CN108466271B - Working method of wire walking robot - Google Patents
Working method of wire walking robot Download PDFInfo
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- CN108466271B CN108466271B CN201810283235.4A CN201810283235A CN108466271B CN 108466271 B CN108466271 B CN 108466271B CN 201810283235 A CN201810283235 A CN 201810283235A CN 108466271 B CN108466271 B CN 108466271B
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- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000007246 mechanism Effects 0.000 claims abstract description 99
- 230000001174 ascending effect Effects 0.000 claims abstract description 5
- 230000008569 process Effects 0.000 claims abstract description 5
- 230000006835 compression Effects 0.000 claims description 13
- 238000007906 compression Methods 0.000 claims description 13
- 230000007306 turnover Effects 0.000 claims description 3
- 230000007704 transition Effects 0.000 claims description 2
- 230000008901 benefit Effects 0.000 abstract description 4
- 230000008439 repair process Effects 0.000 description 14
- 230000005540 biological transmission Effects 0.000 description 12
- 238000007689 inspection Methods 0.000 description 7
- 230000006872 improvement Effects 0.000 description 4
- 230000009194 climbing Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000001965 increasing effect Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 238000011179 visual inspection Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
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- 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
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- 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
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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)
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- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a working method of a wire walking robot, which comprises the following steps: step A: firstly, one end of a rope is fixed, then the other end of the rope is pulled up to the height of a wire, the wire is wound, and finally the other end of the rope is pulled to the ground; and (B) step (B): the other end of the rope passes through the space between the turntable and the pressing piece, and then the other end of the rope is fixed; step C: starting a lifting power mechanism to enable the wire walking robot to ascend along the rope until the walking wheel is higher than the wire; the travelling wheel and the pressing wheel are positioned at a position far away from the lead in the ascending process; step D: starting the rotary power mechanism to enable the rotary arm to overturn the guide wire until the travelling wheel is positioned right above the guide wire; step E: and starting the lifting power mechanism again to enable the wire walking robot to descend along the rope until the walking wheel contacts the wire, and the like. Has the advantages of convenient operation, high efficiency, safety and reliability.
Description
Technical Field
The invention relates to the field of power equipment, in particular to a wire walking robot.
Background
The power transmission line is a main link of electric energy transmission in a power grid, the normal and safe operation of the power transmission line is an important guarantee for avoiding power grid accidents, and related analysis shows that wire and ground wire strand breakage and damage are one of important reasons for causing the unplanned outage of the line, so that the power transmission line is patrolled and repaired, the accidents are eliminated in a sprouting state, and the method has very important significance for ensuring the safe and stable operation of the power transmission line.
At present, the power transmission line is inspected by two methods, namely ground visual inspection and helicopter aerial inspection, wherein the ground visual inspection is performed in a manual inspection mode, and the power transmission line is observed by naked eyes or a telescope; the helicopter can carry various instruments and equipment to carry out aerial survey on the power transmission line, and has higher precision and efficiency, but potential safety hazards exist and line patrol cost is high due to the influence of conditions such as geography, climate and the like of a patrol area. The repair (including deicing, obstacle clearance, maintenance and the like) of the transmission line mainly comprises two methods of manual repair and machine repair, wherein the manual repair is carried out by climbing a worker on the transmission line and then manually operating various tools, but the repair method has high labor intensity, high risk and low efficiency; the machine repair is to install various repair tools (including deicers, barrier removing arms, flame guns and the like) on the wire walking robot and then remotely control the repair work by ground personnel, but the repair method has high requirements on the wire walking robot, the existing wire walking robot is difficult to meet the use requirements, and great difficulty exists in transporting the wire walking robot to a wire.
Aiming at the actual situations that the mileage of the transmission line in China is long, the coverage area is wide, a large part of lines need to pass through areas such as the original forest of the mountain and the river, the manual inspection and repair difficulty is high, and the like, along with the continuous progress of the robot technology, the line inspection and repair robot based on the robot technology is adopted to assist the manual inspection and repair, and gradually replaces the manual inspection and repair, so that the trend is in progress. The method has important significance for improving the automation operation degree of the electric power department, improving the labor condition of operators, improving the operation level and improving the operation quality, and has positive effect on ensuring the good operation of the transmission line in China.
Therefore, how to improve the existing wire walking robot to overcome the above problems is a problem to be solved by those skilled in the art.
Disclosure of Invention
The invention aims to provide a walking device which can be controlled remotely, automatically grasp a wire and walk stably.
Another object of the present invention is to provide a wire traveling robot that can be lifted by a rope, and can be remotely controlled, automatically grip a wire, and stably travel on the wire.
The invention also aims to provide a working method of the wire walking robot, which is convenient to operate, high in efficiency, safe and reliable.
In order to achieve the above purpose, the invention adopts the following technical scheme: a wire walking robot that rope goes up and down, its characterized in that: comprises a frame, a lifting device and a traveling device;
the lifting device is arranged at the lower side of the frame and comprises a rope, a lifting power mechanism, a turntable and a pressing piece, wherein the rope is arranged between the turntable and the pressing piece, the lifting power mechanism is fixedly arranged on the frame, the turntable is fixedly arranged on the lifting power mechanism, the pressing piece is arranged on the frame, the lifting power mechanism drives the turntable to rotate and always presses the rope through the pressing piece, so that the walking robot lifts along the rope;
the walking device is arranged on the upper side of the frame and comprises a rotating arm, a rotating power mechanism, walking wheels, a walking power mechanism, a pressing arm, a pressing wheel and a pressing power mechanism, wherein the rotating arm is rotatably arranged on the frame, the rotating power mechanism drives the rotating arm to rotate, the walking wheels are rotatably arranged on the upper side of the rotating arm, the walking power mechanism drives the walking wheels to rotate, the pressing arm is rotatably arranged on the lower side of the rotating arm, the pressing wheel is rotatably arranged on the pressing arm, and the pressing power mechanism drives the pressing arm to rotate; the travelling wheel can deviate or abut against the lead through the rotation of the rotary arm, and the pressing wheel can deviate or abut against the lead through the rotation of the rotary arm and the pressing arm.
As an improvement, the pressing piece is detachably arranged on the frame, and the pressing piece can rotate relative to the rope. The rope is convenient to wind into the turntable, in addition, the rotatable arrangement of the pressing piece converts the sliding friction between the original pressing piece and the rope into rolling friction, so that the same maximum static friction force (namely the maximum load) between the rope and the turntable is achieved, the rolling friction force is far smaller than the sliding friction force, and therefore the abrasion of the rope and the pressing piece is smaller, and the generated heat is also less.
Further improved, the lifting device further comprises a lock guiding wheel, the lock guiding wheel is rotatably arranged on the frame, the lock guiding wheel is positioned above the turntable and aligned with the center of the turntable, and the rope passes through the lock guiding wheel. The arrangement of the guide lock wheel can keep the rope at the central position all the time, thereby playing a role in balancing and stabilizing.
Preferably, the rotating arm is fixedly provided with a rotating shaft, the rotating shaft is rotatably arranged on the frame, the rotating shaft is concentric and fixedly arranged on a first gear, the rotating power mechanism is fixedly provided with a second gear, the first gear is meshed with the second gear, and the rotating power mechanism drives the rotating arm to rotate through the cooperation of the second gear, the first gear and the rotating shaft. The driving mode is simple and reliable.
Preferably, the walking power mechanism is fixedly arranged on the rotating arm, a flange plate is fixedly arranged on the walking power mechanism, the walking power mechanism drives the flange plate to rotate, the walking wheels are concentrically and fixedly arranged on the flange plate, and a bearing is arranged between the walking wheels and the walking power mechanism. The same driving mode is simple and reliable, and is equivalent to integrating the walking power mechanism into the walking wheel (similar to the integrated structure of the rear wheel and the motor of the battery car), and the structure is more reasonable, compact and attractive.
As an improvement, the walking wheel includes spacing portion, flange portion, wire portion and bearing portion in proper order from outside to inside, spacing portion extends to the periphery, and is restricted the wire breaks away from the walking wheel, flange portion is used for fixed connection the ring flange, and smooth transition spacing portion with wire portion, wire portion is the indent for hold the wire, the bearing portion surrounds walking power unit, the bearing interference fit in between bearing portion with the walking power unit. The walking wheel of this structure uses more reliably, and the operation is more stable, and the assembly is more convenient.
Preferably, the flange part is provided with a threaded hole, a screw is arranged in the threaded hole, and the travelling wheel is fixedly arranged on the flange plate through the screw; the bearing part is provided with a groove, a clamp spring is clamped in the groove, and the clamp spring limits the bearing to axially slide. The connecting and fixing modes are common structures, and the structure is simple and reliable, and can meet the use requirements.
Preferably, a third gear is fixedly arranged on the pressing arm, the third gear is rotatably arranged on the frame, a fourth gear is fixedly arranged on the pressing power mechanism, the third gear is meshed with the fourth gear, and the pressing power mechanism drives the pressing arm to rotate through the cooperation of the fourth gear and the third gear. The driving mode is simple and reliable.
Further preferably, the walking wheels, the walking power mechanism, the pressing arms, the pressing wheels and the pressing power mechanism are two groups and are symmetrically arranged on two sides of the frame. The two groups of the devices are arranged and run more stably, and the load can be increased.
As an improvement, the frame is also provided with a control rope, and the control rope extends to the ground. In the ascending process, the wire walking robot is convenient to operate, so that the wire walking robot can be accurately hung on a wire.
The working method of the wire walking robot is characterized by comprising the following steps of:
step A: firstly, one end of a rope is fixed, then the other end of the rope is pulled up to the height of a wire, the wire is wound, and finally the other end of the rope is pulled to the ground;
and (B) step (B): the other end of the rope passes through the space between the turntable and the pressing piece, and then the other end of the rope is fixed;
step C: starting a lifting power mechanism to enable the wire walking robot to ascend along the rope until the walking wheel is higher than the wire; the travelling wheel and the pressing wheel are positioned at a position far away from the lead in the ascending process;
step D: starting the rotary power mechanism to enable the rotary arm to overturn the guide wire until the travelling wheel is positioned right above the guide wire;
step E: starting the lifting power mechanism again to enable the wire walking robot to descend along the rope until the walking wheel contacts the wire;
step F: starting a pressing power mechanism to enable the pressing arm to overturn the wire until the pressing wheel is positioned right below the wire and contacts the wire;
step G: releasing the fixation of the two ends of the rope;
step H: starting a walking power mechanism to enable the wire walking robot to drag the rope to walk on the wire;
step I: when the robot needs to descend, stopping the walking power mechanism, tensioning the two ends of the rope respectively, and fixing the rope on the ground right below the wire walking robot respectively;
step J: starting the rotary power mechanism and the compression power mechanism to enable the rotary arm and the compression arm to be far away from the wire and turn over until the travelling wheel and the compression wheel are located at positions far away from the wire;
step K: starting a lifting power mechanism to enable the wire walking robot to descend along the rope until the wire walking robot reaches the ground;
step L: the fixing of the two ends of the rope is released, the wire walking robot takes out from the rope, and the rope is recovered from the wire.
Preferably, the step a is implemented by the following steps:
step A1: one end of the rope is fixed;
step A2: fixing a light rope at the other end of the rope, wherein the length of the light rope is not less than that of the rope;
step A3: fixing the other end of the light rope on the unmanned aerial vehicle;
step A4: the unmanned aerial vehicle rises to the height of the wire, bypasses the wire and pulls the other end of the light rope to the ground;
step A5: and the other end of the light rope is pulled to the height of the lead by pulling the other end of the light rope, the lead is bypassed, and finally the other end of the light rope is pulled to the ground.
In the steps D and E, the control rope is operated on the ground so that the travelling wheel can be positioned right above the wire and contact the wire.
In the step H, when the wire walking robot walks on the wire and encounters an obstacle, the pressing power mechanism is started to turn the pressing arm to the side far away from the wire until the vertical distance between the pressing wheel and the wire is greater than the height of the obstacle, the traveling is continued until the traveling wheel passes over the obstacle, and the pressing power mechanism is started again to turn the pressing arm over the wire until the pressing wheel is positioned right below the wire and contacts the wire.
Preferably, the obstacle in the above step includes a rope, and when the wire-walking robot has a plurality of walking wheels, all the walking wheels pass over the rope, so that the rope is positioned at the rearmost of the wire-walking robot to drag.
Compared with the prior art, the invention has the following structural advantages: through elevating gear's setting, can be along the rope direct with wire walking robot "hang" to the wire position, then through the upset of swivel arm and clamp arm in the running gear, with wire walking robot "hang" on the wire, through the rotation of walking wheel and the clamp of clamp wheel at last, carry out steady marcing at the wire. It is worth mentioning that the wire walking robot of this scheme can be hung various inspection and repair tools to realize different functions; even the lifting device can be provided with a manned function by increasing the load of the lifting device.
Compared with the prior art, the method has the advantages that: the operator only needs to stand on the ground to finish all the work such as lifting and walking of the wire walking robot, the operation is more convenient, the efficiency is higher, and more importantly, the wire walking robot is safer for the operator, and the risk of climbing is avoided.
Drawings
FIGS. 1 and 2 are schematic perspective views of a preferred embodiment of the present invention in a routine state;
fig. 3 and 4 are perspective views showing a lifting state according to a preferred embodiment of the present invention;
FIG. 5 is a schematic view showing the positional relationship of the traveling wheel and the pinch wheel with the wire in a traveling state according to a preferred embodiment of the present invention;
FIG. 6 is a schematic view showing the relationship between the traveling wheel and the pinch roller and the wire in a lifting state according to a preferred embodiment of the present invention;
FIG. 7 is a half cross-sectional view of a travel wheel and travel power mechanism in accordance with a preferred embodiment of the present invention;
FIG. 8 is an exploded view of the running wheel and running power mechanism in accordance with a preferred embodiment of the present invention;
FIG. 9 is a half cross-sectional view of a travel wheel in accordance with a preferred embodiment of the present invention;
fig. 10 is a schematic perspective view of a preferred embodiment of the present invention in which a steering rope is disposed under a frame;
FIG. 11 is a first embodiment of a lifting device that may be substituted for the one preferred embodiment of the present invention;
FIG. 12 is a second embodiment of a lifting device that may be substituted for the one preferred embodiment of the present invention;
Detailed Description
The following description is presented to enable one of ordinary skill in the art to make and use the invention. The preferred embodiments in the following description are by way of example only and other obvious variations will occur to those skilled in the art.
As shown in fig. 1 to 10, a preferred embodiment of the present invention includes a frame 1, a lifting device 2, and a traveling device 3. The concrete structure is as follows:
the lifting device 2 is arranged at the lower side of the frame 1, the lifting device 2 comprises a rope 21, a lifting power mechanism 22, a turntable 23 and a pressing piece 24, the rope 21 is arranged between the turntable 23 and the pressing piece 24, the lifting power mechanism 22 is fixedly arranged on the frame 1, the turntable 23 is fixedly arranged on the lifting power mechanism 22, the pressing piece 24 is arranged on the frame 1, the lifting power mechanism 22 drives the turntable 23 to rotate and always presses the rope 21 through the pressing piece 24, so that the walking robot lifts along the rope 21. The pressing piece 24 is detachably disposed on the frame 1, and the pressing piece 24 can rotate relative to the rope 21. As an improvement, the lifting device 2 further comprises a locking guide wheel 25, the locking guide wheel 25 is rotatably arranged on the frame 1, the locking guide wheel 25 is positioned above the turntable 23 and aligned with the center of the turntable 23, and the rope 21 passes through the locking guide wheel 25. It should be noted that the lifting device of this embodiment may be replaced by the radial compression lifting device 2 'of fig. 11, or may be replaced by the axial compression lifting device 2 "of fig. 12, and the specific structures of the radial compression lifting device 2' and the axial compression lifting device 2" are not repeated here in the patents filed earlier by the applicant.
The traveling device 3 is arranged on the upper side of the frame 1, the traveling device 3 comprises a rotating arm 31, a rotating power mechanism 32, traveling wheels 33, a traveling power mechanism 34, a pressing arm 35, a pressing wheel 36 and a pressing power mechanism 37, the rotating arm 31 is rotatably arranged on the frame 1, the rotating power mechanism 32 drives the rotating arm 31 to rotate, the traveling wheels 33 are rotatably arranged on the upper side of the rotating arm 31, the traveling power mechanism 34 drives the traveling wheels 33 to rotate, the pressing arm 35 is rotatably arranged on the lower side of the rotating arm 31, the pressing wheel 36 is rotatably arranged on the pressing arm 35, and the pressing power mechanism 37 drives the pressing arm 35 to rotate; the travelling wheel 33 can be far away from the wire 100 or above the wire 100 by rotation of the rotary arm 31, and the pinch roller 36 can be far away from the wire 100 or below the wire 100 by rotation of the rotary arm 31 and the pinch arm 35.
The driving mode of each rotating structure is as follows: the rotating arm 31 is fixedly provided with a rotating shaft 311, the rotating shaft 311 is rotatably arranged on the frame 1, the rotating shaft 311 is concentric and fixedly arranged on the first gear 312, the rotating power mechanism 32 is fixedly provided with a second gear 313, the first gear 312 is meshed with the second gear 313, and the rotating power mechanism 32 drives the rotating arm 41 to rotate through the cooperation of the second gear 313, the first gear 312 and the rotating shaft 411. The walking power mechanism 34 is fixedly arranged on the rotating arm 41, the flange 331 is fixedly arranged on the walking power mechanism 34, the walking power mechanism 34 drives the flange 331 to rotate, the walking wheels 33 are concentrically and fixedly arranged on the flange 331, and a bearing 333 is arranged between the walking wheels 33 and the walking power mechanism 34. The third gear 351 is fixedly arranged on the pressing arm 35, the third gear 351 is rotatably arranged on the frame 1, the fourth gear 352 is fixedly arranged on the pressing power mechanism 36, the third gear 351 is meshed with the fourth gear 352, and the pressing power mechanism 36 drives the pressing arm 35 to rotate through the cooperation of the fourth gear 352 and the third gear 351.
In addition, the traveling wheel 33 in this embodiment is optimally designed, specifically: the travelling wheel 33 sequentially comprises a limiting part 33a, a flange part 33b, a wire part 33c and a bearing part 33d from outside to inside, wherein the limiting part 33a extends to the periphery to limit the wire 100 to be separated from the travelling wheel, the flange part 33b is used for fixedly connecting the flange 331, the wire part 33a and the wire part 33c are smoothly transitionally connected, the wire part 33c is concave and used for accommodating the wire 100, the bearing part 33d surrounds the travelling power mechanism 34, and the bearing 333 is in interference fit between the bearing part 33d and the travelling power mechanism 34.
As a conventional option, the flange portion 33b is provided with a threaded hole, a screw 332 is installed in the threaded hole, and the travelling wheel 33 is fixedly arranged on the flange 331 through the screw 332; the bearing portion 33d is provided with a groove, a clamp spring 334 is clamped in the groove, and the clamp spring 334 limits the bearing 333 to slide along the axial direction. The walking wheel 33, the walking power mechanism 34, the pressing arm 35, the pressing wheel 36 and the pressing power mechanism 37 are two groups and are symmetrically arranged on two sides of the frame 1.
For control convenience, the frame 1 is also provided with a control rope 4, and the control rope 4 extends to the ground.
The working method of the embodiment comprises the following steps:
step A: firstly, one end of a rope is fixed, then the other end of the rope is pulled up to the height of a wire, the wire is wound, and finally the other end of the rope is pulled to the ground;
and (B) step (B): the other end of the rope passes through the space between the turntable and the pressing piece, and then the other end of the rope is fixed;
step C: starting a lifting power mechanism to enable the wire walking robot to ascend along the rope until the walking wheel is higher than the wire; the travelling wheel and the pressing wheel are positioned at a position far away from the lead in the ascending process;
step D: starting the rotary power mechanism to enable the rotary arm to overturn the guide wire until the travelling wheel is positioned right above the guide wire;
step E: starting the lifting power mechanism again to enable the wire walking robot to descend along the rope until the walking wheel contacts the wire;
step F: starting a pressing power mechanism to enable the pressing arm to overturn the wire until the pressing wheel is positioned right below the wire and contacts the wire;
step G: releasing the fixation of the two ends of the rope;
step H: starting a walking power mechanism to enable the wire walking robot to drag the rope to walk on the wire;
step I: when the robot needs to descend, stopping the walking power mechanism, tensioning the two ends of the rope respectively, and fixing the rope on the ground right below the wire walking robot respectively;
step J: starting the rotary power mechanism and the compression power mechanism to enable the rotary arm and the compression arm to be far away from the wire and turn over until the travelling wheel and the compression wheel are located at positions far away from the wire;
step K: starting a lifting power mechanism to enable the wire walking robot to descend along the rope until the wire walking robot reaches the ground;
step L: the fixing of the two ends of the rope is released, the wire walking robot takes out from the rope, and the rope is recovered from the wire.
The step A is realized by adopting the following steps:
step A1: one end of the rope is fixed;
step A2: fixing a light rope at the other end of the rope, wherein the length of the light rope is not less than that of the rope;
step A3: fixing the other end of the light rope on the unmanned aerial vehicle;
step A4: the unmanned aerial vehicle rises to the height of the wire, bypasses the wire and pulls the other end of the light rope to the ground;
step A5: and the other end of the light rope is pulled to the height of the lead by pulling the other end of the light rope, the lead is bypassed, and finally the other end of the light rope is pulled to the ground.
In the steps D and E, the control rope is operated on the ground so that the travelling wheel can be positioned right above the wire and contact the wire.
In the step H, when the wire walking robot walks on the wire and encounters an obstacle, the pressing power mechanism is started to turn the pressing arm to a side far away from the wire until the vertical distance between the pressing wheel and the wire is greater than the height of the obstacle, the wire walking robot continues to travel until the walking wheel passes over the obstacle, and the pressing power mechanism is started again to turn the pressing arm over the wire until the pressing wheel is located right below the wire and contacts the wire.
The obstacle in the above step includes a rope, and when the wire walking robot has a plurality of walking wheels, all the walking wheels pass over the rope, so that the rope is positioned at the rearmost of the wire walking robot to drag.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made therein without departing from the spirit and scope of the invention, which is defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (4)
1. The working method of the wire walking robot is characterized by comprising the following steps of:
the wire walking robot comprises a frame, a lifting device and a walking device;
the lifting device is arranged at the lower side of the frame and comprises a rope, a lifting power mechanism, a turntable and a pressing piece, wherein the rope is arranged between the turntable and the pressing piece, the lifting power mechanism is fixedly arranged on the frame, the turntable is fixedly arranged on the lifting power mechanism, the pressing piece is arranged on the frame, the lifting power mechanism drives the turntable to rotate and always presses the rope through the pressing piece, so that the walking robot lifts along the rope;
the walking device is arranged on the upper side of the frame and comprises a rotating arm, a rotating power mechanism, walking wheels, a walking power mechanism, a pressing arm, a pressing wheel and a pressing power mechanism, wherein the rotating arm is rotatably arranged on the frame, the rotating power mechanism drives the rotating arm to rotate, the walking wheels are rotatably arranged on the upper side of the rotating arm, the walking power mechanism drives the walking wheels to rotate, the pressing arm is rotatably arranged on the lower side of the rotating arm, the pressing wheel is rotatably arranged on the pressing arm, and the pressing power mechanism drives the pressing arm to rotate; the travelling wheel can deviate from or abut against the lead through the rotation of the rotary arm, and the pressing wheel can deviate from or abut against the lead through the rotation of the rotary arm and the pressing arm;
the travelling power mechanism is fixedly arranged on the rotating arm, a flange plate is fixedly arranged on the travelling power mechanism, the travelling power mechanism drives the flange plate to rotate, the travelling wheels are concentrically and fixedly arranged on the flange plate, and a bearing is arranged between the travelling wheels and the travelling power mechanism;
the walking wheel sequentially comprises a limiting part, a flange part, a wire part and a bearing part from outside to inside, wherein the limiting part extends to the periphery to limit the wire to be separated from the walking wheel, the flange part is used for fixedly connecting the flange plate, the limiting part and the wire part are in smooth transition, the wire part is concave and used for accommodating the wire, the bearing part surrounds the walking power mechanism, and the bearing is in interference fit between the bearing part and the walking power mechanism;
the walking wheel, the walking power mechanism, the pressing arm, the pressing wheel and the pressing power mechanism are two groups and are symmetrically arranged on two sides of the frame;
the working method of the wire walking robot comprises the following steps:
step A: firstly, one end of a rope is fixed, then the other end of the rope is pulled up to the height of a wire, the wire is wound, and finally the other end of the rope is pulled to the ground;
and (B) step (B): the other end of the rope passes through the space between the turntable and the pressing piece, and then the other end of the rope is fixed;
step C: starting a lifting power mechanism to enable the wire walking robot to ascend along the rope until the walking wheel is higher than the wire; the travelling wheel and the pressing wheel are positioned at a position far away from the lead in the ascending process;
step D: starting the rotary power mechanism to enable the rotary arm to overturn the guide wire until the travelling wheel is positioned right above the guide wire;
step E: starting the lifting power mechanism again to enable the wire walking robot to descend along the rope until the walking wheel contacts the wire;
step F: starting a pressing power mechanism to enable the pressing arm to overturn the wire until the pressing wheel is positioned right below the wire and contacts the wire;
step G: releasing the fixation of the two ends of the rope;
step H: starting a walking power mechanism to enable the wire walking robot to drag the rope to walk on the wire;
step I: when the robot needs to descend, stopping the walking power mechanism, tensioning the two ends of the rope respectively, and fixing the rope on the ground right below the wire walking robot respectively;
step J: starting the rotary power mechanism and the compression power mechanism to enable the rotary arm and the compression arm to be far away from the wire and turn over until the travelling wheel and the compression wheel are located at positions far away from the wire;
step K: starting a lifting power mechanism to enable the wire walking robot to descend along the rope until the wire walking robot reaches the ground;
step L: the fixing of the two ends of the rope is released, the wire walking robot takes out from the rope, and the rope is recovered from the wire.
2. The method of claim 1, wherein: the step A is realized by adopting the following steps:
step A1: one end of the rope is fixed;
step A2: fixing a light rope at the other end of the rope, wherein the length of the light rope is not less than that of the rope;
step A3: fixing the other end of the light rope on the unmanned aerial vehicle;
step A4: the unmanned aerial vehicle rises to the height of the wire, bypasses the wire and pulls the other end of the light rope to the ground;
step A5: and the other end of the light rope is pulled to the height of the lead by pulling the other end of the light rope, the lead is bypassed, and finally the other end of the light rope is pulled to the ground.
3. The method of claim 1, wherein: in the step H, when the wire walking robot walks on the wire and encounters an obstacle, the pressing power mechanism is started to turn the pressing arm to a side far away from the wire until the vertical distance between the pressing wheel and the wire is greater than the height of the obstacle, the wire walking robot continues to travel until the walking wheel passes over the obstacle, and the pressing power mechanism is started again to turn the pressing arm over the wire until the pressing wheel is located right below the wire and contacts the wire.
4. A method of operating a wire walking robot as defined in claim 3, wherein: the obstacle in the above step includes a rope, and when the wire walking robot has a plurality of walking wheels, all the walking wheels pass over the rope, so that the rope is positioned at the rearmost of the wire walking robot to drag.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810283235.4A CN108466271B (en) | 2018-04-02 | 2018-04-02 | Working method of wire walking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810283235.4A CN108466271B (en) | 2018-04-02 | 2018-04-02 | Working method of wire walking robot |
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| CN108297067B (en) * | 2018-04-02 | 2024-04-05 | 浙江弘安智能科技有限公司 | Wire walking robot with lifting rope |
| CN108270172B (en) * | 2018-04-02 | 2024-03-12 | 浙江弘安智能科技有限公司 | Wire walking robot |
| CN112158779B (en) * | 2020-09-04 | 2022-05-24 | 国网山东省电力公司潍坊供电公司 | Power transmission line equipotential operation manned electric lifting mechanism and use method thereof |
| CN113325836A (en) * | 2021-04-21 | 2021-08-31 | 优兔创新有限公司 | Method for unmanned vehicle to execute task in task area and unmanned vehicle system |
| CN114670220B (en) * | 2022-05-09 | 2023-06-23 | 常州达利辰自动化科技有限公司 | High-altitude ground wire multi-strand broken wire intelligent repairing robot |
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