CN112454322B - Swing obstacle crossing mechanism of high-voltage line walking robot - Google Patents
Swing obstacle crossing mechanism of high-voltage line walking robot Download PDFInfo
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- CN112454322B CN112454322B CN202011283370.2A CN202011283370A CN112454322B CN 112454322 B CN112454322 B CN 112454322B CN 202011283370 A CN202011283370 A CN 202011283370A CN 112454322 B CN112454322 B CN 112454322B
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- push rod
- robot
- obstacle crossing
- lead screw
- clamping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a high-voltage line walking robot swinging obstacle crossing mechanism which comprises a walking wheel, a supporting plate and a supporting frame, wherein the walking wheel is connected to a hub motor, the hub motor is arranged at the upper end of the vertical section of an L-shaped supporting plate, an electric locking mechanism is arranged on the supporting plate below the walking wheel and can lock a high-voltage line onto the walking wheel, the lower side of the horizontal section of the L-shaped supporting plate is hinged to the upper end of the supporting frame, one side of the lower end of the supporting frame is hinged to one end of an electric push rod, and the other end of the electric push rod is hinged to the lower side of the end part of the horizontal section of the L-shaped supporting plate. The robot provides power to make the robot advance along the line when the robot patrols the line, and can complete a series of actions required by obstacle crossing, such as wire separation, wire grabbing, wire locking and the like when the robot crosses the obstacle.
Description
Technical Field
The invention relates to a swing obstacle crossing mechanism of a high-voltage line walking robot, and belongs to the technical field of line patrol robots.
Background
The running state of the power transmission line is related to the running safety of a power grid, the conditions of icing, meteorological environment and the like of the power transmission line lead are timely found and mastered, and the method has important significance for improving the load capacity of the power transmission line and preventing power grid accidents. In the complex terrain, mountainous areas, forests and forest lands of the Kawasaki woman are also indispensable places of partial high-voltage lines, which causes that workers and vehicles are difficult to reach, and the difficulty of ice observation of the lines is undoubtedly increased. Therefore, in order to ensure the safe operation of the line, the automatic inspection on the line by using the robot becomes a necessary means. In order to enable autonomous inspection of power lines, researchers in japan, the united states, canada, thailand, china, and other countries have developed inspection robots.
The Chinese patent application (application number is 201610318990.2) discloses a walking mechanism, a line patrol robot mechanical structure and an obstacle crossing method thereof, wherein the walking mechanism comprises a frame, a pair of main and auxiliary walking split wheels and a pair of pressing split wheels. The automatic inspection device is capable of walking by utilizing the active walking split wheels, pressing and locking wires by utilizing the lead screws to push the pressing split wheels, and breaking away from the wires and crossing obstacles by utilizing the opening and closing of the split wheels, so that the inspection function is realized. The technical scheme still has the following defects: because the master-slave walking split wheels and the pressing split wheels need two groups of machine frame supports, and the split wheels need to be opened and closed by other devices, the whole weight is overlarge, and the instability and the power consumption are increased. In addition, in order to ensure that the split wheels are always closed when the split wheels walk, certain pressure needs to be applied to the split wheels, and the pressure comes from the lower part of the rack, so that great moment can be generated during meshing, and the overall stress condition is poor.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the utility model provides a high tension line walking robot swing hinders mechanism more to solve the problem that exists among the above-mentioned prior art.
The technical scheme adopted by the invention is as follows: the utility model provides a mechanism is hindered in swing of high-tension line walking robot, including the walking wheel, backup pad and support frame, the walking wheel is connected on in-wheel motor, in-wheel motor installs the vertical section upper end in the backup pad of L shape, install electronic locking mechanism in the backup pad of walking wheel below, electronic locking mechanism can lock the high-tension line on the walking wheel, the horizontal segment downside of the backup pad of L shape articulates to the support frame upper end, support frame lower extreme one side articulates to electric putter one end, the electric putter other end articulates to the horizontal segment tip downside of the backup pad of L shape.
Preferably, above-mentioned electronic locking mechanism includes the tight pulley of clamp, the tight pulley support of clamp, lead screw motor, slider and lead screw, the tight pulley of clamp adopts two, bilateral symmetry swivelling joint is to the tight pulley support of clamp, the tight pulley support fixed connection of clamp is on the slider outer end, the slider inner sets up the sliding tray, sliding tray activity card is gone into on the vertical section of backup pad, fixedly connected with screw on the slider, both ends swivelling joint respectively has lead screw support frame and lead screw mount about the lead screw that uses with the screw cooperation, the lower extreme stretches out and is connected to lead screw motor behind the lead screw mount, the lead screw support frame, the equal fixed connection of lead screw mount and lead screw motor is to in the backup pad.
Preferably, the screw motor is connected to the screw through a coupling.
Preferably, the clamping wheel bracket is of an I-shaped structure, and two ends of the clamping wheel bracket are connected with the clamping wheel through a rotating shaft.
Preferably, the support frame is made of a section bar.
Preferably, the support frame is hinged to the support plate by means of hinge angle pieces.
Preferably, the electric push rod comprises a push rod and a push rod motor, the push rod is connected to the push rod motor through a transmission, and the push rod motor drives the push rod to stretch and retract.
Preferably, the push rod is binarily hinged to the support plate.
The invention has the beneficial effects that: compared with the prior art, the invention provides a tail end holding line walking obstacle crossing device of a three-mechanical-arm electric line inspection robot autonomous obstacle crossing mechanism, which provides power to enable the robot to advance along the line when the robot inspects the line, can complete a series of actions required by obstacle crossing, such as wire separation, wire grabbing, wire locking and the like, has simple and reliable structure, adopts a large-diameter hub motor to provide larger power, can realize crawling by self-locking and locking at any time through an electric locking mechanism, and simultaneously adopts a simple jaw type electric locking mechanism to enable the robot to be more efficient when grabbing and clamping the wire. Through the electric push rod of the labor-consuming lever structure, the push rod can realize off-line and wire inlet operations only by moving a small distance, the mechanism is good in stress condition, small in size, light in weight and low in power consumption.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a view showing a clamping state of the clamping wheel according to the present invention;
FIG. 3 is an off-line obstacle crossing state diagram according to the present invention;
fig. 4 is a schematic diagram of the structure of the three-arm robot of the present invention.
Detailed Description
The invention is further described with reference to the accompanying drawings and specific embodiments.
Example 1: as shown in fig. 1-4, a swing obstacle crossing mechanism of a high-voltage line walking robot comprises a walking wheel 17, a supporting plate 4 and a supporting frame 8, wherein the walking wheel 17 is connected to a hub motor 16, the hub motor 16 is installed at the upper end of the vertical section of the L-shaped supporting plate 4, an electric locking mechanism is installed on the supporting plate 4 below the walking wheel 17 and can lock a high-voltage line 1 to the walking wheel 17, the lower side of the horizontal section of the L-shaped supporting plate 4 is hinged to the upper end of the supporting frame 8, one side of the lower end of the supporting frame 8 is hinged to one end of an electric push rod, and the other end of the electric push rod is hinged to the lower side of the end of the horizontal section of the L-shaped supporting plate 4.
Preferably, the electric locking mechanism comprises two clamping wheels 2, two clamping wheel brackets 3, a screw motor 10, a sliding block 13 and a screw 14, the two clamping wheels 2 are symmetrically and rotatably connected to the two clamping wheel brackets 3, the two clamping wheels are locked in a double-wheel mode, an upper isosceles triangle and a lower isosceles triangle are formed by the two clamping wheels and the walking wheels in compression joint with high-voltage wires, the locking is reliable and stable, the clamping wheel brackets 3 are fixedly connected to the outer ends of the sliding block 13, sliding grooves are formed in the inner ends of the sliding block 13 and movably clamped into vertical sections of the supporting plate 4, nuts are fixedly connected to the sliding block 13, screw supporting frames 15 and screw fixing frames 12 are respectively and rotatably connected to the upper ends and the lower ends of the screw 14 used in cooperation with the nuts, the lower ends of the screw supporting frames extend out of the screw fixing frames 12 and then are connected to the screw motor 10, the screw supporting frames 15, the screw fixing frames 12 and the screw motor 10 are fixedly connected to the supporting plate 4, the screw nuts are driven to move quickly and are locked reliably, the required guiding precision of the locking part is low, therefore, the sliding block is directly matched with the supporting plate to form a guiding mechanism, the guiding part is reduced, and the weight is reduced.
Preferably, the screw motor 10 is connected to the screw 14 through a coupling 11.
Preferably, the clamping wheel bracket 3 is of an i-shaped structure, and two ends of the clamping wheel bracket are connected with the clamping wheel 2 through a rotating shaft.
Preferably, the supporting frame 8 is made of a section bar, so that the supporting frame is light in weight, high in strength and rigidity and convenient to connect with other parts.
Preferably, the above-mentioned support frame 8 is hinged to the support plate 4 by means of a hinge corner piece 9.
Preferably, the electric push rod comprises a push rod 6 and a push rod motor 7, the push rod 6 is connected to the push rod motor 7 through a transmission, and the push rod motor 7 drives the push rod 6 to extend and retract.
Preferably, the above-mentioned push rod 6 is hinged to the support plate 4 by means of two lugs 5.
The working principle is as follows: the obstacle crossing mechanism has 3 working conditions under the work. 1. Normal walking without obstacles, 2, clamping and crawling, and 3, off-line obstacle crossing when encountering obstacles (a shockproof hammer, a tension-resisting clamp and the like).
Normal walking without obstacles: the hub motor 16 works to drive the mechanism to move forward, and at the moment, the lead screw motor 10 rotates to enable the pinch roller 2 to be in a loosening state, so that the robot can normally walk.
Clamping and crawling: the screw motor 10 rotates to enable the clamping wheel 2 to ascend, the power line is tightly clamped with the walking wheel 17, and the hub motor 16 is self-locked to enable the walking wheel 17 to be fixed. The friction force generated by the clamping wheels 2 and the travelling wheels 17 enables the mechanism to lock the electric wire, and the function of clamping and crawling is realized through other parts of the robot.
And (3) off-line obstacle crossing in case of obstacle: when the robot recognizes that an obstacle exists in front of the robot, the screw motor 10 rotates to enable the pinch roller 2 to be in a loosening state so as to leave an off-line space, the push rod motor 7 works to enable the push rod 6 to extend, and the support plate 4 and all structures fixed on the support plate rotate around the hinge corner piece 9, so that the robot moves forward to cross the obstacle after the mechanism is off-line. After obstacle crossing is completed, the push rod motor 7 works reversely to enable the push rod 6 to be shortened, the mechanism feeds in wires, and the whole set of obstacle crossing action is completed.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of changes or substitutions within the technical scope of the present invention, and therefore, the scope of the present invention should be determined by the scope of the claims.
Claims (7)
1. The utility model provides a mechanism is hindered in swing of high tension line walking robot which characterized in that: the high-voltage wire winding device comprises a travelling wheel (17), a supporting plate (4) and a supporting frame (8), wherein the travelling wheel (17) is connected onto a hub motor (16), the hub motor (16) is installed at the upper end of the vertical section of the L-shaped supporting plate (4), an electric locking mechanism is installed on the supporting plate (4) below the travelling wheel (17), the electric locking mechanism can lock a high-voltage wire (1) onto the travelling wheel (17), the lower side of the horizontal section of the L-shaped supporting plate (4) is hinged to the upper end of the supporting frame (8), one side of the lower end of the supporting frame (8) is hinged to one end of an electric push rod, and the other end of the electric push rod is hinged to the lower side of the end part of the horizontal section of the L-shaped supporting plate (4); the electric locking mechanism comprises two clamping wheels (2), two clamping wheel brackets (3), a lead screw motor (10), a sliding block (13) and a lead screw (14), the two clamping wheels (2) are symmetrically and rotatably connected to the clamping wheel brackets (3), the clamping wheel brackets (3) are fixedly connected to the outer ends of the sliding block (13), the inner end of the sliding block (13) is provided with a sliding groove, the sliding groove is movably clamped on the vertical section of the supporting plate (4), a screw nut is fixedly connected to the sliding block (13), the upper end and the lower end of the lead screw (14) matched with the screw nut are respectively and rotatably connected with a lead screw supporting frame (15) and a lead screw fixing frame (12), the lower end of the lead screw supporting frame extends out of the lead screw fixing frame (12) and then is connected to the lead screw motor (10), and the lead screw supporting frame (15), the lead screw fixing frame (12) and the lead screw motor (10) are fixedly connected to the supporting plate (4); the obstacle crossing method of the high-voltage line walking robot swing obstacle crossing mechanism comprises the following steps: the obstacle crossing mechanism has 3 working conditions under the working condition, (1) barrier-free normal walking, (2) clamping crawling, (3) off-line obstacle crossing when encountering a barrier;
obstacle-free normal walking: the hub motor works to drive the mechanism to advance, and at the moment, the lead screw motor rotates to enable the clamping wheel (2) to be in a loosening state, so that the robot can normally walk;
clamping and crawling: the lead screw motor rotates to enable the clamping wheel to ascend, the power line is tightly clamped with the travelling wheel, and the hub motor is self-locked to enable the travelling wheel to be fixed; the friction force generated by the clamping wheels and the walking wheels enables the mechanism to lock the electric wire, and the function of clamping and crawling is realized through other parts of the robot;
and (3) off-line obstacle crossing in case of obstacle: when the robot identifies that an obstacle exists in front of the robot, the screw motor rotates to enable the clamping wheels (2) to be in a loosening state so as to reserve an off-line space, the push rod motor works to enable the push rod to extend, and the supporting plate and all structures fixed on the supporting plate rotate around the hinge angle piece, so that the robot moves forwards to cross the obstacle after the mechanism is off-line; after obstacle crossing is completed, the push rod motor works reversely to enable the push rod to be shortened, and the mechanism feeds in wires to complete the whole set of obstacle crossing action.
2. The swing obstacle crossing mechanism of the high-voltage line walking robot as claimed in claim 1, wherein: the screw motor (10) is connected to the screw (14) through a coupling (11).
3. The swing obstacle crossing mechanism of the high-voltage line walking robot as claimed in claim 2, wherein: the clamping wheel bracket (3) is of an I-shaped structure, and two ends of the clamping wheel bracket are connected with the clamping wheel (2) through a rotating shaft.
4. The swing obstacle crossing mechanism of the high-voltage line walking robot as claimed in claim 2, wherein: the supporting frame (8) adopts a section bar.
5. The swing obstacle crossing mechanism of the high-voltage line walking robot as claimed in claim 2, wherein: the support frame (8) is hinged to the support plate (4) by means of a hinge angle (9).
6. The swing obstacle crossing mechanism of the high-voltage line walking robot as claimed in claim 1, wherein: the electric push rod comprises a push rod (6) and a push rod motor (7), the push rod (6) is connected to the push rod motor (7) through a transmission, and the push rod motor (7) drives the push rod (6) to stretch.
7. The swing obstacle crossing mechanism of the high-voltage line walking robot as claimed in claim 1, wherein: the push rod (6) is hinged to the support plate (4) through two lugs (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011283370.2A CN112454322B (en) | 2020-11-17 | 2020-11-17 | Swing obstacle crossing mechanism of high-voltage line walking robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011283370.2A CN112454322B (en) | 2020-11-17 | 2020-11-17 | Swing obstacle crossing mechanism of high-voltage line walking robot |
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| CN112454322A CN112454322A (en) | 2021-03-09 |
| CN112454322B true CN112454322B (en) | 2022-11-11 |
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| CN113328381B (en) * | 2021-06-08 | 2022-09-27 | 国网河北省电力有限公司邱县供电分公司 | Cable inspection device |
| CN114696260A (en) * | 2022-04-18 | 2022-07-01 | 贵州电网有限责任公司 | Ice observation robot for power transmission line and obstacle crossing method thereof |
| CN114583616A (en) * | 2022-04-18 | 2022-06-03 | 贵州电网有限责任公司 | Walking obstacle crossing mechanism walking obstacle crossing mechanism of ice observation robot for power transmission line |
| CN114865530B (en) * | 2022-06-06 | 2024-03-22 | 江苏中梦孚生科技有限公司 | Line inspection robot and obstacle avoidance method thereof |
| CN115283209B (en) * | 2022-08-17 | 2023-05-30 | 国网江苏省电力有限公司泰州供电分公司 | Surrounding type coating robot wiring device capable of being hung on power line and implementation method |
| CN117175423A (en) * | 2022-08-29 | 2023-12-05 | 国网浙江省电力有限公司绍兴供电公司 | Obstacle crossing method for deicing robot passing through tangent tower and tension tower |
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