CN109659862B - Line holding walking device of high-voltage transmission line inspection robot - Google Patents

Abstract

The invention discloses a line-holding walking device for a high-voltage transmission line patrol robot, which includes a pod seat. The pod seat includes a front bracket and a rear bracket that are hinged to each other. The front bracket and the rear bracket are respectively provided with longitudinal motors. The output shafts of two longitudinal motors have opposite directions and are respectively connected to a mechanical arm; the ends of the mechanical arms are respectively connected to the claw device; the claw device includes a fixed frame, and the fixed frame is provided with a driving wheel, a limit wheel and a limit wheel respectively. Claw, the outside of fixed frame is provided with electric current taking device. The invention can solve the problem in the prior art that it is difficult for robots to cross obstacles, and has a simple structure, high efficiency and strong reliability.

Description

A wire-holding walking device for a high-voltage transmission line inspection robot

Technical field

The invention relates to the technical field of electric power-related robots, and in particular to a wire-holding walking device of a high-voltage transmission line patrol robot.

Background technique

At present, the use of high-voltage and ultra-high-voltage overhead power lines is the main method of long-distance power transmission and distribution, and power lines are an important part of the power system. Due to long-term exposure to the natural environment, lines must not only withstand the internal pressure of normal mechanical loads and electrical loads, but also withstand external intrusions such as pollution, lightning strikes, strong winds, landslides, subsidence, and bird damage. The above factors will cause relatively large damage to the power line, so the power line needs to be inspected frequently. If the power line is damaged, it must be replaced in time. In order to realize autonomous inspection of power lines, research on line patrol robots is increasing day by day; however, most of the existing line patrol robots can only ensure that they move along the line. When encountering obstacles that need to be crossed, it is difficult to complete the operations required to overcome the obstacles.

Contents of the invention

In view of the above-mentioned deficiencies in the prior art, the present invention provides a wire-holding walking device for a high-voltage transmission line patrol robot that can solve the problem of difficulty in crossing obstacles for a line patrol robot in the prior art.

In order to solve the above technical problems, the present invention adopts the following technical solutions:

A wire-holding walking device for a high-voltage transmission line patrol robot is provided, which includes a pod seat. The pod seat includes a front bracket and a rear bracket that are hinged to each other. The front bracket and the rear bracket are respectively provided with longitudinal motors, and two longitudinal motors are provided on the front bracket and the rear bracket. The output shaft of the motor has opposite directions and is connected to a mechanical arm respectively; the ends of the mechanical arms are connected to the claw device respectively; the claw device includes a fixed frame, and the fixed frame is respectively provided with a driving wheel, a limiting wheel and a limiting claw. A current power-taking device is provided on the outside of the fixed frame.

In the above technical solution, preferably, a horizontal motor is provided between the front bracket and the rear bracket.

In the above technical solution, preferably, the driving wheel is movably arranged in the middle part of the fixed frame.

In the above technical solution, preferably, a wrist motor is provided on the upper part of the robot arm, and the wrist motor is connected to the fixed frame.

In the above technical solution, preferably, two supporting wheels are arranged in parallel at the lower part of the fixed frame.

In the above technical solution, preferably, a limit screw motor is hinged on the side wall of the fixed frame, and the output shaft of the limit screw motor is hinged with the end of the limit claw and the limit wheel respectively.

In the above technical solution, preferably, the middle part of the limiting claw and the limiting wheel is hinged with the lower part of the side wall of the fixed frame.

In the above technical solution, preferably, the side walls on both sides of the fixed frame are respectively hinged with a limit screw motor, and the two limit screw motors are located on both sides of the driving wheel and connected to the limit claw and the limit wheel respectively. .

In the above technical solution, preferably, the current power-taking device is arranged on the side deviated from the pod seat.

In the above technical solution, preferably, the claw devices are respectively located on the side of the robotic arm adjacent to the pod seat.

The main beneficial effects of the wire-holding walking device of the high-voltage transmission line patrol robot provided by the present invention are:

By arranging two mechanical arms on the pod seat, the present invention is lighter than the existing inspection robot, has a larger obstacle surmounting distance, and has a simple and reliable climbing action; by arranging a driving wheel on the claw device, it can directly roll over It can pass most wire obstacles and improve the efficiency of obstacle crossing; by setting the limit claw, the limit wheel and the driving wheel to cooperate, it is more efficient to grab and clamp the wire.

The thickness of the actual wire changes significantly in the line-following state. By setting support wheels on the fixed frame and using a suspension structure, it can better cooperate with the wire and provide clamping force so that the robot can climb the wire with a large elevation angle.

Description of the drawings

Figure 1 is a schematic structural diagram of the present invention.

Figure 2 is a schematic structural diagram of the claw device.

Figure 3 is a schematic structural diagram of the claw device from another angle.

Figure 4 is a schematic structural diagram of the pod seat.

Among them, 1. Claw device, 11. Fixed frame, 12. Driving wheel, 13. Wrist motor, 14. Support wheel, 15. Current power taking device, 16. Limiting claw, 161. Limiting screw motor, 162. Limiting wheel, 2. Mechanical arm, 3. Pod seat, 31. Horizontal motor, 32. Front bracket, 321. Rear bracket, 33. Longitudinal motor, 4. Wire.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings:

As shown in Figure 1, it is a schematic structural diagram of the wire-holding walking device of the high-voltage transmission line inspection robot.

The wire-holding walking device of the high-voltage transmission line patrol robot of the present invention includes a pod seat 3. As shown in Figure 4, the pod seat 3 includes a front bracket 32 and a rear bracket 321 that are hinged to each other. Longitudinal motors 33 are respectively provided. The output shafts of the two longitudinal motors 33 have opposite directions and are respectively connected to a mechanical arm 2; the ends of the mechanical arms 2 are respectively connected to the claw devices 1, and the claw devices 1 are respectively located adjacent to the mechanical arm 2. One side of the pod seat 3.

By setting up the pod seat 3, a heavier pod can be mounted to place large-volume modules such as power supplies, computers, sensors, etc., to facilitate the replacement of module pods with different functions, thereby improving the work efficiency of the wire holding device.

As shown in Figures 2 and 3, the claw device 1 includes a fixed frame 11. The fixed frame 11 is provided with a driving wheel 12, a limiting wheel 162 and a limiting claw 16 respectively. The fixed frame 11 is provided with an axle with the driving wheel 12. The connected hub motor drives the rotation of the driving wheel 12; a current power-taking device 15 is provided on the outside of the fixed frame 11; the current power-taking device 15 is provided on the side deviating from the pod seat 3, and the steering gear of the motor 15 is provided on the fixed Inside frame 11.

Preferably, a horizontal motor 31 is provided between the front bracket 32 and the rear bracket 321 . When encountering obstacles such as jumpers that cannot be rolled over, the horizontal motor 31 can be operated to deflect the front bracket 32 and the rear bracket 321 to each other, thereby causing the two robotic arms 2 to deviate from each other at a certain angle to facilitate obstacle crossing. .

Specifically, the horizontal motor 31 can be disposed on the front bracket 32 and connected to the rear bracket 321 through the output shaft; or the horizontal motor 31 can be disposed on the rear bracket 321 and connected to the front bracket 32 through the output shaft.

Further, the driving wheel 12 is movably arranged in the middle of the fixed frame 11 . A wrist motor 13 is provided on the upper part of the robot arm 2 , and the wrist motor 13 is connected to the side wall of the fixing frame 11 . The relative angle between the robot arm 2 and the fixed frame 11 is adjusted through the wrist motor 13 .

Preferably, the wrist motor 13 is a worm gear motor, which can maximize the use of the torque of the motor to increase the load of the robot and better adapt to the harsh working conditions of high-voltage wires.

Preferably, the wrist motor 13 and the longitudinal motor 33 have the same structure, thereby providing the versatility of the overall structure and increasing the load of the robot.

Two supporting wheels 14 are arranged in parallel at the lower part of the fixed frame 11; by arranging the supporting wheels 14 on the fixed frame 11, the suspension structure is used to better cooperate with the wires 4 and provide clamping force so that the robot can climb at large elevation angles. Wire 4.

The limit screw motor 161 is hinged on the side wall of the fixed frame 11. The output shaft of the limit screw motor 161 is hinged with the end of the limit claw 16 and the limit wheel 162; the middle part of the limit claw 16 and the limit wheel 162 is fixed to The lower part of the side wall of the frame 11 is hinged; the side walls on both sides of the fixed frame 11 are respectively hinged with a limit screw motor 161, and the two limit screw motors 161 are respectively located on both sides of the driving wheel 12 and are respectively connected with the limit claw 16 Connected to the limiting wheel 162.

Through the operation of the limit screw motor 161, under the action of the lever principle, the limit claw 16 and the limit wheel 162 are relatively rotated around the connection between the fixed frame 11 and the limit claw 16 and the limit wheel 162, thereby realizing wire holding and The act of releasing.

The following is the working principle of the wire-holding walking device provided by the present invention:

In actual work, the wire-holding walking device may encounter three working conditions: first, normal walking without obstacles; second, when there are obstacles in front, such as anti-vibration hammers, tension clamps and other small obstacles, it does not need to be rolled offline to overcome obstacles; third, When there are obstacles ahead, such as jumpers and other obstacles that cannot be rolled over, the obstacle-crossing end will cross the obstacles offline.

For barrier-free normal walking: the wrist motor 13 of the claw device 1 is activated to drive the entire mechanism forward, and the limit screw motor 161 of the claw device 1 rotates so that the limit wheel 162 and the driving wheel 12 clamp the wire 4, and the claw The gravity of the pod seat 3 suspended below the external device 1 makes the support wheel 14, the limiting wheel 162 and the driving wheel 12 closely adhere to the wire 4 and provide friction. At this time, the limiting claw 16 is in a loosened state, and the wrist motor 13 It is locked with the longitudinal motor 33 to make the two mechanical arms 2 form a certain angle, and the hub motor drives the driving wheel 12 to make the line-following robot walk normally.

When there are obstacles in front, such as anti-shock hammers, tension clamps and other small obstacles, the obstacle can be overcome without offline rolling: first, the front claw device 1 can overcome the obstacle. When the line patrol robot recognizes that there is a crushable obstacle ahead, the limit screw motor 161 on the claw device 1 rotates to release the limit wheel 162 and the limit claw 16, and the steering gear of the current power-taking device 15 rotates to drive the two The petal core is opened, and the hub motor of the claw device 1 drives the driving wheel 12, driving the front claw device 1 to run over the obstacle.

At the same time, when the working conditions are severe, the two limiting screw motors 161 of the rear claw device 1 rotate to cause the limiting wheel 162 and the limiting claw 16 to clamp the wire 4 to maintain the stability of the mechanism. Through the rotation of the wrist motor 13 and the horizontal movement of the front claw device 1, the wire is pressed.

When the working environment is good, the limit screw motor 161 of the rear claw device 1 rotates to cause the limit wheel 162 to clamp the wire 4, the limit claw 16 is released, and the wrist motor 13 and the longitudinal motor 33 are locked. The hub motors of the rear claw device 1 work together to push the entire robot forward through the obstacle.

When there are obstacles ahead, such as jumpers and other obstacles that cannot be rolled over, the obstacle-crossing end will cross the obstacles offline: first, the front claw device 1 will cross the obstacles. When there is an obstacle that cannot be rolled over in front, the limit screw motor 161 of the front claw device 1 drives the limit wheel 162 and the limit claw 16 to open, and the steering gear of the current power-taking device 15 rotates to drive the two magnetic cores to open. At the same time, the limiting screw motor 161 of the rear claw device 1 rotates, causing the limiting wheel 162 and the limiting claw 16 to clamp the wire 4 to maintain the stability of the mechanism.

The longitudinal motor 33 rotates to drive the two mechanical arms 2 to lift up, so that the front claw device 1 leaves the wire 4, and then the horizontal motor 31 rotates, so that the front claw device 1 leaves the wire 4 in the horizontal direction. The wrist motor 13 and the longitudinal The motor 33 and the horizontal motor 31 continue to be linked to make the front claw device 1 pass the obstacle, and then the driving wheel 12 of the front claw device 1 hooks the wire 4, and the limit screw motor 161 of the front claw device 1 The drive limiting wheel 162 and the limiting claw 16 rotate inward to lock the wire 4, thereby completing the obstacle crossing; the rear claw device 1 crosses the line in the same way as the front claw device 1 forearm crosses the line.

The specific embodiments of the present invention are described above to facilitate those skilled in the art to understand the present invention. However, it should be clear that the present invention is not limited to the scope of the specific embodiments. For those of ordinary skill in the art, as long as various changes These changes are obvious within the spirit and scope of the invention as defined and determined by the appended claims, and all inventions and creations utilizing the concept of the invention are protected.

Claims (8)

1. The wire holding walking device of the high-voltage transmission line inspection robot is characterized by comprising a nacelle base (3), wherein the nacelle base (3) comprises a front support (32) and a rear support (321) which are mutually hinged, longitudinal motors (33) are respectively arranged on the front support (32) and the rear support (321), and output shafts of the two longitudinal motors (33) are opposite in direction and are respectively connected with a mechanical arm (2); the tail ends of the mechanical arms (2) are respectively connected with the claw part device (1); the claw device (1) comprises a fixed frame (11), wherein a driving wheel (12), a limiting wheel (162) and a limiting claw (16) are respectively arranged on the fixed frame (11), and a current electricity taking device (15) is arranged on the outer side of the fixed frame (11);

two limit screw motors (161) are hinged to the side wall of the fixing frame (11), and output shafts of the two limit screw motors (161) are hinged to the tail ends of the limit claws (16) and the limit wheels (162) respectively; the middle parts of the limit claw (16) and the limit wheel (162) are hinged with the lower part of the side wall of the fixing frame (11).

2. The line holding walking device of the high-voltage transmission line inspection robot according to claim 1, wherein a horizontal motor (31) is arranged between the front bracket (32) and the rear bracket (321).

3. The line holding walking device of the high-voltage transmission line inspection robot according to claim 1, wherein the driving wheel (12) is movably arranged in the middle of the fixing frame (11).

4. A line holding walking device of a high-voltage transmission line inspection robot according to claim 3, characterized in that a wrist motor (13) is arranged on the upper portion of the mechanical arm (2), and the wrist motor (13) is connected with a fixing frame (11).

5. A line holding travelling device of a high voltage transmission line inspection robot according to claim 3, characterized in that two supporting wheels (14) are arranged in parallel at the lower part of the fixing frame (11).

6. The line holding walking device of the high-voltage transmission line inspection robot according to claim 1, wherein the side walls on two sides of the fixing frame (11) are respectively hinged with a limiting screw motor (161), and the two limiting screw motors (161) are respectively positioned on two sides of the driving wheel (12) and are respectively connected with the limiting claw (16) and the limiting wheel (162).

7. The line clasping running gear of a high voltage transmission line inspection robot according to claim 1, characterized in that the current taking device (15) is arranged on the side surface deviating from the nacelle stand (3).

8. The line holding walking device of the high-voltage transmission line inspection robot according to claim 1, wherein the claw devices (1) are respectively positioned on one side of the mechanical arm (2) adjacent to the nacelle base (3).