CN112072544B - Walking type power line obstacle crossing inspection robot along line - Google Patents
Walking type power line obstacle crossing inspection robot along line Download PDFInfo
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- CN112072544B CN112072544B CN202010864340.4A CN202010864340A CN112072544B CN 112072544 B CN112072544 B CN 112072544B CN 202010864340 A CN202010864340 A CN 202010864340A CN 112072544 B CN112072544 B CN 112072544B
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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
- 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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- 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
- 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
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Abstract
The invention discloses a line-walking obstacle crossing inspection robot for a power line. The invention comprises a control box, a mechanical arm, three traveling mechanisms and a screw mechanism; the upper surface of the control box is provided with a plate surface, the screw mechanism is fixedly installed on the plate surface, the screw mechanism is provided with a traveling mechanism, the two ends of the plate surface of the control box along the direction of the power transmission line are respectively connected and installed with the traveling mechanism through mechanical arms, and the three traveling mechanisms are located on the same horizontal plane and form a straight line. According to the invention, automatic walking on a power transmission line is realized through three driving wheels, three-arm type obstacle crossing is adopted, three walking mechanisms are sequentially off-line through a mechanical arm to realize obstacle crossing of the robot, and the distance between the three walking mechanisms is adjusted to adapt to different power transmission line obstacle conditions, so that the automatic obstacle crossing function can be well realized. The robot can adapt to different environment fast, and duration is strong to the people need not to get into dangerous environment, and remote control robot work, and the danger coefficient is low.
Description
Technical Field
The invention relates to a power transmission line inspection device, in particular to a walking type obstacle crossing inspection robot along a power line.
Background
Nowadays, scientific technologies such as cloud computing, big data, internet of things, internet, artificial intelligence and the like are rapidly developing, and meanwhile, the power grid is developing towards a robot at an astonishing development speed, and the traditional power grid is undergoing a huge change. However, the inspection technology of the high-voltage power grid is always one of the key technologies of the power grid technology. The power transmission line is exposed to the sun for a long time and is eroded by rain and snow, and the phenomenon of electric leakage and power failure caused by aging of the power line often occurs. If the maintenance is not timely, the small-sized fault which is easy to repair originally can evolve into a large-scale accident, and the result which is hard to imagine is caused. Therefore, the inspection of the power transmission line is very important work, and can timely and accurately find and solve faults, so that the long-term operation of the power transmission line is guaranteed.
Disclosure of Invention
In order to solve the requirements and problems in the background technology, the invention provides a walking type power line obstacle crossing inspection robot along the line, which realizes automatic walking on a power transmission line through three driving wheels, adopts three-arm obstacle crossing, realizes sequential line disconnection of three walking mechanisms through a mechanical arm to realize obstacle crossing of the robot, adapts to different power transmission line obstacle conditions by adjusting the distance between the three walking mechanisms, and can well realize the automatic obstacle crossing function.
The technical scheme of the invention is as follows:
the invention comprises a control box, a mechanical arm, three traveling mechanisms and a screw mechanism; the upper surface of the control box is provided with a plate surface, the screw mechanism is fixedly installed on the plate surface, the screw mechanism is provided with a traveling mechanism, the two ends of the plate surface of the control box along the direction of the power transmission line are respectively connected and installed with the traveling mechanism through mechanical arms, and the three traveling mechanisms are located on the same horizontal plane and form a straight line.
The screw mechanism comprises a screw motor, a screw coupler, a screw bearing seat, a screw motor fixing frame, a screw, a guide rail and a screw nut seat; two lead screw bearing blocks are arranged on two sides of the middle part of the plate surface of the control box, a lead screw motor is installed on one lead screw bearing block through a lead screw motor fixing frame, the end parts of two ends of a lead screw are movably sleeved on the two lead screw bearing blocks, so that the lead screw is supported and installed between bearing holes of the two lead screw bearing blocks, and the end part of one end of the lead screw passes through one lead screw bearing block and is coaxially connected with the output end of the lead screw motor through a lead screw coupling; the two ends of the guide rail are supported and installed between the end surfaces of the two lead screw bearing seats, the lead screw is parallel to the guide rail, the lead screw nut seat is sleeved on the lead screw through threads and is sleeved on the guide rail through sliding, and the lead screw nut seat is fixedly provided with a travelling mechanism;
the mechanical arm comprises a small arm, a motor with double output shafts, a motor coupler, a motor mounting plate, a large arm and a power source; the power source is arranged on the control box, one end of the large arm is connected with the power source, the other end of the large arm is fixedly connected with the motor mounting plate, the motor mounting plate is provided with a double-output-shaft motor, two output shafts of the double-output-shaft motor are fixedly connected with one ends of the two small arms through respective motor couplers, and two sides of the other end of each small arm are connected with the travelling mechanism through small arm bolts;
the power source comprises a disc-shaped motor, a pin, a power source bearing, a bearing fixing plate and a power source bolt; the bearing fixing plate is fixedly installed on the control box through a power source bolt, the end part of the output shaft of the disc-shaped motor is movably installed in a hole of the bearing fixing plate through a power source bearing, a large arm is sleeved on the peripheral surface of the output shaft of the disc-shaped motor, and the large arm is coaxially and fixedly connected with the output shaft of the disc-shaped motor through a pin key.
The travelling mechanism comprises a large travelling support, a brake device, a travelling mechanism motor, a travelling mechanism coupler, a travelling mechanism bearing seat, a driving wheel, a motor fixing plate, a fixing frame, a first torsion spring, an upper flexible plate, a lower flexible plate, a small travelling support and a second torsion spring; the two sides of the power transmission line are provided with a large walking support and a small walking support, the bottoms of the large walking support and the small walking support are fixed on a mechanical arm or a lead screw bearing seat of a lead screw mechanism, a fixed frame is arranged right above the small walking support, the tops of the fixed frame and the large walking support are positioned on the same horizontal plane, the top of the large walking support is provided with a walking mechanism motor, the output end of the walking mechanism motor is fixedly connected with a shaft at one end of a driving wheel through a shaft coupling, the shafts at the two ends of the driving wheel are respectively and movably sleeved in the two bearing seats, the two bearing seats are respectively fixed at the tops of the fixed frame and the large walking support, and the driving wheel is connected with the power transmission line in a rolling manner; the upper end of the upper flexible plate is hinged and mounted at the bottom of the fixed frame through a first torsion spring, and the lower end of the lower flexible plate is hinged and mounted at the top of the small walking support through a second torsion spring;
the large walking support and the small walking support on the mechanical arm are respectively fixed at the other ends of the two small arms through small arm bolts, and the large walking support and the small walking support on the lead screw bearing seat are fixed on the lead screw bearing seat.
Two round holes are formed below the large walking support and the small walking support, and bolts penetrate through the round holes to be connected to the mechanical arm or the lead screw bearing seat, so that the large walking support and the small walking support are fixedly mounted on the mechanical arm or the lead screw bearing seat.
The lower end of the upper flexible plate is connected with the upper end of the lower flexible plate through the protruding blocks and the holes, the side face of the lower end of the upper flexible plate is provided with three protruding blocks, and the upper portion of the lower flexible plate is provided with three holes, so that the protruding blocks of the upper flexible plate are matched with the holes of the lower flexible plate.
A brake device is arranged in the middle of the large walking support and comprises an electromagnetic relay, a mounting plate, a spring, an iron core and an opposite brake pad; electromagnetic relay installs on large-scale walking the support through the mounting panel, and there is the iron core electromagnetic relay upper end through spring coupling, and the electromagnetic relay upper end is used for the magnetic adsorption iron core, and the iron core both sides respectively are equipped with a special-shaped brake block, and special-shaped brake block one end articulates in the side of iron core, and the middle part of special-shaped brake block articulates in the top side of large-scale walking support, and the special-shaped brake block other end is processed into the hook-shaped for catch the power transmission line surface and realize the brake.
The distance between the walking mechanism on the screw rod mechanism and the two walking mechanisms on the two mechanical arms is larger than the length of the barrier along the direction of the power transmission line.
The barrier is a cylinder structure which is larger than the power transmission line in diameter and is sleeved outside the power transmission line.
The invention has the beneficial effects that:
1. the robot can adapt to different environments quickly and is slightly restricted by weather factors.
2. People do not need to enter a dangerous environment, the robot is controlled to work in a remote mode, and the danger coefficient is low. .
3. The robot can work for several hours after being charged once, the working time is far longer than that of an unmanned aerial vehicle, and the cruising ability of the robot is strong.
4. The robot autonomously patrols and examines on the power transmission line according to a given program, automatically adapts to different power transmission line obstacle conditions, can well realize the automatic obstacle crossing function and realize automatic obstacle crossing, and has high working efficiency.
Drawings
FIG. 1 is a perspective view of one embodiment of the present invention;
FIG. 2 is a schematic view of the traveling mechanism of the present invention;
FIG. 3 is a schematic view of a robotic arm of the present invention;
FIG. 4 is a schematic view of the disk motor assembly of the present invention;
fig. 5 is a partial view of the power transmission line of the present invention shown disengaged and entering the running gear;
FIG. 6 is a state diagram of the operation of the present invention;
in the figure: 1. 1-1 traveling mechanism, 1-1 large traveling bracket, 1-2 electromagnetic relay, 1-3 mounting plate, 1-4 spring, 1-5 iron core, 1-6 opposite brake block, 1-7 traveling mechanism motor, 1-8 traveling mechanism coupling, 1-9 traveling mechanism bearing seat, 1-10 driving wheel, 1-11 motor fixing plate, 1-12 fixed frame, 1-13 first torsion spring, 1-14 upper flexible plate, 1-15 lower flexible plate, 1-16 small traveling bracket, 1-17 second torsion spring, 2 small arm bolt, 3 small arm, 4 double output shaft motor, 5 motor coupling, 6 motor mounting plate, 7 large arm, 8 power source, 8-1 disc motor, 8-2 parts of pin key, 8-3 parts of power source bearing, 8-4 parts of bearing fixing plate, 8-5 parts of power source bolt, 9 parts of control box, 10 parts of screw motor, 11 parts of screw shaft coupling, 12 parts of screw shaft bearing seat, 13 parts of screw motor fixing frame, 14 parts of screw, 15 parts of guide rail, 16 parts of screw nut seat, 17 parts of power transmission line, 18 parts of barrier.
Detailed Description
The invention is further described with reference to the accompanying drawings and the detailed description.
The invention comprises a control box 9, a mechanical arm, three traveling mechanisms 1 and a screw mechanism; the upper surface of the control box 9 is provided with a plate surface, the screw mechanism is fixedly installed on the plate surface, the screw mechanism is provided with a traveling mechanism 1, the two ends of the plate surface of the control box 9 along the direction of the power transmission line 17 are respectively provided with the traveling mechanism 1 through mechanical arms in a connecting mode, and the three traveling mechanisms 1 are located on the same horizontal plane and form a straight line.
The screw mechanism comprises a screw motor 10, a screw coupling 11, a screw bearing seat 12, a screw motor fixing frame 13, a screw 14, a guide rail 15 and a screw nut seat 16; two lead screw bearing seats 12 are arranged on two sides of the middle part of the plate surface of the control box 9, a connecting line between the two lead screw bearing seats 12 is parallel to a power transmission line 17, a lead screw motor 10 is installed on one lead screw bearing seat 12 through a lead screw motor fixing frame 13, the end parts of two ends of a lead screw 14 are movably sleeved on the two lead screw bearing seats 12, so that the lead screw 14 is supported and installed between bearing holes of the two lead screw bearing seats 12, and the end part of one end of the lead screw 14 passes through one lead screw bearing seat 12 and then is coaxially connected with the output end of the lead screw motor 10 through the lead screw bearing seat 11; the two ends of the guide rail 15 are supported and installed between the end surfaces of the two lead screw bearing seats 12, the lead screw 14 and the guide rail 15 are arranged in parallel and up and down, the lead screw nut seat 16 is sleeved on the lead screw 14 through threads and is sleeved on the guide rail 15 through sliding, and the lead screw nut seat 16 is fixedly provided with a traveling mechanism 1;
the lead screw 14 and the guide rail 15 are connected through a lead screw nut seat 16 to form a lead screw nut sliding mechanism, the lead screw motor 10 operates to drive the lead screw 14 to rotate, and then the lead screw nut sliding mechanism drives the lead screw nut seat 16 and the travelling mechanisms 1 thereon to horizontally slide along the guide rail 15, so that the distance between the travelling mechanisms 1 on the lead screw mechanism and the two travelling mechanisms 1 on the two mechanical arms is adjusted.
The obstacle 18 is a cylindrical structure with a diameter larger than that of the power line 17 and is sleeved outside the power line 17. The distance between the travelling mechanisms 1 on the screw mechanism and the two travelling mechanisms 1 on the two mechanical arms is larger than the length of the barrier 18 along the direction of the power transmission line 17. The distance between the travelling mechanisms 1 on the screw mechanism and the two travelling mechanisms 1 on the two mechanical arms is controlled and adjusted through the screw mechanism so as to adapt to the obstacles 18 with different lengths along the direction of the power transmission line 17.
The mechanical arm comprises a small arm 3, a double-output-shaft motor 4, a motor coupler 5, a motor mounting plate 6, a large arm 7 and a power source 8; the power source 8 is arranged on the control box 9, one end of the large arm 7 is connected with the power source 8, the other end of the large arm 7 is fixedly connected with the motor mounting plate 6, the motor mounting plate 6 is provided with the double-output-shaft motor 4, two output shafts of the double-output-shaft motor 4 are fixedly connected with one ends of the two small arms 3 through respective motor couplers 5, and two sides of the other end of each small arm 3 are connected with the travelling mechanism 1 through the small arm bolts 2;
the power source 8 comprises a disc-shaped motor 8-1, a pin 8-2, a power source bearing 8-3, a bearing fixing plate 8-4 and a power source bolt 8-5; the bearing fixing plate 8-4 is fixedly arranged on the control box 9 through a power source bolt 8-5, the end part of an output shaft of the disc type motor 8-1 is movably arranged in a hole of the bearing fixing plate 8-4 through a power source bearing 8-3, the circumferential surface of the output shaft of the disc type motor 8-1 is sleeved with a large arm 7, and the large arm 7 is coaxially and fixedly connected with the output shaft of the disc type motor 8-1 through a pin key 8-2.
The walking mechanism comprises a large walking support 1-1, a brake device, a walking mechanism motor 1-7, a walking mechanism coupler 1-8, a walking mechanism bearing seat 1-9, a driving wheel 1-10, a motor fixing plate 1-11, a fixing frame 1-12, a first torsion spring 1-13, an upper flexible plate 1-14, a lower flexible plate 1-15, a small walking support 1-16 and a second torsion spring 1-17; two sides of a power transmission line 17 are provided with a large walking bracket 1-1 and a small walking bracket 1-16, the bottoms of the large walking bracket 1-1 and the small walking bracket 1-16 are fixed on a screw bearing seat 12 of a mechanical arm or a screw mechanism, a fixed frame 1-12 is arranged right above the small walking bracket 1-16, the tops of the fixed frame 1-12 and the large walking bracket 1-1 are positioned on the same horizontal plane, the top of the large walking bracket 1-1 is provided with a walking mechanism motor 1-7, the output end of the walking mechanism motor 1-7 is fixedly connected with a shaft at one end of a driving wheel 1-10 through a coupling 1-8, the shafts at two ends of the driving wheel 1-10 are respectively and movably sleeved in the two bearing seats 1-9 for supporting, the two bearing seats 1-9 are respectively fixed on the tops of the fixed frame 1-12 and the large walking bracket 1-1, the driving wheels 1-10 are connected with the power transmission line 17 in a rolling way;
the large walking support 1-1 and the small walking support 1-16 on the mechanical arm are respectively fixed on the other ends of the two small arms 3 through small arm bolts 2, and the large walking support 1-1 and the small walking support 1-16 on the screw bearing seat 12 are both fixed on the screw bearing seat 12.
Two round holes are formed below the large walking support 1-1 and the small walking support 1-16, and bolts penetrate through the round holes to be connected to the mechanical arm or the screw bearing seat 12, so that the large walking support 1-1 and the small walking support 1-16 are fixedly installed on the mechanical arm or the screw bearing seat 12.
The upper ends of the upper flexible plates 1-14 are hinged to the bottoms of the fixed frames 1-12 through first torsion springs 1-13, and the lower ends of the lower flexible plates 1-15 are hinged to the tops of the small walking brackets 1-16 through second torsion springs 1-17;
the lower ends of the upper flexible plates 1-14 are connected with the upper ends of the lower flexible plates 1-15 through the convex blocks and the holes, the side surfaces of the lower ends of the upper flexible plates 1-14 are provided with three convex blocks, and the upper parts of the lower flexible plates 1-15 are provided with three holes, so that the convex blocks of the upper flexible plates 1-14 are matched with the holes of the lower flexible plates 1-15 in a natural state.
A brake device is arranged in the middle of the large walking support 1-1 and comprises an electromagnetic relay 1-2, a mounting plate 1-3, a spring 1-4, an iron core 1-5 and an opposite brake pad 1-6; the electromagnetic relay 1-2 is installed on the large walking support 1-1 through the installation plate 1-3, the upper end of the electromagnetic relay 1-2 is connected with the iron core 1-5 through the spring 1-4, the upper end of the electromagnetic relay 1-2 is used for magnetically adsorbing the iron core 1-5, the two sides of the iron core 1-5 are respectively provided with a special-shaped brake pad 1-6, one end of the special-shaped brake pad 1-6 is hinged to the side face of the iron core 1-5, the middle part of the special-shaped brake pad 1-6 is hinged to the top side face of the large walking support 1-1, and the other end of the special-shaped brake pad 1-6 is processed into a hook shape and used for hooking the surface of the power transmission line 17 to realize braking.
When the automobile is normally driven, the electromagnetic relay 1-2 is electrified to attract the iron core 1-5 to descend, so that the spring 1-4 is compressed, and the two special-shaped brake pads 1-6 are separated from the power transmission line 17 upwards; when braking, the electromagnetic relay 1-2 cuts off the power of the iron core 1-5 and moves upwards, the spring 1-4 is bounced open but still in a compressed state, and the two special-shaped brake pads 1-6 are tightly hooked on the power transmission line 17 to realize braking.
The specific movement process of the invention is as follows:
firstly, the three traveling mechanisms 1 of the robot are sleeved on the power transmission line 17 by manual means, the upper flexible plate and the lower flexible plate can swing inwards through the lower flexible plates 1 to 15 or the upper flexible plates 1 to 14 can swing outwards to be separated, so that the power transmission line 17 is separated from the traveling mechanisms 1, and under the normal condition, namely when no obstacle 18 exists on the power transmission line 17, the three traveling mechanisms 1 work simultaneously, and the robot travels along the power transmission line 17. When meeting the obstacles 18, the robot can cross the obstacles by sequentially taking off the three travelling mechanisms 1 through the mechanical arms, and the distance between the three arms can be adjusted to adapt to the obstacles 18 with different lengths along the direction of the power transmission line 17. Along the walking direction of the robot, the walking mechanisms 1 are named as a front walking mechanism 1, a middle walking mechanism 1 and a rear walking mechanism 1 in sequence, and the mechanical arms are named as a front mechanical arm and a rear mechanical arm.
(A) The front running gear 1 is separated from the power transmission line 17: firstly, three brake devices of the robot start to work, and the robot stops. After the robot stops, the double-output-shaft motor 4 of the front mechanical arm drives the elbow joint of the front mechanical arm to realize pitching, the driving wheels 1-10 of the front walking mechanism 1 ascend to separate from the power transmission line 17, when the power transmission line 17 separates from the driving wheels 1-10 of the front walking mechanism 1, the disc-shaped motor 8-1 of the mechanical arm starts to work to drive the mechanical arm and the front walking mechanism 1 to rotate towards the left end, the upper flexible plates 1-14 touch the power transmission line 17, the upper flexible plates 1-14 swing towards the right relative to the front walking mechanism 1, the upper flexible plates and the lower flexible plates separate from each other, the power transmission line 17 separates from the front walking mechanism 1, and the upper flexible plates and the lower flexible plates are closed again due to the torsion springs.
(B) The robot walking process: then the middle running gear 1 and the rear running gear 1 start to work to drive the robot to continue to move forwards, and when the middle running gear 1 approaches the barrier 18, the brake devices at the middle part and the rear part start to work to realize the parking of the robot.
(C) The process that the front travelling mechanism 1 returns the power transmission line 17 again: when a small-length obstacle 18 is encountered, the double-output-shaft motor 4 of the front mechanical arm drives the elbow joint of the front mechanical arm to pitch for a small height, then the disk-shaped motor 8-1 of the front mechanical arm starts to work to drive the front mechanical arm and the front travelling mechanism 1 to rotate towards the right end, the lower flexible plate 1-15 touches the power transmission line 17, the lower flexible plate 1-15 swings towards the left relative to the front travelling mechanism 1, the upper flexible plate and the lower flexible plate are separated, the power transmission line 17 reenters the front travelling mechanism 1, the double-output-shaft motor 4 of the front mechanical arm drives the elbow joint of the front mechanical arm to rotate downwards to restore the original state, the power transmission line 17 reengages the driving wheel 1-10 of the front travelling mechanism 1, and the upper flexible plate and the lower flexible plate are reclosed due to the torsion spring.
When encountering a large-length obstacle 18, the middle lead screw motor 10 and the rear travelling mechanism 1 start to work simultaneously, the middle lead screw motor 10 and the middle travelling mechanism 1 are far away from each other to drive the robot to move forwards continuously, after the front travelling mechanism 1 exceeds the obstacle 18, the double-output-shaft motor 4 of the front mechanical arm drives the elbow joint of the front mechanical arm to pitch a small height, then the front disc-shaped motor 8-1 starts to work to drive the mechanical arm and the travelling mechanism 1 to rotate towards the right end, the lower flexible plates 1-15 touch the power transmission line 17, the lower flexible plates 1-15 swing leftwards relative to the travelling mechanism 1, the upper flexible plates and the lower flexible plates are separated, the power transmission line 17 enters the front travelling mechanism 1 again, the double-output-shaft motor 4 of the front mechanical arm drives the elbow joint of the front mechanical arm to rotate downwards to restore the original state, the power transmission line 17 contacts the driving wheels 1-10 of the front travelling mechanism 1 again, the upper and lower flexible plates reclose due to the torsion spring.
(D) The middle walking mechanism 1 is separated from the power transmission line 17: then, the elbow joints of the front mechanical arm and the rear mechanical arm start to rotate downwards at the same time, due to the gravity of the robot, only driving wheels 1-10 of the front traveling mechanism 1 and the rear traveling mechanism 1 are in contact with a power transmission line 17, the driving wheels 1-10 of the middle traveling mechanism 1 are separated from the power transmission line 17, disc-shaped motors 8-1 of the front mechanical arm and the rear mechanical arm work at the same time to drive the front mechanical arm and the rear mechanical arm to rotate towards the right side of the advancing direction, upper flexible plates 1-14 of the middle traveling mechanism 1 touch the power transmission line 17, the upper flexible plates 1-14 swing rightwards relative to the middle traveling mechanism 1, upper flexible plates and lower flexible plates are separated, the power transmission line 17 is separated from the front traveling mechanism 1, and the upper flexible plates and the lower flexible plates are closed again due to torsion springs.
(E) The robot walking process: and then the front and rear running gears 1 start to work to drive the robot to continue to move forwards, and when the rear running gear 1 approaches the obstacle 18, the front and rear brake devices start to work to stop the robot.
(F) The middle walking mechanism 1 returns the power transmission line 17 again: when a small-sized obstacle 18 is encountered, the double-output-shaft motors 4 of the front mechanical arm and the rear mechanical arm respectively drive the elbow joints of the front mechanical arm and the rear mechanical arm to rotate downwards for a small height, then the disk-shaped motors 8-1 of the front mechanical arm and the rear mechanical arm respectively start to work to drive the front travelling mechanism 1 and the rear travelling mechanism 1 to rotate leftwards, the lower flexible plates 1-15 of the front travelling mechanism 1 and the rear travelling mechanism 1 respectively touch the power transmission line 17, the lower flexible plates 1-15 of the front travelling mechanism 1 and the rear travelling mechanism 1 respectively swing leftwards relative to the front travelling mechanism 1 and the rear travelling mechanism 1 respectively, the upper flexible plates and the lower flexible plates of the front travelling mechanism 1 and the rear travelling mechanism 1 respectively are disengaged, the power transmission line 17 reenters the middle travelling mechanism 1, and the double-output-shaft motors 4 of the front mechanical arm and the rear mechanical arm respectively drive the elbow joints of the front mechanical arm and the rear mechanical arm to rotate in a pitching mode to restore the original state.
When a large-length obstacle 18 is encountered, the middle lead screw motor starts to work, the middle lead screw motor and the middle travelling mechanism 1 are close to each other, after the middle travelling mechanism 1 exceeds the obstacle 18, the double output shaft motors 4 of the front mechanical arm and the rear mechanical arm respectively drive the elbow joints of the front mechanical arm and the rear mechanical arm to rotate downwards by a small height, then the disk-shaped motors 8-1 of the front mechanical arm and the rear mechanical arm respectively start to work to drive the front travelling mechanism 1 and the rear travelling mechanism 1 to rotate towards the left end, the lower flexible plates 1-15 of the front travelling mechanism 1 and the rear travelling mechanism 1 respectively touch the power transmission line 17, the lower flexible plates 1-15 of the front travelling mechanism 1 and the rear travelling mechanism 1 respectively swing towards the left relative to the front travelling mechanism 1 and the rear travelling mechanism 1, the upper flexible plates 1-15 of the front travelling mechanism 1 and the rear travelling mechanism 1 respectively are disengaged, the power transmission line 17 reenters the middle travelling mechanism 1, the front mechanical arm and the rear mechanical arm are respectively driven by double output shaft motors 4 to respectively drive the elbow joints of the front mechanical arm and the rear mechanical arm to rotate in a pitching mode to restore the original state.
(G) The rear running gear 1 is separated from the power transmission line 17: the double output shaft motor 4 of the rear mechanical arm drives the elbow joint of the rear mechanical arm to realize pitching, the driving wheels 1-10 of the rear travelling mechanism 1 rise to separate from the power transmission line 17, when the power transmission line 17 separates from the driving wheels 1-10 of the rear travelling mechanism 1, the disc-shaped motor 8-1 of the rear mechanical arm starts to work to drive the rear mechanical arm and the rear travelling mechanism 1 to rotate towards the left end, the upper flexible plates 1-14 of the rear travelling mechanism 1 touch the power transmission line 17, the upper flexible plates 1-14 of the rear travelling mechanism 1 swing towards the right relative to the rear travelling mechanism 1, the upper flexible plates and the lower flexible plates of the rear travelling mechanism 1 are separated, the power transmission line 17 separates from the rear travelling mechanism 1, and the upper flexible plates and the lower flexible plates of the rear travelling mechanism 1 are closed again due to the torsion spring.
(H) The robot walking process: and then the front and middle traveling mechanisms 1 start to work to drive the robot to continue to move forwards, and when the rear traveling mechanism 1 approaches the obstacle 18, the middle and rear brake devices start to work to stop the robot and stop the robot.
(I) The process that the rear running gear 1 returns the power transmission line 17 again: the double output shaft motor 4 of the rear mechanical arm drives the elbow joint of the rear mechanical arm to pitch a small height, then the disk-shaped motor 8-1 of the rear mechanical arm starts to work to drive the rear mechanical arm and the rear travelling mechanism 1 to rotate leftwards, the lower flexible plates 1-15 of the rear travelling mechanism 1 touch the power transmission line 17, the lower flexible plates 1-15 of the rear travelling mechanism 1 swing rightwards relative to the rear travelling mechanism 1, the upper flexible plates 1-15 of the rear travelling mechanism 1 are separated, the power transmission line 17 reenters the rear travelling mechanism 1, the double output shaft motor 4 of the rear mechanical arm drives the elbow joint of the rear mechanical arm to rotate downwards to restore the original state, the power transmission line 17 reengages the driving wheels 1-10 of the rear travelling mechanism 1, and the upper part of the rear travelling mechanism 1, the lower flexible plate recloses due to the torsion spring.
The invention is not the best known technology.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (8)
1. The utility model provides a walking electric power circuit hinders more along line patrols and examines robot which characterized in that: comprises a control box (9), a mechanical arm, three traveling mechanisms (1) and a screw mechanism; the upper surface of the control box (9) is provided with a plate surface, the screw mechanism is fixedly arranged on the plate surface, the screw mechanism is provided with a traveling mechanism (1), two ends of the plate surface of the control box (9) along the direction of the power transmission line (17) are respectively connected and provided with the traveling mechanism (1) through mechanical arms, and the three traveling mechanisms (1) are positioned on the same horizontal plane and form a straight line;
the walking mechanism comprises a large walking support (1-1), a brake device, a walking mechanism motor (1-7), a walking mechanism coupler (1-8), a walking mechanism bearing seat (1-9), a driving wheel (1-10), a motor fixing plate (1-11), a fixing frame (1-12), a first torsion spring (1-13), an upper flexible plate (1-14), a lower flexible plate (1-15), a small walking support (1-16) and a second torsion spring (1-17); two sides of a power transmission line (17) are provided with a large walking bracket (1-1) and a small walking bracket (1-16), the bottoms of the large walking bracket (1-1) and the small walking bracket (1-16) are fixed on a screw bearing seat (12) of a mechanical arm or a screw mechanism, a fixed frame (1-12) is arranged right above the small walking bracket (1-16), the top parts of the fixed frame (1-12) and the large walking bracket (1-1) are positioned on the same horizontal plane, the top part of the large walking bracket (1-1) is provided with a walking mechanism motor (1-7), the output end of the walking mechanism motor (1-7) is fixedly connected with a shaft at one end of a driving wheel (1-10) through a coupler (1-8), and shafts at two ends of the driving wheel (1-10) are respectively and movably sleeved in the two bearing seats (1-9), the two bearing seats (1-9) are respectively fixed on the tops of the fixed frames (1-12) and the large-scale walking bracket (1-1), and the driving wheels (1-10) are connected with the power transmission line (17) in a rolling way; the upper ends of the upper flexible plates (1-14) are hinged to the bottoms of the fixed frames (1-12) through first torsion springs (1-13), and the lower ends of the lower flexible plates (1-15) are hinged to the tops of the small walking brackets (1-16) through second torsion springs (1-17);
a brake device is arranged in the middle of the large walking support (1-1), and the brake device comprises an electromagnetic relay (1-2), a mounting plate (1-3), a spring (1-4), an iron core (1-5) and a special-shaped brake pad (1-6); the electromagnetic relay (1-2) is installed on the large walking support (1-1) through the installation plate (1-3), the upper end of the electromagnetic relay (1-2) is connected with the iron core (1-5) through the spring (1-4), the upper end of the electromagnetic relay (1-2) is used for magnetically adsorbing the iron core (1-5), two sides of the iron core (1-5) are respectively provided with a special-shaped brake pad (1-6), one end of the special-shaped brake pad (1-6) is hinged to the side face of the iron core (1-5), the middle of the special-shaped brake pad (1-6) is hinged to the side face of the top of the large walking support (1-1), and the other end of the special-shaped brake pad (1-6) is processed into a hook shape and used for hooking the surface of the power transmission line (17) to realize braking.
2. The obstacle crossing inspection robot for the power line walking along the line according to claim 1, characterized in that: the screw mechanism comprises a screw motor (10), a screw coupling (11), a screw bearing seat (12), a screw motor fixing frame (13), a screw (14), a guide rail (15) and a screw nut seat (16); two lead screw bearing blocks (12) are arranged on two sides of the middle of the surface of the control box (9), a lead screw motor (10) is installed on one lead screw bearing block (12) through a lead screw motor fixing frame (13), the end parts of two ends of a lead screw (14) are movably sleeved on the two lead screw bearing blocks (12), so that the lead screw (14) is supported and installed between bearing holes of the two lead screw bearing blocks (12), and the end part of one end of the lead screw (14) passes through one lead screw bearing block (12) and then is coaxially connected with the output end of the lead screw motor (10) through a lead screw coupling (11); the two ends of the guide rail (15) are supported and installed between the end faces of the two lead screw bearing seats (12), the lead screws (14) are parallel to the guide rail (15), the lead screw nut seats (16) are sleeved on the lead screws (14) through threads and are sleeved on the guide rail (15) through sliding, and the lead screw nut seats (16) are fixedly provided with a travelling mechanism (1).
3. The obstacle crossing inspection robot for the power line walking along the line according to claim 1, characterized in that: the mechanical arm comprises a small arm (3), a double-output-shaft motor (4), a motor coupling (5), a motor mounting plate (6), a large arm (7) and a power source (8); the power source (8) is arranged on the control box (9), one end of the large arm (7) is connected with the power source (8), the other end of the large arm (7) is fixedly connected with the motor mounting plate (6), the motor mounting plate (6) is provided with the double-output-shaft motor (4), two output shafts of the double-output-shaft motor (4) are fixedly connected with one ends of the two small arms (3) through respective motor couplers (5), and two sides of the other end of each small arm (3) are connected with the travelling mechanism (1) through small arm bolts (2);
the power source (8) comprises a disc-shaped motor (8-1), a pin key (8-2), a power source bearing (8-3), a bearing fixing plate (8-4) and a power source bolt (8-5); the bearing fixing plate (8-4) is fixedly arranged on the control box (9) through a power source bolt (8-5), the end part of an output shaft of the disc-shaped motor (8-1) is movably arranged in a hole of the bearing fixing plate (8-4) through a power source bearing (8-3), a large arm (7) is sleeved on the peripheral surface of the output shaft of the disc-shaped motor (8-1), and the large arm (7) is coaxially and fixedly connected with the output shaft of the disc-shaped motor (8-1) through a pin key (8-2).
4. The obstacle crossing inspection robot for the power line walking along the line according to claim 1, characterized in that: the large walking support (1-1) and the small walking support (1-16) on the mechanical arm are respectively fixed at the other ends of the two small arms (3) through small arm bolts (2), and the large walking support (1-1) and the small walking support (1-16) on the lead screw bearing seat (12) are both fixed on the lead screw bearing seat (12).
5. The obstacle crossing inspection robot for the power line walking along the line according to claim 1, characterized in that: the lower ends of the upper flexible plates (1-14) are connected with the upper ends of the lower flexible plates (1-15) through the convex blocks and the holes, the side surfaces of the lower ends of the upper flexible plates (1-14) are provided with three convex blocks, and the upper parts of the lower flexible plates (1-15) are provided with three holes, so that the convex blocks of the upper flexible plates (1-14) are matched with the holes of the lower flexible plates (1-15).
6. The obstacle crossing inspection robot for the power line walking along the line according to claim 1, characterized in that: two round holes are formed below the large walking support (1-1) and the small walking support (1-16), and bolts penetrate through the round holes to be connected to the mechanical arm or the screw bearing seat (12), so that the large walking support (1-1) and the small walking support (1-16) are fixedly mounted on the mechanical arm or the screw bearing seat (12).
7. The obstacle crossing inspection robot for the power line walking along the line according to claim 1, characterized in that: the distance between the travelling mechanisms (1) on the screw rod mechanism and the two travelling mechanisms (1) on the two mechanical arms is larger than the length of the barrier (18) along the direction of the power transmission line (17).
8. The inspection robot for obstacles crossing along the power line walking along the line according to claim 7, characterized in that: the obstacle (18) is a cylinder structure which is larger than the power transmission line (17) in diameter and is sleeved outside the power transmission line (17).
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| CN202010864340.4A CN112072544B (en) | 2020-08-25 | 2020-08-25 | Walking type power line obstacle crossing inspection robot along line |
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| CN115275867B (en) * | 2022-08-26 | 2023-10-20 | 杭州电子科技大学 | Compressible lifting obstacle crossing wire inspection robot |
| CN115421069B (en) * | 2022-10-19 | 2023-03-24 | 国网安徽省电力有限公司合肥供电公司 | Distribution lines trouble inspection device |
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| JPH09308034A (en) * | 1996-05-10 | 1997-11-28 | Nippon Denwa Shisetsu Kk | Cable laying robot |
| CN2778492Y (en) * | 2005-03-18 | 2006-05-10 | 山东大学 | Robot capable of self-walking along 110KV transmission line |
| CN100502181C (en) * | 2005-03-18 | 2009-06-17 | 山东大学 | Robot of autonomous moving along 110KV transmission line and its working method |
| CN101318327B (en) * | 2008-05-16 | 2010-09-22 | 山东科技大学 | Self-determining over-barrier robot with flexible cable |
| JP2016077070A (en) * | 2014-10-06 | 2016-05-12 | 株式会社日立ハイテクファインシステムズ | Movable machine travelling on aerial cable, and movement method therefor |
| CN104659706B (en) * | 2015-01-23 | 2018-05-15 | 国家电网公司 | A kind of palm closing device |
| CN106476547B (en) * | 2016-12-15 | 2019-07-09 | 济南舜风科技有限公司 | One kind can flight formula power circuit walking operation robot and its method |
| CN108110676B (en) * | 2018-01-29 | 2020-05-12 | 国家电网公司 | Overhead line inspection and obstacle removal robot |
| CN208337028U (en) * | 2018-07-09 | 2019-01-04 | 江苏迪伦智能科技有限公司 | A kind of overhead transmission line circuit scanning test robot walking clipping mechanism |
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Effective date of registration: 20230110 Address after: Room B2160, Floor 2, Building 1 (North), No. 368, Liuhe Road, Puyan Street, Binjiang District, Hangzhou City, Zhejiang Province, 310051 Patentee after: Hangzhou Yuanshi Intelligent Technology Co.,Ltd. Address before: 310018 Xiasha Higher Education Zone, Hangzhou, Zhejiang Patentee before: HANGZHOU DIANZI University |
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