CN111509613A - A Humanoid Climbing Online Inspection Robot - Google Patents

Abstract

The invention discloses a humanoid climbing type online inspection robot, which comprises a body and a plurality of climbing hands distributed on the body; The arm mechanism for the fingers to perform reciprocating climbing action along the high-voltage line; the arm mechanism formed by the crank-rocker mechanism of the present invention drives the fingers to perform the reciprocating climbing action along the extension direction of the high-voltage line, so that the robot can travel along the high-voltage line as a whole, and cooperate with the existing automatic patrol The inspection equipment realizes automatic inspection of high-voltage lines.

Description

A Humanoid Climbing Online Inspection Robot

technical field

The invention relates to the field of high-voltage line maintenance equipment, in particular to a humanoid climbing type online inspection robot.

Background technique

With the continuous advancement of industrialization and urbanization, the demand for electricity continues to increase, and the requirements for power transmission continue to increase. High-voltage lines are used for transmission from the power-generating area to the power-consuming area. The high-voltage lines are exposed to the outdoor natural environment for a long time. Due to factors such as weather and their own mechanical tension, it is easy to cause damage such as fracture, rust, and wear. plastic, etc. These problems have hidden dangers to the safety of power transmission, have an impact on power transmission, and even cause power paralysis in the event of danger. In order to ensure that the high-voltage line transmits electricity normally, it is necessary to check the high-voltage line regularly. Due to the wide arrangement of high-voltage lines and the complex terrain they pass through, manual inspection has a high risk factor and is difficult. Therefore, the design of inspection robots is of great significance to solve the above problems.

SUMMARY OF THE INVENTION

Therefore, the present invention designs a human-like climbing online inspection robot based on the action of people climbing ropes. The robot uses a link mechanism to form the motion trajectory of people climbing ropes, so as to reliably complete high-voltage line inspection operations. .

The humanoid climbing-type online inspection robot of the present invention includes a body and a plurality of climbing hands distributed on the body; the climbing hands include fingers that can hook the high-voltage wire and are used to drive the fingers The arm mechanism for reciprocating climbing action along the high-voltage line; the number of climbing hands can be set as required. If the inspection equipment carried by the robot is heavy, the number of climbing hands can be increased reasonably; the fingers can be hooked to facilitate the entire robot. Suspended on the high-voltage line, the arm mechanism can use the existing crank-rocker mechanism, slider-rocker mechanism, etc., to drive the fingers to complete the climbing motion trajectory along the high-voltage line, and its climbing power is driven by motors, electric push rods, etc. Crank or slider action.

Preferably, the arm mechanism is rotated around a vertical axis through a lumbar swivel joint assembly; the lumbar swivel joint assembly includes an arm support platform rotatably connected to the body around the vertical axis to support the arm mechanism, and an arm support platform for driving the The waist rotation drive motor that rotates the arm support platform.

Preferably, the arm mechanism includes an arm drive motor arranged on the arm support platform, a crank fixed on the output shaft of the arm drive motor, a rocker hinged on the arm support platform, and a rocker hinged on the rocker the connecting rod with the crank; the crank, the connecting rod, the rocker and the arm support platform together form a crank-rocker mechanism; the fingers are arranged on the outer end of the extension section of the connecting rod.

Preferably, the finger is provided with a card slot for matching with the high-voltage line; the inner wall of the card slot is provided with a friction layer.

Preferably, the arm support platform is supported on the top surface of the fuselage through a plane thrust bearing; the waist rotation drive motor is fixed on the bottom surface of the fuselage, and its output shaft is connected to the arm support platform through a flange coupling.

Preferably, the fuselage is a flat plate structure with weight-reducing holes distributed on its surface; of course, the fuselage can also adopt other shapes as required, which is convenient for carrying different types of inspection equipment.

Preferably, the climbing hands are arranged in pairs; the fingers of each pair of the climbing hands are arranged oppositely.

The beneficial effects of the present invention: the humanoid climbing online inspection robot of the present invention drives the fingers to perform reciprocating climbing motions along the extension direction of the high-voltage line through the arm mechanism formed by the crank-rocker mechanism, so that the robot can travel along the high-voltage line as a whole, and cooperate with the current Some automatic inspection equipment realizes automatic inspection of high-voltage lines.

Description of drawings

The present invention will be further described below with reference to the accompanying drawings and embodiments.

Fig. 1 is the structural representation of the present invention;

Fig. 2 is the structural representation of the lumbar swivel joint of the present invention;

Fig. 3 is the structural schematic diagram of the arm mechanism of the present invention;

FIG. 4 is a schematic structural diagram of a finger of the present invention.

Detailed ways

1 is a schematic structural diagram of the present invention; as shown in the figure, the humanoid climbing online inspection robot of the present embodiment includes a fuselage 1 and four climbing hands distributed on the fuselage 1; The climbing hand includes fingers 4 capable of hooking the high-voltage line and an arm mechanism 3 for driving the fingers 4 to perform a reciprocating climbing action along the high-voltage line;

In this embodiment, the fuselage 1 is a flat plate structure with weight-reducing holes distributed on its surface; the weight-reducing structure is formed through topology optimization design; of course, the fuselage 1 should also be provided with inspection equipment such as cameras.

The arm mechanism 3 is rotated around the vertical axis through the waist-swivel joint assembly 2; and a waist rotation drive motor 2-1 for driving the arm support table 2-4 to rotate; the arm support table 2-4 is supported on the top surface of the fuselage 1 through a plane thrust bearing 2-2; the waist rotation drive The motor 2-1 is fixed on the bottom surface of the fuselage 1, and its output shaft is connected with the arm support table 2-4 through the flange coupling 2-3; the waist rotation drive motor 2-1 drives the arm support table 2-4 along the The vertical axis rotates, so that the arm mechanism 3 can always perform the climbing action along the direction of the high-voltage line, so that the robot can smoothly pass the turning (corner) of the high-voltage line; Control, or use existing automatic guidance systems such as cameras and sensors to monitor the direction of the high-voltage line in real time and control the rotation of the waist-turning drive motor 2-1.

The arm mechanism 3 includes an arm drive motor 3-1 arranged on the arm support platform, a crank 3-2 fixed on the output shaft of the arm drive motor 3-1, and hinged on the arm support platform 2-4. The rocker 3-4 (the arm support platform is arranged on the rocker base 3-3 for hinged connection with the rocker 3-4 low end) and the rocker hinged between the rocker 3-4 and the crank 3-2. connecting rod 3-5; the crank 3-2, connecting rod 3-5, rocker 3-4 and arm support platform 2-4 together form a crank rocker mechanism; the finger 4 is arranged on the connecting rod 3- The outer end of the extension section of 5; in the crank-rocker mechanism in this embodiment, the outer end of the rocker 3-4 is hinged with the middle of the connecting rod 3-5, the finger 4 is arranged on the outer end of the connecting rod 3-5, and the arm The drive motor 3-1 drives the crank 3-2 to rotate, the connecting rod 3-5 and the rocker 3-4 swing back and forth, and the connecting rod 3-5 drives the finger 4 to perform a climbing action along the high-voltage line.

The finger 4 is connected with the outer end of the connecting rod 3-5 through the finger joint 4-1, and the finger 4 is provided with a slot for matching with the high-voltage line; The inner wall of the groove is provided with a friction layer 4-2 made of friction materials such as rubber and silica gel, which can effectively improve the friction force between it and the surface of the high-voltage line to ensure no slippage during travel.

In this embodiment, the climbing hands are provided with two pairs; the fingers 4 of each pair of the climbing hands are set opposite to each other, and this setting method can improve the reliability of the climbing hands hanging on the high-voltage line, and prevent the robot from falling out of the high-voltage line; The phases of the cranks 3-2 of the two arm mechanisms 3 of each pair of climbing hands should be 180° out of phase to ensure that the two fingers 4 alternately perform the climbing action.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be Modifications or equivalent substitutions without departing from the spirit and scope of the technical solutions of the present invention should be included in the scope of the claims of the present invention.

Claims (7)

1. A humanoid climbing type online inspection robot is characterized in that: it comprises a fuselage and a plurality of climbing hands distributed on the fuselage; The arm mechanism is used to drive the fingers to perform reciprocating climbing action along the high-voltage line. 2 . The humanoid climbing type online inspection robot according to claim 1 , wherein the arm mechanism is rotated around a vertical axis through a waist-swivel joint assembly; the waist-swivel joint assembly comprises a The axis is rotatably connected to the fuselage to support the arm support table of the arm mechanism and the waist rotation drive motor for driving the arm support table to rotate. 3. The humanoid climbing type online inspection robot according to claim 2, wherein the arm mechanism comprises an arm drive motor arranged on the arm support platform, an output shaft fixed on the arm drive motor The crank, the rocker hinged on the arm support platform and the connecting rod hinged between the rocker and the crank; the crank, the connecting rod, the rocker and the arm support platform together form a crank rocker mechanism; the The finger is arranged on the outer end of the extension section of the connecting rod. 4 . The humanoid climbing type online inspection robot according to claim 3 , wherein the fingers are provided with a slot for cooperating with the high-voltage line; the inner wall of the slot is provided with a friction layer. 5 . 5 . The humanoid climbing online inspection robot according to claim 4 , wherein the arm support platform is supported on the top surface of the fuselage through a plane thrust bearing; the waist rotation drive motor is fixed on the fuselage. 6 . On the bottom surface, its output shaft is connected with the arm support table through a flange coupling. 6 . The humanoid climbing online inspection robot according to claim 5 , wherein the fuselage is a flat plate structure with weight-reducing holes distributed on its surface. 7 . 7 . The humanoid climbing type online inspection robot according to claim 5 , wherein the climbing hands are arranged in pairs; the fingers of each pair of the climbing hands are arranged relative to each other. 8 .

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