CN111300374A - Mobile device and robot suitable for different power transmission lines and climbing mode of mobile device and robot - Google Patents
Mobile device and robot suitable for different power transmission lines and climbing mode of mobile device and robot Download PDFInfo
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- CN111300374A CN111300374A CN202010136579.XA CN202010136579A CN111300374A CN 111300374 A CN111300374 A CN 111300374A CN 202010136579 A CN202010136579 A CN 202010136579A CN 111300374 A CN111300374 A CN 111300374A
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 103
- 230000009194 climbing Effects 0.000 title claims abstract description 40
- 230000007246 mechanism Effects 0.000 claims description 172
- 230000033001 locomotion Effects 0.000 claims description 18
- 230000002572 peristaltic effect Effects 0.000 claims description 18
- 230000009467 reduction Effects 0.000 claims description 14
- 230000008855 peristalsis Effects 0.000 claims description 8
- 230000000452 restraining effect Effects 0.000 claims description 2
- 238000007689 inspection Methods 0.000 abstract description 18
- 238000000034 method Methods 0.000 description 19
- 238000010586 diagram Methods 0.000 description 9
- IJGRMHOSHXDMSA-UHFFFAOYSA-N nitrogen Substances N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 description 9
- 230000008569 process Effects 0.000 description 9
- 230000009193 crawling Effects 0.000 description 5
- 229910052757 nitrogen Inorganic materials 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 230000006798 recombination Effects 0.000 description 3
- 238000005215 recombination Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 229910001873 dinitrogen Inorganic materials 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- QJGQUHMNIGDVPM-UHFFFAOYSA-N nitrogen group Chemical group [N] QJGQUHMNIGDVPM-UHFFFAOYSA-N 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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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 belongs to the technical field of robots, particularly relates to a moving device suitable for different power transmission lines, a robot and a climbing mode of the robot, and aims to solve the problems that an existing operating robot is only suitable for a single scene and is poor in climbing capacity. The invention provides a moving device comprising at least two power arms, wherein the two moving devices can respectively obtain a single power line robot and a multi-split power line robot by different combination forms, and the single power line robot and the multi-split power line robot can obtain the robots by changing connection modes. On the other hand, the power arm is controlled to climb alternately by the alternate creeping type climbing principle, so that the inspection work of the robot on the large-gradient power transmission line is realized. The mobile device has a simple structure, can realize combined operation for multiple purposes, can cross obstacles to complete inspection operation while a large-gradient power transmission line walks, and has wide application prospect.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a moving device suitable for different power transmission lines, a robot and a climbing mode of the robot.
Background
The overhead transmission line operation robot is an intelligent tool for assisting and replacing manual line inspection, becomes a research hotspot in recent years, and related research has made great progress, but most of the currently developed operation robots can only inspect single type of transmission lines, and the applicability is poor. And current overhead transmission line operation robot meets the transmission line that has the slope patrols and examines, adopts the frictional force that increases between walking wheel and the transmission line to climb mostly, and this method only is applicable to the transmission line that the slope is less, and when the transmission line that faces certain slope, current operation robot can't obtain sufficient frictional force on the line, and climbing ability is not enough, can't satisfy the requirement of patrolling and examining the operation. In addition, obstacles such as a vibration damper, a suspension clamp, a spacer and the like are arranged on the overhead transmission line, and the conventional working robot is difficult to cross the obstacles while climbing a slope. Therefore, it is necessary to develop a working robot suitable for different transmission line structures and different slopes to solve the above problems.
Disclosure of Invention
In order to solve the above problems in the prior art, that is, to solve the problems in the prior art that the operation robot is only suitable for a single scene and has poor climbing capability, the present invention provides the following preferred technical solutions:
the first scheme is as follows: the utility model provides a mobile device suitable for different transmission lines, mobile device includes two or two above power arms, wherein at least one power arm below is provided with creeping mechanism, creeping mechanism set firmly in body structure spare, still be provided with band-type brake actuating mechanism, revolving stage mechanism on the body structure spare, wherein:
the power arm comprises a brake mechanism, a climbing wheel and an impeller mechanism, wherein the climbing wheel is used for climbing along a power transmission line, and the impeller mechanism is arranged at the upper end part of the climbing wheel and used for crossing obstacles;
the brake driving mechanism is used for driving the brake mechanism to clamp or release the power transmission line;
the power arm is arranged on the turntable mechanism and used for driving the power arm to rotate;
the peristalsis mechanism is used for driving the power arm connected with the peristalsis mechanism to reciprocate relative to the body structural member.
Scheme II: according to the first scheme, the moving device comprises a first power arm and a second power arm which are the same in structure, the first power arm is movably arranged on the creeping mechanism, the creeping mechanism is fixedly arranged on the first part of the body structural member, and the second power arm is fixedly arranged on the second part of the body structural member.
The third scheme is as follows: according to a second scheme, the peristaltic mechanism comprises a linear motion mechanism with a self-locking function, the linear motion mechanism is connected with the first power arm through a sliding table, and the sliding table is used for driving the first power arm to move under the driving of the linear motion mechanism.
And the scheme is as follows: according to a third scheme, the brake mechanism comprises a gear clamp and a transmission device;
the gear clamp comprises a main gear clamp and an auxiliary gear clamp which are meshed with each other, and the main gear clamp and the auxiliary gear clamp are respectively and correspondingly provided with clamping ends for clamping the power transmission line;
the transmission device comprises a brake cable and a first cable wheel, one end of the first cable wheel is provided with a connecting part connected with the brake cable, the other end of the first cable wheel is provided with an engaging part engaged with the gear clamp, the engaging part of the first cable wheel is engaged with the main gear clamp and/or the pinion clamp, and the first cable wheel can rotate under the driving of the power device to drive the clamping end of the main gear clamp and the clamping end of the pinion clamp to be close to or deviate from each other, so that a power transmission line arranged between the main gear clamp and the pinion clamp is clamped or released.
And a fifth scheme: according to the fourth scheme, the band-type brake driving mechanism comprises a power device, a worm and gear reduction box and a second wire wheel;
one end of the second wire wheel is connected with the worm shaft of the worm and gear reduction box, and the other end of the second wire wheel is connected with the first wire wheel through the brake wire;
the output shaft of the power device is connected with the worm gear reduction box, and the worm gear reduction box drives the second wire wheel, the first wire wheel and the gear clamp to rotate under the driving of the power device.
Scheme six: according to a fifth scheme, the turntable mechanism further comprises a limiting device, and the limiting device is used for limiting the rotational degree of freedom of the power arm.
The scheme is seven: an operation robot suitable for a multi-split power transmission line comprises two moving devices which are symmetrically arranged along the left-right direction and are in any one of the second scheme to the sixth scheme; the two symmetrically arranged mobile devices are connected with each other.
And the eighth scheme is as follows: an operation robot suitable for a single power transmission line comprises two moving devices which are symmetrically arranged in the front-back direction and are in any one of the second scheme to the sixth scheme; the two symmetrically arranged moving devices are connected through a hinge mechanism.
The scheme is nine: according to the eighth aspect, the hinge mechanism includes a movable hinge and an elastic element, two outer ends of the movable hinge are respectively connected to two adjacent moving devices, and two ends of the elastic element are respectively connected to two inner ends of the movable hinge, so as to restrain the movable hinge from freely rotating.
And a scheme ten: a work robot adapts to the climbing mode of heavy grade based on any one of above-mentioned scheme seven, eight, nine wherein:
step S100, controlling the band-type brake driving mechanism to enable the power arm fixed on the body structural member to tightly hold the power transmission line;
step S200, controlling the peristaltic mechanism and driving the power arm fixed on the peristaltic mechanism to move upwards along the power transmission line;
step S300, controlling the band-type brake driving mechanism to enable the power arm fixed on the peristaltic mechanism to tightly hold the power transmission line;
s400, controlling the band-type brake driving mechanism in the opposite direction to enable a power arm fixed on the body structural member to loosen a power transmission line;
step S500, the peristaltic mechanism is controlled in the opposite direction, the power arm is driven to reciprocate relative to the body structural member, and the mobile device is driven to move upwards along the power transmission line;
step S600, executing S100-S500 circularly.
The invention has the beneficial effects that:
the moving device has a simple structure, realizes a passive flexible obstacle crossing mode through the power arm, automatically adapts to different types of obstacles with different sizes, can directly cross the obstacles from the upper side or the side of the obstacles without taking off the line in the obstacle crossing process, avoids obstacle crossing failure caused by the line taking off, has high reliability and routing inspection efficiency, and realizes efficient, rapid and safe obstacle crossing.
The mobile device has variable configuration, can be converted into an operation robot suitable for two different power environments of a single power transmission line and a multi-split power transmission line through combination, realizes multiple purposes and is convenient to disassemble, and reduces labor cost and construction cost.
The working robot adopts an alternate creeping type climbing strategy in a climbing mode adapting to a large slope, can ensure that the working robot can move on a power transmission line with a large slope, has strong climbing capability, can complete obstacle crossing while climbing, has high working reliability, and is suitable for high-requirement inspection operation.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
fig. 1 is a schematic overall structure diagram of a mobile device according to an embodiment of the invention;
FIG. 2 is a schematic diagram of the overall structure of a power arm according to an embodiment of the present invention;
FIG. 3 is a schematic structural view of a structural member of a body according to an embodiment of the present invention;
fig. 4 is a schematic overall structure diagram of an operation robot suitable for a multi-split power transmission line according to an embodiment of the invention;
FIG. 5 is a schematic structural diagram of a left module of the machine body according to an embodiment of the invention;
FIG. 6 is a schematic structural diagram of a right module of the machine body according to an embodiment of the invention;
fig. 7 is a schematic overall structure diagram of an operation robot suitable for a single power transmission line according to an embodiment of the invention;
FIG. 8 is a schematic structural diagram of a front module of a machine body according to an embodiment of the invention;
FIG. 9 is a schematic structural diagram of a rear module of the machine body according to an embodiment of the invention;
FIG. 10 is a first schematic structural view of an articulating mechanism according to an embodiment of the invention;
FIG. 11 is a second schematic structural view of a hinge mechanism according to an embodiment of the present invention;
fig. 12 is a schematic structural diagram of a mobile device according to an embodiment of the present invention to obtain two kinds of operation robots through recombination;
fig. 13 shows a climbing mode of a working robot according to an embodiment of the present invention, which is suitable for a heavy slope.
List of reference numerals:
100-a left module of a machine body, 110-a first power arm, 111-a crawling wheel, 112-an impeller mechanism, 113-a brake mechanism and 114-a first reel; 120-a second power arm; 130-a third power arm; 140-a fourth power arm; 200-right module of machine body; 210-a body structure; 220-band-type brake wire driving mechanism, 221-power device, 222-worm gear reduction box, 223-second reel, 224-brake wire; 231-a first turntable mechanism; 232-a second turntable mechanism; 233-limit hole; 240-peristaltic mechanism, 241-linear motion mechanism, 242-first driving device, 243-sliding table; 300-a body front module; 400-rear body module; 500-multiple split transmission lines; 600-hinge mechanism, 611-first living hinge mount, 612-second living hinge mount, 613-hinge axis, 620-nitrogen spring, 621-living hinge, 631-first connecting plate, 632-second connecting plate; 700-single split transmission line.
Detailed Description
In order to make the embodiments, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and are not intended to limit the scope of the present invention.
The invention provides a mobile device suitable for different power transmission lines, which comprises two or more power arms, wherein a creeping mechanism is arranged below at least one power arm, the creeping mechanism is fixedly arranged on a body structural part, and a band-type brake driving mechanism and a rotary table mechanism are also arranged on the body structural part, wherein:
the power arm comprises a brake mechanism, a climbing wheel and an impeller mechanism, wherein the climbing wheel is used for climbing along a power transmission line, and the impeller mechanism is arranged at the upper end part of the climbing wheel and used for crossing obstacles;
the brake driving mechanism is used for driving the brake mechanism to clamp or release the power transmission line;
the power arm is arranged on the turntable mechanism and used for driving the power arm to rotate;
the peristalsis mechanism is used for driving the power arm connected with the peristalsis mechanism to reciprocate relative to the body structural member.
In order to more clearly explain the mobile device of the present invention, which is suitable for different power transmission lines, a preferred embodiment of the present invention is described in detail below with reference to the accompanying drawings.
As a preferred embodiment of the invention, the mobile device applicable to different power transmission lines adopts a modular design, can be used as an independent device for carrying out routing inspection work on the power transmission lines, and can walk along the power transmission lines and can complete obstacle crossing when being used as the independent device for routing inspection; meanwhile, the invention can also carry out the routing inspection operation of the transmission line by combined splicing, the two mobile devices of the invention can realize the routing inspection operation of the multi-split transmission line by the left-right symmetrical splicing arrangement, and the two mobile devices of the invention can realize the routing inspection operation of the single transmission line by the front-back symmetrical splicing arrangement. When the combined type power transmission line inspection device is moved as a combined type, the stability during inspection can be improved, and the climbing and obstacle crossing inspection work of a large-gradient power transmission line can be completed. Specifically, a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1, the mobile device according to the preferred embodiment of the present invention includes two power arms, a body structure 210, a peristalsis mechanism 240, a band-type brake driving mechanism 220, and a turntable mechanism, wherein the body structure 210 is configured as a rigid platform with a cavity for supporting other components of the left module and the right module of the machine body, and the body structure further has a connection portion for connecting with the outside in consideration of protecting the respective devices. Further, the two power arms have the same structure, and for convenience of description, the two power arms are named as a first power arm 110 and a second power arm 120, respectively. First power arm 110, second power arm 120, wriggling mechanism 240, band-type brake actuating mechanism 220, revolving stage mechanism all set firmly on body structure 210, and further, first power arm 110 below is provided with wriggling mechanism 240, and second power arm 120 sets firmly on body structure 210, and first power arm 110 and second power arm 120 set up for the both ends of body structure, promptly the wriggling mechanism set firmly in the first portion of body structure, second power arm set firmly in the second portion of body structure. The peristaltic mechanism 240 is capable of driving the first powered arm 110, which is disposed above and connected to it, away from or toward the second powered arm 120. The band-type brake driving mechanism 220 can control the first power arm 110 and the second power arm 120 to clamp or release a power transmission line to be patrolled, and a turntable mechanism for controlling the power transmission line to rotate along the axis of the turntable mechanism is arranged below the first power arm 110 and the second power arm 120. In the present embodiment, since two power arms are used, two turntable mechanisms are required to control the rotation of the two power arms, respectively, and for convenience of description, the turntable mechanism below the first power arm 110 is named as a first turntable mechanism 231, and the turntable mechanism below the second power arm 120 is named as a second turntable mechanism 232. Referring to the power arm shown in fig. 5, 6, 8 and 9, the different steering directions are realized by rotating the power arm through a turntable mechanism. Further, the turntable mechanism further comprises a limiting device, and the limiting device is used for limiting the rotational degree of freedom of the power arm.
Since the power arms of the present invention have the same structure, the first power arm 110 is described in detail as a preferred embodiment, and referring to fig. 2, the power arm of the present invention is provided with a crawling wheel 111 for crawling along a power transmission line, an impeller mechanism 112 for obstacle crossing provided at an upper end portion of the crawling wheel 111, and a brake mechanism 113 for braking. Specifically, when the climbing wheel 111 climbs along the power transmission line, the impeller mechanism 112 is forced to rotate to cross the obstacle when encountering the obstacle, and the elastic pressing mechanism on the power arm is forced to press the climbing wheel 111 on the power transmission line to cooperate with the impeller mechanism 112 to cross the obstacle together. The brake mechanism 113 includes a gear clamp and a transmission; the gear clamp comprises a main gear clamp and an auxiliary gear clamp which are meshed with each other, and the main gear clamp and the auxiliary gear clamp are respectively and correspondingly provided with clamping ends for clamping the power transmission line; the transmission device comprises a brake cable 224 and a first wire wheel 114, one end of the first wire wheel 114 is provided with a connecting part connected with the brake cable 224, the other end of the first wire wheel 114 is provided with an engaging part engaged with the gear clamp, the engaging part of the first wire wheel 114 is engaged with the main gear clamp and/or the pinion clamp, and the first wire wheel 114 can rotate under the driving of the power device so as to drive the clamping end of the main gear clamp and the clamping end of the pinion clamp to approach or depart from each other, so that the power transmission line arranged between the main gear clamp and the pinion clamp is clamped or released. Brake mechanism the centre gripping end sets up still flexible anti-skidding rubber, can increase brake mechanism and transmission line's frictional force on the one hand, strengthens the brake effect, and on the other hand can reduce transmission line's damage. Those skilled in the art may replace the non-slip rubber with other structures or materials, which are not listed here.
The power arm can realize a passive flexible obstacle crossing mode through the cooperation of the impeller mechanism 112 and the elastic pressing mechanism, automatically adapt to different types of obstacles with different sizes, can directly cross the obstacles from the upper side or the side surface of the obstacles without taking off lines in the obstacle crossing process, avoids obstacle crossing failure caused by the line taking off, has high reliability and routing inspection efficiency, and realizes efficient, rapid and safe obstacle crossing.
It should be noted that the specific structure of the power arm is not within the scope of the present invention, the present invention only briefly summarizes the working principle of the power arm, and the technical solution of the present application mainly applies the crawling and obstacle-crossing capability of the power arm and the clamping and releasing capability of the brake mechanism, so the specific structure of the power arm is not explained too much.
Further, referring to fig. 3, as a preferred embodiment of the present invention, the body structural member 210 is designed with a row of holes for bolting with an external structure. The peristaltic mechanism 240 is fixed on the structural member of the body, and includes a linear motion mechanism 241 with a self-locking function, a first driving device 242 and a sliding table 243. The first driving device 242 is connected to the linear motion mechanism 241, the sliding table 243 is mounted on the linear motion mechanism 241, the first driving device 242 can drive the linear motion mechanism 241 to move linearly, and the sliding table 243 can move linearly with the linear motion mechanism 241. The sliding table 243 is provided with a first power arm, the linear motion mechanism 241 is connected with the first power arm 110 through the sliding table 243, and the sliding table 243 is used for driving the first power arm 110 to move under the driving of the linear motion mechanism 241. The first driving device 242 preferably has a self-locking function, so that the sliding table is always located at a fixed position and does not move. It should be noted that the peristalsis mechanism 240 of the present invention can drive the power arm fixed on the sliding table 243 to move linearly in a normal state, i.e. in a state where the body structural member is fixed. When the creeping mechanism 240 of the present invention is in an unconventional state, that is, the body structure can move, and the sliding table is fixed, the creeping mechanism 240 can drive the body structure 210 to move linearly. For example, when the body structural member is suspended, the power arm fixed to the sliding table 243 is fixed to the external structure, so that the sliding table is fixed, and at this time, the body structural member can be driven by the linear motion mechanism to move.
The first turntable mechanism 231 is located above the sliding table 243, the second turntable mechanism 232 is located above the base 210, and the first turntable mechanism 231 and the second turntable mechanism 232 are respectively arranged at the bottoms of the two power arms and used for rotating the power arms to adjust the directions of the power arms. The limiting device in this embodiment is preferably a limiting hole 233, which can be connected with the power arm through a detachable connecting piece for fixing the power arm and limiting the degree of freedom of rotation. The driving mechanism of the turntable mechanism is freely selectable by a person skilled in the art as long as it enables the turntable to rotate along the vertical axis of the power arm.
The brake driving mechanism 220 is fixed on the body structural member 210, and referring to fig. 3, the brake driving mechanism includes a power device 221, a worm and gear reduction box 222 and a second wire wheel 223; referring to fig. 2, one end of the second pulley 223 is connected to the worm shaft of the worm gear reduction box 222, and the other end of the second pulley 223 is connected to the first pulley 114 through the brake cable 224; the output shaft of the power device 221 is connected with the worm and gear reduction box 222, the worm and gear reduction box 222 drives the second wire wheel 223, the first wire wheel 114 and the gear clamp to rotate under the driving of the power device 221, and the worm and gear reduction box 222 has a self-locking function and can rotate forwards or backwards to achieve the contracting brake and releasing brake actions of the brake mechanism. It should be noted that there are two band-type brake driving mechanisms in the preferred embodiment of the present invention, and since there are two power arms in this embodiment, the band-type brake driving mechanism of this embodiment is also provided with two band-type brake driving mechanisms, which are respectively used for controlling the first power arm and the second power arm. It will be understood by those skilled in the art that the brake driving mechanism may be one, and the brake mechanism of the first power arm and the brake mechanism of the second power arm may be controlled simultaneously according to the above principle, and the specific control method may adopt the prior art. Of course, when the power arm of the moving device of the present invention is multiple, the band-type brake driving mechanism can also be correspondingly provided in multiple numbers, which are not listed here.
When the moving device disclosed by the invention is used as an independent device for operation, the moving device can walk and cross obstacles through the two power arms symmetrically arranged along the power transmission line, and the brake mechanism is driven by the band-type brake driving mechanism to brake, so that the moving device disclosed by the invention can stably clamp, move and cross obstacles on the power transmission line.
It should be noted that two power arms are mounted on the moving device, which is the most preferred embodiment of the present invention, and three power arms of the moving device of the present invention may be provided. The moving device can also walk, climb and cross obstacles by alternative arrangement, for example, three power arms are taken as three power arms, the three power arms are alternately arranged on two sides of a power transmission line, peristaltic mechanisms are arranged below the power arms positioned at two ends of the moving device, the power arm in the middle is fixedly arranged on a body structural member, and the peristaltic mechanisms at two ends are matched with a band-type brake driving mechanism to drive the three power arms on the moving device to alternately creep so as to climb. It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the control method for the dual-arm moving apparatus described above is also applicable to a three-arm moving apparatus, a four-arm moving apparatus, or even more power arms, and specific operation processes and related descriptions may refer to corresponding processes in the foregoing method examples, and are not described herein again.
The second aspect of the present invention provides an operation robot suitable for a multi-split power transmission line, referring to fig. 4, which includes two moving devices as described above symmetrically arranged in the left-right direction; two symmetrically arranged moving devices are connected with each other. For convenience of description, the mobile device located on the left side of the power transmission line is named as a machine body left module 100, and the mobile device located on the right side is named as a machine right module 200.
Specifically, referring to fig. 5, the structure of the left module 100 is the same as that of the right module 200 shown in fig. 6 except that the power arm is turned in different directions. The two power arms on the right module 200 of the machine body are named as a third power arm 130 and a fourth power arm 140 respectively, and the power arms can rotate along the self axial direction under the control of the turntable mechanism by detaching the detachable connecting piece on the limiting device, so that the change of the steering of the power arms is realized. Therefore, the left module 100 and the right module 200 are both moving devices of the present invention, and only the direction of the power arm is changed. The two moving devices are connected, so that the directions of power arms on each moving device are the same, the directions of four power arms on the two devices are opposite in pairs, the first power arm 110 and the second power arm 120 are respectively installed on the creeping mechanism and the body structural part of the left module 100 of the machine body, and the third power arm 130 and the fourth power arm are respectively installed on the creeping mechanism and the body structural part of the right module 200 of the machine body; and after splicing and fixing, the working robot suitable for the large-gradient single power transmission line is formed.
The third aspect of the present invention provides a working robot suitable for a single power transmission line, referring to fig. 7, which includes two moving devices as described above symmetrically arranged in the front-back direction; the two symmetrically arranged moving devices are connected through a hinge mechanism. Similarly, it can be understood by those skilled in the art that the machine body front module 300 and the machine body rear module 400 shown in fig. 8 and 9 can be obtained by changing the direction of the power arm in the moving device, and the specific rotating method can be manual rotation or rotation of the power arm by controlling a turntable mechanism, which is not described herein again.
Referring to fig. 12, the multi-split transmission line operation robot provided by the invention can be used for a single transmission line operation robot by a module recombination method, so that one machine has multiple purposes. Specifically, the method for changing the configuration of the multi-split transmission line operation robot into the single transmission line operation robot by a module recombination conversion method comprises the following steps: step A100, removing the connection between the left module 100 and the right module 200; step A200, rotating the second power arm 120 and the third power arm 130 by 180 degrees through a turntable mechanism, so that the left module 100 of the machine body is a front module 300 of the machine body, and the right module 200 of the machine body is a rear module 400 of the machine body; step A300, splicing the body of the single-transmission-line operating robot from the front module 300, the hinge mechanism and the rear module 400 of the body in front and back, and arranging the four power arms in series and oppositely at the moment. The hinge mechanism 600 includes a movable hinge and an elastic element, two outer ends of the movable hinge are respectively connected to the two moving devices, and two ends of the elastic element are respectively connected to two inner ends of the movable hinge for restraining the movable hinge from freely rotating. Preferably, the elastic member may be a nitrogen gas spring, a torsion spring, a compression spring, etc., and a structure thereof may be freely selected by those skilled in the art.
Specifically, as shown in fig. 10, the first movable hinge base 611 is connected to the first connection plate 631, the second movable hinge base 612 is connected to the first movable hinge base 611 by a hinge shaft 613, and the second movable hinge base 612 is connected to the second connection plate 632. The elastic member is preferably a nitrogen spring, and both ends of the nitrogen spring 620 are connected to the first connecting plate 631 and the second connecting plate 632 by a living hinge 621, respectively. The first connecting plate 631 and the second connecting plate 632 are designed with screw holes for connecting other modules. As shown in fig. 11, when the angle between the first connecting plate 631 and the second connecting plate 632 changes, the first movable hinge seat 612 and the second movable hinge seat 612 are driven to rotate around the hinge axis 613, and then a compression force or a tensile force is applied to the nitrogen spring 620, so that the nitrogen spring 620 can generate a corresponding reaction force to inhibit the angle between the first connecting plate 631 and the second connecting plate 632 from changing. The first connection plate 631 is connected to the front body module 300, and the second connection plate 632 is connected to the rear body module 400, so that the hinge mechanism module 600 can achieve a damping force effect, and improve the dynamic motion performance of the single power transmission line working robot.
When the power transmission line faces a certain gradient, the robot moving platform cannot obtain enough friction force on the line, and climbing is difficult to realize. The invention provides a climbing mode suitable for large slopes based on the two operation robots, which comprises the following steps,
s100, controlling a band-type brake driving mechanism to enable a power arm fixed on a body structural member to band tightly a power transmission line;
step S200, the creeping mechanism drives a power arm fixed on the creeping mechanism to move upwards along the power transmission line;
step S300, controlling a band-type brake driving mechanism to enable the power arm fixed on the peristaltic mechanism to tightly hold the power transmission line;
s400, controlling the internal contracting brake driving mechanism in the opposite direction to enable a power arm fixed on the structural member of the body to loosen the power transmission line;
step S500, a peristaltic mechanism is controlled in the opposite direction, a power arm is driven to reciprocate relative to the body structural member, and the mobile device is driven to move upwards along the power transmission line;
and step S600, circularly executing the step S100 to the step S500.
The invention adopts an alternate creeping climbing strategy, and can effectively improve the climbing capability of the robot moving platform. Specifically, an alternating creeping climbing strategy applicable to inspection of a large-gradient power transmission line is introduced by taking a single power transmission line working robot as an example. As shown in fig. 13, the brake mechanisms of the second power arm 120 and the third power arm 130 are controlled by the band-type brake driving mechanism to band tightly the power lines, at this time, the creeping mechanisms of the front module 300 and the rear module 400 of the machine body are simultaneously driven to push the first power arm 110 and the fourth power arm 140 to move upward along the power lines, when the linear motion mechanism of the creeping mechanism reaches the end of the stroke, the brake mechanisms of the first power arm 110 and the fourth power arm 140 are controlled to band tightly the power lines, then the brake mechanisms of the second power arm 120 and the third power arm 130 are controlled to release the power lines, and then the creeping mechanisms of the front module 300 of the machine body and the rear module 400 of the machine body are simultaneously driven in the opposite direction, because the sliding tables respectively connected with the first power arm 110 and the fourth power arm 140 are kept still, the creeping mechanisms simultaneously push the front module 300 of the machine body and the rear module 400 of the machine, this completes one cycle of the alternating peristaltic climb. When the movement of the peristaltic mechanism takes the body structural part as a reference object, the power arm fixed on the peristaltic mechanism is driven to reciprocate relative to the body structural part.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the described inspection method for a large-gradient power transmission line is also applicable to a robot operating a multi-split power transmission line, and specific operation processes and related descriptions can refer to corresponding processes in the foregoing method examples, and are not described herein again.
In the technical solution in the embodiment of the present application, at least the following technical effects and advantages are provided:
the moving device has a simple structure, realizes a passive flexible obstacle crossing mode through the power arm, automatically adapts to different types of obstacles with different sizes, can directly cross the obstacles from the upper side or the side of the obstacles without taking off the line in the obstacle crossing process, avoids obstacle crossing failure caused by the line taking off, has high reliability and routing inspection efficiency, and realizes efficient, rapid and safe obstacle crossing.
The mobile device has variable configuration, can be converted into an operation robot suitable for two different power environments of a single power transmission line and a multi-split power transmission line through combination, realizes multiple purposes and is convenient to disassemble, and reduces labor cost and construction cost.
The working robot adopts an alternate creeping type climbing strategy in a climbing mode adapting to a large slope, can ensure that the working robot can move on a power transmission line with a large slope, has strong climbing capability, can complete obstacle crossing while climbing, has high working reliability, and is suitable for high-requirement inspection operation.
It should be noted that in the description of the present invention, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicating the directions or positional relationships are based on the directions or positional relationships shown in the drawings, which are only for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The terms "comprises," "comprising," or any other similar term are intended to cover a non-exclusive inclusion, such that a process, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, article, or apparatus.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.
Claims (10)
1. The utility model provides a mobile device suitable for different transmission lines, a serial communication port, mobile device includes two or two above power arms, wherein at least one power arm below is provided with creeping mechanism, creeping mechanism set firmly in body structure spare, still be provided with band-type brake actuating mechanism, revolving stage mechanism on the body structure spare, wherein:
the power arm comprises a brake mechanism, a climbing wheel and an impeller mechanism, wherein the climbing wheel is used for climbing along a power transmission line, and the impeller mechanism is arranged at the upper end part of the climbing wheel and used for crossing obstacles;
the brake driving mechanism is used for driving the brake mechanism to clamp or release the power transmission line;
the power arm is arranged on the turntable mechanism and used for driving the power arm to rotate;
the peristalsis mechanism is used for driving the power arm connected with the peristalsis mechanism to reciprocate relative to the body structural member.
2. The moving device applicable to different power transmission lines according to claim 1, wherein the moving device comprises a first power arm and a second power arm which have the same structure, the first power arm is movably arranged on the creeping mechanism, the creeping mechanism is fixedly arranged on the first part of the body structural member, and the second power arm is fixedly arranged on the second part of the body structural member.
3. The moving device applicable to different power transmission lines according to claim 2, wherein the creeping mechanism comprises a linear motion mechanism with a self-locking function, the linear motion mechanism is connected with the first power arm through a sliding table, and the sliding table is used for driving the first power arm to move under the driving of the linear motion mechanism.
4. The mobile device applicable to different power transmission lines according to claim 2, wherein the brake mechanism comprises a gear clamp and a transmission device;
the gear clamp comprises a main gear clamp and an auxiliary gear clamp which are meshed with each other, and the main gear clamp and the auxiliary gear clamp are respectively and correspondingly provided with clamping ends for clamping the power transmission line;
the transmission device comprises a brake cable and a first cable wheel, one end of the first cable wheel is provided with a connecting part connected with the brake cable, the other end of the first cable wheel is provided with an engaging part engaged with the gear clamp, the engaging part of the first cable wheel is engaged with the main gear clamp and/or the pinion clamp, and the first cable wheel can rotate under the driving of the power device to drive the clamping end of the main gear clamp and the clamping end of the pinion clamp to be close to or deviate from each other, so that a power transmission line arranged between the main gear clamp and the pinion clamp is clamped or released.
5. Mobile device suitable for different transmission lines according to claim 4,
the band-type brake driving mechanism comprises a power device, a worm and gear reduction box and a second wire wheel;
one end of the second wire wheel is connected with the worm shaft of the worm and gear reduction box, and the other end of the second wire wheel is connected with the first wire wheel through the brake wire;
the output shaft of the power device is connected with the worm gear reduction box, and the worm gear reduction box drives the second wire wheel, the first wire wheel and the gear clamp to rotate under the driving of the power device.
6. The mobile device according to claim 2, wherein the turntable mechanism further comprises a limiting device for limiting a rotational degree of freedom of the power arm.
7. A working robot suitable for a multi-split transmission line, characterized by comprising two moving devices of any one of claims 2 to 6 symmetrically arranged in the left-right direction; the two symmetrically arranged mobile devices are connected with each other.
8. A working robot adapted for single transmission lines, comprising two moving devices according to any one of claims 2 to 6 arranged symmetrically in a front-to-rear direction; the two symmetrically arranged moving devices are connected through a hinge mechanism.
9. The work robot for the single electric transmission line according to claim 8, wherein the hinge mechanism includes a living hinge and an elastic member, two outer ends of the living hinge are respectively connected to two adjacent moving devices, and two ends of the elastic member are respectively connected to two inner ends of the living hinge for restraining the living hinge from freely rotating.
10. A climbing mode adapted to a large slope based on an operation robot as claimed in any one of claims 7, 8 and 9,
s100, controlling the band-type brake driving mechanism to enable the power arm fixed on the body structural member to tightly hold the power transmission line;
s200, controlling the peristaltic mechanism and driving the power arm fixed on the peristaltic mechanism to move upwards along the power transmission line;
s300, controlling the band-type brake driving mechanism to enable the power arm fixed on the peristaltic mechanism to tightly hold the power transmission line;
s400, controlling the band-type brake driving mechanism in the opposite direction to enable a power arm fixed on the body structural member to loosen a power transmission line;
s500, controlling the peristaltic mechanism in the opposite direction, driving the power arm to reciprocate relative to the body structural member, and driving the mobile device to move upwards along the power transmission line;
s600, executing S100-S500 in a loop.
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