25) in the 5th lifting actuating arm (20) is pressed on cable VII (44), the 6th lifting driving
The 6th driving wheel (28) in arm (22) is pressed on cable VIII (45), the 7th driving wheel (34) in the 7th lifting actuating arm (29)
It is pressed on cable III (40), the 8th driving wheel (37) in the 8th lifting actuating arm (31) is pressed on cable IV (41).Each driving
It takes turns rotary motion and realizes high voltage cable auxiliary mounting robot walking function on high voltage cable.
Step 2：When encountering such as conductor spacer obstacle, the first lifting arm (6) and second liter in the first lifting actuating arm (2)
The second lifting arm (9) moves upwards in drop actuating arm (4), and the first driving wheel (7) and the second driving wheel (10) is made to be detached from cable I
(38) and cable II (39)；Then, the first lifting actuating arm (2) of first straight line motor (3) driving and the second lifting actuating arm
(4), distance between the first lifting actuating arm (2) and the second lifting actuating arm (4) is made to foreshorten to the first driving wheel (7) and the second driving
(10) are taken turns on the inside of cable I (38) and cable II (39)；Finally, the first lifting arm (6) and the second lifting arm (9) are transported downwards
It is dynamic, make the first driving wheel (7) and the second driving wheel (10) below conductor spacer (46).After crossing conductor spacer (46), first liter
It drops arm (6) and the second lifting arm (9) moves up to the first driving wheel (7) and the second driving wheel (10) is located slightly above cable I
(38) and cable II (39) position；Then, the first lifting actuating arm (2) of first straight line motor (3) driving and the second lifting driving
Arm (4) makes the first driving wheel (7) and the second driving wheel (10) be located above cable I (38) and cable II (39) respectively；Finally,
One lifting arm (6) and the second lifting arm (9), which move downward, makes the first driving wheel (7) and the second driving wheel (10) be pressed on cable respectively
On line I (38) and cable II (39).
Step 3：After the first driving wheel (7) and the second driving wheel (10) surmount obstacles conductor spacer (46), third lifting is driven
The 4th lifting arm (18) moves upwards in third lifting arm (15) and the 4th lifting actuating arm (17) in swing arm (11), drives third
Driving wheel (16) and the 4th driving wheel (19) are detached from cable V (42) and cable VI (43)；Then, second straight line motor (12) drives
Third lifting actuating arm (11) and the 4th lifting actuating arm (13) make third lift actuating arm (11) and the 4th lifting actuating arm
(13) distance foreshortens to third driving wheel (16) and the 4th driving wheel (19) on the inside of cable V (42) and cable VI (43) between；
Finally, third lifting arm (11) and the 4th lifting arm (17) move downward, and make third driving wheel (16) and the 4th driving wheel (19)
Below conductor spacer (46).After crossing conductor spacer (46), third lifting arm (15) and the 4th lifting arm (18) move up to
Third driving wheel (16) and the 4th driving wheel (19) are located slightly above cable V (42) and cable VI (43) position；Then, second
Linear motor (12) driving third lifting actuating arm (11) and the 4th lifting actuating arm (13) make third driving wheel (16) and the 4th
Driving wheel (19) is located above cable V (42) and cable VI (43) respectively；Finally, third lifting arm (15) and the 4th lifting arm
(18) moving downward makes third driving wheel (16) and the 4th driving wheel (19) be pressed on cable V (42) and cable VI (43) respectively
On.
Step 4：After third driving wheel (16) and the 4th driving wheel (19) surmount obstacles conductor spacer (46), the 5th lifting is driven
The 6th lifting arm (27) moves upwards in the 5th lifting arm (24) and the 6th lifting actuating arm (22) in swing arm (20), makes the 5th drive
Driving wheel (25) and the 6th driving wheel (28) are detached from cable VII (44) and cable VIII (45)；Then, third linear motor (21) drives
5th lifting actuating arm (20) and the 6th lifting actuating arm (22) make the 5th lifting actuating arm (20) and the 6th lifting actuating arm
(22) distance foreshortens to the 5th driving wheel (25) and the 6th driving wheel (28) on the inside of cable VII (44) and cable VIII (45) between；
Finally, the 5th lifting arm (24) and the 6th lifting arm (27) move downward, and make the 5th driving wheel (25) and the 6th driving wheel (28)
Below conductor spacer (46).After crossing conductor spacer (46), the 5th lifting arm (24) and the 6th lifting arm (27) move up to
5th driving wheel (25) and the 6th driving wheel (28) are located slightly above cable VII (44) and cable VIII (45) position；Then, third
The 5th lifting actuating arm (20) of linear motor (21) driving and the 6th lifting actuating arm (22) make the 5th driving wheel (25) and the 6th
Driving wheel (28) is located above cable VII (44) and cable VIII (45) respectively；Finally, the 5th lifting arm (24) and the 6th lifting arm
(27) moving downward makes the 5th driving wheel (25) and the 6th driving wheel (28) be pressed on cable VII (44) and cable VIII (45) respectively
On.
Step 5：After the 5th driving wheel (25) and the 6th driving wheel (28) surmount obstacles conductor spacer (46), the 7th lifting is driven
The 8th lifting arm (36) moves upwards in the 7th lifting arm (33) and the 8th lifting actuating arm (31) in swing arm (29), makes the 7th drive
Driving wheel (34) and the 8th driving wheel (37) are detached from cable III (40) and cable IV (41)；Then, the 4th linear motor (30) drives
7th lifting actuating arm (29) and the 8th lifting actuating arm (31) make the 7th lifting actuating arm (29) and the 8th lifting actuating arm
(31) distance foreshortens to the 7th driving wheel (34) and the 8th driving wheel (37) on the inside of cable III (40) and cable IV (41) between；
Finally, the 7th lifting arm (33) and the 8th lifting arm (36) move downward, and make the 7th driving wheel (34) and the 8th driving wheel (37)
Below conductor spacer (46).After crossing conductor spacer (46), the 7th lifting arm (33) and the 8th lifting arm (36) move up to
7th driving wheel (34) and the 8th driving wheel (37) are located slightly above cable III (40) and cable IV (41) position；Then, the 4th
The 7th lifting actuating arm (29) of linear motor (30) driving and the 8th lifting actuating arm (31) make the 7th driving wheel (34) and the 8th
Driving wheel (37) is located above cable III (40) and cable IV (41) respectively；Finally, the 7th lifting arm (33) and the 8th lifting arm
(36) moving downward makes the 7th driving wheel (34) and the 8th driving wheel (37) be pressed on cable III (40) and cable IV (41) respectively
On.
The present invention can effectively realize high voltage cable by above step and assist mounting robot barrier avoiding function.The avoidance side
Method is walked in which both ensure that robot security on cable, meanwhile, the barriers such as conductor spacer on cable, damper can be effectively shielded from
Hinder, and easy to operate, it is easy to accomplish.
Description of the drawings
Fig. 1 is that the high voltage cable of normal walking before the chance of the present invention hinders assists mounting robot state diagram.
State diagram when Fig. 2 is the first lifting actuating arm (2) and second lifting actuating arm (4) obstacle detouring.
State diagram when Fig. 3 lifts actuating arm (11) and the 4th lifting actuating arm (13) obstacle detouring for third.
State diagram when Fig. 4 is the 5th lifting actuating arm (20) and the 6th lifting actuating arm (22) obstacle detouring.
State diagram when Fig. 5 is the 7th lifting actuating arm (29) and the 8th lifting actuating arm (31) obstacle detouring.
Fig. 6 assists mounting robot integrally to surmount obstacles conductor spacer state diagram for high voltage cable.
Wherein, 1 be robot body, 2 be the first lifting actuating arm, 3 be first straight line motor, 4 be the second lifting driving
Arm, 5 be the first fixed arm, 6 be the first lifting arm, 7 be the first driving wheel, 8 be the second fixed arm, 9 be the second lifting arm, 10 be
Second driving wheel, 11 be third lifting actuating arm, 12 be second straight line motor, 13 be the 4th lifting actuating arm, 14 be that third is consolidated
Fixed arm, 15 be third lifting arm, 16 be third driving wheel, 17 be the 4th lifting arm, 18 be the 4th lifting arm, 19 be the 4th driving
Wheel, 20 for the 5th lifting actuating arm, 21 are third linear motor, 22 are the 6th lifting actuating arm, 23 are the 5th fixed arm, 24 are
5th lifting arm, 25 be the 5th driving wheel, 26 be the 6th fixed arm, 27 be the 6th lifting arm, 28 be the 6th driving wheel, 29 be the
Seven lifting actuating arms, 30 for the 4th linear motor, 31 be the 8th lifting actuating arm, 32 be the 7th fixed arm, 33 be the 7th lifting
Arm, 34 be the 7th driving wheel, 35 be the 8th fixed arm, 36 be the 8th lifting arm, 37 be the 8th driving wheel, 38 be that cable I, 39 is
It is cable IV, 42 be cable V, 43 be cable VI, 44 be cable VII, 45 is that cable VIII, 46 is that cable II, 40, which is cable III, 41,
Conductor spacer.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.
Fig. 1 is that the high voltage cable of normal walking before the chance of the present invention hinders assists mounting robot state diagram, the robot packet
Include robot body 1, first lift actuating arm 2, first straight line motor 3, second lift actuating arm 4, third lifting actuating arm 11,
Second straight line motor the 12, the 4th lifts actuating arm the 13, the 5th and lifts actuating arm 20, the lifting driving of third linear motor the 21, the 6th
Arm the 22, the 7th lifts actuating arm 29, the 4th linear motor 30 and the 8th lifting actuating arm 31.Wherein, first lifting actuating arm 2 by
First fixed arm 5, the first lifting arm 6 and the first driving wheel 3 are fixed on robot body 1, and both ends are respectively fixed with first
It lifts actuating arm 2 and second and lifts actuating arm 4；Second straight line motor 12 is fixed on robot body 1, and both ends are fixed respectively
There is third lifting actuating arm 11 and the 4th to lift actuating arm 13；Third linear motor 21 is fixed on robot body 1, both ends
It is fixed with the 5th lifting actuating arm 20 and the 6th and lifts actuating arm 22；4th linear motor 30 is fixed on robot body 1,
Both ends are fixed with the 7th lifting actuating arm 2 and the 8th and lift actuating arm 31.First driving wheel 7 is fixed on the first lifting arm 6, the
One lifting arm 6 can be moved up and down relative to the first fixed arm 5；Second driving wheel 10 is fixed on the second lifting arm 9, second liter
Drop arm 9 can be moved up and down relative to the second fixed arm 8；Third driving wheel 16 is fixed on third lifting arm 15, third lifting
Arm 15 can be moved up and down relative to third fixed arm 14；4th driving wheel 19 is fixed on the 4th lifting arm 18, the 4th lifting
Arm 18 can be moved up and down relative to the 4th fixed arm 17；5th driving wheel 25 is fixed on the 5th lifting arm 24, the 5th lifting
Arm 24 can be moved up and down relative to the 5th fixed arm 23；6th driving wheel 28 is fixed on the 6th lifting arm 27, the 6th lifting
Arm 27 can be moved up and down relative to the 6th fixed arm 26；7th driving wheel 34 is fixed on the 7th lifting arm 33, the 7th lifting
Arm 33 can be moved up and down relative to the 7th fixed arm 32；8th driving wheel 37 is fixed on the 8th lifting arm 36, the 8th lifting
Arm 36 can be moved up and down relative to the 8th fixed arm 35；
Specific implementation step is as follows：
Step 1：High voltage cable assists mounting robot normal walking on cable before meeting barrier, and the first driving wheel 7, second drives
Driving wheel 10, third driving wheel 16, the 4th driving wheel 19, the 5th driving wheel 25, the 6th driving wheel 28, the 7th driving wheel 34 and the 8th
37 rotary motion of driving wheel realizes high voltage cable auxiliary mounting robot walking function on high voltage cable, as shown in Figure 1.
Step 2：10 obstacle detouring of first driving wheel 16 and the second driving wheel.When high voltage cable auxiliary mounting robot encounters interval
For stick 46 when obstacles, first lifting arm 6 and second lifts 9 upward fortune of the second lifting arm in actuating arm 4 in the first lifting actuating arm 2
It is dynamic, the first driving wheel 7 and the second driving wheel 10 is made to be detached from cable I 38 and cable II 39；Then, the driving of first straight line motor 3 the
One lifting actuating arm 2 and second lifts actuating arm 4, foreshortens to distance between the first lifting actuating arm 2 and the second lifting actuating arm 4
First driving wheel 7 and the second driving wheel 10 are located at II 39 inside of cable I 38 and cable；Finally, the first lifting arm 6 and the second lifting
Arm 9 moves downward, and the first driving wheel 7 and the second driving wheel 10 is made to be located at 46 lower section of conductor spacer, as shown in Figure 2.More super-interval
After stick 46, the first lifting arm 6 and the second lifting arm 9 moves up to the first driving wheel 7 and the second driving wheel 10 is located slightly above
II 39 position of cable I 38 and cable；Then, first lifting of the driving of first straight line motor 3 actuating arm 2 and second lifts actuating arm 4
The first driving wheel 7 and the second driving wheel 10 is made to be located at II 39 top of cable I 38 and cable respectively；Finally, the first lifting arm 6 and
Two lifting arms 9, which move downward, makes the first driving wheel 7 and the second driving wheel 10 be pressed on respectively on cable I 38 and cable II 39.
Step 3：19 obstacle detouring of third driving wheel 16 and the 4th driving wheel.When the first driving wheel 7 and the second driving wheel 10 are crossed
After obstacle conductor spacer 46, third lifting arm 15 and the 4th lifts the 4th lifting arm 18 in actuating arm 17 in third lifting actuating arm 11
It moves upwards, 16 and the 4th driving wheel 19 of third driving wheel is made to be detached from cable V 42 and cable VI 43；Then, second straight line motor
12 driving third lifting actuating arms 11 and the 4th lift actuating arm 13, and third lifting actuating arm 11 and the 4th is made to lift actuating arm 13
Between distance foreshorten to 16 and the 4th driving wheel 19 of third driving wheel and be located at cable V 42 and the inside of cable VI 43；Finally, third liter
Drop 11 and the 4th lifting arm 17 of arm moves downward, and 16 and the 4th driving wheel 19 of third driving wheel is made to be located at 46 lower section of conductor spacer, such as
Shown in attached drawing 3.After crossing conductor spacer 46, third lifting arm 15 and the 4th lifting arm 18 move up to third driving wheel 16 and
Four driving wheels 19 are located slightly above VI 43 position of cable V 42 and cable；Then, second straight line motor 12 drives third lifting to drive
Swing arm 11 and the 4th, which lifts actuating arm 13, makes 16 and the 4th driving wheel 19 of third driving wheel be located at cable V 42 and cable VI respectively
43 tops；Finally, 15 and the 4th lifting arm 18 of third lifting arm, which moves downward, divides 16 and the 4th driving wheel 19 of third driving wheel
It is not pressed on cable V 42 and cable VI 43.
Step 4：5th driving wheel 25 and 28 obstacle detouring of the 6th driving wheel.When 16 and the 4th driving wheel 19 of third driving wheel is crossed
After obstacle conductor spacer 46, the 5th lifting arm 24 and the 6th lifts the 6th lifting arm 27 in actuating arm 22 in the 5th lifting actuating arm 20
It moves upwards, the 5th driving wheel 25 and the 6th driving wheel 28 is made to be detached from cable VII 44 and cable VIII 45；Then, third linear motor
The 5th lifting actuating arm 20 and the 6th of 21 driving lifts actuating arm 22, and the 5th lifting actuating arm 20 and the 6th is made to lift actuating arm 22
Between distance foreshorten to the 5th driving wheel 25 and the 6th driving wheel 28 is located at VIII 45 inside of cable VII 44 and cable；Finally, the 5th liter
Drop 24 and the 6th lifting arm 27 of arm moves downward, and the 5th driving wheel 25 and the 6th driving wheel 28 is made to be located at 46 lower section of conductor spacer, such as
Shown in attached drawing 4.After crossing conductor spacer 46, the 5th lifting arm 24 and the 6th lifting arm 27 move up to the 5th driving wheel 25 and
Six driving wheels 28 are located slightly above VIII 45 position of cable VII 44 and cable；Then, the 5th lifting of the driving of third linear motor 21 is driven
Swing arm 20 and the 6th, which lifts actuating arm 22, makes the 5th driving wheel 25 and the 6th driving wheel 28 be located at cable VII 44 and cable VIII respectively
45 tops；Finally, the 5th lifting arm 24 and the 6th lifting arm 27, which move downward, divides the 5th driving wheel 25 and the 6th driving wheel 28
It is not pressed on cable VII 44 and cable VIII 45.
Step 5：7th driving wheel 34 and 37 obstacle detouring of the 8th driving wheel.When the 5th driving wheel 25 and the 6th driving wheel 28 are crossed
After obstacle conductor spacer 46, the 7th lifting arm 33 and the 8th lifts the 8th lifting arm 36 in actuating arm 31 in the 7th lifting actuating arm 29
It moves upwards, the 7th driving wheel 34 and the 8th driving wheel 37 is made to be detached from cable III 40 and cable IV 41；Then, the 4th linear motor
The 7th lifting actuating arm 29 and the 8th of 30 driving lifts actuating arm 31, and the 7th lifting actuating arm 29 and the 8th is made to lift actuating arm 31
Between distance foreshorten to the 7th driving wheel 34 and the 8th driving wheel 37 is located at IV 41 inside of cable III 40 and cable；Finally, the 7th liter
Drop 33 and the 8th lifting arm 36 of arm moves downward, and the 7th driving wheel 34 and the 8th driving wheel 37 is made to be located at 46 lower section of conductor spacer, such as
Shown in attached drawing 5.After crossing conductor spacer 46, the 7th lifting arm 33 and the 8th lifting arm 36 move up to the 7th driving wheel 34 and
Eight driving wheels 37 are located slightly above IV 41 position of cable III 40 and cable；Then, the 7th lifting of the 4th linear motor 30 driving is driven
Swing arm 29 and the 8th, which lifts actuating arm 31, makes the 7th driving wheel 34 and the 8th driving wheel 37 be located at cable III 40 and cable IV respectively
41 tops；Finally, the 7th lifting arm 33 and the 8th lifting arm 36, which move downward, divides the 7th driving wheel 34 and the 8th driving wheel 37
It is not pressed on cable III 40 and cable IV 41, as shown in Figure 6.
It can realize that high voltage cable assists mounting robot barrier avoiding function by above step.
Claims (2)
1. a kind of high voltage cable conductor spacer assists mounting robot, it is characterized in that including robot body (1), the first lifting driving
Arm (2), first straight line motor (3), second lifting actuating arm (4), third lifting actuating arm (11), second straight line motor (12),
4th lifting actuating arm (13), the 5th lifting actuating arm (20), third linear motor (21), the 6th lifting actuating arm (22), the
Seven lifting actuating arms (29), the 4th linear motor (30) and the 8th lifting actuating arm (31)；Wherein, the first lifting actuating arm (2)
It is made of the first fixed arm (5), the first lifting arm (6) and the first driving wheel (7)；First straight line motor (3) is fixed on robot
On ontology (1), both ends are respectively fixed with the first lifting actuating arm (2) and the second lifting actuating arm (4)；Second straight line motor
(12) it is fixed on robot body (1), both ends are respectively fixed with third lifting actuating arm (11) and the 4th lifting actuating arm
(13)；Third linear motor (21) is fixed on robot body (1), and both ends are fixed with the 5th lifting actuating arm (20) and the
Six lifting actuating arms (22)；4th linear motor (30) is fixed on robot body (1), and both ends are fixed with the 7th lifting and drive
Swing arm (29) and the 8th lifting actuating arm (31)；First driving wheel (7) is fixed on the first lifting arm (6), the first lifting arm (6)
It can be moved up and down relative to the first fixed arm (5)；Second driving wheel (10) is fixed on the second lifting arm (9), the second lifting
Arm (9) can be moved up and down relative to the second fixed arm (8)；Third driving wheel (16) is fixed on third lifting arm (15), the
Three lifting arms (15) can be moved up and down relative to third fixed arm (14)；4th driving wheel (19) is fixed on the 4th lifting arm
(18) on, the 4th lifting arm (18) can be moved up and down relative to the 4th fixed arm (17)；5th driving wheel (25) is fixed on
On five lifting arms (24), the 5th lifting arm (24) can be moved up and down relative to the 5th fixed arm (23)；6th driving wheel (28)
It is fixed on the 6th lifting arm (27), the 6th lifting arm (27) can be moved up and down relative to the 6th fixed arm (26)；7th drives
Driving wheel (34) is fixed on the 7th lifting arm (33), and the 7th lifting arm (33) can do lifting fortune relative to the 7th fixed arm (32)
It is dynamic；8th driving wheel (37) is fixed on the 8th lifting arm (36), and the 8th lifting arm (36) can be relative to the 8th fixed arm (35)
It moves up and down.
2. the barrier-avoiding method of high voltage cable auxiliary mounting robot described in claim 1, it is characterized in that as follows：
Step 1：High voltage cable assists mounting robot normal walking on cable, and first lifts the first drive in actuating arm (2)
Driving wheel (7) is pressed on cable I (38), and the second driving wheel (10) is pressed on cable II (39) in the second lifting actuating arm (4), third
Third driving wheel (16) in lifting actuating arm (11) is pressed on cable V (42), and the 4th lifting actuating arm (13) is pressed in cable VI
(43) on, the 5th driving wheel (25) in the 5th lifting actuating arm (20) is pressed on cable VII (44), the 6th lifting actuating arm
(22) the 6th driving wheel (28) in is pressed on cable VIII (45), the 7th driving wheel (34) pressure in the 7th lifting actuating arm (29)
On cable III (40), the 8th driving wheel (37) in the 8th lifting actuating arm (31) is pressed on cable IV (41)；Each driving wheel
High voltage cable auxiliary mounting robot walking function on high voltage cable is realized in rotary motion；
Step 2：When encountering such as conductor spacer obstacle, the first lifting arm (6) and the second lifting drive in the first lifting actuating arm (2)
The second lifting arm (9) moves upwards in swing arm (4), make the first driving wheel (7) and the second driving wheel (10) be detached from cable I (38) and
Cable II (39)；Then, the first lifting actuating arm (2) of first straight line motor (3) driving and second lifts actuating arm (4), makes the
Distance foreshortens to the first driving wheel (7) and the second driving wheel (10) position between one lifting actuating arm (2) and the second lifting actuating arm (4)
On the inside of cable I (38) and cable II (39)；Finally, the first lifting arm (6) and the second lifting arm (9) move downward, and make first
Driving wheel (7) and the second driving wheel (10) are below conductor spacer (46)；After crossing conductor spacer (46), the first lifting arm (6) and
Second lifting arm (9) moves up to the first driving wheel (7) and the second driving wheel (10) is located slightly above cable I (38) and cable
II (39) position；Then, the first lifting actuating arm (2) of first straight line motor (3) driving and the second lifting actuating arm (4) make first
Driving wheel (7) and the second driving wheel (10) are located above cable I (38) and cable II (39) respectively；Finally, the first lifting arm (6)
Being moved downward with the second lifting arm (9) makes the first driving wheel (7) and the second driving wheel (10) be pressed on cable I (38) and cable respectively
On line II (39)；
Step 3：After the first driving wheel (7) and the second driving wheel (10) surmount obstacles conductor spacer (46), third lifting actuating arm
(11) the 4th lifting arm (18) moves upwards in third lifting arm (15) and the 4th lifting actuating arm (17) in, makes third driving wheel
(16) and the 4th driving wheel (19) is detached from cable V (42) and cable VI (43)；Then, second straight line motor (12) driving third
Actuating arm (11) and the 4th lifting actuating arm (13) are lifted, third is made to lift between actuating arm (11) and the 4th lifting actuating arm (13)
Distance Shortened is to third driving wheel (16) and the 4th driving wheel (19) on the inside of cable V (42) and cable VI (43)；Finally,
Third lifting arm (11) and the 4th lifting arm (17) move downward, make third driving wheel (16) and the 4th driving wheel (19) positioned at
Below stick (46)；After crossing conductor spacer (46), third lifting arm (15) and the 4th lifting arm (18) move up to third drive
Driving wheel (16) and the 4th driving wheel (19) are located slightly above cable V (42) and cable VI (43) position；Then, second straight line electricity
Machine (12) driving third lifting actuating arm (11) and the 4th lifting actuating arm (13) make third driving wheel (16) and the 4th driving wheel
(19) it is located above cable V (42) and cable VI (43) respectively；Finally, third lifting arm (15) and the 4th lifting arm (18) to
Lower movement makes third driving wheel (16) and the 4th driving wheel (19) be pressed on respectively on cable V (42) and cable VI (43)；
Step 4：After third driving wheel (16) and the 4th driving wheel (19) surmount obstacles conductor spacer (46), the 5th lifting actuating arm
(20) the 6th lifting arm (27) moves upwards in the 5th lifting arm (24) and the 6th lifting actuating arm (22) in, makes the 5th driving wheel
(25) and the 6th driving wheel (28) is detached from cable VII (44) and cable VIII (45)；Then, third linear motor (21) driving the 5th
Actuating arm (20) and the 6th lifting actuating arm (22) are lifted, is made between the 5th lifting actuating arm (20) and the 6th lifting actuating arm (22)
Distance Shortened is to the 5th driving wheel (25) and the 6th driving wheel (28) on the inside of cable VII (44) and cable VIII (45)；Finally,
5th lifting arm (24) and the 6th lifting arm (27) move downward, make the 5th driving wheel (25) and the 6th driving wheel (28) positioned at
Below stick (46)；After crossing conductor spacer (46), the 5th lifting arm (24) and the 6th lifting arm (27) move up to the 5th drive
Driving wheel (25) and the 6th driving wheel (28) are located slightly above cable VII (44) and cable VIII (45) position；Then, third straight-line electric
The 5th lifting actuating arm (20) of machine (21) driving and the 6th lifting actuating arm (22) make the 5th driving wheel (25) and the 6th driving wheel
(28) it is located above cable VII (44) and cable VIII (45) respectively；Finally, the 5th lifting arm (24) and the 6th lifting arm (27) to
Lower movement makes the 5th driving wheel (25) and the 6th driving wheel (28) be pressed on respectively on cable VII (44) and cable VIII (45)；
Step 5：After the 5th driving wheel (25) and the 6th driving wheel (28) surmount obstacles conductor spacer (46), the 7th lifting actuating arm
(29) the 8th lifting arm (36) moves upwards in the 7th lifting arm (33) and the 8th lifting actuating arm (31) in, makes the 7th driving wheel
(34) and the 8th driving wheel (37) is detached from cable III (40) and cable IV (41)；Then, the 4th linear motor (30) driving the 7th
Actuating arm (29) and the 8th lifting actuating arm (31) are lifted, is made between the 7th lifting actuating arm (29) and the 8th lifting actuating arm (31)
Distance Shortened is to the 7th driving wheel (34) and the 8th driving wheel (37) on the inside of cable III (40) and cable IV (41)；Finally,
7th lifting arm (33) and the 8th lifting arm (36) move downward, make the 7th driving wheel (34) and the 8th driving wheel (37) positioned at
Below stick (46)；After crossing conductor spacer (46), the 7th lifting arm (33) and the 8th lifting arm (36) move up to the 7th drive
Driving wheel (34) and the 8th driving wheel (37) are located slightly above cable III (40) and cable IV (41) position；Then, the 4th straight-line electric
The 7th lifting actuating arm (29) of machine (30) driving and the 8th lifting actuating arm (31) make the 7th driving wheel (34) and the 8th driving wheel
(37) it is located above cable III (40) and cable IV (41) respectively；Finally, the 7th lifting arm (33) and the 8th lifting arm (36) to
Lower movement makes the 7th driving wheel (34) and the 8th driving wheel (37) be pressed on respectively on cable III (40) and cable IV (41).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810143693.8A CN108161891A (en) | 2018-02-12 | 2018-02-12 | High voltage cable conductor spacer assists mounting robot and barrier-avoiding method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810143693.8A CN108161891A (en) | 2018-02-12 | 2018-02-12 | High voltage cable conductor spacer assists mounting robot and barrier-avoiding method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108161891A true CN108161891A (en) | 2018-06-15 |
Family
ID=62512301
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810143693.8A Pending CN108161891A (en) | 2018-02-12 | 2018-02-12 | High voltage cable conductor spacer assists mounting robot and barrier-avoiding method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108161891A (en) |
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| JPH02276407A (en) * | 1989-01-12 | 1990-11-13 | Nippon Telegr & Teleph Corp <Ntt> | Center of gravity shifting type robot movable on cable |
| CN102922530A (en) * | 2012-12-05 | 2013-02-13 | 山东电力集团公司电力科学研究院 | Inspection robot platform of 500kV split conductors |
| CN102946072A (en) * | 2012-12-05 | 2013-02-27 | 山东电力集团公司电力科学研究院 | Bundle conductor inspection robot platform |
| CN104022458A (en) * | 2014-05-22 | 2014-09-03 | 山东科技大学 | Suspended inspection robot on superhigh-voltage power transmission line |
| CN105835087A (en) * | 2016-05-12 | 2016-08-10 | 山东大学 | Line walking robot mechanical structure based on split wheel and mechanical arms and obstacle crossing method of line walking robot mechanical structure |
| CN105945891A (en) * | 2016-05-12 | 2016-09-21 | 山东大学 | Walking wheel and mechanical arm combined transmission line inspection robot mechanical structure and obstacle crossing method thereof |
| CN206105824U (en) * | 2016-08-18 | 2017-04-19 | 国网湖南省电力公司带电作业中心 | Electric operating robot |
| CN106711837A (en) * | 2015-07-15 | 2017-05-24 | 蓝秋勤 | Obstacle crossing inspection robot |
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2018
- 2018-02-12 CN CN201810143693.8A patent/CN108161891A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02276407A (en) * | 1989-01-12 | 1990-11-13 | Nippon Telegr & Teleph Corp <Ntt> | Center of gravity shifting type robot movable on cable |
| CN102922530A (en) * | 2012-12-05 | 2013-02-13 | 山东电力集团公司电力科学研究院 | Inspection robot platform of 500kV split conductors |
| CN102946072A (en) * | 2012-12-05 | 2013-02-27 | 山东电力集团公司电力科学研究院 | Bundle conductor inspection robot platform |
| CN104022458A (en) * | 2014-05-22 | 2014-09-03 | 山东科技大学 | Suspended inspection robot on superhigh-voltage power transmission line |
| CN106711837A (en) * | 2015-07-15 | 2017-05-24 | 蓝秋勤 | Obstacle crossing inspection robot |
| CN105835087A (en) * | 2016-05-12 | 2016-08-10 | 山东大学 | Line walking robot mechanical structure based on split wheel and mechanical arms and obstacle crossing method of line walking robot mechanical structure |
| CN105945891A (en) * | 2016-05-12 | 2016-09-21 | 山东大学 | Walking wheel and mechanical arm combined transmission line inspection robot mechanical structure and obstacle crossing method thereof |
| CN206105824U (en) * | 2016-08-18 | 2017-04-19 | 国网湖南省电力公司带电作业中心 | Electric operating robot |
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