CN108711780B - A kind of centroid adjustment mechanism and a kind of electric wire moving obstacle-crossing mechanism - Google Patents
A kind of centroid adjustment mechanism and a kind of electric wire moving obstacle-crossing mechanism Download PDFInfo
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- CN108711780B CN108711780B CN201810541874.6A CN201810541874A CN108711780B CN 108711780 B CN108711780 B CN 108711780B CN 201810541874 A CN201810541874 A CN 201810541874A CN 108711780 B CN108711780 B CN 108711780B
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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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Abstract
The present invention relates to a kind of centroid adjustment mechanisms comprising: centroid adjustment cabinet, longitudinal adjustment apparatus, lateral adjustment device and suspension arrangement；The lower half of centroid adjustment cabinet is arranged in lateral adjustment device and longitudinal adjustment apparatus, and the two is located in different level, and intersects in the vertical direction, and suspension arrangement cooperates with both lateral adjustment device and longitudinal adjustment apparatus simultaneously；Lateral adjustment device ontology is along centroid adjustment cabinet longitudinal sliding motion, and for controlling suspension arrangement transverse shifting, longitudinal adjustment apparatus ontology slides laterally lateral adjustment device along centroid adjustment cabinet, and longitudinal adjustment apparatus is for controlling suspension arrangement longitudinal movement.Centroid adjustment mechanism provided by the invention, horizontal leading screw axis and longitudinal leadscrew axis parallel running, mechanism flexible operation is steady, and reaction speed is fast, and adjustable range is wide.Centroid adjustment cabinet protects each moving component as protective shell in upside, can provide biggish optional equipment and install platform additional.
Description
Technical field
The present invention relates to crusing robot field, especially a kind of centroid adjustment mechanism.
The invention further relates to a kind of electric wire moving obstacle-crossing mechanisms.
Background technique
With the progress of social development and science and technology, an important branch of world today's robot technology as new and high technology
The attention of various countries is generally received, is obtained in various fields such as industrial production, furniture service, national defense construction, ocean and space probations
To quick development and it is widely applied.Robot manipulating task environment and the precision for executing task and complexity are also increasingly
Height, walking operation are one of the important operations in ultra-high-tension power transmission line maintenance, and walking operation includes in line security channel
Safety hazards carry out inspection, and to the mechanical electric failure of route, the machinery including insulator contamination, conducting wire in route
Damaged, connection gold utensil machinery the failures such as loosens and is detected.In this background, the research of inspection robot for high-voltage transmission lines has been
Through one of the popular research direction for becoming robot research field.
There are many traditional HV Transmission Line Routing Inspection robot type, the classification by robot motion's arm include single arm type,
Double-arm, three arm type and four arm-type etc..Single arm type robot can not cross over partial impairment on high voltage transmission line, therefore apply
Occasion is limited, and double-arm, three arm type and four arm robot obstacle detouring modes are complicated, and the time used in obstacle detouring process is more, and controls
System is complicated, is not able to satisfy multitask, high efficiency, the demand of high-adaptability.Based on the above issues, HV Transmission Line Routing Inspection device machine
Device people is not widely used in detecting.In this case, high-efficient, adaptable, obstacle detouring the is high-efficient machine of research line walking
Device person is development trend.
Summary of the invention
(1) technical problems to be solved
In order to solve the above problem of the prior art, the present invention provide it is a kind of be quick on the draw, the centroid adjustment of positioning stablity
Mechanism.
(2) technical solution
In order to achieve the above object, the present invention provides a kind of centroid adjustment mechanism comprising: centroid adjustment cabinet, it is longitudinal
Regulating device, lateral adjustment device and suspension arrangement；Lateral adjustment device and longitudinal adjustment apparatus are arranged in centroid adjustment cabinet
Lower half, the two is located in different level, and intersects in the vertical direction, suspension arrangement simultaneously with lateral adjustment device and
The cooperation of both longitudinal adjustment apparatus；Lateral adjustment device ontology is used for along centroid adjustment cabinet longitudinal sliding motion, lateral adjustment device
Suspension arrangement transverse shifting is controlled, longitudinal adjustment apparatus ontology slides laterally along centroid adjustment cabinet, and longitudinal adjustment apparatus is used for
Control suspension arrangement longitudinal movement.
Preferably, lateral adjustment device includes cross motor, horizontal leading screw axis and first bearing lid；Longitudinal adjustment apparatus packet
Include longitudinal motor, longitudinal leadscrew axis and second bearing lid；The bearing axis of first bearing lid is along horizontal cross and centroid adjustment machine
Case is connected, and by first bearing lid, constraint horizontal cross is arranged horizontal leading screw axis, and first bearing lid includes long hole along longitudinal direction, horizontal
Be slidably connected along longitudinal direction to the ontology of motor with centroid adjustment cabinet, cross motor drive horizontal leading screw axis transversely lead screw shaft from
The central axis rotation of body, while cross motor and the whole longitudinal long hole longitudinal translation along first bearing lid of horizontal leading screw axis；The
The bearing of two bearing caps is connected axially along horizontal longitudinal with centroid adjustment cabinet, and longitudinal leadscrew axis is by second bearing lid constraint water
Put down longitudinally disposed, second bearing lid includes long hole transversely, the ontology and the cunning of centroid adjustment cabinet transversely of longitudinal motor
Dynamic connection, longitudinal motor drive the central axis rotation of longitudinal leadscrew axis lead screw shaft itself along longitudinal direction, while longitudinal motor and longitudinal direction
The whole lateral long hole transverse translation along second bearing lid of lead screw shaft；Horizontal leading screw axis and longitudinal leadscrew axle position are in different level
It is interior, intersect in the vertical direction；Suspension arrangement cooperates horizontal leading screw axis and longitudinal leadscrew axis simultaneously.
Preferably, lateral adjustment device includes the first guide rail and cross motor connector, and longitudinal adjustment apparatus includes second
Guide rail and longitudinal motor connector；First guide rail is vertically fixed on centroid adjustment cabinet along level, and the one of cross motor connector
End is slidably connected with the first guide rail, and the other end is fixedly connected with the ontology of cross motor；Second guide rail is vertically fixed on along level
Centroid adjustment cabinet, one end of longitudinal motor connector are slidably connected with the second guide rail, and the ontology of the other end and longitudinal motor is solid
Fixed connection.
Preferably, suspension arrangement includes centroid adjustment sliding block and clump weight；Centroid adjustment sliding block cooperates horizontal leading screw simultaneously
Axis and longitudinal leadscrew axis, clump weight are detachably secured to centroid adjustment sliding block.
The present invention also provides a kind of electric wire moving obstacle-crossing mechanisms comprising: walking mechanism, barrier getting over mechanism and mass center above-mentioned
Regulating mechanism；The front and rear end of centroid adjustment cabinet longitudinal direction has been respectively fixedly connected a barrier getting over mechanism, and two of front-end and back-end
Barrier getting over mechanism is connected separately with a walking mechanism；Centroid adjustment cabinet is located under electric wire, and walking mechanism is located on electric wire
And it walks along the electric wire；In horizontal direction, the region that electric wire and walking mechanism are constituted is inside, except be outside；Obstacle detouring machine
Structure is for moving to walking mechanism on the outside of electric wire；The front end of suspension arrangement longitudinal stroke is located at the outside of front end walking mechanism, hangs
The rear end of hang device longitudinal stroke is located at the outside of rear end walking mechanism.
Preferably, walking mechanism includes traveling wheel, walk main shaft and driving motor, and the relatively described electric wire of walking main shaft is horizontal
Laterally setting, two traveling wheels and walking main shaft coaxial arrangement, between the distance between two traveling wheels and two electric wires
It include wiring duct on traveling wheel away from matching, traveling wheel is erected on the electric wire of corresponding position by the wiring duct, driving electricity
Machine driving walking main shaft and traveling wheel are rotated along the axis of walking main shaft.
It further, further include locking device, locking device includes locking motor and claw；The casing and matter of locking motor
The heart adjusts cabinet and is connected, and is integrally located on the outside of electric wire, and the axis of locking motor is vertical direction, the output of claw and locking motor
Axis is connected；Claw working end horizontal position is lower than electric wire, while the gap between traveling wheel is less than the diameter of electric wire；Locking state
When claw working end be located at immediately below electric wire, claw working end is located in the horizontal direction on the outside of electric wire when open state.
Preferably, barrier getting over mechanism includes evacuation motor, and the outside of two electric wires is arranged in evacuation motor, and axis is located at row
It walks in the vertical plane of main shaft；The casing and centroid adjustment mechanism for avoiding motor are connected, and the casing of output shaft and driving motor is connected；
Further, barrier getting over mechanism further includes rotary base outer race connector, rotary base bearing and rotary base
Bearing inner ring connector, the axis for avoiding motor is vertical direction, rotary base bearing and evacuation motor coaxle setting；Turntable bottom
The casing of seat outer race connector and evacuation motor is connected, while being connected with the outer ring of rotary base bearing；Rotary base axis
Hold inner ring connector and avoid the output shaft fixed connection of motor, while being bonded with the inner ring of rotary base bearing, at the same also with driving
The casing of motor is connected.
It preferably, is benchmark line close to the electric wire of barrier getting over mechanism, the quality of suspension arrangement is m1, remaining outside suspension arrangement
The quality of component is m2, sum of the two is the mass M of electric wire moving obstacle-crossing mechanism entirety, the matter of electric wire moving obstacle-crossing mechanism entirety
Heart position is determined by center of mass theorem；In horizontal direction, the mass center of electric wire moving obstacle-crossing mechanism entirety deviating from reference line always
The side of barrier getting over mechanism；When steady state, the mass center of electric wire moving obstacle-crossing mechanism entirety is located at front end walking mechanism and rear end row
It walks between mechanism, when adjustment state, suspension arrangement is located on front side of the walking mechanism of front end or on rear side of the walking mechanism of rear end, close to suspension
The traveling wheel axis of the walking mechanism of device is shaft, and in the vertical plane of shaft, the mass center of suspension arrangement is away from the horizontal distance of shaft
For l1, horizontal distance of the mass center away from shaft of the outer remaining component totality of suspension arrangement is L；m1l1> m2L, that is, electric wire moving obstacle-crossing machine
The position of the mass center of structure is located on the outside of shaft；When the position of the mass center of electric wire moving obstacle-crossing mechanism rotates to the underface of shaft,
The highest point of centroid adjustment cabinet is not higher than electric wire in vertical plane where electric wire.
(3) beneficial effect
The present invention provides a kind of centroid adjustment mechanism, horizontal leading screw axis and longitudinal leadscrew axis parallel running, mechanism operation spirit
Living steady, reaction speed is fast, and adjustable range is wide.Centroid adjustment cabinet protects each moving component as protective shell in upside, can be with
Biggish optional equipment is provided and installs platform additional.
Electric wire moving obstacle-crossing device provided by the invention, for walking on parallel double joint electric wire, walking posture is stablized,
Obstacle detouring speed is fast, wide adaptation range.More optional equipment can be carried.
Detailed description of the invention
Fig. 1 is a kind of general assembly structural schematic diagram of high voltage transmission line moving obstacle-crossing mechanism based on centroid adjustment mechanism；
Fig. 2 is the axonometric drawing in another direction Fig. 1；
Fig. 3 is a kind of structural schematic diagram of Xing Zou mechanism；
Fig. 4 is a kind of structural schematic diagram of barrier getting over mechanism；
Fig. 5 is a kind of structural schematic diagram of centroid adjustment mechanism lateral means；
Fig. 6 is a kind of structural schematic diagram of centroid adjustment mechanism longitudinal direction device；
Fig. 7 is a kind of structural schematic diagram of centroid adjustment mechanism；
Fig. 8 is mass center mechanism steady state schematic diagram；
Fig. 9 is mass center mechanism adjustment state schematic diagram；
Figure 10 is mass center mechanism obstacle detouring state principle figure；
Figure 11 is a kind of high voltage transmission line moving obstacle-crossing mechanism steady state structural schematic diagram based on centroid adjustment mechanism；
Figure 12 is one structural schematic diagram of Figure 11 adjustment state；
Figure 13 is one structural schematic diagram of Figure 11 obstacle detouring state；
Figure 14 is two structural schematic diagram of Figure 11 adjustment state；
Figure 15 is two structural schematic diagram of Figure 11 obstacle detouring state；
Figure 16 is the side view of Figure 15 along longitudinal direction.
[description of symbols]
1: walking mechanism；101: traveling wheel fixing screws；102: traveling wheel；103: walking main shaft；104: upper coupling；
105: driving motor；106: driving motor fixed frame；
2: barrier getting over mechanism；201: outer housing；211: locking motor；212: locking motor connects shell；213: claw connector；
214: claw；
221: rotary base outer race connector；222: rotary base bearing；223: the connection of rotary base bearing inner ring
Device；224: evacuation motor connectors；225: evacuation motor；
3: centroid adjustment mechanism；301: centroid adjustment mechanism case linking arm；302: barrier getting over mechanism linking arm；303: mass center tune
Save cabinet；304: the first guide rail connectors；
311: the first guide rails；312: cross motor connector；313: cross motor；314: lateral shaft coupling；315: the first
Bearing cap；316: horizontal leading screw axis；
321: centroid adjustment sliding block；322: clump weight connector；323: clump weight；
331: the second guide rails；332: longitudinal motor connector；333: longitudinal motor；334: longitudinal shaft coupling；335: the second
Bearing cap；336: longitudinal leadscrew axis.
Specific embodiment
In order to preferably explain the present invention, in order to understand, with reference to the accompanying drawing, by specific embodiment, to this hair
It is bright to be described in detail.
As shown in Figure 1, a kind of electric wire moving obstacle-crossing mechanism includes walking mechanism 1, barrier getting over mechanism 2 and centroid adjustment mechanism 3.
With reference to Fig. 2, it is additionally provided with control device, detection device, maintenance device etc., for inspecting, safeguarding electric wire, can be used for long-range
Manipulation, and field data is provided.Between two electric wires be two electric wires inside, except be outside.Between two walking mechanisms 1
For the inside of two walking mechanisms, except be outside.
In Fig. 1, one group of barrier getting over mechanism 2 and walking mechanism 1 is respectively set in the front-end and back-end of centroid adjustment mechanism 3, can also
More multiple groups are arranged.The barrier getting over mechanism 2 of front-end and back-end is located at the same side, can also be located at the left and right sides.Positioned at two sides
When, the whole centroid position of electric wire moving obstacle-crossing mechanism is closer to the inside of two electric wires；Positioned at it is ipsilateral when, make on electric wire
With, installation or the more convenient operations such as modified line.
As shown in figure 3, walking mechanism 1 includes walking main shaft 103, there are two traveling wheel 102, Fig. 3 is left for coaxial arrangement thereon
The traveling wheel 102 at end passes through traveling wheel fixing screws 101.The distance between traveling wheel 102 is matched with electric wire to be walked, thereon
Including wiring duct, the depth of wiring duct is greater than the diameter of electric wire in Fig. 3, and the opening of wiring duct is opened, and is suitable for centering.It can also be with
It is the very wide traveling wheel of an entire span.Position of two traveling wheels 102 on walking main shaft 103 is adjustable, to adapt to different width
The electric wire of degree.Traveling wheel 102 is isolation material, and the surface of walking main shaft 103 also may include insulating layer material.
With reference to Fig. 4, main shaft 103 of walking passes through the output axis connection of upper coupling 104 and driving motor 105, is driven
Along own axis.Driving motor 105 can be the motor module of included retarder.
As shown in figure 4, barrier getting over mechanism 2 includes outer housing 201, outer housing 201 and centroid adjustment mechanism 3 pass through centroid adjustment
Mechanism case linking arm 301 is fixedly connected, for reinforcement structure intensity, between former and later two centroid adjustment mechanism case linking arms 301
Also it is fixedly connected with barrier getting over mechanism linking arm 302.It is solid by evacuation motor connectors 224 and outer housing 201 to avoid motor 225
Even, the axis of evacuation motor 225 is vertical direction, actually in the face vertical with walking main shaft 103.
Along the axis of evacuation motor 225, the casing of rotary base outer race connector 221 and evacuation motor 225 is solid
Even, while with the outer ring of rotary base bearing 222 it is connected, rotary base outer race connector 221 and rotary base bearing 222
Inner ring between possess gap；The output shaft fixed connection of rotary base bearing inner ring connector 223 and evacuation motor 225, while with
The inner ring of rotary base bearing 222 is bonded, the outer ring of rotary base bearing inner ring connector 223 and rotary base bearing 222 it
Between possess gap.
Rotary base bearing inner ring connector 223 is also connected with the casing of driving motor 105 simultaneously.In order to adjust height,
Connection is more firm, and rotary base bearing inner ring connector 223 is connected by driving motor fixed frame 106 and driving motor 105.Turn
A bearing 222 of trying to get to the heart of a matter can be deep groove ball bearing, tapered roller bearing or bearing group.
The whole control by evacuation motor 225 of walking mechanism 1 rotates, and plane of rotation is the vertical plane for avoiding 225 output shaft of motor.
Since the axis of evacuation motor 225 directly holds walking mechanism 1,
As shown in figure 4, further including locking device, locking motor 211 connects shell 212 and outer housing 201 by locking motor
It is fixedly connected, the axis of locking motor 211 is vertical direction, and output shaft connects by the way that claw connector 213 and claw 214 are fixed
It connects.Locking device is integrally located on the outside of electric wire, and 214 working end horizontal position of claw is lower than electric wire.Claw 214 turns in the horizontal plane
Dynamic, working end is consistently lower than electric wire discord electric wire interference.Position is locking state, claw 214 and traveling wheel 102 in Fig. 4
Wiring duct cooperation, around firmly electric wire, electric wire cannot be detached from from the gap of the two.When preventing the fortuitous events such as strong wind, equipment
It falls off from electric wire.
Locking motor 211 and evacuation motor 225 be vertically arranged so that on vertical direction directly by respective output shaft by
Power when out of control in accident power-off rotation direction, is still able to maintain suspension status on vertical direction.
As shown in Figure 5 and Figure 6, the bearing axis of first bearing lid 315 is solid along horizontal cross and centroid adjustment cabinet 303
Even, by a first bearing lid 315, constraint horizontal cross is arranged respectively at horizontal leading screw axis 316 both ends, and first bearing lid 315 wraps
Long hole along longitudinal direction is included, ontology and the centroid adjustment cabinet 303 of cross motor 313 are slidably connected along longitudinal direction, and cross motor 313 drives
The central axis rotation of dynamic horizontal leading screw axis 316 transversely lead screw shaft 316 itself, while cross motor 313 and horizontal leading screw axis 316
Whole longitudinal long hole longitudinal translation along first bearing lid 315；
The bearing of second bearing lid 335 is axially along horizontal longitudinal connected, longitudinal leadscrew axis 336 with centroid adjustment cabinet 303
Both ends are constraint horizontal longitudinally disposed by a second bearing lid 335 respectively, and second bearing lid 335 includes long hole transversely,
The ontology of longitudinal motor 333 being slidably connected transversely with centroid adjustment cabinet 303, longitudinal motor 333 drive longitudinal leadscrew axis
The central axis rotation of 336 lead screw shaft 336 itself along longitudinal direction, while longitudinal motor 333 and longitudinal leadscrew axis 336 are whole along the second axis
Hold the lateral long hole transverse translation of lid 335；
Horizontal leading screw axis 316 and longitudinal leadscrew axis 336 are located in different level, intersect in the vertical direction；Suspension dress
It sets while cooperating horizontal leading screw axis 316 and longitudinal leadscrew axis 336.
336 arranged crosswise of horizontal leading screw axis 316 and longitudinal leadscrew axis, so that thrust is more placed in the middle, driving a reaction is faster.Laterally
Lead screw shaft 316 can push longitudinal leadscrew axis 336 and suspension arrangement integrally transversely to move, and longitudinal leadscrew axis 336 can push transverse direction
Lead screw shaft 316 and suspension arrangement integrally transversely move.
In the present embodiment, cross motor 313 passes through lateral shaft coupling 314 and connect with horizontal leading screw axis 316, longitudinal motor
333 are connect by longitudinal shaft coupling 334 with longitudinal leadscrew axis 336, and cross motor 313 is located at the outer of two first bearing lids 315
The distance of side, two such first bearing lid 315 is closer, smaller by torque when longitudinal reasoning, reacts sensitiveer.
Cross motor 313 can also be arranged between two first bearing lids 315, be driven by worm gear structure etc.
The stroke of horizontal leading screw axis 316, such suspension arrangement is longer, while the part of appliance mass center in addition to suspension arrangement is more concentrated, fortune
Center-of-mass coordinate offset is smaller when dynamic.
In Fig. 5 and Fig. 6, the first guide rail 311 is fixed on centroid adjustment machine longitudinally through the first guide rail connector 304 along level
Case 303, one end of cross motor connector 312 are slidably connected with the first guide rail 311, the ontology of the other end and cross motor 313
It is fixedly connected；Second guide rail 331 is vertically fixed on centroid adjustment cabinet 303 along level, one end of longitudinal motor connector 332 with
Second guide rail 331 is slidably connected, and the other end is fixedly connected with the ontology of longitudinal motor 333.
The casing of cross motor 313 and a bearing cap can also be connected, then this bearing cap is whole vertical along level
It is slided to opposite centroid adjustment cabinet 303, has also reached lateral adjustment device along the effect of centroid adjustment cabinet (303) longitudinal sliding motion
Fruit, longitudinal adjustment apparatus is similarly.
As shown in figure 5, suspension arrangement includes centroid adjustment sliding block 321, clump weight connector 322 and clump weight with reference to Fig. 7
323, centroid adjustment sliding block 321 include two horizontal and vertical threaded holes, while with horizontal leading screw axis 316 and longitudinal leadscrew axis
336 cooperations.The adjustable clump weight 323 of clump weight connector 322 in the position of vertical direction, clump weight 323 removably with
Clump weight connector 322 connects.
The working principle of the present embodiment is illustrated below:
The quality of suspension arrangement is m1, the quality of the remaining component outside suspension arrangement is m2, total weight M=m1+m2, the two
Centroid position can be measured respectively with the methods of suspension method.When mechanism kinematic, the centroid position of different postures can also be distinguished
It obtains, whole centroid position can be calculated after combination.
As shown in figure 8, four traveling wheels 102 are fulcrum, the rectangle that four fulcrums are constituted is supporting surface, with close to obstacle detouring machine
The electric wire of structure 2 is benchmark line, and the longitudinal direction for being parallel to reference line is done in the position of the mass center of the remaining component outside suspension arrangement
Straight line, i.e. X-axis, vertical direction are Z axis, are Y-axis by the direction that inside is directed toward in outside.
The distance of the mass center relative datum line of remaining component outside suspension arrangement is y2, remaining component outside suspension arrangement
The distance between mass center of mass center and suspension arrangement is y1, in horizontal direction, the mass center of electric wire moving obstacle-crossing mechanism entirety is always
In the side away from barrier getting over mechanism 2 of reference line, 4 traveling wheels 102 all trolley wires at this time, if whole mass center is located at base
Directrix outside is the side of close barrier getting over mechanism 2, then two only on reference line traveling wheel, 102 trolley wire, but also can
Walking is applicable to the situation that the traveling wheel 102 at another electric wire tilts；
In actually using, y2Size be it is determining, that the horizontal leading screw axis 316 of lateral adjustment device is adjusted is y1, because
This,
Work as m1gy1≥(m1g+m2g)·y2When
Electric wire moving obstacle-crossing mechanism is in steady state, in order to meet actual demand, should take greater-than sign, and left side should be big
In an added value, then
m1gy1> (m1g+m2g)·y2+MIt is additional
It arranges
As shown in figure 9, in the face XZ, since the front end of suspension arrangement longitudinal stroke is located at the outside of front end walking mechanism 1,
The rear end of suspension arrangement longitudinal stroke is located at the outside of rear end walking mechanism 1.It is when the position of the mass center of suspension arrangement is located at A axis
Rear end walk main shaft 103 to it is outer when, the mass center of mechanism can also deviate backward, when electric wire moving obstacle-crossing mechanism mass center X to seat
When mark is less than the X-coordinate of A axis, the front end of the present embodiment can be tilted,
The centroid position of available suspension arrangement distance l and l and X-axis in the face XZ between A axis in actual use
Angle β, the mass center of suspension arrangement is l away from the horizontal distance of A axis1, while knowing the mass center of the remaining component outside suspension arrangement
The horizontal distance L of opposite A axis, then exist:
m1Gcos β l > m2GL, that is, m1l1> m2When L,
The state that mechanism can be overturn by shaft of A axis as Figure 10, Tu10Zhong, the centroid position of the present embodiment entirety is in A
Immediately below axis.
As shown in figure 11, the present embodiment is advanced forward with steady posture, and whole mass center is located within supporting surface.
As shown in figure 12, after encountering barrier, the locking motor 211 of front turns to open state, the work of claw 214
End turns on the outside of electric wire, and suspension arrangement is moved to longitudinally rearward after subsequent walking mechanism 1, and the present embodiment front end upwarps,
Entirety is shaft rotation with subsequent walking main shaft 103, forms adjustment state 1.
As shown in figure 13, the output shaft rotation for avoiding motor 225, so that 1 unitary rotation of walking mechanism of front is to electric wire
Outside forms obstacle detouring state 1.
As shown in figure 14, after the first half of the present embodiment surmounts obstacles, the evacuation motor 225 of front end is gone back to, suspension dress
Set the walking mechanism for moving past front longitudinally forward；The locking motor 211 of front goes back to locking state, subsequent locking at this time
Motor 211 goes to open state, and the present embodiment is the tilting of shaft rear portion with the walking main shaft 103 of front at this time, and traveling wheel 102 is de-
From electric wire, adjustment state 2 is formed.In vertical plane where electric wire, the highest point of centroid adjustment mechanism 3 is not higher than electric wire, in non-electrical
In face where line, there can be structure higher.
Shown in Figure 15 and Figure 16, subsequent evacuation motor 225 is rotated, outside subsequent 1 unitary rotation to electric wire of walking mechanism
Side forms obstacle detouring state 2, so that the latter half of the present embodiment can also cross the obstacle on electric wire.Claw 214 is adjusting shape
Not trolley wire when state can also be arranged roller bearing in the working end of claw 214, rub accordingly even when trolley wire is also possible to roll
It wipes smaller.
Upper embodiment is only presently preferred embodiments of the present invention, for those of ordinary skill in the art, according to the present invention
Thought, there will be changes in the specific implementation manner and application range, and this specification should not be construed as to limit of the invention
System.
Claims (10)
1. a kind of centroid adjustment mechanism, characterized in that it comprises: centroid adjustment cabinet (303), longitudinal adjustment apparatus, laterally
Regulating device and suspension arrangement；
Lateral adjustment device and longitudinal adjustment apparatus are arranged in the lower half of centroid adjustment cabinet (303), and the two is located at different water
In plane, and intersect in the vertical direction, suspension arrangement cooperates with both lateral adjustment device and longitudinal adjustment apparatus simultaneously；
Lateral adjustment device ontology is along centroid adjustment cabinet (303) longitudinal sliding motion, and lateral adjustment device is for controlling suspension arrangement
Transverse shifting, longitudinal adjustment apparatus ontology slide laterally along centroid adjustment cabinet (303), and longitudinal adjustment apparatus is for controlling suspension
Device longitudinal movement.
2. centroid adjustment mechanism as described in claim 1, it is characterised in that: lateral adjustment device include cross motor (313),
Horizontal leading screw axis (316) and first bearing lid (315)；Longitudinal adjustment apparatus includes longitudinal motor (333), longitudinal leadscrew axis
(336) and second bearing lid (335)；
The bearing axis of first bearing lid (315) is connected along horizontal cross and centroid adjustment cabinet (303), horizontal leading screw axis
(316) by first bearing lid (315), constraint horizontal cross is arranged, and first bearing lid (315) includes long hole along longitudinal direction, laterally
The ontology of motor (313) is slidably connected along longitudinal direction with centroid adjustment cabinet (303), and cross motor (313) drives horizontal leading screw axis
(316) the transversely central axis rotation of lead screw shaft (316) itself, while cross motor (313) and horizontal leading screw axis (316) entirety
Along longitudinal long hole longitudinal translation of first bearing lid (315)；
The bearing of second bearing lid (335) is axially along horizontal longitudinal connected, longitudinal leadscrew axis with centroid adjustment cabinet (303)
(336) constraint horizontal longitudinally disposed by second bearing lid (335), second bearing lid (335) includes long hole transversely, longitudinal
The ontology of motor (333) being slidably connected transversely with centroid adjustment cabinet (303), longitudinal motor (333) drive longitudinal leadscrew
The central axis rotation of axis (336) lead screw shaft (336) itself along longitudinal direction, while longitudinal motor (333) and longitudinal leadscrew axis (336) are whole
Lateral long hole transverse translation of the body along second bearing lid (335)；
Horizontal leading screw axis (316) and longitudinal leadscrew axis (336) are located in different level, intersect in the vertical direction；Suspension dress
It sets while cooperating horizontal leading screw axis (316) and longitudinal leadscrew axis (336).
3. centroid adjustment mechanism as described in claim 1, it is characterised in that: lateral adjustment device includes the first guide rail (311)
With cross motor connector (312), longitudinal adjustment apparatus includes the second guide rail (331) and longitudinal motor connector (332)；
First guide rail (311) is vertically fixed on centroid adjustment cabinet (303) along level, one end of cross motor connector (312)
It is slidably connected with the first guide rail (311), the other end is fixedly connected with the ontology of cross motor (313)；
Second guide rail (331) is vertically fixed on centroid adjustment cabinet (303) along level, one end of longitudinal motor connector (332)
It is slidably connected with the second guide rail (331), the other end is fixedly connected with the ontology of longitudinal motor (333).
4. centroid adjustment mechanism as described in claim 1, it is characterised in that: suspension arrangement includes centroid adjustment sliding block (321)
With clump weight (323)；
Centroid adjustment sliding block (321) cooperates horizontal leading screw axis (316) and longitudinal leadscrew axis (336) simultaneously, and clump weight (323) is removable
That unloads is fixed on centroid adjustment sliding block (321).
5. a kind of electric wire moving obstacle-crossing mechanism, characterized in that it comprises: walking mechanism (1), barrier getting over mechanism (2) and such as right
It is required that centroid adjustment mechanism (3) described in 1 to 4 any one；
The front and rear end of centroid adjustment cabinet (303) longitudinal direction has been respectively fixedly connected a barrier getting over mechanism (2), and the two of front-end and back-end
A barrier getting over mechanism (2) is connected separately with a walking mechanism (1)；Centroid adjustment cabinet (303) is located under electric wire, walking mechanism
(1) it is located on electric wire and walks along the electric wire；
In horizontal direction, the region that electric wire and walking mechanism (1) are constituted is inside, except be outside；
Barrier getting over mechanism (2) is for moving to walking mechanism (1) on the outside of electric wire；
The front end of suspension arrangement longitudinal stroke is located at the outside of front end walking mechanism (1), the rear end position of suspension arrangement longitudinal stroke
In the outside of rear end walking mechanism (1).
6. electric wire moving obstacle-crossing mechanism as claimed in claim 5, it is characterised in that: walking mechanism (1) includes traveling wheel
(102), walking main shaft (103) and driving motor (105), the relatively described electric wire horizontal cross setting of walking main shaft (103), two
Traveling wheel (102) and walking main shaft (103) coaxial arrangement, the distance between two traveling wheels (102) and two electric wires
Pitch match, includes wiring duct on traveling wheel (102), and traveling wheel (102) is erected at corresponding position by the wiring duct
On electric wire, driving motor (105) driving walking main shaft (103) and traveling wheel (102) are rotated along the axis of walking main shaft (103).
7. electric wire moving obstacle-crossing mechanism as claimed in claim 6, it is characterised in that: further include locking device, locking device packet
Include locking motor (211) and claw (214)；
The casing of locking motor (211) and centroid adjustment cabinet (303) are connected, and are integrally located on the outside of electric wire, locking motor (211)
Axis be vertical direction, the output shaft fixed connection of claw (214) and locking motor (211)；
Claw (214) working end horizontal position is lower than electric wire, while the gap between traveling wheel (102) is less than the diameter of electric wire；
Claw (214) working end is located at immediately below electric wire when locking state, and claw (214) working end is in level side when open state
It is located on the outside of electric wire upwards.
8. electric wire moving obstacle-crossing mechanism as claimed in claim 5, it is characterised in that: barrier getting over mechanism (2) includes evacuation motor
(225), the outside of two electric wires is arranged in evacuation motor (225), and axis is located in the vertical plane of walking main shaft (103)；Evacuation
The casing of motor (225) and centroid adjustment mechanism (3) are connected, and the casing of output shaft and driving motor (105) is connected.
9. electric wire moving obstacle-crossing mechanism as claimed in claim 8, it is characterised in that: barrier getting over mechanism further includes rotary base bearing
Outer ring connector (221), rotary base bearing (222) and rotary base bearing inner ring connector (223) avoid motor (225)
Axis be vertical direction, rotary base bearing (222) and evacuation motor (225) coaxial arrangement；
Rotary base outer race connector (221) and evacuation motor (225) casing be connected, while with rotary base bearing
(222) outer ring is connected；
Rotary base bearing inner ring connector (223) and evacuation motor (225) output shaft fixed connection, while with rotary base bearing
(222) inner ring fitting, while being also connected with the casing of driving motor (105).
10. the electric wire moving obstacle-crossing mechanism as described in claim 5 to 9 is any, it is characterised in that: close to barrier getting over mechanism (2)
Electric wire is benchmark line, and the quality of suspension arrangement is m1, the quality of the remaining component outside suspension arrangement is m2, sum of the two is electric wire
The centroid position of the mass M of moving obstacle-crossing mechanism entirety, electric wire moving obstacle-crossing mechanism entirety is determined by center of mass theorem；
In horizontal direction, the mass center of electric wire moving obstacle-crossing mechanism entirety is always in the side away from barrier getting over mechanism of reference line；
When steady state, the mass center of electric wire moving obstacle-crossing mechanism entirety is located at front end walking mechanism (1) and rear end walking mechanism (1)
Between,
When adjustment state, suspension arrangement is located on front side of front end walking mechanism (1) or on rear side of rear end walking mechanism (1), close to suspension
Traveling wheel (102) axis of the walking mechanism (2) of device is shaft, and in the vertical plane of shaft, the mass center of suspension arrangement is away from shaft
Horizontal distance is l1, horizontal distance of the mass center away from shaft of the outer remaining component totality of suspension arrangement is L；
m1l1> m2L
I.e. the position of the mass center of electric wire moving obstacle-crossing mechanism is located on the outside of shaft；
When the position of the mass center of electric wire moving obstacle-crossing mechanism rotates to the underface of shaft, centroid adjustment machine in vertical plane where electric wire
The highest point of case (303) is not higher than electric wire.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810541874.6A CN108711780B (en) | 2018-05-30 | 2018-05-30 | A kind of centroid adjustment mechanism and a kind of electric wire moving obstacle-crossing mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810541874.6A CN108711780B (en) | 2018-05-30 | 2018-05-30 | A kind of centroid adjustment mechanism and a kind of electric wire moving obstacle-crossing mechanism |
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| CN108711780B true CN108711780B (en) | 2019-06-18 |
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| CN110576922B (en) * | 2019-09-11 | 2020-10-30 | 广东博智林机器人有限公司 | Biped walking robot with speed equalizer and control method thereof |
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| CN100391771C (en) * | 2006-01-13 | 2008-06-04 | 中国科学院沈阳自动化研究所 | Wheel-claw combined type inspection robot autonomous obstacle crossing mechanism |
| CN201766309U (en) * | 2010-05-25 | 2011-03-16 | 中国科学院沈阳自动化研究所 | Double-wheel-arm locked type inspection robot mechanism |
| CN102709838B (en) * | 2011-12-15 | 2014-12-10 | 东北大学 | High-voltage power transmission line inspection robot mechanism |
| CN204333774U (en) * | 2015-01-19 | 2015-05-13 | 中国科学院沈阳自动化研究所 | Be adapted to the power transmission line inspection robot mechanism of large span |
| JP6393647B2 (en) * | 2015-03-30 | 2018-09-19 | 株式会社日立ハイテクファインシステムズ | Inspection apparatus and inspection method |
| CN204954458U (en) * | 2015-09-30 | 2016-01-13 | 河北工业大学 | Five parallel machines |
| CN205733869U (en) * | 2016-05-10 | 2016-11-30 | 南安创友日化有限公司 | A kind of horizontal level adjustable permanent seat |
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