CN109244934A - A kind of ground wire suspension crusing robot - Google Patents
A kind of ground wire suspension crusing robot Download PDFInfo
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- CN109244934A CN109244934A CN201811086141.4A CN201811086141A CN109244934A CN 109244934 A CN109244934 A CN 109244934A CN 201811086141 A CN201811086141 A CN 201811086141A CN 109244934 A CN109244934 A CN 109244934A
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- arm
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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
本发明公开了一种地线悬挂巡检机器人，包括机器人箱体，箱体内包含控制系统，箱体上携带检测装备，箱体后方有前中后三只手臂，三只手臂通过手臂底座与箱体相连；前中后臂通过驱动机构实现在输电线上的行走，通过伸缩机构实现机体在竖直方向的伸缩动作，通过开合机构实现驱动机构开合动作；由此在遇到障碍物时，三只手臂配合进行有序的动作以实现对障碍物的跨越功能。本发明具有越障能力强，越障效率高，爬坡角度大，结构稳固，重量轻，操作简单，实时性好等特点，实现了沿220kV～500kV输电线路地线稳定行驶，可跨越安装于地线上的防震锤、间隔棒、悬垂线夹、修补管等线路设备。
The invention discloses a ground wire suspension inspection robot, comprising a robot box body, a control system in the box body, detection equipment carried on the box body, three arms in the front, middle and rear at the rear of the box body, and the three arms are connected to the box through the arm base. The body is connected; the front, middle and rear arms can walk on the transmission line through the driving mechanism, the telescopic mechanism can realize the telescopic action of the body in the vertical direction, and the opening and closing mechanism can realize the opening and closing action of the driving mechanism; thus when encountering obstacles , the three arms cooperate to perform orderly movements to achieve the function of leaping over obstacles. The present invention has the characteristics of strong obstacle surmounting ability, high obstacle surmounting efficiency, large climbing angle, stable structure, light weight, simple operation, good real-time performance, etc. Anti-vibration hammers, spacers, suspension clamps, repair pipes and other line equipment on the ground line.
Description
Technical field
The invention belongs to electric inspection process equipment technical fields more particularly to a kind of ground wire to hang crusing robot.
Background technique
In order to guarantee that high voltage transmission line is safely and steadily run, it is necessary to periodically be overhauled to high voltage transmission line.High pressure is defeated
The inspection inspection of electric wire is very important to the safety of protection power grid, and high voltage transmission line is widely distributed, some areas geography ring
Border is complex, and for manual inspection mode due to large labor intensity, inspection precision is low, is no longer applicable in, therefore can only seek new
Routine inspection mode.
The development of mobile robot technology provides new technology platform for the inspection of aerial high voltage power line line.At present
The crusing robot of research either travels along ground wire or travels along conducting wire, is required to across obstacle, not only extreme influence
The routing inspection efficiency of robot, and there is also security risk relatively for the robot of conducting wire traveling for robot itself, along ground
Line travels robot " occupying a commanding position ", and the field angle of inspection route is big, and inspection effect is good, but the anchor support header structure of ground wire is multiple
Miscellaneous, so that robot is difficult to go beyond, the practicability of robot receives very big restriction.
Summary of the invention
Goal of the invention: it in view of the above problems, the present invention proposes a kind of ground wire suspension crusing robot, realizes along 220kV
~500kV earth wire of power transmission line stablizes traveling, may span across the stockbridge damper being installed on ground wire, conductor spacer, suspension clamp, repairing pipe
Equal line facilities.
Technical solution: to achieve the purpose of the present invention, the technical scheme adopted by the invention is that: a kind of ground wire suspension inspection
Robot, including robot cabinet, the interior robot cabinet includes control system, and detection dress is carried on the robot cabinet
It is standby, the rear of the robot cabinet have before in after three arms, three arms are connected by arm pedestal with robot cabinet；
Front and back arm is located at robot tank ends, and the front and back arm respectively includes the driving mechanism positioned at top, in
Open-and-close mechanism, rotating mechanism and the hold-down mechanism in portion and the elevating mechanism of lower section；The lower section of the driving mechanism connects opening-closing machine
Structure, the lower section connecting steering mechanism of the open-and-close mechanism connect elevating mechanism below the rotating mechanism, on the elevating mechanism
Side's connection hold-down mechanism, the elevating mechanism lower section connect arm pedestal；
Middle arm is located in the middle part of robot cabinet, and the middle arm includes the driving mechanism positioned at top, the open-and-close mechanism at middle part,
Charging mechanism in front of rotating mechanism, the elevating mechanism of lower section and middle arm；The lower section of the driving mechanism connects open-and-close mechanism, institute
State the lower section connecting steering mechanism of open-and-close mechanism, the lower section of the rotating mechanism connects elevating mechanism, before the elevating mechanism
Side's setting charging mechanism, the elevating mechanism bottom connects horizontal arm pedestal；
The control system is electrically connected driving mechanism, open-and-close mechanism, elevating mechanism, middle arm charging mechanism.
Further, the driving mechanism includes driving motor, and the driving motor connects driving wheel by axle sleeve；It is described
Driving motor connects open-and-close mechanism by motor cabinet.
Further, the open-and-close mechanism includes folding bottom plate, two guide rails of installation above the folding bottom plate, on guide rail
Four sliding blocks are installed, sliding block is connect with the motor cabinet；Installation folding motor, the folding motor are logical below the folding bottom plate
It crosses spur gear to connect with folding lead screw, the folding lead screw is connect by feed screw nut with feed screw nut seat, the feed screw nut
Seat is fixedly connected with motor cabinet.
Further, the rotating mechanism includes floating bearing, passes through bolt and folding bottom plate above the floating bearing
Connection, the floating bearing lower section are connect by bolt with bearing base, pass through interference fit and rubber on the bearing base
Block connection, the rubber block are connect by limit strip with folding pedestal.
Further, the elevating mechanism includes arm outer tube, and the arm outer tube is connected by guide pad and arm inner tube
It connects, the arm inner tube is connect by bearing base with telescopic putter, and the telescopic putter passes through push rod pedestal and arm outer tube
Connection.
Further, the hold-down mechanism includes contact roller, and the contact roller is connect with pressed seat, on the pressed seat with
It rotatably compresses wheel upper support seat to connect, support base is connect down with wheel is rotatably compressed under the pressed seat, described to rotatably compress on wheel
Support base is connect with tension spring, and the tension spring other end is connect with pressed seat.
Further, the middle arm charging mechanism includes charging plug, and the charging plug is connected by pressure spring and cradle
It connects, the cradle is connect by bolt with arm inner tube.
Further, three arms are connect after on the arm pedestal with before, preceding to connect with robot cabinet.
Further, the testing equipment includes camera, infrared detecting set, and the camera, infrared detecting set pass through
Circuit is connected with signal transceiver, and the signal transceiver connects the base station control center resting on the ground by wireless signal.
The utility model has the advantages that compared with prior art, the advantages of ground wire suspension crusing robot of the present invention are as follows:
(1) security protection is good: hanging wire, contact roller can play the role of protection to three driving wheels simultaneously when walking；More
Three arms at least two-arm hanging wire, fall down robot will not because of shaking and from power transmission line when barrier, ensure that robot operation
Stablize.
(2) obstacle detouring is high-efficient: robot can directly rush open hold-down mechanism when across barriers such as stockbridge dampers, omit
Obstacle detouring step, improves obstacle detouring efficiency.
(3) control is simple, precision is high: realizing automatic control when walking, obstacle detouring, it is short to get over Downtime, high-efficient.
(4) inspection quality is high, is widely used: being mounted with camera and infrared detecting set, can believe the route walked
Breath clearly transmits the quality that ensure that polling transmission line work to ground base station by wireless bridge；It is also remote controlled,
It can be widely applied to the inspection work of transmission line of electricity.
Detailed description of the invention
Fig. 1 is schematic perspective view of the invention；
Fig. 2 is front and back arm diagrammatic cross-section of the invention.
Specific embodiment
Further description of the technical solution of the present invention with reference to the accompanying drawings and examples.
As illustrated in fig. 1 and 2, a kind of ground wire hangs crusing robot, including robot cabinet 5, includes in robot cabinet
Control system, testing equipment 6 is carried on robot cabinet 5, and forearm 1, middle arm 9, the postbrachium 8 at robot cabinet rear pass through arm
Pedestal 7 is connected with robot cabinet 5, wherein forearm 1, postbrachium 8 are located at 5 both ends of robot cabinet.
Forearm 1, postbrachium 8 include the driving mechanism positioned at top, open-and-close mechanism, rotating mechanism, the hold-down mechanism at middle part, with
And the elevating mechanism of lower section.The lower section of driving mechanism connects open-and-close mechanism, the lower section connecting steering mechanism of open-and-close mechanism, rotating machine
Elevating mechanism is connected below structure, and hold-down mechanism is connected above elevating mechanism, connects arm pedestal below elevating mechanism.
Middle arm 9 includes the driving mechanism at top, open-and-close mechanism, the rotating mechanism at middle part, the elevating mechanism of lower section and middle arm 9
The charging mechanism in front.Control system electricly connects driving mechanism, open-and-close mechanism, elevating mechanism, middle arm charging mechanism.Driving machine
The lower section of structure connects open-and-close mechanism, and the lower section of the lower section connecting steering mechanism of open-and-close mechanism, rotating mechanism connects elevating mechanism, rises
Charging mechanism is arranged in the front of descending mechanism, and elevating mechanism bottom connects horizontal arm pedestal.
Driving mechanism includes driving motor 36, and driving motor 36 connects driving wheel 12 by axle sleeve 13, and driving motor 36 is logical
It crosses motor cabinet 35 and connects open-and-close mechanism, driving motor 36 is connected with control system by circuit.
Open-and-close mechanism includes folding bottom plate 32, opens and closes and installs two guide rails 11 above bottom plate 32, installs four on guide rail 11
Sliding block 10, sliding block 10 are connect with motor cabinet 37, open and close installation folding motor 30 below bottom plate 32, and folding motor 30 passes through sliding tooth
Wheel 31 and driven gear 33 are connect with folding lead screw 34, and folding lead screw 34 is fixedly connected by feed screw nut 35 with motor cabinet 37,
Folding motor 30 is connected with control system by circuit.
Rotating mechanism includes floating bearing 29, is connect by bolt with folding bottom plate 32 above floating bearing 29, rotating shaft
It holds 29 lower sections to connect by bolt with bearing base 26, be connect by interference fit with rubber block 27 on bearing base 26, rubber
Block 27 is connect by limit strip 28 with folding pedestal 32.
Elevating mechanism includes arm outer tube 22, and arm outer tube 22 is connect by guide pad with arm inner tube 25, arm inner tube
25 are connect by bearing base 26 with telescopic putter 24, and telescopic putter 24 is connect by push rod pedestal 23 with arm outer tube 22, are stretched
Contracting push rod 24 is connected with control system by circuit.
Hold-down mechanism includes contact roller 17, and contact roller 17 is connect with pressed seat 18, on pressed seat 18 and is rotatably compressed on wheel
Support base 20 connects, pressed seat 18 it is lower with rotatably compress the lower support base 21 of wheel and connect, rotatably compress and take turns upper support seat 20 and tension spring
19 connections, 19 other end of tension spring are connect with pressed seat 18.
Middle arm charging mechanism includes charging plug 3, and charging plug 3 is connect by pressure spring 4 with cradle 2, and cradle 2 passes through
Bolt is connect with arm inner tube 25.Charging plug 3 is connected with control system by circuit.
Testing equipment 12 includes camera, infrared detecting set, and camera, infrared detecting set pass through circuit and signal transceiver
It is connected, signal transceiver connects the base station control center resting on the ground by wireless signal.Testing equipment 12 is fixed on machine
Immediately below people's cabinet 5, the circuit image information of shooting is passed to the base station control center on ground by wireless bridge, is convenient for ground
Staff determines the transmission of electricity line position and its ambient conditions of damage, to repair.
Ground wire suspension crusing robot of the invention is applicable to the ultra-high-tension power transmission line of 500KV.Forearm 1, middle arm 9, after
Arm 8 realizes the walking on power transmission line by driving mechanism；By telescoping mechanism realize body vertical direction expanding-contracting action,
It stretchs out, contraction state；Driving mechanism opening and closing movement, that is, the state opened, be closed are realized by open-and-close mechanism.Thus it is encountering
When barrier, three arm cooperation progress are orderly to stretch out, shrinks, and opening, closed action cross over function to barrier to realize
Energy.
Ground wire hangs crusing robot carrying out practically process are as follows: when walking on power transmission line, forearm 1, middle arm 9, postbrachium 8 are logical
It overdrives and takes turns 12 hanging wires, and the telescoping mechanism of forearm 1, middle arm 9, postbrachium 8 is in contraction state, open-and-close mechanism is in closed form
State, hold-down mechanism are in impaction state.When encountering barrier such as suspension clamp, robot stops walking, passes through telescoping mechanism
Forearm 1 is lifted, the driving wheel 12 of forearm 1 is opened by open-and-close mechanism, so that forearm 1 is sunk by telescoping mechanism, robot moves ahead,
Forearm 1 is lifted by telescoping mechanism, forearm 1 is closed by open-and-close mechanism, so that forearm 1 is sunk by telescoping mechanism, before robot
Row, middle arm 9 is lifted by telescoping mechanism, by open-and-close mechanism open in arm 9 driving wheel 12, middle arm 9 is made by telescoping mechanism
Sink, robot moves ahead, middle arm 9 is lifted by telescoping mechanism, by open-and-close mechanism close in arm 9, made by telescoping mechanism
Arm 9 sinks, and robot moves ahead, and lifts postbrachium 8 by telescoping mechanism, and the driving wheel 12 of postbrachium 8 is opened by open-and-close mechanism, is passed through
Telescoping mechanism makes postbrachium 8 sink, and robot moves ahead, and lifts postbrachium 8 by telescoping mechanism, closes postbrachium 8 by open-and-close mechanism, leads to
Crossing telescoping mechanism makes postbrachium 8 sink, and robot moves ahead, and completes obstacle detouring.When encountering barrier such as stockbridge damper and passing a bridge, because of pressure
Bearing up pulley can rush open with the distance between charging plug and traveling wheel be greater than barrier length, so robot can directly before
Row passes through.
Claims (9)
1. a kind of ground wire hangs crusing robot, which is characterized in that including robot cabinet, control is included in the robot cabinet
System processed, carries testing equipment on the robot cabinet, the rear of the robot cabinet have before in after three arms, three
Arm is connected by arm pedestal with robot cabinet；
Front and back arm is located at robot tank ends, and the front and back arm respectively includes the driving mechanism positioned at top, middle part
Open-and-close mechanism, rotating mechanism and hold-down mechanism and the elevating mechanism of lower section；
The lower section of the driving mechanism connects open-and-close mechanism, the lower section connecting steering mechanism of the open-and-close mechanism, the rotating machine
Elevating mechanism is connected below structure, and hold-down mechanism is connected above the elevating mechanism, connects arm pedestal below the elevating mechanism；
Middle arm is located in the middle part of robot cabinet, and the middle arm includes the driving mechanism positioned at top, the open-and-close mechanism at middle part, rotation
Charging mechanism in front of mechanism, the elevating mechanism of lower section and middle arm；
The lower section of the driving mechanism connects open-and-close mechanism, the lower section connecting steering mechanism of the open-and-close mechanism, the rotating machine
The lower section of structure connects elevating mechanism, and charging mechanism is arranged in the front of the elevating mechanism, and the elevating mechanism bottom connects horizontal hand
Arm pedestal；
The control system is electrically connected driving mechanism, open-and-close mechanism, elevating mechanism, middle arm charging mechanism.
2. ground wire according to claim 1 hangs crusing robot, which is characterized in that the driving mechanism includes driving electricity
Machine, the driving motor connect driving wheel by axle sleeve；The driving motor connects open-and-close mechanism by motor cabinet.
3. ground wire according to claim 2 hangs crusing robot, which is characterized in that the open-and-close mechanism includes folding bottom
Plate, the folding bottom plate top install two guide rails, install four sliding blocks on guide rail, sliding block is connect with the motor cabinet；It is described
Installation folding motor below bottom plate is opened and closed, the folding motor is connect by spur gear with folding lead screw, and the folding lead screw is logical
It crosses feed screw nut to connect with feed screw nut seat, the feed screw nut seat is fixedly connected with motor cabinet.
4. ground wire according to claim 3 hangs crusing robot, which is characterized in that the rotating mechanism includes rotating shaft
It holds, is connect by bolt with folding bottom plate above the floating bearing, pass through bolt and bearing base below the floating bearing
It connects, is connect by interference fit with rubber block on the bearing base, the rubber block passes through limit strip and folding pedestal
Connection.
5. ground wire according to claim 4 hangs crusing robot, which is characterized in that the elevating mechanism includes outside arm
Pipe, the arm outer tube are connect by guide pad with arm inner tube, and the arm inner tube is connected by bearing base and telescopic putter
It connects, the telescopic putter is connect by push rod pedestal with arm outer tube.
6. ground wire according to claim 5 hangs crusing robot, which is characterized in that the hold-down mechanism includes compressing
Wheel, the contact roller connect with pressed seat, takes turns upper support seat on the pressed seat and connect with rotatably compressing, under the pressed seat and
It rotatably compresses and takes turns lower support base connection, the wheel upper support seat that rotatably compresses is connect with tension spring, the tension spring other end and compression
Seat connection.
7. ground wire according to claim 1 hangs crusing robot, which is characterized in that the middle arm charging mechanism includes filling
Plug, the charging plug are connect by pressure spring with cradle, and the cradle is connect by bolt with arm inner tube.
8. ground wire according to claim 1 hangs crusing robot, which is characterized in that on the arm pedestal with before in after
The connection of three arms, it is preceding to be connect with robot cabinet.
9. ground wire according to claim 1 hangs crusing robot, which is characterized in that the testing equipment includes camera shooting
Head, infrared detecting set, the camera, infrared detecting set are connected by circuit with signal transceiver, and the signal transceiver is logical
It crosses wireless signal and connects the base station control center resting on the ground.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811086141.4A CN109244934B (en) | 2018-09-18 | 2018-09-18 | Ground wire suspension inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811086141.4A CN109244934B (en) | 2018-09-18 | 2018-09-18 | Ground wire suspension inspection robot |
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| Publication Number | Publication Date |
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| CN109244934A true CN109244934A (en) | 2019-01-18 |
| CN109244934B CN109244934B (en) | 2020-10-16 |
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ID=65059689
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811086141.4A Active CN109244934B (en) | 2018-09-18 | 2018-09-18 | Ground wire suspension inspection robot |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109941366A (en) * | 2019-03-30 | 2019-06-28 | 浙江清华长三角研究院 | Up and down obstacle-avoiding walking mechanism of a new type of hanging robot and its walking method |
| CN110154055A (en) * | 2019-06-17 | 2019-08-23 | 国网福建省电力有限公司泉州供电公司 | An inspection robot |
| CN110474253A (en) * | 2019-08-27 | 2019-11-19 | 芜湖裕优机械科技有限公司 | A kind of electric inspection process robot of energy across obstacle |
| CN111564881A (en) * | 2020-05-26 | 2020-08-21 | 湖北工业大学 | A kind of intelligent charging device and control method of high-voltage transmission line inspection robot |
| CN111634442A (en) * | 2020-06-03 | 2020-09-08 | 西北工业大学 | A suspended robot structure for aircraft assembly quality inspection |
| CN112037599A (en) * | 2020-08-27 | 2020-12-04 | 深圳供电局有限公司 | Ground wire actual operation simulation training device |
| CN112165029A (en) * | 2020-10-20 | 2021-01-01 | 云南电网有限责任公司怒江供电局 | Overhead transmission wire inspection obstacle-surmounting robot and obstacle-surmounting method |
| CN112873245A (en) * | 2021-03-25 | 2021-06-01 | 深圳亿嘉和科技研发有限公司 | Overhead line three-arm inspection robot |
| CN114899783A (en) * | 2022-07-14 | 2022-08-12 | 杭州申昊科技股份有限公司 | Cable walking deicing robot and tower crossing method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109941366A (en) * | 2019-03-30 | 2019-06-28 | 浙江清华长三角研究院 | Up and down obstacle-avoiding walking mechanism of a new type of hanging robot and its walking method |
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| CN111564881A (en) * | 2020-05-26 | 2020-08-21 | 湖北工业大学 | A kind of intelligent charging device and control method of high-voltage transmission line inspection robot |
| CN111634442A (en) * | 2020-06-03 | 2020-09-08 | 西北工业大学 | A suspended robot structure for aircraft assembly quality inspection |
| CN111634442B (en) * | 2020-06-03 | 2022-07-29 | 西北工业大学 | A suspension type robot structure for aircraft assembly quality detects |
| CN112037599A (en) * | 2020-08-27 | 2020-12-04 | 深圳供电局有限公司 | Ground wire actual operation simulation training device |
| CN112037599B (en) * | 2020-08-27 | 2022-07-22 | 深圳供电局有限公司 | Ground wire actual operation simulation training device |
| CN112165029A (en) * | 2020-10-20 | 2021-01-01 | 云南电网有限责任公司怒江供电局 | Overhead transmission wire inspection obstacle-surmounting robot and obstacle-surmounting method |
| CN112873245A (en) * | 2021-03-25 | 2021-06-01 | 深圳亿嘉和科技研发有限公司 | Overhead line three-arm inspection robot |
| CN114899783A (en) * | 2022-07-14 | 2022-08-12 | 杭州申昊科技股份有限公司 | Cable walking deicing robot and tower crossing method thereof |
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