CN111509613A - Humanoid climbing type online inspection robot - Google Patents
Humanoid climbing type online inspection robot Download PDFInfo
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- CN111509613A CN111509613A CN202010180132.2A CN202010180132A CN111509613A CN 111509613 A CN111509613 A CN 111509613A CN 202010180132 A CN202010180132 A CN 202010180132A CN 111509613 A CN111509613 A CN 111509613A
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- climbing
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- supporting table
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- inspection robot
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- Combustion & Propulsion (AREA)
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- Mechanical Engineering (AREA)
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Abstract
The invention discloses a humanoid climbing type on-line inspection robot, which comprises a robot body and a plurality of climbing hands distributed on the robot body, wherein the climbing hands are arranged on the robot body; the climbing hand comprises fingers capable of hooking the high-voltage wire and an arm mechanism for driving the fingers to perform reciprocating climbing actions along the high-voltage wire; according to the invention, the arm mechanism formed by the crank rocker mechanism drives the fingers to perform reciprocating climbing action along the extension direction of the high-voltage wire, so that the robot integrally moves along the high-voltage wire, and the automatic inspection operation of the high-voltage wire is realized by matching with the conventional automatic inspection equipment.
Description
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
With the continuous promotion of industrialization and urbanization processes, the power consumption demand is continuously increased, and the requirement on electric energy transmission is continuously improved. High-voltage wires are adopted for transmission from the electricity generating area to the electricity utilization area, the high-voltage wires are exposed in the outdoor natural environment for a long time, damage such as breakage, corrosion, abrasion and the like is easily caused due to factors such as weather, self mechanical tension and the like, and foreign matters such as branches, plastics and the like can be hung on the high-voltage wires. These problems put down hidden troubles to the safety of power transmission, influence power transmission and even cause electric power paralysis due to danger. In order to ensure that the high-voltage line normally transmits power, the high-voltage line needs to be checked regularly. Because the high-voltage line is arranged the wide range, the topography of passing through is complicated, and the manual inspection danger coefficient is high, the degree of difficulty is big. Therefore, the design of the inspection robot has important significance for solving the problems.
Disclosure of Invention
Therefore, the invention designs a humanoid climbing type on-line inspection robot by using the actions of a climbing rope of a person for reference, and the robot forms the motion track of the climbing rope of the person by using a connecting rod machine so as to reliably finish the inspection operation of a high-voltage line.
The invention relates to a humanoid climbing type on-line inspection robot, which comprises a robot body and a plurality of climbing hands distributed on the robot body; the climbing hand comprises fingers capable of hooking the high-voltage wire and an arm mechanism for driving the fingers to perform reciprocating climbing actions along the high-voltage wire; the number of the climbing hands can be set according to needs, and if the inspection equipment carried by the robot is heavy, the number of the climbing hands can be reasonably increased; the finger can adopt the couple structure to be convenient for suspend whole robot in midair on the high-voltage line, and arm mechanism can adopt current crank rocker mechanism, slider rocker mechanism etc. drives the finger and accomplishes the climbing action orbit along the high-voltage line, and its climbing power correspondingly adopts motor, electric putter etc. in order to drive crank or slider action.
Preferably, the arm mechanism rotates around a vertical axis through the waist-turn joint assembly; the waist rotation joint assembly comprises an arm supporting table and a waist rotation driving motor, wherein the arm supporting table is connected to the machine body in a rotating mode around a vertical axis to support the arm mechanism, and the waist rotation driving motor is used for driving the arm supporting table to rotate.
Preferably, the arm mechanism comprises an arm driving motor arranged on the arm supporting table I, a crank fixed on an output shaft of the arm driving motor, a rocker hinged to the arm supporting table and a connecting rod hinged between the rocker and the crank; the crank, the connecting rod, the rocker and the arm supporting table form a crank-rocker mechanism together; the fingers are arranged at the outer end of the extension section of the connecting rod.
Preferably, the finger is provided with a clamping groove used for being matched with a high-voltage wire; and a friction layer is arranged on the inner wall of the clamping groove.
Preferably, the arm supporting table is supported on the top surface of the machine body through a plane thrust bearing; the waist rotation driving motor is fixed on the bottom surface of the machine body, and an output shaft of the waist rotation driving motor is connected with the arm supporting table through a flange coupler.
Preferably, the machine body is of a flat plate structure, and lightening holes are distributed on the surface of the machine body; of course, the machine body can also adopt other forms as required, so that the inspection equipment of different types can be conveniently carried.
Preferably, the climbers are arranged in pairs; the fingers of each pair of the climbing hands are oppositely arranged.
The invention has the beneficial effects that: according to the humanoid climbing type on-line inspection robot, the arm mechanism formed by the crank rocker mechanism drives the fingers to perform reciprocating climbing actions along the extension direction of the high-voltage wire, so that the robot integrally moves along the high-voltage wire, and automatic inspection operation on the high-voltage wire is realized by matching with the conventional automatic inspection equipment.
Drawings
The invention is further described below with reference to the figures and examples.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of a waist rotation joint according to the present invention;
FIG. 3 is a schematic structural diagram of the arm mechanism of the present invention;
fig. 4 is a schematic structural diagram of a finger according to the present invention.
Detailed Description
FIG. 1 is a schematic structural view of the present invention; as shown in the figure, the humanoid climbing type online inspection robot of the embodiment comprises a machine body 1 and four climbing hands distributed on the machine body 1; the climbing hand comprises a finger 4 capable of hooking the high-voltage wire and an arm mechanism 3 for driving the finger 4 to perform reciprocating climbing actions along the high-voltage wire;
in the embodiment, the machine body 1 is of a flat plate structure, and lightening holes are distributed on the surface of the machine body; the weight reduction structure is formed after topological optimization design; of course, the body 1 should be provided with inspection equipment such as a camera.
The arm mechanism 3 rotates around a vertical axis through the waist-turn joint component 2; the waist-turn joint assembly 2 comprises an arm supporting table 2-4 which is rotatably connected to the machine body 1 around a vertical axis to support the arm mechanism 3 and a waist-turn driving motor 2-1 for driving the arm supporting table 2-4 to rotate; the arm supporting table 2-4 is supported on the top surface of the machine body 1 through a plane thrust bearing 2-2; the waist rotation driving motor 2-1 is fixed on the bottom surface of the machine body 1, and an output shaft of the waist rotation driving motor is connected with the arm supporting table 2-4 through a flange coupling 2-3; the waist rotation driving motor 2-1 drives the arm supporting table 2-4 to rotate along a vertical axis, so that the arm mechanism 3 can always climb along the direction of the high-voltage wire, and the robot can smoothly pass through the turning (corner) of the high-voltage wire; of course, the waist rotation driving motor 2-1 can be controlled by an operator by using a remote controller, or the waist rotation driving motor 2-1 can be controlled to rotate after the trend of the high-voltage line is monitored in real time by using the existing automatic guiding system such as a camera, a sensor and the like.
The arm mechanism 3 comprises an arm driving motor 3-1 arranged on the arm supporting platform I, a crank 3-2 fixed on an output shaft of the arm driving motor 3-1, a rocker 3-4 (arranged on the arm supporting platform and used for being hinged with the lower end of the rocker 3-4) hinged with the arm supporting platform 2-4 and a connecting rod 3-5 hinged between the rocker 3-4 and the crank 3-2; the crank 3-2, the connecting rod 3-5, the rocker 3-4 and the arm supporting table 2-4 form a crank rocker mechanism together; the finger 4 is arranged at the outer end of the extending section of the connecting rod 3-5; in the crank rocker mechanism in the embodiment, the outer end of a rocker 3-4 is hinged with the middle part of a connecting rod 3-5, a finger 4 is arranged at the outer end of the connecting rod 3-5, an arm driving motor 3-1 drives a crank 3-2 to rotate, the connecting rod 3-5 and the rocker 3-4 both perform reciprocating swing, and the connecting rod 3-5 drives the finger 4 to perform climbing action along a high-voltage line.
The finger 4 is connected with the outer end of the connecting rod 3-5 through a finger joint 4-1, and a clamping groove used for being matched with a high-voltage wire is formed in the finger 4; the clamping groove is of a trapezoidal section, so that the finger 4 is effectively prevented from being separated from the high-voltage wire; the inner wall of the clamping groove is provided with a friction layer 4-2 made of friction materials such as rubber and silica gel, so that the friction force between the clamping groove and the surface of the high-voltage wire can be effectively improved, and the clamping groove is prevented from slipping in the advancing process.
In this embodiment, the two pairs of the climbing hands are arranged; the fingers 4 of each pair of the climbing hands are oppositely arranged, and the arrangement mode can improve the reliability of the climbing hands suspended on the high-voltage line; the robot is prevented from falling off from the high-voltage line; the phase difference of the cranks 3-2 of the two arm mechanisms 3 of each pair of climbing hands is 180 degrees, and the two fingers 4 are ensured to alternately climb.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.
Claims (7)
1. The utility model provides an inspection robot on imitative people's climbing formula line which characterized in that: the climbing robot comprises a robot body and a plurality of climbing hands distributed on the robot body; the climbing hand comprises fingers capable of hooking the high-voltage wire and an arm mechanism used for driving the fingers to perform reciprocating climbing actions along the high-voltage wire.
2. The humanoid climbing type on-line inspection robot according to claim 1, characterized in that: the arm mechanism rotates around a vertical axis through the waist-turn joint assembly; the waist rotation joint assembly comprises an arm supporting table and a waist rotation driving motor, wherein the arm supporting table is connected to the machine body in a rotating mode around a vertical axis to support the arm mechanism, and the waist rotation driving motor is used for driving the arm supporting table to rotate.
3. The humanoid climbing type on-line inspection robot according to claim 2, characterized in that: the arm mechanism comprises an arm driving motor arranged on the arm supporting table, a crank fixed on an output shaft of the arm driving motor, a rocker hinged to the arm supporting table and a connecting rod hinged between the rocker and the crank; the crank, the connecting rod, the rocker and the arm supporting table form a crank-rocker mechanism together; the fingers are arranged at the outer end of the extension section of the connecting rod.
4. The humanoid climbing type on-line inspection robot according to claim 3, characterized in that: the finger is provided with a clamping groove used for being matched with a high-voltage wire; and a friction layer is arranged on the inner wall of the clamping groove.
5. The humanoid climbing type on-line inspection robot according to claim 4, characterized in that: the arm supporting table is supported on the top surface of the machine body through a plane thrust bearing; the waist rotation driving motor is fixed on the bottom surface of the machine body, and an output shaft of the waist rotation driving motor is connected with the arm supporting table through a flange coupler.
6. The humanoid climbing type on-line inspection robot according to claim 5, characterized in that: the machine body is of a flat plate structure, and lightening holes are distributed on the surface of the machine body.
7. The humanoid climbing type on-line inspection robot according to claim 5, characterized in that: the scramblers are arranged in pairs; the fingers of each pair of the climbing hands are oppositely arranged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010180132.2A CN111509613B (en) | 2020-03-16 | 2020-03-16 | Humanoid climbing type online inspection robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010180132.2A CN111509613B (en) | 2020-03-16 | 2020-03-16 | Humanoid climbing type online inspection robot |
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| CN111509613A true CN111509613A (en) | 2020-08-07 |
| CN111509613B CN111509613B (en) | 2021-11-26 |
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| CN202010180132.2A Active CN111509613B (en) | 2020-03-16 | 2020-03-16 | Humanoid climbing type online inspection robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115788059A (en) * | 2022-12-29 | 2023-03-14 | 华中科技大学 | Automatic reinforcement bar binding robot |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101168252A (en) * | 2006-10-25 | 2008-04-30 | 上海求是机器人有限公司 | Arm lifting type high voltage transmission line automatic polling robot |
| CN205355674U (en) * | 2016-01-11 | 2016-06-29 | 国家电网公司 | Transmission line patrols and examines robot |
| CN105798902A (en) * | 2016-05-12 | 2016-07-27 | 山东大学 | Mechanical structure of humanoid edge climbing line patrol robot and obstacle crossing method thereof |
| CN107776701A (en) * | 2017-10-21 | 2018-03-09 | 长沙展朔轩兴信息科技有限公司 | Rope-climbed robot |
| CN109262631A (en) * | 2018-11-15 | 2019-01-25 | 河北工业大学 | The bionical double mechanical arms automatic crusing robot of mesohigh line insulation risk point |
| CN109687331A (en) * | 2018-12-29 | 2019-04-26 | 上海南华兰陵电气有限公司 | It is a kind of can autonomous inspection intelligent Prefabricated Cubical Substation |
| CN210061190U (en) * | 2019-03-26 | 2020-02-14 | 胚豆智能科技(武汉)有限公司 | Robot arm structure of imitative people's action |
-
2020
- 2020-03-16 CN CN202010180132.2A patent/CN111509613B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101168252A (en) * | 2006-10-25 | 2008-04-30 | 上海求是机器人有限公司 | Arm lifting type high voltage transmission line automatic polling robot |
| CN205355674U (en) * | 2016-01-11 | 2016-06-29 | 国家电网公司 | Transmission line patrols and examines robot |
| CN105798902A (en) * | 2016-05-12 | 2016-07-27 | 山东大学 | Mechanical structure of humanoid edge climbing line patrol robot and obstacle crossing method thereof |
| CN107776701A (en) * | 2017-10-21 | 2018-03-09 | 长沙展朔轩兴信息科技有限公司 | Rope-climbed robot |
| CN109262631A (en) * | 2018-11-15 | 2019-01-25 | 河北工业大学 | The bionical double mechanical arms automatic crusing robot of mesohigh line insulation risk point |
| CN109687331A (en) * | 2018-12-29 | 2019-04-26 | 上海南华兰陵电气有限公司 | It is a kind of can autonomous inspection intelligent Prefabricated Cubical Substation |
| CN210061190U (en) * | 2019-03-26 | 2020-02-14 | 胚豆智能科技(武汉)有限公司 | Robot arm structure of imitative people's action |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115788059A (en) * | 2022-12-29 | 2023-03-14 | 华中科技大学 | Automatic reinforcement bar binding robot |
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| CN111509613B (en) | 2021-11-26 |
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