CN112165029A - Overhead transmission conductor inspection obstacle crossing robot and obstacle crossing method thereof - Google Patents
Overhead transmission conductor inspection obstacle crossing robot and obstacle crossing method thereof Download PDFInfo
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- CN112165029A CN112165029A CN202011124055.5A CN202011124055A CN112165029A CN 112165029 A CN112165029 A CN 112165029A CN 202011124055 A CN202011124055 A CN 202011124055A CN 112165029 A CN112165029 A CN 112165029A
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- jacking
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- power transmission
- overhead power
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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
- 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
Abstract
The application provides an overhead transmission line patrols and examines obstacle crossing robot and obstacle crossing method thereof, overhead transmission line patrols and examines obstacle crossing robot includes: the tight running gear in top, centre gripping overhead transmission line about the tight running gear in top, the tight running gear in top articulates in the fuselage through rotating assembly, rotating assembly is used for winding the fuselage rotates the tight running gear in top, there is supplementary running gear at fuselage top along overhead transmission line sliding connection, but the overhead transmission line of centre gripping of supplementary running gear, when overhead transmission line patrols and examines obstacle-surmounting robot climbing, through rotating assembly is used for winding the fuselage rotates the tight running gear in top, the tight centre gripping transmission line in top has increased the static friction power of tight running gear in top and overhead transmission line does benefit to the climbing, supplementary running gear is in reciprocating motion realizes on the fuselage the tight running gear in top with the fuselage strides over the obstacle.
Description
Technical Field
The application relates to the field of wire inspection equipment, in particular to an overhead transmission wire inspection obstacle crossing robot and an obstacle crossing method thereof.
Background
Overhead transmission conductors are used for long-distance transmission and distribution of electric power and are widely distributed in various regions of the country. Because the overhead transmission line is exposed in a field environment for a long time and is influenced by mechanical tension, electrical flashover and material aging for a long time, the overhead transmission line is damaged by strand breakage, strand scattering, abrasion, corrosion and the like, if the overhead transmission line is not repaired and replaced in time, the original tiny damage and defects can be enlarged, the safe operation of national electric power is seriously threatened, and the interruption of power transmission and even the occurrence of power transmission accidents are caused in serious cases. Therefore, the power company needs to regularly inspect the overhead power transmission conductor to check whether power transmission is normal and remove faults, and the method has very important significance in ensuring the safe operation of national power.
At present, two modes are mainly adopted to patrol an overhead power transmission conductor: one is unmanned aerial vehicle inspection, a camera is carried by the unmanned aerial vehicle to fly along an overhead transmission conductor, and the camera acquires images on the surface of the overhead transmission conductor and transmits the images back to a ground display device for observation by workers; the other type is that the inspection robot inspects the inspection, the inspection robot stably walks on the overhead power transmission line, the overhead power transmission line is inspected through a camera arranged on the inspection robot, and the camera also collects images on the surface of the overhead power transmission line and transmits the images back to the ground display equipment for workers to observe.
However, the unmanned aerial vehicle is adopted for routing inspection, the dead time of the unmanned aerial vehicle is limited, the flight condition of the unmanned aerial vehicle is greatly influenced by weather, and the unmanned aerial vehicle cannot normally fly in rainy days or windy weather conditions. The inspection robot is adopted for inspection, the inspection robot can only walk on an overhead power transmission line between two towers, if the inspection robot encounters an overhead power transmission line with a larger gradient, the climbing performance of the inspection robot is poor, and the inspection robot is difficult to continue to advance, and when an obstacle exists on an overhead power transmission wire or the inspection robot crosses different types of towers, the inspection robot is difficult to cross the obstacle or the towers.
Disclosure of Invention
The application provides an overhead transmission line patrols and examines obstacle-crossing robot and obstacle-crossing method thereof to solve among the prior art and patrol and examine the climbing performance of robot relatively poor, be difficult to continue to advance, have the barrier on the overhead transmission line or patrol and examine when the robot crosses the pylon of different grade type, patrol and examine the problem that the robot is difficult to cross barrier or pylon.
First aspect, the application provides an overhead transmission line patrols and examines obstacle crossing robot, includes: the jacking walking assembly clamps the overhead power transmission line from top to bottom, the jacking walking assembly is hinged to the machine body through a rotating assembly, the rotating assembly is used for rotating around the machine body to jack the walking assembly, the top of the machine body is connected with an auxiliary walking assembly along the overhead power transmission line in a sliding mode, and the top of the auxiliary walking assembly can clamp the overhead power transmission line.
Optionally, the jacking and walking assembly comprises: the first walking wheel and the second walking wheel are in contact with the overhead power transmission conductor from the upper part of the overhead power transmission conductor, and the first jacking wheel and the second jacking wheel are in contact with the overhead power transmission conductor from the lower part of the overhead power transmission conductor;
the first walking wheel is fixed at the top end of the first supporting rod through a first walking motor, the first jacking wheel can reciprocate along the first supporting rod, the second walking wheel is fixed at the top end of the second supporting rod through a second walking motor, and the second jacking wheel can reciprocate along the second supporting rod.
Optionally, the rotating assembly includes: the device comprises a first horizontal rotating motor, a first vertical rotating motor fixedly connected with the first horizontal rotating motor, a second horizontal rotating motor and a second vertical rotating motor fixedly connected with the second horizontal rotating motor;
the output shaft of the first horizontal rotating motor is perpendicular to the output shaft of the first vertical rotating motor, the output shaft of the first horizontal rotating motor is fixedly connected to the bottom end of the first supporting rod, the output shaft of the first vertical rotating motor is fixedly connected to one end of the machine body, the output shaft of the second horizontal rotating motor is perpendicular to the output shaft of the second vertical rotating motor, the output shaft of the second horizontal rotating motor is fixedly connected to the bottom end of the second supporting rod, and the output shaft of the second vertical rotating motor is fixedly connected to one end, far away from the first vertical rotating motor, of the machine body.
Optionally, the body is of a rectangular column structure, and two ends of the body are respectively provided with a connecting end for connecting the output shaft of the first vertical rotating motor and the output shaft of the second vertical rotating motor.
Optionally, the walking assisting assembly includes: the third traveling wheel, the third tightening wheel, the telescopic third supporting rod and the third horizontal rotating motor;
the third travelling wheel is fixed through a third travelling motor on the top end of a third supporting rod, the third jacking wheel can move back and forth along the third supporting rod, an output shaft of a third horizontal rotating motor is fixedly connected with the bottom end of the third supporting rod, and the third horizontal rotating motor is connected with the machine body along an overhead power transmission conductor in a sliding mode.
Optionally, first tight wheel of top is located on the tight wheel support in first top, tight wheel support fixed connection in first top is on first tight nut, the first bracing piece internal rotation is connected with first lead screw, the external screw thread of first lead screw with the internal thread phase-match of first tight nut in top, the top fixedly connected with gear of first lead screw, the top of first bracing piece is equipped with tight motor in first top, the output shaft of tight motor in first top with the one end transmission of first lead screw is connected.
Optionally, the second top tight pulley is arranged on a second top tight pulley support, the second top tight pulley support is fixedly connected to a second top tight nut, a second lead screw is connected to the second support rod in a rotating mode, the external thread of the second lead screw is matched with the internal thread of the second top tight nut, the top end of the second lead screw is fixedly connected with a gear, the top end of the second support rod is provided with a second top tight motor, and the output shaft of the second top tight motor is in transmission connection with one end of the second lead screw.
Optionally, the third top tight pulley is arranged on a third top tight pulley support, the third top tight pulley support is fixedly connected to a third top tight nut, a third lead screw is connected to the third support rod in a rotating mode, an external thread of the third lead screw is matched with an internal thread of the third top tight nut, a gear is fixedly connected to the top end of the third lead screw, a third top tight motor is arranged on the top end of the third support rod, and an output shaft of the third top tight motor is in transmission connection with one end of the third lead screw.
Optionally, overhead transmission line patrols and examines obstacle crossing robot still includes distance sensor and controller, distance sensor is used for detecting on the overhead transmission line patrols and examines the distance of obstacle crossing robot and barrier, the controller electricity respectively is connected first walking motor, second walking motor, first horizontal rotation motor, first vertical rotating electrical machines, second horizontal rotation motor, the vertical rotating electrical machines of second, third horizontal rotation motor, the tight motor in first top, the tight motor in second top and the tight motor in third top.
In a second aspect, the present application further provides an obstacle crossing method for an overhead power transmission conductor inspection obstacle crossing robot, where the obstacle crossing method is applied to an overhead power transmission conductor inspection obstacle crossing robot, and includes:
the inspection obstacle crossing robot detects that an obstacle exists in a preset distance through a distance sensor and transmits a distance value to the controller;
the controller controls the third supporting rod to extend so that the third travelling wheel and the third jacking wheel vertically clamp the overhead power transmission line;
the controller controls the second supporting rod to extend so that the second travelling wheel and the second tightening wheel are separated from the overhead transmission conductor;
the controller controls the second vertical rotating motor to rotate so that the second supporting rod rotates downwards for 90 degrees around the connecting end;
the controller controls the first walking motor to rotate so that the first supporting rod is close to the third supporting rod;
the controller rotates the second vertical rotating motor to enable the second supporting rod to rotate upwards by 90 degrees around the connecting end;
the controller controls the second supporting rod to contract so that the second traveling wheel and the second tightening wheel vertically clamp the overhead power transmission line;
the controller controls the third support bar to retract to disengage the third road wheel and the third tightening wheel from the overhead power conductor;
The controller controls the third support bar to move to be close to the second support bar;
the controller controls the third supporting rod to extend so that the third travelling wheel and the third jacking wheel clamp an overhead power transmission line up and down;
the controller controls the first support rod to extend to enable the first travelling wheel and the first tightening wheel to be disengaged from the overhead power transmission conductor;
the controller controls the first vertical rotating motor to rotate so that the first supporting rod rotates downwards by 90 degrees around the connecting end;
the controller controls a second walking motor to rotate so as to enable the second supporting rod to be far away from the third supporting rod;
the controller controls the first vertical rotating motor to rotate so that the first supporting rod rotates upwards by 90 degrees around the connecting end;
the controller controls the first supporting rod to contract so that the first travelling wheel and the first jacking wheel clamp the overhead power transmission line up and down;
the controller controls the third support bar to shorten to disengage the third road wheel and the third tightening wheel from the overhead power conductor.
The application provides an overhead transmission line patrols and examines obstacle crossing robot and obstacle crossing method thereof, overhead transmission line patrols and examines obstacle crossing robot includes: the tight running gear in top, centre gripping overhead transmission line about the tight running gear in top, the tight running gear in top articulates in the fuselage through rotating assembly, rotating assembly is used for winding the fuselage rotates the tight running gear in top, there is supplementary running gear at fuselage top along overhead transmission line sliding connection, but the overhead transmission line of centre gripping of supplementary running gear, when overhead transmission line patrols and examines obstacle-surmounting robot climbing, through rotating assembly is used for winding the fuselage rotates the tight running gear in top, the tight centre gripping transmission line in top has increased the static friction power of tight running gear in top and overhead transmission line does benefit to the climbing, supplementary running gear is in reciprocating motion realizes on the fuselage the tight running gear in top with the fuselage strides over the obstacle.
Drawings
In order to more clearly explain the technical solution of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious to those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is an application scene diagram of an overhead power transmission conductor inspection obstacle crossing robot provided by the present application;
fig. 2 is a schematic structural diagram of an overhead power transmission conductor inspection obstacle crossing robot provided by the application;
fig. 3 is a side view of a jacking assembly where a first support rod is located in an overhead power transmission line inspection obstacle crossing robot provided by the application;
fig. 4 is a side view of a jacking assembly where a second support rod is located in the overhead power transmission line inspection obstacle crossing robot provided by the application;
fig. 5 is a side view of an auxiliary walking component in the overhead power transmission line inspection obstacle crossing robot provided by the application;
fig. 6 is a top view of a first jacking nut in an overhead power transmission line inspection obstacle crossing robot provided by the application;
fig. 7 is a top view of a second jacking nut in the overhead power transmission line inspection obstacle crossing robot provided by the application;
fig. 8 is a top view of a third jacking nut in the overhead power transmission line inspection obstacle crossing robot provided by the application;
Fig. 9 is a schematic flow chart of an obstacle crossing method of an overhead power transmission conductor inspection obstacle crossing robot according to the present application;
fig. 10 is an obstacle crossing process diagram of an overhead power transmission conductor inspection obstacle crossing robot provided by the application.
Wherein, 1-a top tight walking component, 2-a rotating component, 3-a body, 4-an auxiliary walking component, 5-a distance sensor, 6-a controller, 11-a first walking wheel, 12-a second walking wheel, 13-a first top tight wheel, 14-a second top tight wheel, 15-a first supporting rod, 16-a second supporting rod, 21-a first horizontal rotating motor, 22-a first vertical rotating motor, 23-a second horizontal rotating motor, 24-a second vertical rotating motor, 31-a connecting end, 41-a third walking wheel, 42-a third top tight wheel, 43-a third supporting rod, 44-a third horizontal rotating motor, 111-a first walking motor, 121-a second walking motor, 131-a first top tight wheel bracket, 132-a first top tight nut, 141-a second tightening wheel bracket, 142-a second tightening nut, 151-a first lead screw, 152-a first tightening motor, 161-a second lead screw, 162-a second tightening motor, 411-a third traveling motor, 421-a third tightening wheel bracket, 422-a third tightening nut, 431-a third lead screw and 432-a third tightening motor.
Detailed Description
The technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Referring to an application scene diagram shown in fig. 1, the application provides an overhead power transmission line inspection obstacle crossing robot for walking on the overhead power transmission line and crossing an obstacle.
The application provides an overhead transmission line patrols and examines obstacle-surmounting robot, refers to the schematic structure that fig. 2 shows, overhead transmission line patrols and examines obstacle-surmounting robot includes: the jacking walking assembly 1, the overhead power transmission line of centre gripping about the jacking walking assembly 1, the jacking walking assembly 1 articulates in fuselage 3 through rotating assembly 2, rotating assembly 2 is used for winding fuselage 3 rotates the jacking walking assembly 1, 3 tops of fuselage have supplementary walking assembly 4 along overhead power transmission line sliding connection, but the overhead power transmission line of centre gripping in the top of supplementary walking assembly 4. The auxiliary walking assembly 4 reciprocates on the machine body 3 along the direction of an overhead power transmission conductor, and the rotating assembly 2 rotates the jacking walking assembly 1 to enable the jacking walking assembly 1 and the machine body 3 to cross an obstacle on the overhead power transmission conductor.
The jacking and walking assembly 1 comprises: first and second travelling wheels 11, 12 contacting the overhead power conductor from above, first and second jacking wheels 13, 14 contacting the overhead power conductor from below, a first telescopic support bar 15 and a second telescopic support bar 16.
The rotating assembly 2 comprises: the device comprises a first horizontal rotating motor 21, a first vertical rotating motor 22 fixedly connected with the first horizontal rotating motor 21, a second horizontal rotating motor 23 and a second vertical rotating motor 24 fixedly connected with the second horizontal rotating motor 23.
The output shaft of the first horizontal rotating motor 21 is perpendicular to the output shaft of the first vertical rotating motor 22, the output shaft of the first horizontal rotating motor 21 is fixedly connected to the bottom end of the first supporting rod 15, the output shaft of the first vertical rotating motor 22 is fixedly connected to one end of the machine body 3, the output shaft of the second horizontal rotating motor 23 is perpendicular to the output shaft of the second vertical rotating motor 24, the output shaft of the second horizontal rotating motor 23 is fixedly connected to the bottom end of the second supporting rod 16, and the output shaft of the second vertical rotating motor 24 is fixedly connected to one end, far away from the first vertical rotating motor 22, of the machine body 3.
The first horizontal rotating motor 21 rotates the first support rod 15, so that the first traveling wheel 11 horizontally rotates, when the first vertical rotating motor 22 rotates the first support rod 15 around the body 3, the first traveling wheel 11 is prevented from contacting with an overhead power transmission conductor, and similarly, the second horizontal rotating motor 23 rotates the second support rod 16, so that the second traveling wheel 12 horizontally rotates, and when the second vertical rotating motor 24 rotates the second support rod 16 around the body 3, the second traveling wheel 12 is prevented from contacting with an overhead power transmission conductor.
The machine body 3 is of a rectangular column structure, and connecting ends 31 are respectively arranged at two ends of the machine body 3 to connect the output shaft of the first vertical rotating motor 22 and the output shaft of the second vertical rotating motor 24. The connecting end 31 facilitates the rotation of the first support rod 15 and the second support rod 16 around the body 3.
The walking assistance assembly 4 includes: a third traveling wheel 41, a third tightening wheel 42, a third retractable support rod 43, and a third horizontal rotation motor 44.
The third traveling wheel 41 is fixed to the top end of the third support rod 43 through a third traveling motor 411, the third tightening wheel 42 is capable of reciprocating along the third support rod 43, an output shaft of the third horizontal rotating motor 44 is fixedly connected to the bottom end of the third support rod 43, and the third horizontal rotating motor 44 is slidably connected to the body 3 along an overhead power transmission conductor.
The difference between the auxiliary walking assembly 4 and the tight walking assembly 1 in top is only that two are different from the connection mode of the machine body 3, the top of the machine body 3 is provided with a slide rail, the third horizontal rotating motor 44 is fixed on a slide block matched with the slide rail, so as to realize that the auxiliary walking assembly 4 is in the reciprocating motion on the machine body 3, the third horizontal rotating motor 44 rotates the third supporting rod 43, so that the third traveling wheel 41 horizontally rotates, and when the third supporting rod 43 descends or ascends, the third traveling wheel 41 is prevented from contacting with an overhead transmission conductor.
Referring to fig. 3 and 6, the first tightening wheel bracket 131 is disposed on the first tightening wheel bracket 131, the first tightening wheel bracket 131 is fixedly connected to the first tightening nut 132, the first support rod 15 is rotatably connected with a first lead screw 151, an external thread of the first lead screw 151 matches with an internal thread of the first tightening nut 132, a gear is fixedly connected to a top end of the first lead screw 151, a first tightening motor 152 is disposed at a top end of the first support rod 15, and an output shaft of the first tightening motor 152 is in transmission connection with one end of the first lead screw 151.
The first tightening motor 152 drives the first lead screw 151 to rotate, and the first tightening nut 132 moves up or down along the first support rod 15 to further drive the first tightening wheel bracket 131 to move up or down along the first support rod 15, preferably, the first tightening wheels 13 are two tightening wheels symmetrically arranged, so that the first tightening wheels 13 tighten the overhead power transmission conductor from below the overhead power transmission conductor.
Referring to fig. 4 and 7, the second tightening wheel 14 is disposed on a second tightening wheel support 141, the second tightening wheel support 141 is fixedly connected to a second tightening nut 142, a second lead screw 161 is rotatably connected to the second support rod 16, an external thread of the second lead screw 161 is matched with an internal thread of the second tightening nut 142, a gear is fixedly connected to a top end of the second lead screw 161, a second tightening motor 162 is disposed at a top end of the second support rod 16, and an output shaft of the second tightening motor 162 is in transmission connection with one end of the second lead screw 161.
The second tightening motor 162 drives the second lead screw 161 to rotate, the second tightening nut 142 moves up or down along the second support rod 16 to further drive the second tightening wheel bracket 141 to move up or down along the second support rod 16, preferably, the second tightening wheels 14 are two tightening wheels symmetrically arranged, so that the second tightening wheels 14 tighten the overhead power transmission conductor from below the overhead power transmission conductor.
Referring to fig. 5 and 8, the third tightening wheel 42 is disposed on a third tightening wheel support 421, the third tightening wheel support 421 is fixedly connected to a third tightening nut 422, a third lead screw 431 is rotatably connected to the third support rod 43, an external thread of the third lead screw 431 is matched with an internal thread of the third tightening nut 422, a gear is fixedly connected to a top end of the third lead screw 431, a third tightening motor 432 is disposed at a top end of the third support rod 43, and an output shaft of the third tightening motor 432 is in transmission connection with one end of the third lead screw 431.
The third tightening motor 432 drives the third lead screw 431 to rotate, the third tightening nut 422 moves up or down along the third support rod 43 to further drive the third tightening wheel bracket 421 to move up or down along the third support rod 43, preferably, the third tightening wheels 42 are two symmetrically arranged tightening wheels, so that the third tightening wheels 42 tighten the overhead transmission conductor from below the overhead transmission conductor.
Overhead transmission line patrols and examines obstacle-crossing robot still includes distance sensor 5 and controller 6, distance sensor 5 is used for detecting on the overhead transmission line patrols and examines the distance of obstacle-crossing robot and barrier, and is preferred, distance sensor 5 with controller 6 all sets up on the fuselage 3, controller 6 electricity respectively connects first walking motor 111 second walking motor 121, first horizontal rotation motor 21, first vertical rotating electrical machines 22, second horizontal rotation motor 23, the vertical rotating electrical machines 24 of second, third horizontal rotation motor 44, the tight motor 152 in first top, the tight motor 162 in second top and the tight motor 432 in third top.
The application provides an overhead transmission line patrols and examines obstacle-surmounting robot, overhead transmission line patrols and examines obstacle-surmounting robot includes: the jacking walking assembly 1 clamps overhead power transmission conductors up and down, the jacking walking assembly 1 is hinged to the machine body 3 through the rotating assembly 2, the rotating assembly 2 is used for rotating the jacking walking assembly 1 around the machine body 3, the top of the machine body 3 is connected with an auxiliary walking assembly 4 along an overhead power transmission conductor in a sliding manner, the top of the auxiliary walking component 4 can clamp an overhead power transmission conductor, when the overhead power transmission conductor is used for routing inspection and climbing the obstacle crossing robot, the rotating component 2 is used for rotating the jacking walking component 1 around the machine body 3 and the jacking walking component 1 tightly clamps an overhead power transmission conductor, so that the static friction force between the jacking walking component 1 and the overhead power transmission conductor is increased, the climbing is facilitated, the auxiliary walking component 4 moves on the machine body 3 in a reciprocating mode, and the abutting walking component 1 and the machine body 3 can cross the obstacle from the lower portion of the overhead power transmission conductor.
Referring to fig. 9 and 10, the present application also provides an overhead power transmission conductor inspection obstacle crossing robot obstacle crossing method applied to an overhead power transmission conductor inspection obstacle crossing robot, including:
s1: the inspection obstacle crossing robot detects that an obstacle exists in a preset distance through the distance sensor 5 and transmits a distance value to the controller 6.
The controller 6 can start to control the inspection obstacle crossing robot to cross the obstacle according to the preset distance value between the inspection obstacle crossing robot and the obstacle.
S2: the controller 6 controls the third support rod 43 to extend so that the third traveling wheel 41 and the third tightening wheel 42 grip the overhead power transmission line up and down.
The first travelling wheel 11, the second travelling wheel 12 and the third travelling wheel 41 are all on the same overhead power transmission line.
S3: the controller 6 controls the second support bar 16 to extend to disengage the second road wheel 12 and the second jacking wheel 14 from the overhead power conductor.
S4: the controller 6 controls the second vertical rotating motor 24 to rotate so that the second support bar 16 rotates downward by 90 ° around the connection end 31.
The second support bar 16 is now parallel to the overhead power conductor.
S5: the controller 6 controls the first traveling motor 111 to rotate so that the first support bar 15 approaches the third support bar 43.
The first running wheel 11 continues to roll and the second support bar 16 runs parallel to the overhead power conductor and passes under the overhead power conductor through an obstacle when the third support bar 43 moves on the fuselage 3 closest to the first support bar 15.
S6: the controller 6 rotates the second vertical rotating motor 24 to rotate the second support bar 16 upward by 90 ° around the connection end 31.
S7: the controller 6 controls the second supporting rod 16 to contract so that the second travelling wheels 12 and the second jacking wheels 14 clamp the overhead power transmission line up and down.
The first and third road wheels 11, 41 are now on one side of the obstacle and the second road wheel 12 is on the other side of the obstacle.
S8: the controller 6 controls the third support bar 43 to contract to disengage the third road wheel 41 and the third jacking wheel 42 from the overhead power conductor.
The third support bar 43 is extended first and the third horizontal rotation motor 44 then rotates the third support bar 43 to disengage the third jacking wheels 42 from the overhead power conductor and retract the third support bar 43 after disengagement, with the third travelling wheels 41 positioned below the overhead power conductor.
S9: the controller 6 controls the third support bar 43 to move close to the second support bar 16.
The third support bar 43 slides on the body to the side closest to the second support bar 16 with the first road wheel 11 on one side of the obstacle and the second and third road wheels 12, 12 on the other side of the obstacle.
S10: the controller 6 controls the third support rod 43 to extend so that the third traveling wheel 41 and the third tightening wheel 42 clamp the overhead power transmission line up and down.
The second road wheel 12 and the third road wheel are now on the same side of the obstacle and simultaneously contact the overhead power conductor from above.
S11: the controller 6 controls the first support bar 15 to extend to disengage the first travelling wheel 11 and the first jacking wheel 13 from the overhead power conductor.
S12: the controller 6 controls the first vertical rotating motor 22 to rotate so that the first support bar 15 rotates downward by 90 ° around the connection end 31.
The first support bar 15 is now parallel to the overhead power conductor.
S13: the controller 6 controls the second walking motor 121 to rotate so as to move the second supporting bar 16 away from the third supporting bar 43.
The controller 6 controls the second travel motor 121 to rotate to roll the second travel wheel 12 on the overhead power transmission conductor until the third support bar 43 on the body 3 moves to be closest to the first support bar 15.
S14: the controller 6 controls the first vertical rotating motor 22 to rotate so that the first support bar 15 rotates upward by 90 ° around the connection end 31.
S15: the controller 6 controls the first support rod 15 to contract so that the first traveling wheel 11 and the first tightening wheel 13 clamp the overhead power transmission line up and down.
At this time, the first traveling wheel 11, the second traveling wheel 12, and the third traveling wheel 41 cross the obstacle and are all on the same overhead power transmission line.
S16: the controller 6 controls the third support bar 43 to be shortened to disengage the third travelling wheel 41 and the third jacking wheel from the overhead power conductor.
Only the first road wheel 11 and the second road wheel 12 are on the same overhead power transmission line. When the obstacle is encountered again, the above steps are repeated.
The present application has been described in detail with reference to specific embodiments and illustrative examples, but the description is not intended to limit the application. Those skilled in the art will appreciate that various equivalent substitutions, modifications or improvements may be made to the presently disclosed embodiments and implementations thereof without departing from the spirit and scope of the present disclosure, and these fall within the scope of the present disclosure. The protection scope of this application is subject to the appended claims.
Claims (10)
1. The utility model provides an overhead transmission line patrols and examines obstacle crossing robot which characterized in that includes: the jacking walking assembly (1), centre gripping overhead power transmission line about the jacking walking assembly (1), the jacking walking assembly (1) articulates in fuselage (3) through rotating assembly (2), rotating assembly (2) are used for winding fuselage (3) rotate jacking walking assembly (1), there are supplementary walking assembly (4) fuselage (3) top along overhead power transmission line sliding connection, but the overhead power transmission line of centre gripping of supplementary walking assembly (4).
2. The overhead power transmission conductor inspection obstacle crossing robot according to claim 1, wherein the jacking traveling assembly (1) comprises: a first travelling wheel (11) and a second travelling wheel (12) contacting the overhead power transmission conductor from above, a first jacking wheel (13) and a second jacking wheel (14) contacting the overhead power transmission conductor from below, a first telescopic support bar (15) and a second telescopic support bar (16);
first walking wheel (11) are fixed through first walking motor (111) the top of first bracing piece (15), first tight wheel in top (13) can be followed first bracing piece (15) reciprocating motion, second walking wheel (12) are fixed through second walking motor (121) the top of second bracing piece (16), tight wheel in second top (14) can be followed second bracing piece (16) reciprocating motion.
3. The overhead power transmission conductor inspection obstacle crossing robot according to claim 2, wherein the rotating assembly (2) includes: the device comprises a first horizontal rotating motor (21), a first vertical rotating motor (22) fixedly connected with the first horizontal rotating motor (21), a second horizontal rotating motor (23) and a second vertical rotating motor (24) fixedly connected with the second horizontal rotating motor (23);
The output shaft of the first horizontal rotating motor (21) is perpendicular to the output shaft of the first vertical rotating motor (22), the output shaft of the first horizontal rotating motor (21) is fixedly connected with the bottom end of the first supporting rod (15), the output shaft of the first vertical rotating motor (22) is fixedly connected with one end of the machine body (3), the output shaft of the second horizontal rotating motor (23) is perpendicular to the output shaft of the second vertical rotating motor (24), the output shaft of the second horizontal rotating motor (23) is fixedly connected with the bottom end of the second supporting rod (16), and the output shaft of the second vertical rotating motor (24) is fixedly connected with one end, far away from the first vertical rotating motor (22), of the machine body (3).
4. The overhead power transmission line inspection and obstacle crossing robot according to claim 3, wherein the body (3) is of a rectangular column structure, and connecting ends (31) are respectively arranged at two ends of the body (3) to connect the output shaft of the first vertical rotating motor (22) and the output shaft of the second vertical rotating motor (24).
5. The overhead power transmission line inspection obstacle crossing robot according to claim 2, wherein the auxiliary walking assembly (4) comprises: a third traveling wheel (41), a third tightening wheel (42), a third telescopic supporting rod (43) and a third horizontal rotating motor (44);
Third walking wheel (41) are fixed through third walking motor (411) the top of third bracing piece (43), third tight wheel (42) can be followed third bracing piece (43) reciprocating motion, the output shaft fixed connection of third horizontal rotation motor (44) the bottom of third bracing piece (43), third horizontal rotation motor (44) are along overhead transmission conductor sliding connection fuselage (3).
6. The overhead transmission line inspection obstacle crossing robot according to claim 2, wherein the first tightening wheel (13) is arranged on a first tightening wheel support (131), the first tightening wheel support (131) is fixedly connected to a first tightening nut (132), a first lead screw (151) is rotatably connected to the first supporting rod (15), an external thread of the first lead screw (151) is matched with an internal thread of the first tightening nut (132), a gear is fixedly connected to the top end of the first lead screw (151), a first tightening motor (152) is arranged at the top end of the first supporting rod (15), and an output shaft of the first tightening motor (152) is in transmission connection with one end of the first lead screw (151).
7. The overhead power transmission line inspection obstacle crossing robot according to claim 2, wherein the second jacking wheel (14) is arranged on a second jacking wheel support (141), the second jacking wheel support (141) is fixedly connected onto a second jacking nut (142), a second lead screw (161) is rotatably connected to the second supporting rod (16), an external thread of the second lead screw (161) is matched with an internal thread of the second jacking nut (142), a gear is fixedly connected to the top end of the second lead screw (161), a second jacking motor (162) is arranged at the top end of the second supporting rod (16), and an output shaft of the second jacking motor (162) is in transmission connection with one end of the second lead screw (161).
8. The overhead power transmission line inspection obstacle crossing robot according to claim 5, wherein the third jacking wheel (42) is arranged on a third jacking wheel support (421), the third jacking wheel support (421) is fixedly connected to a third jacking nut (422), a third lead screw (431) is rotatably connected to a third supporting rod (43), external threads of the third lead screw (431) are matched with internal threads of the third jacking nut (422), a gear is fixedly connected to the top end of the third lead screw (431), a third jacking motor (432) is arranged at the top end of the third supporting rod (43), and an output shaft of the third jacking motor (432) is in transmission connection with one end of the third lead screw (431).
9. The overhead power transmission line inspection obstacle crossing robot according to claims 2-8, further comprising a distance sensor (5) and a controller (6), wherein the distance sensor (5) is used for detecting the distance between the overhead power transmission line inspection obstacle crossing robot and an obstacle on the overhead power transmission line, and the controller (6) is electrically connected with the first walking motor (111), the second walking motor (121), the first horizontal rotating motor (21), the first vertical rotating motor (22), the second horizontal rotating motor (23), the second vertical rotating motor (24), the third horizontal rotating motor (44), the first jacking motor (152), the second jacking motor (162) and the third jacking motor (432) respectively.
10. An overhead power transmission conductor inspection obstacle crossing robot obstacle crossing method applied to the overhead power transmission conductor inspection obstacle crossing robot according to any one of claims 1 to 9, the obstacle crossing method comprising:
the inspection obstacle crossing robot detects that an obstacle exists in a preset distance through a distance sensor (5) and transmits a distance value to a controller (6);
the controller (6) controls the third supporting rod (43) to extend so that the third travelling wheel (41) and the third jacking wheel (42) clamp the overhead power transmission line up and down;
the controller (6) controls the second supporting rod (16) to extend so that the second travelling wheel (12) and the second jacking wheel (14) are separated from the overhead power transmission conductor;
the controller (6) controls the second vertical rotating motor (24) to rotate so that the second supporting rod (16) rotates downwards for 90 degrees around the connecting end (31);
the controller (6) controls the first walking motor (111) to rotate so as to enable the first supporting rod (15) to be close to the third supporting rod (43);
the controller (6) rotates the second vertical rotating motor (24) to rotate the second support bar (16) up to 90 ° around the connection end (31);
the controller (6) controls the second supporting rod (16) to contract so that the second travelling wheel (12) and the second jacking wheel (14) clamp the overhead power transmission line up and down;
-the controller (6) controls the third support bar (43) to contract to disengage the third travelling wheel (41) and the third jacking wheel (42) from the overhead power conductor;
the controller (6) controls the third support bar (43) to move close to the second support bar (16);
the controller (6) controls the third supporting rod (43) to extend so that the third travelling wheel (41) and the third jacking wheel (42) clamp an overhead power transmission line up and down;
the controller (6) controls the first support rod (15) to extend to enable the first travelling wheel (11) and the first jacking wheel (13) to be disengaged from the overhead power transmission conductor;
the controller (6) controls the first vertical rotating motor (22) to rotate so as to enable the first supporting rod (15) to rotate downwards for 90 degrees around the connecting end (31);
the controller (6) controls a second walking motor (121) to rotate so as to enable the second supporting rod (16) to be far away from the third supporting rod (43);
the controller (6) controls the first vertical rotating motor (22) to rotate so as to enable the first supporting rod (15) to rotate upwards for 90 degrees around the connecting end (31);
the controller (6) controls the first supporting rod (15) to contract so that the first travelling wheel (11) and the first jacking wheel (13) clamp the overhead power transmission line up and down;
The controller (6) controls the third support bar (43) to shorten to disengage the third travelling wheel (41) and the third jacking wheel from the overhead power transmission conductor.
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