CN111113447A

CN111113447A - Inspection robot claw and inspection robot

Info

Publication number: CN111113447A
Application number: CN202010020698.9A
Authority: CN
Inventors: 付国强; 施景皓; 余飞虎; 戴志坤; 鲁彩江; 高宏力; 刘子轩; 夏文超
Original assignee: Southwest Jiaotong University
Current assignee: Southwest Jiaotong University
Priority date: 2020-01-09
Filing date: 2020-01-09
Publication date: 2020-05-08

Abstract

The invention discloses a claw part of a line inspection robot and the line inspection robot, and belongs to the technical field of electric wire inspection robots. A patrol robot claw comprising: the device comprises a bracket, a supporting component and a fastening component; the supporting component comprises a supporting wheel which is rotatably connected with the bracket and is provided with a supporting groove along the circumferential direction; the fastening assembly comprises a sliding assembly, a rotating assembly, a fastening wheel mounting frame and a fastening wheel; the sliding component is connected with the bracket; the rotating assembly is respectively connected with the sliding assembly and the fastening wheel mounting frame; the fastening wheel rotates with the fastening wheel mounting bracket to be connected and the axis of fastening wheel is parallel with the axis of supporting wheel, and the fastening wheel is equipped with the fastening groove along circumference, and the fastening groove sets up with supporting the groove relatively. The fastening groove extrudes the electric wire to enable the electric wire to be tightly matched with the supporting wheel, so that the holding operation is realized, and the sliding assembly has a lifting function on the fastening wheel, so that the lifting of the fastening wheel can increase the acting force between the electric wire and the supporting wheel as well as between the electric wire and the fastening wheel, thereby meeting the requirement of the change of the thick wire of the electric wire.

Description

Inspection robot claw and inspection robot

Technical Field

The invention relates to the technical field of wire inspection robots, in particular to a claw part of a line inspection robot and the line inspection robot.

Background

The extra-high voltage transmission line is responsible for power transmission in China, and the safe and reliable operation of the extra-high voltage transmission line is directly related to the stable development of national economy. At present, high-voltage and ultrahigh-voltage overhead power lines are the main way for long-distance power transmission and distribution, and the power lines are important components of a power system. The circuit is exposed in the natural environment for a long time, and not only bears the internal pressure of normal mechanical load and power load, but also suffers from external infringement such as pollution, lightning strike, strong wind, landslide, subsidence and bird damage. The above factors can cause great damage to the power line, so the power line needs to be inspected frequently, and the power line must be replaced in time if damaged. At present, the existing inspection robot is only suitable for walking on electric wires with the same thickness, and cannot well finish the holding operation with the electric wires when the thickness of the electric wires changes.

Disclosure of Invention

The invention aims to provide a claw part of a line patrol robot and the line patrol robot, which solve the problem that the existing line patrol robot cannot well clamp an electric wire when the thickness of the electric wire changes.

The technical scheme for solving the technical problems is as follows:

a patrol robot claw comprising: the device comprises a bracket, a supporting component and a fastening component; the supporting component comprises a supporting wheel connected with the bracket, and the supporting wheel is provided with a supporting groove along the circumferential direction; the fastening assembly comprises a sliding assembly, a rotating assembly, a fastening wheel mounting frame and at least one fastening wheel; the sliding component is connected with the bracket; the rotating assembly is respectively connected with the sliding assembly and the fastening wheel mounting frame; the fastening wheel rotates with the fastening wheel mounting bracket to be connected and the axis of fastening wheel is parallel with the axis of supporting wheel, and the fastening wheel is equipped with the fastening groove along circumference, and the fastening groove sets up with supporting the groove relatively.

The supporting groove on the supporting wheel is used for placing an electric wire, the fastening wheel can be in contact with the electric wire under the driving of the sliding assembly and the rotating assembly, the fastening groove extrudes the electric wire to enable the electric wire to be tightly matched with the supporting wheel, and therefore the holding operation is achieved.

The rotating assembly can drive the fastening wheel and the fastening wheel mounting frame to rotate, the fastening wheel is located below the supporting wheel, the sliding assembly can lift the fastening wheel, the fastening wheel is in contact with the electric wire, and therefore the holding operation between the electric wire and the fastening wheel and the supporting wheel is achieved.

Because the reverse work of the sliding assembly can separate the fastening wheel from the electric wire, the reverse work of the rotating assembly can enable the fastening wheel to be far away from the supporting wheel, so that the restraint of the fastening wheel to the lower part of the electric wire can be relieved, the claw part of the inspection robot can be lifted through other mechanisms, the wire-off function is realized, and the obstacle-crossing function is realized.

In addition, each component of the invention is modularized, and the damaged part is convenient to replace.

Furthermore, the supporting assembly further comprises a spring suspension, and the supporting wheel is connected with the bracket through the spring suspension.

When the sliding assembly works, the fastening wheel can be lifted, the fastening wheel extrudes the supporting wheel through the wire, the force received by the supporting wheel can act on the spring suspension, larger acting force can be generated between the supporting wheel and the wire and between the fastening wheel and the wire through the lifting force of the sliding assembly and the reaction force of the spring suspension, enough clamping force can be provided when the supporting wheel and the fastening wheel are matched with the wire, and the robot can climb the wire with a large elevation angle.

Furthermore, the supporting wheel is connected with a supporting wheel motor, and the supporting wheel motor is installed on the spring suspension.

The supporting wheel motor is used for driving the supporting wheel to walk on the electric wire so as to complete the normal walking function.

Furthermore, the supporting assembly further comprises a brake part, the brake part and the fastening wheel are located on two sides corresponding to the supporting wheels, one end of the brake part is connected with the support, and the other end of the brake part is located in the supporting groove and is arranged at intervals with the groove wall of the supporting groove.

When the robot is in the completion of advancing, sliding part drives fastening wheel and supporting wheel and continues to promote, and the spring suspension is further compressed this moment, and the supporting wheel promotes the back, can contact and press close to with the brake part, makes the supporting wheel can not rotate through the frictional force between support groove and the brake part, realizes locking function.

Further, the sliding assembly comprises a lead screw motor, a lead screw and a sliding mounting rack; the screw motor is arranged on the bracket; the screw rod is respectively connected with the screw rod motor and the sliding mounting rack; the sliding mounting frame is connected with the support in a sliding mode.

The sliding assembly realizes the lifting of the rotating assembly, the fastening wheel, the supporting wheel and other parts by driving the screw rod to rotate through the screw rod motor, the screw rod has stable motion and stable performance when moving, and the fastening wheel can be stably contacted with the supporting wheel.

Furthermore, the fastening wheel mounting frame is provided with a connecting rod, and the connecting rod is rotatably connected with the sliding mounting frame.

The sliding assembly is connected with the fastening wheel mounting frame through the rotating assembly and is further connected with the fastening wheel mounting frame through the connecting rod, and the two rotating connection points can support and steer the fastening wheel mounting frame through a lever principle.

Further, the rotating assembly comprises a steering engine and a connecting rod mechanism; the steering wheel is connected with the sliding mounting frame, and the connecting rod mechanism is connected with the steering wheel and the fastening wheel mounting frame respectively.

The steering engine is used as an actuating part of the rotating assembly, the fastening wheel can be completely separated from the electric wire only by rotating a small angle, and a large clamping force can be generated only by rotating a small angle.

Further, the number of the fastening wheels is 3.

The 3 fastening wheels can enable the electric wire to be placed in the supporting groove in a bent state, and the friction force between the electric wire and the wall of the supporting groove is increased.

Furthermore, the fastening groove and the supporting groove are both ring grooves with trapezoidal sections.

The fastening groove and the supporting groove which are T-shaped grooves can effectively limit the electric wire with the changed thickness, so that the electric wire with the changed thickness is met.

A line patrol robot comprises at least two line patrol robot claws and a mechanical arm connected with the line patrol robot claws.

The invention has the following beneficial effects:

Drawings

Fig. 1 is a schematic perspective view of a claw part of a line patrol robot according to the present invention;

fig. 2 is a schematic perspective view of a claw part of the inspection robot according to the present invention;

fig. 3 is a schematic structural view of the fastening assembly of the present invention.

In the figure: 10-a scaffold; 20-a support assembly; 21-a support wheel; 22-a support groove; 23-spring suspension; 24-a brake component; 30-a fastening assembly; 31-a slide assembly; 32-a rotating assembly; 33-fastening wheel mounting; 34-a fastening wheel; 35-a fastening slot; 36-a connecting rod; 311-screw motor; 312-a lead screw; 313-a sliding mount; 321-a steering engine; 322-linkage mechanism.

Detailed Description

The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.

Examples

Referring to fig. 1 and 2, a claw of a line patrol robot includes: the support structure comprises a support 10, a support component 20 and a fastening component 30, wherein the support component 20 is arranged in the support 10, and the fastening component 30 is arranged on one side of the support 10.

The support assembly 20 includes a support wheel 21, a spring suspension 23, and a brake member 24. The supporting wheel 21 is provided with a supporting groove 22 in the circumferential direction for limiting the electric wire. The supporting wheel 21 is provided with a supporting wheel motor (not shown), the supporting wheel motor is installed on the spring suspension 23, a motor shaft of the supporting wheel motor is connected with the supporting wheel 21, and when the supporting wheel 21 is stressed, a spring in the spring suspension 23 can be compressed through the connecting action of the supporting wheel motor. The spring suspension 23 is mounted on the stand 10 such that the support wheels 21 are suspended from the stand 10. One end of the brake element 24 is fixedly connected with the bracket 10, and the other end is positioned in the support groove 22 with a gap from the groove wall of the support groove 22. In the present embodiment, the support groove 22 is a ring groove having a trapezoidal cross section.

Referring to fig. 3, the fastening assembly 30 includes a sliding assembly 31, a rotating assembly 32, a fastening wheel mounting bracket 33, and at least one fastening wheel 34. The sliding assembly 31 is mounted on the bracket 10. The rotating assembly 32 is connected to the sliding assembly 31 and the fastening wheel mounting bracket 33, respectively. The fastening wheel 34 is mounted on the fastening wheel mounting bracket 33.

The sliding assembly 31 includes a lead screw motor 311, a lead screw 312, and a sliding mount 313. The lead screw motor 311 is mounted on the bracket 10. The lead screw 312 is vertically disposed and is connected to a motor shaft of the lead screw motor 311 and the sliding mount 313, respectively. The sliding mount 313 is connected to the bracket 10 by a slider. The sliding mounting frame 313 slides on the support 10 along the extending direction of the lead screw 312 by the driving of the lead screw motor 311.

The rotating assembly 32 includes a steering engine 321 and a linkage 322. The steering wheel 321 is installed on the sliding installation frame 313, one end of the link mechanism 322 is connected with the steering wheel 321, and the other end of the link mechanism 322 is connected with the fastening wheel installation frame 33. Under the drive of steering wheel 321, link mechanism 322 can drive fastening wheel mounting bracket 33 to rotate, thereby driving fastening wheel 34 to be close to supporting wheel 21 or keep away from supporting wheel 21. In this embodiment, link mechanism 322 is equipped with the arch, and when link mechanism 322 rotated to be rectilinear position, the arch can prevent link mechanism 322 to continue to rotate, utilizes link mechanism 322's mechanical auto-lock to make steering wheel 321 need not provide any moment when pressing from both sides tightly, and the clamp force is all provided by sliding assembly 31, not only can realize opening and shutting fast between supporting wheel 21 and the tight wheel 34 but also can provide great clamp force.

The fastening wheel mounting bracket 33 is provided with a connecting rod 36. One end of the connecting rod 36 is connected to the fastening wheel mounting bracket 33, and the other end of the connecting rod 36 is rotatably connected to the slide mounting bracket 313. The sliding member 31 is connected to the fastening wheel mounting bracket 33 not only through the rotating member 32 but also through the connecting rod 36, and the two rotating points can support and steer the fastening wheel mounting bracket 33 by the principle of lever.

The fastening wheel 34 is rotatably connected with the fastening wheel mounting frame 33, a fastening groove 35 is formed in the circumferential direction of the fastening wheel 34, the axis of the fastening wheel 34 is parallel to the axis of the supporting wheel 21, the fastening groove 35 is opposite to the supporting groove 22, and the fastening wheel 34 and the brake component 24 are located on two sides corresponding to the supporting wheel 21. The fastening wheel 34 can be rotated under the supporting wheel 21 by the rotating assembly 32 and make the fastening slot 35 opposite to the supporting slot 22, and the fastening wheel 34 can be moved close to the supporting wheel 21 or away from the supporting wheel 21 by the sliding assembly 31. The fastening wheel 34 holds the electric wire together with the support wheel 21 by the sliding assembly 31. In this embodiment, the number of the fastening wheels 34 is 3, and 3 fastening wheels 34 can make the electric wire be placed in the supporting groove 22 in a bent state, and increase the friction force between the electric wire and the groove wall of the supporting groove 22; the fastening groove 35 is a ring groove having a trapezoidal cross section. In other embodiments of the invention, the number of fastening wheels 34 may also be 1, 2, 4, etc.

The claw part of the inspection robot and the electric wire tightly hold process: the rotating assembly 32 can drive the fastening wheel 34 and the fastening wheel mounting frame 33 to rotate, the fastening wheel 34 is located below the supporting wheel 21, the sliding assembly 31 can lift the fastening wheel 34, the fastening wheel 34 is in contact with the electric wire, the sliding assembly 31 continues to lift the fastening wheel 34, the electric wire is attached to the fastening groove 35 and the supporting groove 22, and the holding operation between the electric wire and the fastening wheel 34 and the supporting wheel 21 is achieved.

Locking process of the claw part of the inspection robot: after the claw part of the inspection robot is tightly held with the electric wire, the sliding assembly 31 continues to work, and drives the supporting wheel 21 to continue to move upwards until the supporting wheel is contacted with the brake part 24, so that the locking function can be realized through the friction force between the brake part 24 and the groove wall of the supporting groove 22.

The claw part of the inspection robot and the electric wire are loosened: the sliding assembly 31 works reversely to separate the fastening wheel 34 from the electric wire, then the rotating assembly 32 works reversely to enable the fastening wheel 34 to be far away from the supporting wheel 21, the constraint of the fastening wheel 34 on the lower portion of the electric wire is removed, the claw portion of the inspection robot is loosened from the electric wire, the claw portion of the inspection robot can be lifted through other mechanisms, the wire removing function is achieved, and the obstacle crossing function is achieved.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims

1. A patrol robot claw portion, characterized by comprising: a bracket (10), a support component (20) and a fastening component (30); the supporting assembly (20) comprises a supporting wheel (21) connected with the bracket (10), and a supporting groove (22) is formed in the supporting wheel (21) along the circumferential direction; the fastening assembly (30) comprises a sliding assembly (31), a rotating assembly (32), a fastening wheel mounting frame (33) and at least one fastening wheel (34); the sliding component (31) is connected with the bracket (10); the rotating assembly (32) is respectively connected with the sliding assembly (31) and the fastening wheel mounting frame (33); the fastening wheel (34) is rotatably connected with the fastening wheel mounting frame (33), the axis of the fastening wheel (34) is parallel to the axis of the supporting wheel (21), a fastening groove (35) is formed in the fastening wheel (34) along the circumferential direction, and the fastening groove (35) is opposite to the supporting groove (22).

2. Patrolling robot jaw according to claim 1, characterized in that the support assembly (20) further comprises a spring suspension (23), the support wheel (21) being connected to the support (10) by means of the spring suspension (23).

3. Patrol robot jaw according to claim 2, characterized in that a support wheel motor is connected to the support wheel (21), which support wheel motor is mounted on the spring suspension (23).

4. The patrol robot jaw portion according to claim 3, wherein the support assembly (20) further comprises a brake member (24), the brake member (24) and the fastening wheel (34) are located at two sides corresponding to the support wheel (21), one end of the brake member (24) is connected with the bracket (10), and the other end of the brake member (24) is located in the support groove (22) and is spaced from the groove wall of the support groove (22).

5. Patrol robot jaw according to claim 1, characterized in that the sliding assembly (31) comprises a lead screw motor (311), a lead screw (312) and a sliding mount (313); the lead screw motor (311) is arranged on the bracket (10); the lead screw (312) is respectively connected with the lead screw motor (311) and the sliding mounting frame (313); the sliding mounting frame (313) is connected with the support (10) in a sliding mode.

6. Patrol robot jaw according to claim 5, characterized in that a connecting rod (36) is provided on the fastening wheel mounting (33), which connecting rod (36) is rotatably connected with the slide mounting (313).

7. Patrol robot jaw according to claim 6, characterized in that the rotating assembly (32) comprises a steering engine (321) and a link mechanism (322); the steering engine (321) is connected with the sliding installation frame (313), and the connecting rod mechanism (322) is connected with the steering engine (321) and the fastening wheel installation frame (33) respectively.

8. Patrol robot jaw according to any one of claims 1-7, characterized in that the number of fastening wheels (34) is 3.

9. The patrol robot claw according to claim 8, wherein the fastening groove (35) and the support groove (22) are both ring grooves having a trapezoidal cross section.

10. A patrol robot comprising at least two patrol robot claws according to any one of claims 1 to 9 and a robot arm connecting the patrol robot claws.