CN112455469B - Translation obstacle crossing mechanism of high-voltage line walking robot - Google Patents
Translation obstacle crossing mechanism of high-voltage line walking robot Download PDFInfo
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- CN112455469B CN112455469B CN202011305554.4A CN202011305554A CN112455469B CN 112455469 B CN112455469 B CN 112455469B CN 202011305554 A CN202011305554 A CN 202011305554A CN 112455469 B CN112455469 B CN 112455469B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
- B61B12/00—Component parts, details or accessories not provided for in groups B61B7/00 - B61B11/00
- B61B12/02—Suspension of the load; Guiding means, e.g. wheels; Attaching traction cables
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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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Abstract
The invention discloses a translation obstacle crossing mechanism of a high-voltage line walking robot, which comprises walking wheels, an electric locking mechanism, an electric lifting traversing mechanism, a supporting plate and an electric box, wherein the walking wheels are connected to a hub motor, the hub motor is installed at the upper end of the vertical section of an L-shaped supporting plate, the electric locking mechanism is installed on the supporting plate below the walking wheels, the electric locking mechanism can lock the high-voltage line on the walking wheels, the lower side of the horizontal section of the supporting plate is fixedly connected to the electric lifting traversing mechanism, the electric lifting traversing mechanism is installed on the electric box, and the electric lifting traversing mechanism drives the walking wheels to push out the high-voltage line. The invention 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 translation 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 a 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 conducted research on 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 rack, a pair of master-slave 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 is from the lower part of the machine frame, so that a large moment can be generated during meshing, and the whole stress condition is poor.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the translation obstacle crossing mechanism of the high-voltage line walking robot is provided to solve the problems in the prior art.
The technical scheme adopted by the invention is as follows: the utility model provides a translation of high-tension line walking robot hinders mechanism more, including the walking wheel, electronic locking mechanism, electric lift sideslip mechanism, backup pad and electric box, the walking wheel is connected on wheel hub motor, wheel hub 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, on the horizontal segment downside fixed connection electric lift sideslip mechanism of backup pad, electric lift sideslip mechanism installs on the electric box, electric lift sideslip mechanism driven walking wheel releases the high-tension line.
Preferably, the electric locking mechanism comprises two clamping wheels, two clamping wheel brackets and an electric push rod, the two clamping wheels are symmetrically and rotatably connected to the two ends of each clamping wheel bracket, the middle part of the lower side of each clamping wheel bracket is hinged to the extending end of the electric push rod, and the lower end of the electric push rod is fixedly connected to the upper side of the horizontal section of the supporting plate.
Preferably, the electric push rod comprises a push rod motor and a push rod, 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 pinch wheel holder is hinged to the power pushrod by means of an arched holder.
Preferably, above-mentioned electric lift sideslip mechanism includes lifting push rod and horizontal actuating mechanism, and lifting push rod's release end passes through lifting push rod connecting block fixed connection to backup pad, and lifting push rod's shell fixed mounting is on horizontal actuating mechanism, and horizontal actuating mechanism arranges the electric box in, and the lower extreme is provided with the bar through-hole on the electric box, and the bar through-hole is worn out in the activity of lifting push rod both ends.
Preferably, above-mentioned transverse driving mechanism includes screw nut, the connecting plate, the lead screw, the lifting push rod fixed block, the slider, guide rail and screw motor, screw nut fixed connection is on the connecting plate, connecting plate fixed connection is on lifting push rod's shell, with screw nut complex lead screw both ends swivelling joint have lead screw fixing base and lead screw supporting seat, and one end stretches out lead screw fixing base and is connected with screw motor, the lead screw fixing base, the equal fixed connection of lead screw supporting seat and screw motor is at the electrical box right side wall, the slider and the guide rail that the cooperation was used adopt two pairs, two guide rail parallel mount are to the electrical box upper wall, two sliders pass through lifting push rod fixed block fixed connection to lifting push rod's shell.
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, rib plates are arranged on two sides of the bending part of the supporting plate.
The invention has the beneficial effects that: compared with the prior art, the reliable mechanism for connecting the tail end of the robot with the three-arm structure and the electric wire is simple and reliable in structure, large power is provided by the large-diameter hub motor, self-locking and locking can be achieved at any time, crawling is achieved, and meanwhile the jaw type clamping device with the electric push rod as power is adopted, so that the power is large, the work is stable and reliable, and the electric wire grabbing and clamping are more efficient. The motion through lead screw motor makes the horizontal migration of mechanism cooperate the lift push rod can realize off-line and inlet wire operation, has reduced the focus of robot, makes it more reliable and stable. The stress of the mechanism is always concentrated on a vertical line where the lifting push rod is located, no redundant moment is generated during clamping, and the stress condition is good.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic perspective view of a split electrical box according to the present invention;
FIG. 3 is a view showing a clamping state of the pinch wheel according to the present invention;
FIG. 4 is an off-line obstacle crossing state diagram according to the present invention;
fig. 5 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. 1-5, a translation obstacle crossing mechanism of a high-voltage line walking robot comprises a walking wheel 1, an electric locking mechanism, an electric lifting traversing mechanism, a supporting plate 11 and an electric box 8, wherein the walking wheel 1 is connected to a hub motor 13, the hub motor 13 is installed at the upper end of the vertical section of the L-shaped supporting plate 11, the electric locking mechanism is installed on the supporting plate 11 below the walking wheel 1, the high-voltage line 12 can be locked on the walking wheel 1 by the electric locking mechanism, the lower side of the horizontal section of the supporting plate 11 is fixedly connected to the electric lifting traversing mechanism, the electric lifting traversing mechanism is installed on the electric box 8, and the electric lifting traversing mechanism drives the walking wheel to push out the high-voltage line 12.
Preferably, above-mentioned electronic locking mechanism includes pinch roller 2, pinch roller support 3 and electric putter, pinch roller 2 adopts two, bilateral symmetry swivelling joint is to pinch roller support 3 both ends, 3 downside middle parts of pinch roller support are articulated to electric putter's the end that stretches out, electric putter lower extreme fixed connection is at the horizontal segment upside of backup pad 4, double round locking, isosceles triangle crimping high-voltage line about forming with the walking wheel, locking is reliable stable, electric putter includes push rod motor 5 and push rod 6, push rod 6 is connected to push rod motor 5 through the derailleur, push rod motor 5 drive push rod 6 is flexible, electric putter, thrust is big, thrust is stable.
Preferably, the clamping wheel support 3 is hinged to the electric push rod through the arch support 4, so that the self-positioning locking of the two clamping wheels on the arch frame on the high-voltage wire can be realized, and the locking stability is improved.
Preferably, above-mentioned electric lift sideslip mechanism includes lifting push rod 9 and transverse driving mechanism, lifting push rod 9's release end passes through 7 fixed connection of lifting push rod connecting block to backup pad 11, lifting push rod 9's shell fixed mounting is on transverse driving mechanism, transverse driving mechanism arranges in electric box 8, the upper and lower end of electric box 8 is provided with the bar through-hole, the bar through-hole is worn out in the activity of lifting push rod 9 both ends, realize going up and down through lifting push rod, transverse driving mechanism realizes lifting push rod's transverse drive, thereby realize the off-line and the inlet wire of walking wheel fast, set up the bar through-hole, be convenient for lifting push rod and transverse movement about the electric box.
Preferably, the transverse driving mechanism comprises a screw nut 16, a connecting plate 17, a screw 18, a lifting push rod fixing block 20, a slider 21, a guide rail 22 and a screw motor 23, the screw nut 16 is fixedly connected to the connecting plate 17, the connecting plate 17 is fixedly connected to the shell of the lifting push rod 9, two ends of the screw 18 matched with the screw nut 16 are rotatably connected to a screw fixing seat 15 and a screw supporting seat 19, one end of the screw extends out of the screw fixing seat 15 to be connected to the screw motor 23, the screw fixing seat 15, the screw supporting seat 19 and the screw motor 23 are fixedly connected to the right side wall in the electric box 8, the two pairs of sliders 21 and the guide rail 22 used in a matched mode are adopted, the two guide rails 22 are parallelly installed on the inner upper side wall of the electric box 8, the two sliders 21 are fixedly connected to the shell of the lifting push rod 9 through the lifting push rod fixing block 20, the screw nut is adopted for driving, the movement is rapid, the structure is compact, and the installation is convenient.
Preferably, the above-mentioned lead screw motor 23 is connected to the lead screw 18 through a coupling 14.
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 rib plates 10 are arranged on two sides of the bending part of the supporting plate 11, so that the supporting rigidity and strength of the supporting plate are improved, and the stability is improved.
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 wheel hub motor 13 works to drive the mechanism to advance, at the moment, the clamping wheel push rod motor 5 works to enable the clamping wheel push rod 6 to retract, the clamping wheel 2 is in a loosening state, and the robot can normally walk.
Clamping and crawling: as shown in fig. 3, the tight wheel push rod motor 5 works to enable the clamping wheel push rod 6 to extend out, the clamping wheel 2 and the walking wheel 1 tightly clamp the power line, and the hub motor 13 is self-locked to enable the walking wheel 1 to be fixed. The friction force generated by the clamping wheel 2 and the walking wheel 1 enables the mechanism to lock the electric wire, and the function of clamping and crawling is realized through other parts of the robot.
Off-line obstacle crossing in case of obstacle: when the robot identifies an obstacle in front, the clamping wheel push rod motor 5 works to retract the clamping wheel push rod 6, the clamping wheel 2 is in a loosening state, and the lifting push rod 9 rises to a certain height to leave an off-line space. The lead screw motor 23 works to drive the lead screw nut 16, the connecting plate 17, the lifting push rod 9 and all components connected with the lifting push rod to move until a barrier-crossing space is reserved. Then the robot walks and crosses the obstacle, the lead screw motor 23 works reversely after the obstacle crossing is finished, and the mechanism enters the wire to finish the whole set of obstacle crossing action.
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 (5)
1. The utility model provides a high tension line walking robot translation hinders mechanism more which characterized in that: the electric lifting and shifting device comprises a travelling wheel (1), an electric locking mechanism, an electric lifting and shifting mechanism, a supporting plate (11) and an electric box (8), wherein the travelling wheel (1) is connected to a hub motor (13), the hub motor (13) is installed at the upper end of the vertical section of the L-shaped supporting plate (11), the electric locking mechanism is installed on the supporting plate (11) below the travelling wheel (1), the electric locking mechanism can lock a high-voltage wire (12) onto the travelling wheel (1), the lower side of the horizontal section of the supporting plate (11) is fixedly connected to the electric lifting and shifting mechanism, the electric lifting and shifting mechanism is installed on the electric box (8), and the electric lifting and shifting mechanism drives the travelling wheel to push out the high-voltage wire (12); the electric locking mechanism comprises two clamping wheels (2), two clamping wheel brackets (3) and an electric push rod, wherein the two clamping wheels (2) are symmetrically and rotatably connected to the two ends of the clamping wheel brackets (3), the middle part of the lower side of each clamping wheel bracket (3) is hinged to the extending end of the electric push rod, and the lower end of the electric push rod is fixedly connected to the upper side of the horizontal section of the supporting plate (11); the electric lifting and transverse moving mechanism comprises a lifting push rod (9) and a transverse driving mechanism, the pushing end of the lifting push rod (9) is fixedly connected to a supporting plate (11) through a lifting push rod connecting block (7), the shell of the lifting push rod (9) is fixedly installed on the transverse driving mechanism, the transverse driving mechanism is arranged in an electric box (8), strip-shaped through holes are formed in the upper end and the lower end of the electric box (8), and two ends of the lifting push rod (9) movably penetrate through the strip-shaped through holes; the electric push rod comprises a clamping wheel push rod motor (5) and a clamping wheel push rod (6), the clamping wheel push rod (6) is connected to the clamping wheel push rod motor (5) through a transmission, and the clamping wheel push rod motor (5) drives the clamping wheel push rod (6) to stretch; the transverse driving mechanism comprises a screw nut (16), a connecting plate (17), a screw (18), a lifting push rod fixing block (20), a sliding block (21), guide rails (22) and a screw motor (23), the screw nut (16) is fixedly connected onto the connecting plate (17), the connecting plate (17) is fixedly connected onto a shell of the lifting push rod (9), two ends of the screw (18) matched with the screw nut (16) are rotatably connected with a screw fixing seat (15) and a screw supporting seat (19), one end of the screw fixing seat (15) extends out of the screw fixing seat (15) and is connected with the screw motor (23), the screw fixing seat (15), the screw supporting seat (19) and the screw motor (23) are fixedly connected onto the inner right side wall of the electric box (8), two pairs of sliding blocks (21) and guide rails (22) are used in a matched mode, the two guide rails (22) are parallelly installed on the inner upper side wall of the electric box (8), and the two sliding blocks (21) are fixedly connected onto the shell of the lifting push rod (9) through the lifting push rod (20); the obstacle crossing mechanism has 3 working conditions under the work: 1. normal walking without obstacles, 2, clamping and crawling, 3, off-line obstacle crossing when encountering obstacles;
obstacle-free normal walking: the wheel hub motor works to drive the mechanism to move forwards, at the moment, the clamping wheel push rod motor works to enable the clamping wheel push rod to retract, and the clamping wheel is in a loosening state, so that the robot can normally walk;
clamping and crawling: the clamping wheel push rod motor works to enable the clamping wheel push rod to extend out, the clamping wheel and the walking wheel tightly clamp the power line, the wheel hub motor is self-locked to enable the walking wheel to be fixed, the friction force generated by the clamping wheel and the walking wheel enables the mechanism to lock the power line, and then the function of clamping and crawling is achieved through other parts of the robot;
off-line obstacle crossing in case of obstacle: when the robot identifies that an obstacle exists in front of the robot, the clamping wheel push rod motor works to enable the clamping wheel push rod to retract, the clamping wheel is in a loosening state, and the lifting push rod rises to a certain height to leave an off-line space; the lead screw motor works to drive the lead screw nut, the connecting plate, the lifting push rod and all components connected with the lifting push rod to move until a barrier-crossing space is reserved; then the robot walks and hinders more, and lead screw motor reverse work after hindering more accomplishes the back, and the mechanism inlet wire accomplishes the whole set and hinders more and does the action.
2. The translational motion obstacle crossing mechanism of the high-voltage wire walking robot as claimed in claim 1, characterized in that: the clamping wheel bracket (3) is hinged to the electric push rod through an arch bracket (4).
3. The translational motion obstacle crossing mechanism of the high-voltage wire walking robot as claimed in claim 1, characterized in that: the screw motor (23) is connected to the screw (18) through the coupling (14).
4. The translational motion obstacle crossing mechanism of the high-voltage wire walking robot as claimed in claim 2, characterized in that: 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.
5. The translational motion obstacle crossing mechanism of the high-voltage wire walking robot as claimed in claim 1, characterized in that: ribbed plates (10) are arranged on two sides of the bending part of the supporting plate (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202011305554.4A CN112455469B (en) | 2020-11-19 | 2020-11-19 | Translation obstacle crossing mechanism of high-voltage line walking robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011305554.4A CN112455469B (en) | 2020-11-19 | 2020-11-19 | Translation obstacle crossing mechanism of high-voltage line walking robot |
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| CN112455469A CN112455469A (en) | 2021-03-09 |
| CN112455469B true CN112455469B (en) | 2022-10-04 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112886471A (en) * | 2021-03-15 | 2021-06-01 | 国家电网有限公司 | High-voltage line inspection robot |
| CN114678803B (en) * | 2022-04-14 | 2023-05-23 | 青岛黄海学院 | Obstacle surmounting robot for inspection of high-voltage frame transmission line and working 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 |
| CN116154674A (en) * | 2022-11-28 | 2023-05-23 | 国家电网有限公司 | Walking mechanism |
| CN116026857B (en) * | 2023-03-28 | 2023-10-24 | 湖南省京湘电力开发有限公司 | Distribution line abnormality detection device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100488733C (en) * | 2007-07-31 | 2009-05-20 | 北华大学 | Arm hanging type high voltage transmission line detecting robot |
| CN102005705B (en) * | 2010-10-29 | 2012-09-05 | 西安交通大学 | Suspended line walking robot |
| JP5730937B2 (en) * | 2013-03-27 | 2015-06-10 | 中国電力株式会社 | Electric wire support |
| CN106711837A (en) * | 2015-07-15 | 2017-05-24 | 蓝秋勤 | Obstacle crossing inspection robot |
| KR101865851B1 (en) * | 2016-10-07 | 2018-06-11 | 주식회사 평일 | Live wire working device |
| CN109301753B (en) * | 2018-11-15 | 2019-07-23 | 山东科技大学 | It is a kind of along overhead transmission line walk climbing robot |
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