CN113904263B - On-line obstacle crossing walking device and inspection robot - Google Patents
On-line obstacle crossing walking device and inspection robot Download PDFInfo
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- CN113904263B CN113904263B CN202111180357.9A CN202111180357A CN113904263B CN 113904263 B CN113904263 B CN 113904263B CN 202111180357 A CN202111180357 A CN 202111180357A CN 113904263 B CN113904263 B CN 113904263B
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- obstacle crossing
- traveling
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- walking
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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
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60M—POWER SUPPLY LINES, AND DEVICES ALONG RAILS, FOR ELECTRICALLY- PROPELLED VEHICLES
- B60M1/00—Power supply lines for contact with collector on vehicle
- B60M1/12—Trolley lines; Accessories therefor
- B60M1/28—Manufacturing or repairing trolley lines
Abstract
The invention discloses an on-line obstacle crossing walking device and an inspection robot; the on-line obstacle crossing travelling device comprises an obstacle crossing control mechanism, a first travelling mechanism and a second travelling mechanism, wherein the first travelling mechanism and the second travelling mechanism are connected with the obstacle crossing control mechanism; the inspection robot comprises a machine body and on-line obstacle crossing traveling devices, wherein the number of the on-line obstacle crossing traveling devices is at least two, and the on-line obstacle crossing traveling devices are distributed on the machine body at intervals along the traveling direction. The scheme can solve the problems that the operation difficulty of the inspection robot taken down from the contact line is high and the normal passing of trains is influenced by the fact that the existing inspection robot is stopped on the contact line due to no electricity or self faults and the like.
Description
Technical Field
The invention relates to the technical field of on-line inspection robots, in particular to an on-line obstacle crossing walking device and an inspection robot.
Background
The overhead contact system is a special power transmission line which is erected above a railway line and supplies power to an electric locomotive, and consists of a contact suspension, a supporting device, a positioning device, a support and a foundation; the contact suspension comprises a contact line, a dropper, a carrier cable and a connecting part, namely a suspension fixed structure is formed by fixing the contact line through the dropper. The contact network fault is the main part of the power supply system fault, if the contact network fault can be timely found, the hidden fault danger can be solved in advance, and the fault time is effectively reduced.
At present, an inspection robot capable of walking on a railway contact line is available, and the inspection robot also has an obstacle crossing function to avoid obstacle blocking, so that the inspection robot can walk along the obstacle crossing of the contact line to finish the inspection operation of the contact line, and for example, a climbing line detection robot is disclosed in a patent with the application number of '2019112955266'; however, the existing inspection robot still has shortcomings, for example, in the process of inspecting a contact line, if the inspection robot is dead on the contact line when encountering the problems of power failure or self fault, the inspection robot not only causes great operation difficulty for taking the inspection robot off the contact line, but also affects normal passing of trains.
Disclosure of Invention
The invention discloses an on-line obstacle crossing walking device and an inspection robot, and aims to solve the problems that the conventional inspection robot is stopped on a contact line due to reasons such as power failure or self fault, and the like, so that the inspection robot is difficult to take down from the contact line by a worker, and the normal running of a train is influenced.
In order to solve the problems, the invention adopts the following technical scheme:
in a first aspect, the invention provides an on-line obstacle crossing traveling device, which comprises a first traveling mechanism, a second traveling mechanism and an obstacle crossing control mechanism, wherein the first traveling mechanism and the second traveling mechanism are respectively connected with the obstacle crossing control mechanism, the obstacle crossing control mechanism is used for controlling the opening and closing of the first traveling mechanism and the second traveling mechanism, a connecting part of at least one of the first traveling mechanism and the second traveling mechanism and the obstacle crossing control mechanism is provided with an elastic structure, and the elastic structure is used for the first traveling mechanism and/or the second traveling mechanism to be opened and separated from the line under the action of external force.
Optionally, a connection portion between the first traveling mechanism and the obstacle crossing control mechanism, and a connection portion between the second traveling mechanism and the obstacle crossing control mechanism are both configured as the elastic structure.
Optionally, the first traveling mechanism and the second traveling mechanism are rotatably connected with the obstacle crossing control mechanism through hinges respectively, and the elastic structure is a torsion spring structure sleeved on the hinges.
Optionally, the obstacle crossing control mechanism includes a fixed seat, a lifting mechanism, a first link assembly and a second link assembly; the lifting mechanism is arranged below the fixed seat, and the first connecting rod assembly and the second connecting rod assembly are respectively arranged on two opposite sides of the lifting mechanism; one end of the first connecting rod component is rotationally connected with the lifting mechanism, and the other end of the first connecting rod component is rotationally arranged on the fixed seat and is connected with the first travelling mechanism; one end of the second connecting rod assembly is connected with the lifting mechanism, and the other end of the second connecting rod assembly is rotatably arranged on the fixed seat and is connected with the second travelling mechanism; the first connecting rod assembly and the second connecting rod assembly are used for driving the first walking mechanism and the second walking mechanism to open and close under the rotation of the lifting mechanism.
Optionally, the other ends of the first traveling mechanism and the first link assembly, and the other ends of the second traveling mechanism and the second link assembly are respectively connected to the fixed seat through the corresponding hinge elements, and the hinge elements are disposed on the fixed seat.
Optionally, the other end of first link assembly with the other end of second link assembly is provided with the fender portion respectively, just first link assembly the fender portion supports first running gear, second link assembly the fender portion supports second running gear, first running gear with second running gear is in the effect of fender portion is used for under the effect of fender portion to torsional spring structure applys the atress in advance, and first link assembly with second link assembly rotates the drive first running gear with when second running gear opens, the fender portion can be used to promote first running gear with opening of second running gear rotates.
Optionally, the lifting mechanism is a screw mechanism; the screw mechanism comprises a driving motor, a screw rod and a screw rod nut; one end of the screw rod is in transmission connection with an output shaft of the driving motor, and the screw rod nut is arranged on the screw rod and is in rotary connection with one end of the first connecting rod assembly and one end of the second connecting rod assembly.
Optionally, first running gear with second running gear equallys divide and respectively includes the gyro wheel, the gyro wheel includes outer eaves portion and round platform portion, outer eaves portion follows the lower bottom surface circumference of round platform portion is the annular setting.
In a second aspect, based on the on-line obstacle crossing walking device, the invention further provides an inspection robot, which comprises a machine body and the on-line obstacle crossing walking device, wherein the number of the on-line obstacle crossing walking devices is at least two, and the on-line obstacle crossing walking devices are distributed on the machine body at intervals along the walking direction of the machine body.
Optionally, the machine body is provided with a first on-line obstacle crossing travelling device, a second on-line obstacle crossing travelling device and an obstacle crossing balance mechanism, and the obstacle crossing balance mechanism is located between the first on-line obstacle crossing travelling device and the second on-line obstacle crossing travelling device; the obstacle crossing balance mechanism comprises an obstacle crossing control mechanism, a first hanging part and a second hanging part, wherein the first hanging part and the second hanging part are connected with the obstacle crossing control mechanism; the first suspension portion is provided with a first suspension contact point, the second suspension portion is provided with a second suspension contact point, and the first suspension contact point and the second suspension contact point are respectively positioned on the front side and the rear side of the gravity center of the machine body.
The technical scheme adopted by the invention can achieve the following beneficial effects:
according to the on-line obstacle crossing travelling device and the inspection robot, the obstacle crossing control mechanism can control the opening and closing of the first travelling mechanism and the second travelling mechanism through the first travelling mechanism and the second travelling mechanism which are connected with the obstacle crossing control mechanism, so that the obstacle crossing travelling of the inspection robot is realized; moreover, at least one of the first traveling mechanism and the second traveling mechanism and the connection part of the obstacle crossing control mechanism are arranged to be elastic structures, so that when the inspection robot is detained on the contact line due to power failure or self fault and the like, the first traveling mechanism and the second traveling mechanism of the on-line obstacle crossing traveling device can be opened to be separated from the line under the action of external force through the elastic structures; therefore, compared with the inspection robot in the prior art, when the on-line obstacle crossing travelling device and the inspection robot disclosed by the invention have the problem that no electricity exists or the on-line obstacle crossing travelling device and the inspection robot are stopped on the contact line due to self faults, the on-line obstacle crossing travelling device and the inspection robot can be separated from the contact line through external tension applied by an operating rod and the like, so that the operation of workers is facilitated, and the running safety of a train is ensured.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic structural view of an on-line obstacle crossing traveling device disclosed in the embodiment of the invention;
FIG. 2 is a schematic front view of an on-line obstacle crossing traveling device according to an embodiment of the present invention;
FIG. 3 is a partial enlarged view of portion A of FIG. 2;
FIG. 4 is a schematic view of the torsion spring structure disclosed in the embodiments of the present invention;
fig. 5 is a schematic structural diagram of the inspection robot disclosed in the embodiment of the present invention;
description of reference numerals:
100-roller, 101-circular table part, 102-outer brim part, 110-roller driving motor, 120-mounting seat,
200 a-first torsion spring, 200 b-second torsion spring, 210 a-first articulation piece, 210 b-second articulation piece,
300-driving motor, 310-screw rod, 320-screw rod nut, 321-first connecting rod component, 322-second connecting rod component, 323-blocking part, 330-fixed seat,
400-body, 410-first on-line obstacle crossing walking device, 420-second on-line obstacle crossing walking device, 430-obstacle crossing balance mechanism, 431-first suspension part, 432-second suspension part,
500-contact line, 510-obstacle.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the disclosed embodiments are merely exemplary of the invention, and are not intended to be exhaustive or exhaustive. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
The technical solutions disclosed in the embodiments of the present invention are described in detail below with reference to the accompanying drawings.
Example one
Referring to fig. 1 to 5, an embodiment of the present invention discloses an on-line obstacle crossing traveling device, which generally includes a first traveling mechanism, a second traveling mechanism, and an obstacle crossing control mechanism, where the first traveling mechanism and the second traveling mechanism are respectively connected to the obstacle crossing control mechanism, so that the obstacle crossing traveling device can control the opening and closing of the first traveling mechanism and the second traveling mechanism by the obstacle crossing control mechanism to achieve obstacle crossing traveling.
For example, in the process of walking along the contact line 500, if the obstacle 510 is encountered, the obstacle crossing control mechanism controls the first walking mechanism and the second walking mechanism to open, so as to avoid the obstacle 510 to realize obstacle crossing; after the on-line obstacle crossing travelling device crosses the obstacle 510, the obstacle crossing control mechanism controls the first travelling mechanism and the second travelling mechanism to close, so that the first travelling mechanism and the second travelling mechanism which are respectively positioned at two opposite sides of the contact line 500 are contacted with the contact line 500 again to travel; it should be noted that the first traveling mechanism and the second traveling mechanism may be arranged in a facing manner or in a staggered manner, and the first traveling mechanism and the second traveling mechanism may be connected to the same obstacle crossing control mechanism or may be connected to two different obstacle crossing control mechanisms respectively.
The connection part of at least one of the first traveling mechanism and the second traveling mechanism and the obstacle crossing control mechanism is set to be an elastic structure, so that when the on-line obstacle crossing traveling device is stopped on the contact line 500 due to no electricity or self failure, external tension can be applied to the on-line obstacle crossing traveling device through the operating rod, the first traveling mechanism and/or the second traveling mechanism stretch due to adaptive deformation of the elastic structure under the resisting action force of the contact line 500, and finally the first traveling mechanism and the second traveling mechanism are separated from the contact line 500, so that the on-line obstacle crossing traveling device is separated, the operation of workers is facilitated, and the traveling safety of a train is guaranteed.
Specifically, the connecting parts of the first travelling mechanism and the obstacle crossing control mechanism and the connecting parts of the second travelling mechanism and the obstacle crossing control mechanism can be set to be elastic structures, so that when tension is applied to the on-line obstacle crossing travelling device, the first travelling mechanism and the second travelling mechanism can be simultaneously opened due to adaptive deformation of the corresponding elastic structures, and the on-line obstacle crossing travelling device can be easily separated from the line in a mode that two sides are opened.
Of course, according to actual design or use requirements, only the connecting part of the first traveling mechanism and the obstacle crossing control mechanism may be set as an elastic structure, or only the connecting part of the second traveling mechanism and the obstacle crossing control mechanism may be set as an elastic structure; when tension is applied to the on-line obstacle crossing travelling device, the first travelling mechanism or the second travelling mechanism is expanded due to adaptive deformation of the elastic structure, and then separation of the on-line obstacle crossing travelling device can be realized.
Meanwhile, as an implementation manner of the elastic structure, the first traveling mechanism and the second traveling mechanism are respectively connected with the obstacle crossing control mechanism in a rotating manner through hinge elements such as a pin shaft or a rivet, and the elastic structure is a torsion spring structure sleeved on the hinge elements; as shown in fig. 1 and 4, the axis setting direction of the torsion spring structure may be the same as the traveling direction of the traveling mechanism, that is, the axis setting direction is substantially parallel to the contact line 500, the first traveling mechanism and the second traveling mechanism are rotatably connected to the obstacle crossing control mechanism through the first hinge 210a and the second hinge 210b, the first hinge 210a is sleeved with the first torsion spring 200a, two torsion arms of the first torsion spring 200a are connected to the first traveling mechanism and the obstacle crossing control mechanism, the second hinge 210b is sleeved with the second torsion spring 200b, and two torsion arms of the second torsion spring 200b are connected to the second traveling mechanism and the obstacle crossing control mechanism.
When the on-line obstacle crossing travelling device normally travels along the contact line 500, due to the elastic force action of the first torsion spring 200a and the second torsion spring 200b, the first travelling mechanism and the second travelling mechanism can be limited to relatively open and rotate with the obstacle crossing control mechanism through the first hinge part 210a and the second hinge part 210b, so that the obstacle crossing control mechanism can normally control the first travelling mechanism and the second travelling mechanism to open and close, and normal on-line obstacle crossing and traveling are realized.
When the on-line obstacle crossing travelling device is left on the contact line 500 due to no electricity or failure, an external force can be applied to the on-line obstacle crossing travelling device or the body of the inspection robot, so that the first travelling mechanism, the second travelling mechanism and the contact line 500 generate acting force, the first travelling mechanism is pushed to press the first torsion spring 200a to generate torsional deformation under the acting force of the contact line 500, the first hinge 210a and the obstacle crossing control mechanism rotate relatively, the second travelling mechanism is pushed to press the second torsion spring 200b to generate torsional deformation, the second hinge 210b and the obstacle crossing control mechanism rotate relatively, the first travelling mechanism and the second travelling mechanism are opened under the action of the external force, and the separation from the contact line 500 is completed.
As another possible implementation manner of the elastic structure, the elastic structure may also be a spring plate structure, and the first traveling mechanism and the second traveling mechanism are connected with the obstacle crossing traveling mechanism through spring plates or plate spring structures respectively; when the on-line obstacle crossing travelling device normally travels along the contact line 500, the obstacle crossing control mechanism can control the first travelling mechanism and the second travelling mechanism to normally open and close, and the on-line obstacle crossing travelling is completed; when the on-line obstacle crossing travelling device is left on the contact line 500 due to no electricity or failure, an external force can be applied to the on-line obstacle crossing travelling device, so that the first travelling mechanism, the second travelling mechanism and the contact line 500 generate acting force, the first travelling mechanism and the second travelling mechanism are pushed to press the corresponding elastic sheet or plate spring structure respectively under the acting force of the contact line 500 to be outwards propped open, the first travelling mechanism and the second travelling mechanism are further opened, and the separation from the contact line 500 is completed.
In the on-line obstacle crossing traveling apparatus disclosed in this embodiment, as shown in fig. 2, the obstacle crossing control mechanism may include a fixing base 330, a lifting mechanism, a first link assembly 321, and a second link assembly 322; the lifting mechanism is arranged below the fixed seat 330, and the first connecting rod assembly 321 and the second connecting rod assembly 322 are respectively arranged at two opposite sides of the lifting mechanism; one end of the first link assembly 321 is rotatably connected with the lifting mechanism, and the other end of the first link assembly 321 is rotatably disposed on the fixing base 330 and connected with the first traveling mechanism; one end of the second connecting rod assembly 322 is connected to the lifting mechanism, and the other end of the second connecting rod assembly 322 is rotatably disposed on the fixing base 330 and connected to the second traveling mechanism.
When the lifting mechanism ascends to push one end of the first connecting rod assembly 321 and one end of the second connecting rod assembly 322, the other end of the first connecting rod assembly 321 and the other end of the second connecting rod assembly 322 rotate to drive the first travelling mechanism and the second travelling mechanism to move oppositely and close; when the lifting mechanism descends to pull one end of the first connecting rod assembly 321 and one end of the second connecting rod assembly 322, the other end of the first connecting rod assembly 321 and the other end of the second connecting rod assembly 322 rotate to drive the first travelling mechanism and the second travelling mechanism to move and expand oppositely; therefore, the first link assembly 321 and the second link assembly 322 can rotate under the lifting motion of the lifting mechanism to drive the first traveling mechanism and the second traveling mechanism to perform corresponding opening and closing actions.
Specifically, the other ends of the first traveling mechanism and the first link assembly 321 are rotatably connected through a first hinge 210a, and the first hinge 210a is disposed on the fixed seat 330, so that the first link assembly 321 and the first traveling mechanism, and the first link assembly 321 and the fixed seat 330 are rotatably connected through one first hinge 210 a; the other ends of the second traveling mechanism and the second link assembly 322 are rotatably connected through a second hinge 210b, and the second hinge 210b is disposed on the fixing base 330, so that the second link assembly 322 and the second traveling mechanism, and the second link assembly 322 and the fixing base 330 are rotatably connected through one second hinge 210 b.
Because the first torsion spring 200a is sleeved on the first hinge 210a, when the lifting mechanism drives the other end of the first link assembly 321 to rotate around the first hinge 210a during the lifting motion, the first link assembly 321 can drive the first torsion spring 200a to rotate around the first hinge 210a through the torque arm connected to the first link assembly 321, so that the other torque arm connected to the first travel mechanism and the first torsion spring 200a can drive the first travel mechanism to rotate around the first hinge 210a, thereby realizing the rotation opening and closing of the first travel mechanism around the first hinge 210 a; similarly, the second traveling mechanism is opened and closed around the second hinge 210 b.
Preferably, in order to better ensure the closing strength of the first traveling mechanism and the second traveling mechanism to bear the weight of the inspection robot, the elastic structure may be pre-stressed, that is, when the first traveling mechanism and the second traveling mechanism are closed, the elastic structure is pre-stressed by a certain amount of elastic deformation, so as to improve the closing strength of the first traveling mechanism and the second traveling mechanism.
As shown in fig. 3 and 4, the other end of the first link assembly 321 and the other end of the second link assembly 322 may be respectively provided with a blocking portion 323, the blocking portion 323 of the first link assembly 321 is located on one side of the first traveling mechanism facing the second traveling mechanism and abuts against the first traveling mechanism, and the blocking portion 323 of the second link assembly 322 is located on one side of the second traveling mechanism facing the first traveling mechanism and abuts against the second traveling mechanism, so that the first traveling mechanism and the second traveling mechanism may be pressed by the corresponding torsion springs to form a pre-stress effect by limiting the first traveling mechanism and the second traveling mechanism by the corresponding blocking portions 323, thereby ensuring the strength of the first traveling mechanism and the second traveling mechanism when the inspection tour mechanism is relatively closed, and bearing the weight of the robot.
Meanwhile, in the process that the lifting mechanism drives the first connecting rod assembly 321 and the second connecting rod assembly 322 to rotate to drive the first walking mechanism and the second walking mechanism to rotate and open, the blocking portions 323 of the first connecting rod assembly 321 and the second connecting rod assembly 322 can respectively abut against the first walking mechanism and the second walking mechanism to rotate, and therefore the first connecting rod assembly 321 and the second connecting rod assembly 322 can rotate to drive the first walking mechanism and the second walking mechanism to rotate and open.
Moreover, since the blocking portion 323 of the first link assembly 321 is located on the side of the first running mechanism facing the second running mechanism, and the blocking portion 323 of the second link assembly 322 is located on the side of the second running mechanism facing the first running mechanism, when the above-mentioned on-line running device needs to be separated from the line by applying an external pulling force due to power failure or malfunction, the blocking portions 323 of the first link assembly 321 and the second link assembly 322 do not form a blocking limit for the opening and rotation of the first running mechanism and the second running mechanism, so that the first running mechanism and the second running mechanism can be smoothly opened and separated from the contact line 500 by being rotated and opened under the external force.
It is easy to understand that, as other deformation structures, the first traveling mechanism is rotatably connected to the other end of the first link assembly 321 through the first hinge 210a, the other end of the first link assembly 321 is rotatably connected to the fixing base 330 through another additional hinge, the second traveling mechanism is rotatably connected to the other end of the second link assembly 322 through the second hinge 210b, and the other end of the second link assembly 322 is rotatably connected to the fixing base 330 through another additional hinge, so that the first traveling mechanism and the second traveling mechanism can be driven to perform corresponding opening and closing actions through the rotation of the first link assembly 321 and the second link assembly 322; however, this structure increases the number of hinges, which not only increases the manufacturing cost, but also increases the structural complexity of the on-line obstacle crossing traveling apparatus.
In the obstacle crossing control mechanism disclosed in the embodiment of the invention, the lifting mechanism can be a screw mechanism, which comprises a driving motor 300, a screw 310 and a screw nut 320; the bottom end of the screw rod 310 is in transmission connection with an output shaft of the driving motor 300, and the screw rod nut 320 is arranged on the screw rod 310 and is rotationally connected with one end of the first connecting rod assembly 321 and one end of the second connecting rod assembly 322; therefore, the driving motor 300 drives the screw rod 310 to rotate forward or reversely, so that the screw rod nut 320 can move up or down along the screw rod 310, and the first connecting rod assembly 321 and the second connecting rod assembly 322 connected with the screw rod nut 320 can rotate under the lifting motion of the screw rod nut 320, thereby realizing the opening and closing of the first traveling mechanism and the second traveling mechanism.
Preferably, as shown in fig. 3, the top end of the screw rod 310 is rotatably connected to the fixing base 330, so that the fixing base 330 fixes the top end of the screw rod 310, which is beneficial to ensuring the stable rotation of the screw rod 310; it is easily understood that, in order to reduce the rotational friction force, the top end of the screw 310 may be rotatably connected to the fixing base 330 through a rotational bearing.
The lead screw mechanism is preferably a trapezoidal lead screw, and has a self-locking function compared with a ball lead screw, so that the obstacle crossing control mechanism can better control and keep the opening and closing states of the first travelling mechanism and the second travelling mechanism; in addition, besides the screw rod mechanism, the lifting mechanism may also be configured as an electric telescopic rod or other existing lifting movement mechanisms to drive the first connecting rod assembly 321 and the second connecting rod assembly 322 to rotate correspondingly through lifting movement.
Meanwhile, the first link assembly 321 and the second link assembly 322 may be link assemblies formed by rotationally connecting two links, or may also be link assemblies formed by rotationally connecting three or more links, and the number of the links forming the first link assembly 321 and the second link assembly 322 is not limited in the embodiment of the present invention.
In the on-line obstacle crossing travelling device disclosed by the embodiment of the invention, in order to reduce the friction force between the on-line obstacle crossing travelling device and the contact line 500 during on-line travelling, the first travelling mechanism and the second travelling mechanism of the on-line obstacle crossing travelling device can be set into roller structures; as shown in fig. 2 in particular, the first and second traveling mechanisms may each include a roller 100, a mounting base 120, and a roller driving motor 110; the mounting seat 120 is connected with the obstacle crossing control mechanism, and the roller driving motor 110 is arranged on the mounting seat 120 and is in transmission connection with the roller 100, so that the roller 100 can be driven to rotate by the roller driving motor 110 to form a driving wheel structure, and the walking of the on-line obstacle crossing walking device on the contact line 500 is realized.
The roller 100 may include an outer brim portion 102 and a circular truncated cone portion 101, and the outer brim portion 102 is annularly arranged along the circumferential direction of the lower bottom surface of the circular truncated cone portion 101; when the first travelling mechanism and the second travelling mechanism are closed, the roller 100 is suspended on the contact wire 500 through the outer eaves 102, and the circular platform 101 abuts against the side of the contact wire 500 and rotationally travels along the contact wire 500 under the driving of the roller driving motor 110.
Example two
Based on the on-line obstacle crossing walking device disclosed in the first embodiment of the invention, the embodiment discloses an inspection robot, and the disclosed inspection robot comprises a machine body 400 and the on-line obstacle crossing walking device disclosed in the first embodiment of the invention; the number of the on-line obstacle crossing traveling devices is at least two, and the on-line obstacle crossing traveling devices are arranged on the machine body 400 at intervals along the traveling direction of the machine body 400.
As shown in fig. 5, the machine body 400 is provided with two on-line obstacle-crossing traveling devices, namely a first on-line obstacle-crossing traveling device 410 and a second on-line obstacle-crossing traveling device 420; meanwhile, the rollers 100 of the first on-line obstacle crossing traveling device 410 and the second on-line obstacle crossing traveling device 420 may be respectively connected to a roller driving motor 110, thereby forming a driving wheel structure capable of providing traveling power; in the obstacle crossing walking process of the inspection robot, when the obstacle crossing walking device on one line is in an open state to cross the obstacle, the obstacle crossing walking device on the other line is in a closed state, so that the inspection robot is in contact with a contact line 500 to provide walking power.
Preferably, the machine body 400 is further provided with an obstacle crossing balance mechanism 430, and the obstacle crossing balance mechanism 430 is located between the first on-line obstacle crossing travelling device 410 and the second on-line obstacle crossing travelling device 420; the obstacle crossing balancing mechanism 430 comprises an obstacle crossing control mechanism arranged on the machine body 400, and a first hanging part 431 and a second hanging part 432 connected with the obstacle crossing control mechanism, wherein a connecting part of at least one of the first hanging part 431 and the second hanging part 432 and the obstacle crossing control mechanism is an elastic structure; therefore, the obstacle crossing control mechanism can control the opening and closing of the first hanging part 431 and the second hanging part 432, ensure that the obstacle crossing balance structure can also cross obstacles passing through an on-line obstacle, and ensure that the obstacle crossing balance mechanism can also smoothly separate and release from the on-line under the action of external force through the elastic structure.
The first hanging portion 431 has a first hanging contact point capable of hanging contact with the contact wire 500, the second hanging portion 432 has a second hanging contact point capable of hanging contact with the contact wire 500, and the first hanging contact point and the second hanging contact point are respectively located on the front and rear sides of the center of gravity of the machine body 400 (the front side of the center of gravity means a position located in front of the center of gravity in the traveling direction of the machine body 400, and the rear side of the center of gravity means a position located in rear of the center of gravity in the traveling direction of the machine body 400).
In the obstacle crossing walking process, when the obstacle crossing walking device 410 on the first line or the obstacle crossing walking device 420 on the second line is in an open state for obstacle crossing, the front side and the rear side of the center of gravity of the machine body 400 can be ensured to be respectively subjected to corresponding suspension pulling forces through the first suspension part 431 and the second suspension part 432, and when the obstacle crossing balance mechanism 430 is in an open state for obstacle crossing, the obstacle crossing walking device 410 on the first line and the obstacle crossing walking device 420 on the second line return to a closed state, so that the front side and the rear side of the center of gravity of the machine body 400 are respectively provided with corresponding suspension pulling forces; therefore, two suspension pulling forces can be always positioned at the front side and the rear side of the gravity center of the machine body 400 in the whole obstacle crossing walking process, so that the balanced stress of the machine body 400 is facilitated, and the problem that the machine body 400 inclines forwards and backwards in the obstacle crossing walking process is solved.
As an embodiment of the first and second hanging portions 431 and 432, the first and second hanging portions 431 and 432 may be designed in a roller structure, so that the first and second hanging portions 431 and 432 designed in a roller structure may be hung on the contact line 500, and a friction force when moving along the contact line 500 may be reduced by a roller manner; as shown in fig. 5 in particular, the roller structure may include an outer brim portion 102 and a circular truncated cone portion 101, the outer brim portion 102 is disposed annularly along a circumferential direction of a lower bottom surface (a bottom surface with a larger diameter of the circular truncated cone is the lower bottom surface) of the circular truncated cone portion 101, an upper bottom surface of the circular truncated cone portion 101 is used for connecting with a vertically disposed rotating shaft, so that the roller structure may be suspended and contacted with the contact wire 500 through the outer brim portion 102, and contact walking along the contact wire 500 is facilitated through a side surface of the circular truncated cone portion 101.
Of course, as other possible embodiments, the first hanging portion 431 and the second hanging portion 432 may also be designed as structural members having a shape of "7" or an inverted "L" so as to be in hanging contact with the contact wire 500 through the bent or bent portions thereof; the present embodiment does not limit the shape structure of the first hanging portion 431 and the second hanging portion 432.
Meanwhile, in order to perform corresponding inspection work on the contact line 500, at least one of a contact line detection unit, a contact line foreign matter cleaning unit and a contact line maintenance unit may be disposed on the body 400 of the inspection robot; the contact line detection unit can comprise a contact line geometric parameter detection unit, an image acquisition unit, an ultrasonic detection unit, a ray detection unit and the like; the contact line foreign matter cleaning unit can comprise a contact line deicing unit, a contact line foreign matter cleaning unit and the like; the contact wire maintenance unit may include a wire clamp fastening unit, etc.
In order to better ensure that the contact line 500 detection unit of the inspection robot can obtain accurate detection data in the inspection process and improve the reliability of the inspection operation, the body 400 of the inspection robot can be further provided with a balance detection unit and an attitude adjustment unit for preventing the body 400 from inclining left and right; when the balance detection unit detects that the body 400 tilts left and right, the posture adjustment unit can adjust the tilting posture of the body 400 to restore the horizontal state parallel to the horizontal plane where the contact line 500 is located; wherein, current spirit level can be chooseed for use to balanced detecting element, and current gyroscope or momentum wheel etc. can be chooseed for use to the attitude adjustment unit.
It should be noted that the above-mentioned on-line traveling device and the inspection robot may be used not only in an application scenario of traveling on the contact line 500, but also in other on-line traveling scenarios such as a high-voltage line, and the embodiments of the present invention do not limit the application scenarios.
In the above embodiments of the present invention, the differences between the embodiments are described in emphasis, and different optimization features between the embodiments can be combined to form a better embodiment as long as the differences are not contradictory, and further description is omitted here in view of brevity of the text.
The above description is only an example of the present invention, and is not intended to limit the present invention. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (10)
1. An on-line obstacle crossing walking device comprises a first walking mechanism, a second walking mechanism and an obstacle crossing control mechanism, wherein the first walking mechanism and the second walking mechanism are respectively connected with the obstacle crossing control mechanism, and the obstacle crossing control mechanism is used for controlling the opening and closing of the first walking mechanism and the second walking mechanism; the elastic structure is provided with a prestressing force, and the prestressing force is used for guaranteeing the closing strength of the first travelling mechanism and the second travelling mechanism so as to bear the weight of the machine body.
2. The on-line obstacle crossing travelling device according to claim 1, wherein a connecting part of the first travelling mechanism and the obstacle crossing control mechanism and a connecting part of the second travelling mechanism and the obstacle crossing control mechanism are both arranged to be the elastic structure.
3. The on-line obstacle crossing traveling device according to claim 2, wherein the first traveling mechanism and the second traveling mechanism are rotatably connected to the obstacle crossing control mechanism through hinges, respectively, and the elastic structure is a torsion spring structure sleeved on the hinges.
4. The on-line obstacle crossing traveling device according to claim 3, wherein the obstacle crossing control mechanism comprises a fixed seat, a lifting mechanism, a first link assembly and a second link assembly; the lifting mechanism is arranged below the fixed seat, and the first connecting rod assembly and the second connecting rod assembly are respectively arranged on two opposite sides of the lifting mechanism; one end of the first connecting rod component is rotationally connected with the lifting mechanism, and the other end of the first connecting rod component is rotationally arranged on the fixed seat and is connected with the first travelling mechanism; one end of the second connecting rod assembly is connected with the lifting mechanism, and the other end of the second connecting rod assembly is rotatably arranged on the fixed seat and is connected with the second travelling mechanism; the first connecting rod assembly and the second connecting rod assembly are used for driving the first walking mechanism and the second walking mechanism to open and close under the rotation of the lifting mechanism.
5. The on-line obstacle crossing traveling device according to claim 4, wherein the other ends of the first traveling mechanism and the first link assembly and the other ends of the second traveling mechanism and the second link assembly are rotatably connected by the corresponding hinge members, respectively, and the hinge members are disposed on the fixed base.
6. The on-line obstacle crossing traveling device according to claim 5, wherein the other end of the first link assembly and the other end of the second link assembly are respectively provided with a blocking portion, the blocking portion of the first link assembly abuts against the first traveling mechanism, the blocking portion of the second link assembly abuts against the second traveling mechanism, the first traveling mechanism and the second traveling mechanism are used for exerting a prestress on the torsion spring structure under the action of the blocking portions, and when the first link assembly and the second link assembly rotate to drive the first traveling mechanism and the second traveling mechanism to open, the blocking portions are used for pushing the first traveling mechanism and the second traveling mechanism to open and rotate.
7. The on-line obstacle detouring and traveling device according to claim 6, wherein the elevating mechanism is a screw mechanism; the screw rod mechanism comprises a driving motor, a screw rod and a screw rod nut; one end of the screw rod is in transmission connection with an output shaft of the driving motor, and the screw rod nut is arranged on the screw rod and is in rotary connection with one end of the first connecting rod assembly and one end of the second connecting rod assembly.
8. The on-line obstacle crossing travelling device according to any one of claims 1 to 7, wherein each of the first travelling mechanism and the second travelling mechanism comprises a roller, and the roller comprises an outer eaves portion and a circular table portion, and the outer eaves portion is arranged in a ring shape along the circumferential direction of the lower bottom surface of the circular table portion.
9. An inspection robot is characterized by comprising a machine body and the on-line obstacle crossing walking devices according to any one of claims 1 to 8, wherein the number of the on-line obstacle crossing walking devices is at least two, and the on-line obstacle crossing walking devices are distributed on the machine body at intervals along the walking direction of the machine body.
10. The inspection robot according to claim 9, wherein the body is provided with a first in-line obstacle crossing travel device, a second in-line obstacle crossing travel device and an obstacle crossing balance mechanism, and the obstacle crossing balance mechanism is located between the first in-line obstacle crossing travel device and the second in-line obstacle crossing travel device; the obstacle crossing balance mechanism comprises an obstacle crossing control mechanism, a first hanging part and a second hanging part, wherein the first hanging part and the second hanging part are connected with the obstacle crossing control mechanism; the first hanging portion is provided with a first hanging contact point, the second hanging portion is provided with a second hanging contact point, and the first hanging contact point and the second hanging contact point are respectively located on the front side and the rear side of the gravity center of the machine body.
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| CN202111180357.9A CN113904263B (en) | 2021-10-11 | 2021-10-11 | On-line obstacle crossing walking device and inspection robot |
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| CN202111180357.9A CN113904263B (en) | 2021-10-11 | 2021-10-11 | On-line obstacle crossing walking device and inspection robot |
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| CN113904263B true CN113904263B (en) | 2023-03-03 |
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| ES1271675Y (en) * | 2021-01-19 | 2021-10-06 | Fuenteblandor Holding S L | INDEPENDENT SYSTEM FOR THE INSPECTION, MONITORING AND SURVEILLANCE OF LARGE INFRASTRUCTURES AND THEIR ENVIRONMENT |
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Effective date of registration: 20230714 Address after: No. 303, Floor 3, Building 1, No. 937, Wenjin Road, Wuhou District, Chengdu, Sichuan 610041 Patentee after: Chengdu Huacong Zhishi Technology Co.,Ltd. Address before: No.172 Shunsheng Road, Zhengxing street, Tianfu New District, Chengdu, Sichuan 610213 Patentee before: Chengdu Juju Zhichuang Technology Co.,Ltd. |