CN109659862B - Line holding walking device of high-voltage transmission line inspection robot - Google Patents
Line holding walking device of high-voltage transmission line inspection robot Download PDFInfo
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- CN109659862B CN109659862B CN201910149296.6A CN201910149296A CN109659862B CN 109659862 B CN109659862 B CN 109659862B CN 201910149296 A CN201910149296 A CN 201910149296A CN 109659862 B CN109659862 B CN 109659862B
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- claw
- inspection robot
- voltage transmission
- transmission line
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- 238000007689 inspection Methods 0.000 title claims abstract description 25
- 230000005540 biological transmission Effects 0.000 title claims abstract description 17
- 210000000078 claw Anatomy 0.000 claims abstract description 59
- 230000005611 electricity Effects 0.000 claims abstract description 7
- 210000000707 wrist Anatomy 0.000 claims description 15
- 230000009471 action Effects 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 208000025274 Lightning injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000009545 invasion Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
Classifications
-
- 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 invention discloses a wire holding travelling device of a high-voltage transmission line inspection robot, which comprises a nacelle seat, wherein the nacelle seat comprises a front support and a rear support which are mutually hinged, longitudinal motors are respectively arranged on the front support and the rear support, and the output shafts of the two longitudinal motors are opposite in direction and are respectively connected with a mechanical arm; the tail ends of the mechanical arms are respectively connected with the claw parts; the claw part device comprises a fixed frame, a driving wheel, a limiting wheel and a limiting claw are respectively arranged on the fixed frame, and a current electricity taking device is arranged on the outer side of the fixed frame. The invention can solve the problem of large obstacle crossing difficulty of the robot in the prior art, and has the advantages of simple structure, high efficiency and strong reliability.
Description
Technical Field
The invention relates to the technical field of power related robots, in particular to a wire holding walking device of a high-voltage transmission line inspection robot.
Background
Currently, high-voltage and ultra-high-voltage overhead power lines are the main way to transmit and distribute power over long distances, and power lines are an important component of power systems. The circuit is exposed in natural environment for a long time, so that the circuit is required to bear not only normal mechanical load and internal pressure of electric load, but also external invasion such as pollution, lightning stroke, strong wind, landslide, subsidence, bird damage and the like. The above factors cause relatively large damage to the power line, so the power line needs to be inspected frequently, and if the power line is damaged, the power line needs to be replaced in time. In order to enable autonomous inspection of the power line, research on inspection robots is now increasing; however, most existing inspection robots can only guarantee to advance along the line, and when encountering an obstacle and needing to cross, the operation required by obstacle crossing is difficult to complete.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the line-holding travelling device of the high-voltage transmission line inspection robot, which can solve the problem of high obstacle-crossing difficulty of the line inspection robot in the prior art.
In order to solve the technical problems, the invention adopts the following technical scheme:
the wire holding walking device of the high-voltage transmission line inspection robot comprises a nacelle seat, wherein the nacelle seat comprises a front support and a rear support which are mutually hinged, longitudinal motors are respectively arranged on the front support and the rear support, and output shafts of the two longitudinal motors are opposite in direction and are respectively connected with a mechanical arm; the tail ends of the mechanical arms are respectively connected with the claw parts; the claw part device comprises a fixed frame, a driving wheel, a limiting wheel and a limiting claw are respectively arranged on the fixed frame, and a current electricity taking device is arranged on the outer side of the fixed frame.
In the above technical scheme, preferably, a horizontal motor is arranged between the front bracket and the rear bracket.
In the above technical scheme, preferably, the driving wheel is movably arranged in the middle of the fixing frame.
In the above technical scheme, preferably, a wrist motor is arranged on the upper portion of the mechanical arm, and the wrist motor is connected with the fixing frame.
In the above technical solution, preferably, two supporting wheels are arranged in parallel at the lower part of the fixing frame.
In the above technical scheme, preferably, the side wall of the fixing frame is hinged with a limit screw motor, and an output shaft of the limit screw motor is hinged with the tail ends of the limit claw and the limit wheel respectively.
In the above technical scheme, preferably, the middle parts of the limit claw and the limit wheel are hinged with the lower part of the side wall of the fixing frame.
In the above technical scheme, preferably, the side walls on two sides of the fixing frame are respectively hinged with one limiting screw motor, and the two limiting screw motors are respectively positioned on two sides of the driving wheel and are respectively connected with the limiting claw and the limiting wheel.
In the above-described solution, it is preferable that the current-taking device is provided on a side surface offset from the nacelle stand.
In the above technical solution, preferably, the claw means are respectively located at one side of the mechanical arm adjacent to the nacelle stand.
The line-holding traveling device of the high-voltage transmission line inspection robot provided by the invention has the main beneficial effects that:
according to the invention, the two mechanical arms are arranged on the nacelle base, so that the inspection robot is lighter and more convenient, the obstacle crossing distance is larger, and the overturning action is simple and reliable; the claw device is provided with the driving wheel, so that most of electric wire obstacles can be directly ground, and obstacle crossing efficiency is improved; through setting up spacing claw, spacing wheel and action wheel cooperation, more efficient when making snatch and press from both sides tight electric wire.
The thickness of the actual electric wire has obvious change under the line inspection state, and the supporting wheels are arranged on the fixing frame, so that the supporting wheels can be better matched with the electric wire by using the hanging structure, and the clamping force is provided, so that the robot can climb the electric wire with a large elevation angle.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic structural view of the claw portion device.
Fig. 3 is a schematic view of another angle of the claw means.
Fig. 4 is a schematic structural view of the pod holder.
The electric power feeding device comprises a claw device 1, a claw device 11, a fixing frame 12, a driving wheel 13, a wrist motor 14, a supporting wheel 15, a current power feeding device 16, a limiting claw 161, a limiting screw motor 162, a limiting wheel 2, a mechanical arm 3, a nacelle seat 31, a horizontal motor 32, a front support 321, a rear support 33, a longitudinal motor 4 and an electric wire.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
as shown in fig. 1, the structure of the line-holding traveling device of the line-inspection robot for the high-voltage transmission line is schematically shown.
The wire holding travelling device of the high-voltage transmission line inspection robot comprises a nacelle seat 3, as shown in fig. 4, the nacelle seat 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 the 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 claw devices 1, and the claw devices 1 are respectively positioned on one side of the mechanical arms 2 adjacent to the nacelle base 3.
Through setting up nacelle seat 3, can mount heavier nacelle in order to place the power, the computer, the module nacelle of different functions is convenient to change to large-size modules such as sensor to improve the work efficiency of embracing the line device.
As shown in fig. 2 and 3, 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 hub motor connected with a wheel shaft of the driving wheel 12 is arranged on the fixed frame 11 so as to drive the driving wheel 12 to rotate; the outer side of the fixed frame 11 is provided with a current electricity taking device 15; the current electricity taking device 15 is arranged on the side surface deviating from the nacelle base 3, and the steering engine of the motor 15 is arranged on the inner side of the fixing frame 11.
Preferably, a horizontal motor 31 is provided between the front bracket 32 and the rear bracket 321. When encountering the non-crushable barriers such as jumpers, the front support 32 and the rear support 321 can deflect mutually through the horizontal motor 31, so that the two mechanical arms 2 deviate at a certain angle mutually, and obstacle surmounting is facilitated.
Specifically, the horizontal motor 31 may be disposed on the front bracket 32 and connected to the rear bracket 321 through an output shaft; or the horizontal motor 31 is provided on the rear bracket 321 and is connected to the front bracket 32 through an output shaft.
Further, the driving wheel 12 is movably arranged in the middle of the fixing frame 11. The upper part of the mechanical arm 2 is provided with a wrist motor 13, and the wrist motor 13 is connected with the side wall of the fixed frame 11. The relative angle between the mechanical arm 2 and the fixed frame 11 is adjusted through the wrist motor 13.
Preferably, the wrist motor 13 is a worm and gear motor, so that the torque of the motor can be utilized to the maximum to enable the load of the robot to be larger, and the robot can be better adapted to the severe working condition of a high-voltage wire.
Preferably, the wrist motor 13 is identical in structure to the longitudinal motor 33, thereby providing 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 providing the supporting wheel 14 on the holder 11, it is better able to cooperate with the wire 4 by means of a suspension structure, providing a clamping force for the robot to climb the wire 4 at a large elevation angle.
A limit screw motor 161 is hinged on the side wall of the fixed frame 11, and an output shaft of the limit screw motor 161 is hinged with the tail ends of the limit claw 16 and the limit wheel 162; 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 fixed frame 11; 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.
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 rotate relatively around the connecting part of the fixing frame 11, the limit claw 16 and the limit wheel 162, thereby realizing the actions of holding and loosening.
The working principle of the wire holding walking device provided by the invention is as follows:
in actual operation, the wire holding traveling device may meet three working conditions: firstly, normally walking without barriers; secondly, when there is an obstacle in front, such as a damper, a tension clamp and other small-sized obstacles, the obstacle is not rolled off line and is surmounted; thirdly, when the front is provided with an obstacle such as a jumper wire and the like which cannot be rolled, the obstacle crossing end goes off-line and gets over the obstacle.
For normal walking without obstacle: the wrist motor 13 of the claw device 1 is operated to drive the whole mechanism to advance, the limiting screw motor 161 of the claw device 1 rotates to enable the limiting wheel 162 and the driving wheel 12 to clamp the electric wire 4, the gravity of the nacelle seat 3 hung below the claw device 1 enables the supporting wheel 14, the limiting wheel 162 and the driving wheel 12 to tightly cling to the electric wire 4 and provide friction force, at the moment, the limiting claw 16 is in a loosening state, the wrist motor 13 and the longitudinal motor 33 are locked to enable the two mechanical arms 2 to form a certain angle, and the hub motor drives the driving wheel 12 to enable the inspection robot to normally walk.
For the front obstacle, for example, when small obstacles such as a damper, a tension clamp and the like are present, the obstacle is surmounted by rolling without off line: first, the front-side claw device 1 gets over the obstacle. When the inspection robot recognizes that the front part has a rolling obstacle, the limiting screw motor 161 on the claw part device 1 rotates to enable the limiting wheel 162 and the limiting claw 16 to be loosened, the steering engine of the current electricity taking device 15 rotates to drive the two magnetic cores to be opened, and the hub motor of the claw part device 1 drives the driving wheel 12 to drive the front side claw part device 1 to roll over the obstacle.
Simultaneously, when the working condition is worse, the two limit screw motors 161 of the rear claw part device 1 rotate to enable the limit wheels 162 and the limit claws 16 to clamp the electric wire 4 so as to maintain the mechanism stable. The electric wire is pressed by the wrist motor 13 being rotated in cooperation with the front-side claw device 1 to move horizontally.
When the working condition is better, the limit screw motor 161 of the rear claw device 1 rotates to enable the limit wheel 162 to clamp the electric wire 4, the limit claw 16 is loosened, the wrist motor 13 and the longitudinal motor 33 are locked, and the hub motor of the rear claw device 1 works together to enable the whole robot to be pressed forwards to pass through the obstacle.
For the front obstacle, such as a jumper wire and other non-crushable obstacle, the obstacle crossing end goes offline to cross the obstacle: first, the front-side claw device 1 gets over the obstacle. When the front side has the non-crushable obstacle, the limit screw motor 161 of the front side claw device 1 drives the limit wheel 162 and the limit claw 16 to open, the steering engine of the current electricity taking device 15 rotates to drive the two magnetic cores to open, and meanwhile, the limit screw motor 161 of the rear side claw device 1 rotates to enable the limit wheel 162 and the limit claw 16 to clamp the electric wire 4 so as to maintain the mechanism stable.
The longitudinal motor 33 rotates to drive the two mechanical arms 2 to lift upwards, so that the front claw device 1 is separated from the electric wire 4, then the horizontal motor 31 rotates, so that the front claw device 1 is separated from the electric wire 4 in the horizontal direction, the wrist motor 13 and the longitudinal motor 33 are continuously linked with the horizontal motor 31, so that after the front claw device 1 passes over a barrier, the driving wheel 12 of the front claw device 1 is hooked on the electric wire 4, and the limit screw motor 161 of the front claw device 1 drives the limit wheel 162 and the limit claw 16 to rotate inwards to lock the electric wire 4, so that obstacle crossing is completed; the trailing jaw device 1 is the same as the leading jaw device 1 in terms of the leading arm span.
The above description of the embodiments of the present invention has been provided to facilitate understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and that all the inventions using the inventive concept are to be protected as long as various changes are within the spirit and scope of the present invention as defined and defined by the appended claims to those skilled in the art.
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).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910149296.6A CN109659862B (en) | 2019-02-28 | 2019-02-28 | Line holding walking device of high-voltage transmission line inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910149296.6A CN109659862B (en) | 2019-02-28 | 2019-02-28 | Line holding walking device of high-voltage transmission line inspection robot |
Publications (2)
| Publication Number | Publication Date |
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| CN109659862A CN109659862A (en) | 2019-04-19 |
| CN109659862B true CN109659862B (en) | 2023-12-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910149296.6A Active CN109659862B (en) | 2019-02-28 | 2019-02-28 | Line holding walking device of high-voltage transmission line inspection robot |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110253592B (en) * | 2019-06-03 | 2020-12-25 | 广西电网有限责任公司贵港供电局 | Intelligent line patrol robot for high-voltage transmission line |
| CN110707600B (en) * | 2019-11-29 | 2024-09-06 | 贵州电网有限责任公司 | Two arm high pressure transmission line inspection robots based on in-wheel motor |
| CN113889910B (en) * | 2021-11-08 | 2023-02-24 | 国网山东省电力公司寿光市供电公司 | Lead driving capable of quickly crossing obstacles |
| CN114346638B (en) * | 2022-02-16 | 2023-03-14 | 广西腾智投资有限公司 | Automatic installation equipment |
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2019
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| EP1873535A1 (en) * | 2006-06-29 | 2008-01-02 | ABB Research Ltd | A self-propelled inspection apparatus |
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