CN111224346A - High tension transmission line inspection robot with multiple motion modes - Google Patents
High tension transmission line inspection robot with multiple motion modes Download PDFInfo
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- CN111224346A CN111224346A CN202010164040.5A CN202010164040A CN111224346A CN 111224346 A CN111224346 A CN 111224346A CN 202010164040 A CN202010164040 A CN 202010164040A CN 111224346 A CN111224346 A CN 111224346A
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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 invention discloses a high-voltage transmission line inspection robot with multiple motion modes, which comprises a box body, a front mechanical arm, a middle mechanical arm, a rear mechanical arm and a control system, wherein the front mechanical arm, the middle mechanical arm and the rear mechanical arm are sequentially arranged above the box body at intervals from front to back, and all the mechanical arms are telescopic mechanical arms. The rear mechanical arm and the front mechanical arm are identical in structure and are oppositely arranged on the left side and the right side of the high-voltage power transmission line. The lower ends of the front mechanical arm and the rear mechanical arm are respectively connected with the box body in a rotating mode, the upper ends of the front mechanical arm and the rear mechanical arm are respectively provided with first traveling wheels, and each first traveling wheel is driven by a first servo motor. The lower extreme of middle arm passes through horizontal guiding mechanism and box swing joint, and the upper end disposes the second and walks the wheel, and the second is walked the wheel and is driven its rotation by establishing the second servo motor on middle arm. The robot has the advantages of high inspection speed, strong climbing, straight line and corner obstacle crossing capability, high automation degree, good gravity center stability and capability of ensuring quick and smooth inspection of electric power.
Description
Technical Field
The invention relates to the technical field of high-voltage transmission line inspection, in particular to a multi-motion-mode high-voltage transmission line inspection robot.
Background
The high-voltage transmission line and the ultrahigh-voltage transmission line play a crucial role in long-distance power transmission. The transmission line passes through complex external environments such as mountains, deserts, forests and the like, and the high-voltage transmission line is damaged by mechanical force, material aging and the like along with the time, such as fracture, abrasion, corrosion and the like. Even minor line damage and interruptions can cause safety and economic problems in the areas of transportation, medical, industrial, life, etc., if these problems are not discovered and repaired in a timely manner. Therefore, the inspection and maintenance of the high-voltage transmission line are performed to ensure the normal power supply to a plurality of fields, so that the loss of each field is effectively reduced, and more attention is paid to people.
The inspection of the high-voltage line mainly has three modes: (1) visual inspection. The method has the advantages that the high-voltage line detection is carried out by workers on ground carrying equipment, the automation degree is low, the labor intensity is high, the precision is low, and the method is difficult to implement in complex environments such as mountains, rivers, deserts and the like; (2) and (4) aerial surveying. The method is also divided into helicopter and unmanned aerial vehicle inspection, the helicopter inspection is high in cost, a safe distance needs to be kept between the helicopter inspection and a line, short-distance detection cannot be achieved, and the method cannot be implemented in strong wind and heavy rain. The unmanned aerial vehicle has weak routing endurance and lower load capacity; (3) and (4) a robot inspection method. The inspection robot inspection method takes a high-voltage line as a path, equipment carried by the robot can be used for not only safely inspecting the line, but also performing maintenance operations such as deicing, repairing, anti-vibration hammer resetting and the like on the line by using special equipment, and has the advantages of high precision, low risk, low cost and the like. Therefore, the robot inspection method has a good development prospect in the inspection of the high-voltage line due to the advantages.
However, in engineering practice, obstacles such as early warning balls, suspension clamps, vibration dampers, spacers and the like exist on a high-voltage line, and when a power transmission line passes through regions such as rivers, mountains, canyons, forests and the like, the power transmission line generally has the conditions of large span, steep line gradient and various hardware forms, and the robot is required to have strong obstacle crossing capability and rolling climbing capability at the same time. Therefore, how to effectively cross the obstacles and have higher inspection efficiency and climbing capacity is the key for smoothly implementing line maintenance and overhaul of the high-voltage line inspection robot.
Obstacles such as a spacer, a vibration damper, a suspension fitting and the like exist on the high-voltage transmission line, and meanwhile, when the transmission line passes through sections such as rivers, mountains, canyons, forests and the like, the transmission line generally has the conditions of large span, steep line gradient and various fitting forms. The existing inspection robot has the defects of low linear traveling speed, weak climbing capability, frequent slipping phenomenon, low inspection efficiency and difficulty in crossing over obstacles on a power transmission line, particularly obstacles at the steering position of the power transmission line on a high-voltage power transmission broken line. Therefore, the prior art needs to be further improved, and the inspection robot is required to have stronger obstacle crossing capability and climbing capability.
Disclosure of Invention
In view of the above-mentioned deficiencies of the prior art, the present invention aims to provide a multi-motion-mode inspection robot for a high-voltage power transmission line, which has the problems of slow traveling speed, weak climbing capability, low inspection efficiency and difficulty in crossing obstacles on the power transmission line when traveling on the high-voltage power transmission line.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
the utility model provides a high tension transmission line inspection robot of many motion modes, includes box, preceding arm, middle arm, back arm and control system, and preceding arm, middle arm, back arm are by going to back interval setting in proper order in the top of box, and above-mentioned each arm is scalable arm.
The rear mechanical arm and the front mechanical arm are identical in structure and are oppositely arranged on the left side and the right side of the high-voltage power transmission line.
The lower ends of the front mechanical arm and the rear mechanical arm are respectively connected with the box body in a rotating mode, the upper ends of the front mechanical arm and the rear mechanical arm are respectively provided with first travelling wheels, and each first travelling wheel is connected with the output end of a first servo motor on the mechanical arm where the first travelling wheel is located.
The lower extreme of middle arm passes through horizontal guiding mechanism and box swing joint, and the upper end of middle arm disposes the second and walks the wheel, and the second is walked the wheel and is driven its rotation by the second servo motor that sets up on middle arm.
Further, the box body comprises a top plate, a bottom plate and four side plates, and the top plate, the bottom plate and the four side plates are welded to form a square box-shaped structure.
The power supply is arranged in the box body and respectively supplies power to the first servo motor and the second servo motor, and the signal ends of the first servo motor and the second servo motor are in communication connection with the control system.
Furthermore, the front mechanical arm comprises a first rod body, a second rod body and a first electric telescopic rod, the lower end of the first rod body is rotatably connected with the corresponding hinged support, and the upper end of the first rod body is hinged with the lower end of the second rod body.
The first rod body is connected with the second rod body through the first electric telescopic rod, one end of the first electric telescopic rod is hinged to the middle of the first rod body, the other end of the first electric telescopic rod is hinged to the middle of the second rod body, and meanwhile, the signal end of the first electric telescopic rod is in communication connection with the control system.
Furthermore, hinged supports are respectively arranged at the positions where the top of the box body is connected with the front mechanical arm and the rear mechanical arm.
The lower end of the first rod body is provided with a fixed shaft which is connected with the corresponding hinged support in a rotating mode through the fixed shaft, the end portion of the fixed shaft is connected with an output end gear of a speed reducer, the input end of the speed reducer is connected with a power output end of a third servo motor, the third servo motor drives the first rod body to swing left and right through the fixed shaft, and a signal end of the third servo motor is in communication connection with a control system.
Furthermore, middle arm includes electric telescopic cylinder and the third body of rod, and the third body of rod is located electric telescopic cylinder's top, and its lower extreme links to each other with the one end stationary phase of electric telescopic cylinder.
The second walking wheel is arranged on one side of the upper end of the third rod body, and the second servo motor is arranged on the third rod body.
Furthermore, horizontal guiding mechanism includes guide rail, sliding seat and first linear electric motor, and the guide rail has two, and horizontal parallel interval is fixed at the top of box.
The sliding seat is positioned above the guide rail, the lower part of the sliding seat is in sliding fit with the guide rail, the electric telescopic cylinder is positioned above the sliding seat, and the other end of the electric telescopic cylinder is fixedly connected with the sliding seat.
The first linear motor is located on one side of the sliding seat and fixedly mounted on the box body, and the output end of the first linear motor is fixedly connected with the sliding seat.
Furthermore, the upper part of middle arm activity is equipped with two at least auxiliary wheels, and each auxiliary wheel all is located the second walking wheel under.
Each auxiliary wheel is arranged on the auxiliary wheel support and longitudinally arranged at intervals in sequence, and the bottom of the auxiliary wheel support is movably connected with the middle mechanical arm through a vertical guide mechanism.
Further, vertical guiding mechanism includes slide rail, slider and second linear electric motor, the vertical fixed mounting of slide rail is on the third body of rod, and the slider is installed on the slide rail.
The second linear motor is arranged on the third rod body, the output end of the second linear motor is connected with the sliding block, and the second linear motor drives the sliding block to lift.
The sliding block is rotatably connected with the middle position of the bottom of the auxiliary wheel support, and the signal end of the second linear motor is in communication connection with the control system.
Furthermore, a wire pressing groove is formed in the first walking wheel and the second walking wheel, a wire pressing groove is also formed in the auxiliary wheel, and the cross section of the wire pressing groove is an arc-shaped inward-bending section.
By adopting the technical scheme, the invention has the beneficial technical effects that: the invention has the advantages of high advancing speed and strong climbing capability, can smoothly cross over the barrier on a straight line, can effectively realize the crossing over of the barrier in the steering inspection process, can adjust the gravity center of the self-body at any time in the advancing and obstacle crossing processes, has high automation degree, good stability and high safety performance, and provides reliable guarantee for realizing the electric inspection and maintenance in a large range and a long distance.
Drawings
Fig. 1 is a schematic structural diagram of a multi-motion-mode high-voltage transmission line inspection robot.
Fig. 2 is a top cross-sectional view of the high-voltage transmission line inspection robot with multiple motion modes.
FIG. 3 is a schematic illustration of a portion of FIG. 1 showing the pod, front robot and associated parts.
FIG. 4 is a schematic view of another portion of FIG. 1 showing the housing, intermediate robot arm and associated parts.
FIG. 5 is a schematic view of a further portion of FIG. 1 showing the housing, rear robot arm and associated parts.
FIG. 6 is a schematic structural diagram of a first motion attitude of the present invention in a straight-line walking and obstacle crossing mode.
FIG. 7 is a schematic structural diagram of a second motion posture of the present invention under straight line walking and obstacle crossing.
FIG. 8 is a schematic structural diagram of a third motion posture of the present invention under straight line walking and obstacle crossing.
FIG. 9 is a schematic structural diagram of a fourth motion posture of the present invention under straight line walking and obstacle crossing.
Fig. 10 is a schematic structural diagram of a first motion posture in a climbing and corner obstacle crossing mode according to the present invention.
Fig. 11 is a schematic structural diagram of a second motion posture of the present invention in a climbing and corner obstacle crossing mode.
Fig. 12 is a schematic structural diagram of a third motion posture of the present invention in a climbing and corner obstacle crossing mode.
Fig. 13 is a schematic structural diagram of a fourth motion posture of the present invention in a climbing and corner obstacle crossing mode.
Detailed Description
The invention is described in detail below with reference to the accompanying drawings:
with reference to fig. 1 to 13, the high-voltage transmission line inspection robot with multiple motion modes comprises a box body 1, a front mechanical arm 2, a middle mechanical arm 3, a rear mechanical arm 4 and a control system, wherein the box body comprises a top plate 11, a bottom plate 12 and four side plates 13, and the top plate 11, the bottom plate 12 and the four side plates 13 are welded into a square box-shaped structure.
The front side and the rear side of the top of the box body 1 are respectively and fixedly welded with a hinged support 14, and the hinged support 14 is provided with a shaft hole. Preceding arm 2, middle arm 3, back arm 4 are by going to back interval setting in proper order in the top of box 1, and above-mentioned preceding arm 2, middle arm 3, back arm 4 are the telescopic arm. Specifically, the lower end of the front mechanical arm 2 is rotatably connected with the hinged support 14 positioned on the front side, and the lower end of the rear mechanical arm 4 is rotatably connected with the hinged support 14 positioned on the rear side.
The inside of box 1 is provided with the power, control system also installs in the inside of box 1, and control system adopts the existing STM32F405 singlechip of prior art, and the STM32F405 singlechip is its power supply by the power in the box 1. In addition, the power supply also supplies power for other power utilization components of the high-voltage transmission line inspection robot in the multi-motion mode.
The front mechanical arm 2 and the rear mechanical arm 4 are identical in structure, and the rear mechanical arm 4 and the front mechanical arm 2 are oppositely arranged on the left side and the right side of the high-voltage power transmission line. Preceding arm 2 and back arm 4 all include first body of rod 21, the second body of rod 22 and first electric telescopic handle 23, the lower extreme of the first body of rod 21 is provided with fixed axle 28, rotates with the hinged-support 14 that corresponds through fixed axle 28 and links to each other, the second body of rod 22 is the rigidity pole of bending, and the lower extreme of the second body of rod 22 rotates with the upper end of the first body of rod 21 and links to each other.
The lower ends of the front mechanical arm 2 and the rear mechanical arm 4 are respectively connected with the box body 1 in a rotating mode, the upper ends of the front mechanical arm and the rear mechanical arm are respectively provided with a first travelling wheel 5, the first travelling wheel 5 is provided with a first servo motor 52, and the first servo motor 52 drives the first travelling wheel 5 to rotate. The lower extreme of middle arm 3 passes through horizontal guiding mechanism and box 1 swing joint, and the upper end of middle arm 3 is provided with second walking wheel 6, and second walking wheel 6 disposes second servo motor 61, and second servo motor 61 is installed on middle arm 3, and drive second walking wheel 6 rotates.
Specifically, the first traveling wheel 5 is installed at one side of the upper end of the second rod 22, and the axle of the first traveling wheel 5 is rotatably fitted to the second rod 22 through a bearing. The annular surface of first walking wheel 5 and second walking wheel 6 has all seted up pressure line groove 51 along its circumference, and the cross section of pressure line groove 51 is the curved section in the arc, and the curved section in the arc can form certain squeezing action to high tension transmission line, makes the contact surface increase to provide bigger frictional force. In use, the first road wheel 5 and the second road wheel 6 are positioned above the high voltage transmission line, which is held in the line-pressing groove 51 of the first road wheel 5.
The first servo motor 52 is fixedly installed at the upper end of the second rod body 22, a signal end of the first servo motor 52 is in communication connection with the control system, an output end of the first servo motor 52 is coaxially and fixedly connected with a wheel shaft of the first traveling wheel 5, and the first servo motor 52 drives the first traveling wheel 5 to travel on the high-voltage transmission line.
A driven gear 24 is fixedly mounted at the end of the fixed shaft 28, a driving gear 25 meshed with the driven gear is arranged on one side of the driven gear 24, the driving gear 25 is mounted at the output end of a speed reducer 26, the input end of the speed reducer 26 is connected to the power output end of a third servo motor 27, the third servo motor 27 drives the first rod body 21 to swing left and right through the fixed shaft 28, the signal end of the third servo motor 27 is in communication connection with a control system, and the movement speed and the angle of the first rod body 21 are controlled by the control system.
First body of rod 21 and second body of rod 22 between pass through first electric telescopic handle 23 links to each other, and first electric telescopic handle 23 drive second body of rod 22 motion, specifically, the one end of first electric telescopic handle 23 is articulated with the middle part of the first body of rod 21, and the other end is articulated with the middle part of the second body of rod 22, the power is first electric telescopic handle 23 power supply, and simultaneously, the signal end and the control system communication connection of first electric telescopic handle 23. In a use state, the first electric telescopic rod 23 can move along with the first rod 21, and when the first electric telescopic rod 23 stretches, the second rod 22 can be driven to rotate around the joint of the first rod 21 and the second rod 22.
The middle mechanical arm 3 comprises an electric telescopic cylinder 31 and a third rod body 32, the third rod body 32 is positioned above the electric telescopic cylinder 31, and the lower end of the third rod body 32 is fixedly connected with the movable end of the electric telescopic cylinder 31. The second walking wheel 6 is arranged on one side of the upper end of the third rod body 32, the second servo motor 61 is arranged on the third rod body 32, and the second servo motor 61 drives the second walking wheel 6 to rotate.
The horizontal guide mechanism comprises two guide rails 71, a sliding seat 72 and a first linear motor 73, the two guide rails 71 are transversely and parallelly arranged at the top of the box body 1 at intervals, and the first linear motor 73 is arranged between the two guide rails 71. The sliding seat 72 is located above the guide rail 71, the lower portion of the sliding seat is in sliding fit with the guide rail 71, the electric telescopic cylinder 31 is located above the sliding seat 72, and the bottom of the cylinder body is fixedly connected with the sliding seat 72. The first linear motor 73 is located at one side of the sliding seat 72 and is fixedly installed on the box body 1, and an output end of the first linear motor 73 is fixedly connected with the sliding seat 72 to drive the sliding seat 72 to move left and right along the guide rail 71.
Two auxiliary wheels 33 are movably arranged on the upper portion of the middle mechanical arm 3, each auxiliary wheel 33 is located right below the second travelling wheel 6, and a line pressing groove 51 is also formed in the surface of each auxiliary wheel 33 along the circumferential direction of the auxiliary wheel. Each auxiliary wheel 33 is arranged on an auxiliary wheel support 34 and longitudinally arranged at intervals in sequence, and the bottom of the auxiliary wheel support 34 is movably connected with the middle mechanical arm 3 through a vertical guide mechanism.
Vertical guiding mechanism includes slide rail 81, slider 82 and second linear electric motor 83, the vertical fixed mounting of slide rail 81 is on the third body of rod 32, and slider 82 installs on slide rail 81. The second linear motor 83 is arranged on the third rod body 32, the output end of the second linear motor 83 is connected with the sliding block 82, and the second linear motor 83 drives the sliding block 82 to lift. The signal end of the second linear motor 83 is in communication connection with a control system, and the control system controls the height of the slide 82 to ascend or descend. The sliding block 82 is rotatably connected with the middle position of the bottom of the auxiliary wheel support 34, and the front side and the rear side of the sliding block 82 are respectively provided with a limiting column so as to limit the rotating angle of the auxiliary wheel support 34 within a certain angle range.
Under operating condition, second walking wheel 6 is located high tension transmission line's top, and high tension transmission line is in second walking wheel 6 pressure wire casing 51, and each auxiliary wheel 33 is located high tension transmission line's below, and second walking wheel 6 and auxiliary wheel 33 press from both sides tight high tension transmission line from two directions from top to bottom, avoid second walking wheel 6 to drop from high tension transmission line.
Under the operating condition, the inspection robot realizes walking and obstacle crossing on the high-voltage transmission line through multiple motion modes, and the multiple motion modes mainly comprise a linear walking mode, a linear obstacle crossing mode, a climbing walking mode and a corner obstacle crossing mode, wherein the climbing walking mode and the corner obstacle crossing mode are used for high-voltage transmission line sections with the ground at an inclination angle.
The inspection robot is in a linear walking mode, the front mechanical arm 2 and the rear mechanical arm 4 are hung on a high-voltage power transmission line, the first walking wheels 5 of the mechanical arm 2 and the rear mechanical arm 4 are located above the high-voltage power transmission line, the bottom of the first walking wheels 5 is in contact with the high-voltage power transmission line, the two first walking wheels 5 are driving wheels, the middle mechanical arm 3 contracts to the lowest position, the second walking wheel 6 of the middle mechanical arm 3 is located below the high-voltage power transmission line, and the first servo motor 52 drives the first walking wheels 5 to advance on the high-voltage power transmission line. When the robot is advanced at a high speed to be patrolled and examined to needs, middle arm 3 slides a section distance to one side by the intermediate position earlier, then rise, make second walking wheel 6 remove to high voltage transmission line's top, middle arm 3 returns the intermediate position, the whereabouts makes the bottom of walking wheel 6 fall on high voltage transmission line, two auxiliary wheels 33 are for the upward motion of second walking wheel 6, auxiliary wheel 33 and second walking wheel 6 press from both sides tight high voltage transmission line, second servo motor 61 drives second walking wheel 6 and rotates, the realization is advanced on high voltage transmission line fast.
Patrol and examine the robot under the straight line mode of surmounting the obstacles such as stockbridge damper, suspension clamp, conductor spacer, when the robot passes through the stockbridge damper, the stockbridge damper is located high voltage transmission line under, patrol and examine the robot and rely on preceding arm 2 and the walking of 5 drive of the first walking wheel on the arm 4, because back arm 4 and preceding arm 2 are located the left and right sides of patrolling and examining the robot, middle arm 3 contracts to the minimum, can not produce the interference with the stockbridge damper in the direction of height, easily pass through the stockbridge damper.
When the inspection robot detects that obstacles such as suspension clamps or spacers exist in front of a line, the inspection robot enters an obstacle crossing mode of the suspension clamps, the inspection robot actively decelerates to move ahead of the obstacles, the middle mechanical arm 3 rises and is hung on a high-voltage transmission line, and then the auxiliary wheel 33 rises and is matched with the second walking wheel 6 to clamp the high-voltage transmission line. The first travelling wheel 5 at the upper end of the front mechanical arm 2 ascends, is out of line and swings out to the right side of the travelling direction, the robot continues to travel at a low speed, and the front mechanical arm 2 resets after passing through the suspension clamp and continues to be hung on a high-voltage power transmission line to travel.
When the middle mechanical arm 3 moves ahead of the barrier, the auxiliary wheel 33 descends, the second walking wheel 6 ascends, takes off the line and moves to one side, then descends to the original lowest position, the robot continues to move at a low speed, the middle mechanical arm 3 resets after passing over the suspension clamp or the spacer, and continues to be hung on the high-voltage transmission line to move forwards. When the rear mechanical arm 4 moves ahead of the barrier, the first travelling wheel 5 at the upper end of the rear mechanical arm 4 rises, is out of line and swings out to the left side of the moving direction, the robot continues to move at a low speed, and the front mechanical arm 2 resets after passing over a suspension clamp or a spacer and continues to be hung on a high-voltage power transmission line to move forwards.
The robot of patrolling and examining is under climbing walking mode, and when patrolling and examining the robot at the advancing process, detect out the grow of circuit slope by the sensor, and when having the risk of skidding, middle arm 3 rises and hangs on high voltage transmission line, later, auxiliary wheel 33 rises and presss from both sides tight high voltage transmission line with the cooperation of second walking wheel 6, and the walking of robot is patrolled and examined in the drive of second walking wheel 6 of middle arm 3 as third drive wheel to increase drive power, prevent to skid.
The inspection robot enters a turning obstacle crossing mode when detecting that a front line turns under a corner obstacle crossing mode, the robot actively decelerates to advance to the front of an obstacle, the middle mechanical arm 3 rises and is hung on a high-voltage power transmission line, and then the auxiliary wheel 33 rises and is matched with the second walking wheel 6 to clamp the high-voltage power transmission line. The first travelling wheel 5 at the upper end of the front mechanical arm 2 is off-line and swings out towards the right side, and after passing through the suspension wire clamp, the first travelling wheel 5 of the front mechanical arm 2 is adjusted in posture, is re-hung on a high-voltage power transmission line and moves forwards on the high-voltage power transmission line. In the advancing process, the front mechanical arm 2 can dynamically adjust the swing amplitude according to the inclination degree of the box body 1, and the gravity center of the auxiliary box body is stable.
When the middle mechanical arm 3 moves ahead of an obstacle, the auxiliary wheel 33 descends, the second walking wheel 6 ascends, takes off the line and moves to one side, then descends to the original lowest position, and the middle mechanical arm 3 of the robot passes through the suspension clamp at a low speed. When the rear mechanical arm 4 moves ahead of the barrier, the middle mechanical arm 3 is lifted, hung on a wire, compressed and continuously hung on a high-voltage power transmission line to move forward. The first walking wheel 5 at the upper end of the rear mechanical arm 4 is out of line and swings out to the left side of the advancing direction, the swinging amplitude of the rear mechanical arm 4 is dynamically adjusted and the box body 1 is balanced, after the first walking wheel 5 of the rear mechanical arm 4 crosses a suspension clamp, the posture of the first walking wheel 5 of the rear mechanical arm 4 is adjusted and the first walking wheel is re-hung on a high-voltage transmission line, the first walking wheel goes forward on the high-voltage transmission line, the auxiliary wheel 33 of the middle mechanical arm 3 descends, the second walking wheel 6 is out of line, the middle mechanical arm 3 descends to the low position, and the inspection robot is driven to walk by the first walking wheel 5 of.
Parts which are not described in the invention can be realized by adopting or referring to the prior art.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting.
Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and those skilled in the art may make modifications, alterations, additions or substitutions within the spirit and scope of the present invention.
Claims (9)
1. A high tension transmission line inspection robot with multiple motion modes comprises a box body, a front mechanical arm, a middle mechanical arm, a rear mechanical arm and a control system, and is characterized in that the front mechanical arm, the middle mechanical arm and the rear mechanical arm are sequentially arranged above the box body at intervals from front to back, and all the mechanical arms are telescopic mechanical arms;
the rear mechanical arm and the front mechanical arm have the same structure and are oppositely arranged on the left side and the right side of the high-voltage transmission line;
the lower ends of the front mechanical arm and the rear mechanical arm are respectively connected with the box body in a rotating way, the upper ends of the front mechanical arm and the rear mechanical arm are respectively provided with a first travelling wheel, and each first travelling wheel is connected with the output end of a first servo motor on the mechanical arm where the first travelling wheel is arranged;
the lower extreme of middle arm passes through horizontal guiding mechanism and box swing joint, and the upper end of middle arm disposes the second and walks the wheel, and the second is walked the wheel and is driven its rotation by the second servo motor that sets up on middle arm.
2. The inspection robot for the high-voltage transmission lines with the multiple motion modes according to claim 1, wherein the box body comprises a top plate, a bottom plate and four side plates, and the top plate, the bottom plate and the four side plates are welded into a square box-shaped structure;
the power supply is arranged in the box body and respectively supplies power to the first servo motor and the second servo motor, and the signal ends of the first servo motor and the second servo motor are in communication connection with the control system.
3. The inspection robot for the high-voltage transmission line with the multiple motion modes as claimed in claim 1, wherein the front mechanical arm comprises a first rod body, a second rod body and a first electric telescopic rod, the lower end of the first rod body is rotatably connected with the corresponding hinged support, and the upper end of the first rod body is hinged with the lower end of the second rod body;
the first rod body is connected with the second rod body through the first electric telescopic rod, one end of the first electric telescopic rod is hinged to the middle of the first rod body, the other end of the first electric telescopic rod is hinged to the middle of the second rod body, and meanwhile, the signal end of the first electric telescopic rod is in communication connection with the control system.
4. The inspection robot for the high-voltage transmission lines with the multiple motion modes as claimed in claim 3, wherein hinged supports are respectively arranged at positions where the top of the box body is connected with the front mechanical arm and the rear mechanical arm;
the lower end of the first rod body is provided with a fixed shaft which is connected with the corresponding hinged support in a rotating mode through the fixed shaft, the end portion of the fixed shaft is connected with an output end gear of a speed reducer, the input end of the speed reducer is connected with a power output end of a third servo motor, the third servo motor drives the first rod body to swing left and right through the fixed shaft, and a signal end of the third servo motor is in communication connection with a control system.
5. The inspection robot for the high-voltage transmission line with the multiple motion modes according to claim 1, wherein the middle mechanical arm comprises an electric telescopic cylinder and a third rod body, the third rod body is positioned above the electric telescopic cylinder, and the lower end of the third rod body is fixedly connected with one end of the electric telescopic cylinder;
the second walking wheel is arranged on one side of the upper end of the third rod body, and the second servo motor is arranged on the third rod body.
6. The inspection robot for the high-voltage transmission line with the multiple motion modes as claimed in claim 5, wherein the horizontal guide mechanism comprises two guide rails, a sliding seat and a first linear motor, and the two guide rails are transversely fixed on the top of the box body in parallel at intervals;
the sliding seat is positioned above the guide rail, the lower part of the sliding seat is in sliding fit with the guide rail, the electric telescopic cylinder is positioned above the sliding seat, and the other end of the electric telescopic cylinder is fixedly connected with the sliding seat;
the first linear motor is located on one side of the sliding seat and fixedly mounted on the box body, and the output end of the first linear motor is fixedly connected with the sliding seat.
7. The inspection robot for the high-voltage transmission line with the multiple motion modes according to claim 5, wherein the upper part of the middle mechanical arm is movably provided with at least two auxiliary wheels, and each auxiliary wheel is positioned right below the second walking wheel;
each auxiliary wheel is arranged on the auxiliary wheel support and longitudinally arranged at intervals in sequence, and the bottom of the auxiliary wheel support is movably connected with the middle mechanical arm through a vertical guide mechanism.
8. The inspection robot for the high-voltage transmission line with the multiple motion modes according to claim 7, wherein the vertical guide mechanism comprises a slide rail, a slide block and a second linear motor, the slide rail is vertically and fixedly installed on a third rod body, and the slide block is installed on the slide rail;
the second linear motor is arranged on the third rod body, the output end of the second linear motor is connected with the sliding block, the sliding block is rotatably connected with the middle position of the bottom of the auxiliary wheel support, and the signal end of the second linear motor is in communication connection with the control system.
9. The robot for inspecting the high-voltage transmission lines in the multiple motion modes according to claim 7, wherein the first traveling wheel and the second traveling wheel are provided with line pressing grooves, the auxiliary wheel is also provided with line pressing grooves, and the cross section of each line pressing groove is an arc-shaped inward-bending section.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010164040.5A CN111224346B (en) | 2020-03-11 | 2020-03-11 | High tension transmission line inspection robot with multiple motion modes |
Applications Claiming Priority (1)
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| CN111725733A (en) * | 2020-06-09 | 2020-09-29 | 南方电网科学研究院有限责任公司 | Power transmission line inspection robot and operation control method thereof |
| CN111730580A (en) * | 2020-07-08 | 2020-10-02 | 王永亮 | Double-mechanical-arm high-voltage transmission and guide line inspection robot structure |
| CN112736762A (en) * | 2020-12-09 | 2021-04-30 | 国网四川省电力公司内江供电公司 | Cable inspection robot |
| 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 |
| CN114678803A (en) * | 2022-04-14 | 2022-06-28 | 青岛黄海学院 | High-voltage frame power transmission line inspection obstacle crossing robot and working method thereof |
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