CN114583616A - Walking obstacle crossing mechanism walking obstacle crossing mechanism of ice observation robot for power transmission line - Google Patents
Walking obstacle crossing mechanism walking obstacle crossing mechanism of ice observation robot for power transmission line Download PDFInfo
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- CN114583616A CN114583616A CN202210405379.9A CN202210405379A CN114583616A CN 114583616 A CN114583616 A CN 114583616A CN 202210405379 A CN202210405379 A CN 202210405379A CN 114583616 A CN114583616 A CN 114583616A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 49
- 230000005540 biological transmission Effects 0.000 title claims abstract description 20
- 230000000694 effects Effects 0.000 claims description 6
- 230000009193 crawling Effects 0.000 abstract description 6
- 238000007689 inspection Methods 0.000 description 7
- 230000005674 electromagnetic induction Effects 0.000 description 5
- 210000005069 ears Anatomy 0.000 description 4
- 230000005611 electricity Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000026058 directional locomotion Effects 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000002788 crimping Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000012212 insulator Substances 0.000 description 1
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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
- 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
- B61B12/12—Cable grippers; Haulage clips
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Abstract
The invention discloses a walking obstacle crossing mechanism of an ice observation robot of a power transmission line, which comprises a walking wheel, clamping wheels, an electric clamping push rod, an electric swinging push rod and an electric arm push rod, wherein the walking wheel is connected to a walking motor, the walking motor is connected to the arm push rod through a motor supporting seat, the motor supporting seat is vertically and fixedly connected with a supporting plate, the rear side of the supporting plate is connected with the electric clamping push rod through a clamping push rod seat, the upper end of the electric clamping push rod is connected with two clamping wheels through a clamping push rod fixing frame and a clamping wheel frame in sequence, the two clamping wheels are positioned below the walking wheel, the electric clamping push rod is hinged to a bottom plate through a push rod support, the lower end of the supporting plate movably extends into a push rod support, the upper end of one side of the push rod support is hinged to the electric swinging push rod, and the electric swinging push rod is hinged to the bottom plate. The invention has simple and compact structure, stability and reliability, can realize crawling by self-locking at any time, is more efficient when grabbing and clamping wires, and has good stress condition of the whole mechanism and high reliability.
Description
Technical Field
The invention relates to the technical field of ice observation robots for power transmission lines, in particular to a walking obstacle crossing mechanism of an ice observation robot for power transmission lines.
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, mountain areas, forests and forest lands with rugged terrain are also the necessary ground for part of 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 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 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. However, this solution still has drawbacks. 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.
The high-voltage line inspection robot needs to have the characteristics of stable and reliable stress, light weight and the like, so that the design of a walking obstacle crossing mechanism which is lighter and has better stress has great significance.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the walking and obstacle crossing mechanism of the ice observation robot for the power transmission line is provided to solve the technical problems in the prior art.
The technical scheme adopted by the invention is as follows: a walking obstacle crossing mechanism of an ice observation robot of a power transmission line comprises walking wheels and clamping wheels, electric clamping push rod, electric swing push rod and electronic arm push rod, walking wheel connection is on walking motor, walking motor passes through the push rod tip of motor supporting seat connection at arm push rod, the vertical fixedly connected with backup pad in motor supporting seat one side, the backup pad rear side is through pressing from both sides the tight push rod seat and connecting electric clamping push rod, the tight push rod mount of push rod fixed connection clamp of electric clamping push rod upper end, press from both sides tight push rod mount and connect two tight pulleys through pressing from both sides tight wheel carrier, two tight pulleys can press from both sides tight high-voltage line with the walking wheel, electric clamping push rod fixed connection is on the push rod support, the activity of backup pad lower extreme stretches into in the push rod support, push rod support lower extreme articulates on bottom plate one end upper portion, the push rod tip of the articulated electric swing push rod in push rod support one side upper end, electric swing push rod's push rod seat articulates on bottom plate other end upper portion.
Preferably, the clamping push rod fixing frame is connected with the clamping wheel frame through a spring mechanism.
Preferably, the spring mechanism comprises a spring, a cylindrical sleeve and an inner guide post, the bottom end of the cylindrical sleeve is fixedly connected to the clamping push rod fixing frame, two symmetrical strip-shaped holes are formed in two sides of the cylindrical sleeve, the inner guide post is movably arranged in the cylindrical sleeve, two hinged shafts are fixedly connected to two ends of the inner guide post, the two hinged shafts are hinged to the clamping wheel frame after extending out of the two strip-shaped holes, and the spring is sleeved on the cylindrical sleeve, and two ends of the spring abut against steps arranged at the bottom ends of the clamping wheel frame and the cylindrical sleeve respectively.
Preferably, a guide sliding block is arranged on one side of the clamping push rod fixing frame, and a guide sliding groove matched with the guide sliding block is formed in the middle of the supporting plate in the vertical direction.
Preferably, a U-shaped supporting plate positioning block is fixedly connected to the supporting plate, and the supporting plate positioning block is movably sleeved on the electric movable arm push rod.
Preferably, the push rod bracket is an integral structure of an angle frame.
Preferably, the push rod support is hinged to the base plate through an arm push rod seat.
Preferably, the electric swing push rod is hinged to the bottom plate through a swing push rod fixing seat.
The invention has the beneficial effects that: compared with the prior art, the invention provides a reliable end mechanism connected with a high-voltage wire for the robot with the three-arm structure, the structure is simple, compact, stable and reliable, a large-diameter walking motor is adopted to provide larger power and can be self-locked and locked at any time so as to realize crawling, meanwhile, a simple jaw type clamping device is adopted so that the efficiency is higher when an electric wire is grabbed and clamped, a clamping wheel frame can rotate so as to adapt to clamping at different angles, the spring structure also avoids the generation of rigid force, and the mechanism can realize off-line and wire-incoming operations only by moving a small distance through a labor-consuming lever structure; the whole stress condition of the mechanism is good, the reliability is high, the operation is simple, and the mechanism has the advantages of small size, light weight, low power consumption and the like.
Drawings
FIG. 1 is a perspective view of an obstacle crossing mechanism;
FIG. 2 is a view of the pinch wheel in a pinch state;
FIG. 3 is an offline obstacle crossing state diagram;
fig. 4 is a schematic perspective view of a three-arm robot.
Detailed Description
The invention is further described below with reference to specific examples.
Example 1: as shown in fig. 1-3, a walking obstacle crossing mechanism of an ice observation robot for a power transmission line comprises a walking wheel 1, clamping wheels 3, a clamping wheel carrier 4, a clamping push rod fixing frame 6, an electric clamping push rod 7, an electric swing push rod 9, a bottom plate 12, a push rod bracket 14, a clamping push rod seat 15, a support plate 16, a support plate positioning block 17 and an electric arm push rod 18, wherein the walking wheel 1 is connected to a walking motor 20, the walking motor 20 can adopt a hub motor, the walking motor 20 is connected to the end part of the push rod of the arm push rod 18 through a motor support seat 19, the support plate 16 is vertically and fixedly connected to one side of the motor support seat 19, the rear side of the support plate 16 is connected to the electric clamping push rod 7 through the clamping push rod seat 15, the push rod at the upper end of the electric clamping push rod 7 is fixedly connected to the clamping push rod fixing frame 6, the clamping push rod fixing frame 6 is connected to the two clamping wheels 3 through the clamping wheel carrier 4, and the two clamping wheels 3 and the walking wheel 1 can clamp a high-voltage line 2, the electric clamping push rod 7 is fixedly connected to the push rod support 14, the lower end of the supporting plate 16 movably extends into the push rod support 14, the lower end of the push rod support 14 is hinged to the upper portion of one end of the bottom plate 12, the upper end of one side of the push rod support 14 is hinged to the end portion of the push rod of the electric swing push rod 9, the push rod seat of the electric swing push rod 9 is hinged to the upper portion of the other end of the bottom plate 12, and the electric clamping push rod 7, the electric swing push rod 9 and the electric arm push rod 18 are respectively provided with a clamping push rod motor 8, a swing push rod motor 10 and an arm push rod motor which drive the electric clamping push rod 7, the electric swing push rod 9 and the electric arm push rod 18 to stretch out and draw back. Two 3 symmetrical swivelling joints of pinch roller are to 4 both sides of pinch roller frame, and the double round locking forms upper and lower isosceles triangle crimping high-voltage line with the walking wheel, and locking is reliable stable, and pinch roller frame 4 articulates the tight push rod mount 6 of clamp moreover, can realize two pinch roller 3 from the location, effective contact high-voltage line for locking is more reliable and more stable.
When the obstacle crossing mechanism is used for a three-mechanical-arm high-voltage line obstacle crossing inspection robot, the robot adopts a symmetrical modular design and comprises a walking module, a clamping module, an obstacle crossing module and an electromagnetic induction charging module, and can realize the functions of walking, crawling, obstacle crossing, charging and the like on a high-voltage line, as shown in figure 4, the walking module and the electromagnetic induction electricity taking module in the middle part are arranged on a transverse driving mechanism, the transverse driving mechanism is arranged on an obstacle crossing bottom plate, the transverse driving mechanism comprises a guide rail sliding table, a guide rail sliding block, a lead screw motor, a lead screw, a nut seat and a screw shaft bearing seat, the guide rail sliding table is arranged on the obstacle crossing bottom plate and is arranged along the length direction of the guide rail sliding table, the guide rail sliding table is connected with a sliding plate through the guide rail sliding table, a middle power arm and the electromagnetic induction electricity taking module are arranged on the sliding plate, the bottom of the sliding plate is fixedly connected with the nut seat, the nut seat movably penetrates through a strip-shaped hole arranged on the obstacle crossing bottom plate along the length direction of the guide rail sliding table, two ends of a lead screw matched with the nut seat are respectively connected to the bottom of the obstacle crossing bottom plate through two lead screw bearing seats, one end of the lead screw extends out of the lead screw bearing seat and then is connected with a lead screw motor, and the lead screw motor is installed at the bottom of the obstacle crossing bottom plate through a motor frame. The electromagnetic induction electricity taking module comprises a semicircular electromagnetic clamp I and an electromagnetic clamp II, electromagnetic induction coils are installed in the electromagnetic clamp I and the electromagnetic clamp II, the electromagnetic clamp I is obliquely installed on the rack, the lower ends of the electromagnetic clamp II are connected to the rack through a driving mechanism, a driver of the driving mechanism rotates to be capable of being closed with the electromagnetic clamp I and clamping power transmission lines under the action of an electric lifting push rod, two ends of the rack are connected to the top ends of push rods of two electric lifting push rods, the lower ends of the two electric lifting push rods are fixedly connected to bending tables on two sides of a sliding plate, the sliding plate is in a convex shape and is bridged above a profile frame, so that the structure is more compact, the gravity center of a robot is more stable, the middle part of the back of the electromagnetic clamp I is fixedly connected to the rack through an elastic telescopic support, the elastic telescopic support comprises a spring and a fixed seat, the fixed seat is fixedly connected to the middle part of the back of the electromagnetic clamp I through the spring, and the fixed seat is fixedly connected to the rack, two direction supporting shoes of an electromagnetism clamp back lower extreme both sides fixedly connected with, two direction supporting shoes are groove structure, activity joint is on the slope section of frame both sides lateral wall board respectively, direction supporting shoe cooperation elastic expansion bracket, can make the closure better among the clamping process, and play the effect of buffering elasticity protection, actuating mechanism includes the actuating arm that one end fixed connection electromagnetism pressed from both sides two, the actuating arm is close to the middle part and articulates in the frame, the cylinder rod of the articulated pneumatic or hydraulic telescoping cylinder of actuating arm other end, the cylinder block tail end of telescoping cylinder 309 articulates in the frame, during the use, highly to suitable position through adjusting two electric lift push rods, the drive telescoping cylinder stretches out, closed electromagnetism presss from both sides two and electromagnetism frame one.
Preferably, the clamping push rod fixing frame 6 is connected with the clamping wheel frame 4 through a spring mechanism 5, and the spring mechanism 5 can prevent the clamping wheel from generating rigid force during clamping.
Preferably, above-mentioned spring mechanism 5 includes the spring, cylinder cover and interior guide post, cylinder cover bottom end fixed connection is on clamping push rod mount 6, cylinder cover both sides are provided with two bar holes of symmetry, the interior guide post activity is arranged in the cylinder cover and two articulated shafts of both ends fixedly connected with, two articulated shafts are articulated on clamping wheel frame 4 after stretching out two bar holes, the spring cup joints on the cylinder cover and both ends lean on respectively on the step that clamping wheel frame 4 and cylinder cover bottom set up, step fixed connection is on clamping push rod mount 6, moreover, the steam generator is simple in structure, clamping wheel frame is rotatable to be pressed from both sides tightly with this adaptation different angles.
Preferably, a guide sliding block is arranged on one side of the clamping push rod fixing frame 6, and a guide sliding groove matched with the guide sliding block is arranged in the middle of the supporting plate 16 in the vertical direction, so that the directional movement of the clamping roller can be ensured, and the clamping accuracy and stability are ensured.
Preferably, a U-shaped supporting plate positioning block 17 is fixedly connected to the supporting plate 16, the supporting plate positioning block 17 is movably sleeved on the electric movable arm push rod 18, the supporting plate is moved in a movable and directional manner relative to the electric movable arm push rod by approaching the lower end of the supporting plate, and the stability of the directional movement of the supporting plate can be realized.
Preferably, above-mentioned push rod support 14 is angular form frame body structure, including the scute of handstand L type, set up two oblique set-squares in the scute front and back side, two oblique set-squares lower extreme sets up two hinge holes of linking arm push rod seat 13, the ears structure, connect reliable and stable, be provided with the lightening hole on two oblique set-squares, weight greatly reduced, flight control of being convenient for, scute right side top is provided with the connection ears of connecting electronic swing push rod 9, the ears are connected, stable and reliable, ears salient structure, easy to assemble, the scute right side is provided with the lightening hole, the scute top is provided with the hole that stretches out of arm push rod motor and lets the flexible guiding hole of backup pad activity, compact structure, and accurate direction.
Preferably, the push rod support 14 is hinged to the bottom plate 12 through an arm push rod seat 13, and the arm push rod seat 13 is a double-lug seat structure and is fixedly connected to the bottom plate through screws.
Preferably, the electric swing push rod 9 is hinged to the bottom plate 12 through a swing push rod fixing seat 11, and the swing push rod fixing seat 11 is of a double-lug seat structure and is fixedly connected to the bottom plate through screws.
When the mechanism is used for a three-arm structure robot, as shown in fig. 4, 3 mechanisms are arranged in a staggered mode, and 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, 3, and crossing obstacles offline when meeting obstacles (such as vibration dampers, insulator strings and the like).
Normal walking without obstacles: the walking motor 20 works to drive the walking wheel 1 to advance, at the moment, the clamping push rod 7 is in a retraction state, the clamping wheel 3 is in a loosening state, and the mechanism can normally walk.
Clamping and crawling: the clamping push rod motor 8 acts to enable the clamping push rod 7 to extend out, so that the clamping wheel 3 rises to clamp the high-voltage wire 2 with the walking wheel 1, and at the moment, a brake in the walking motor 20 is electrified to enable the walking wheel 1 to be fixed in a self-locking mode. The friction force generated by the clamping wheel 3 and the walking wheel 1 enables the mechanism to lock the high-voltage wire 2, and the function of clamping and crawling is realized through other parts of the robot, wherein the spring mechanism 5 can prevent the clamping wheel from generating rigid force during clamping.
And (3) off-line obstacle crossing in case of obstacle: when the robot recognizes that an obstacle exists in the front, the clamping push rod 7 retracts to enable the clamping wheel 3 to be in a loosening state, the arm push rod 18 extends to enable the walking wheel 1, the supporting plate 16 and a structure fixed on the walking wheel to be lifted, and a space for the walking wheel to leave a high-voltage wire is reserved. The swing push rod motor 10 acts to extend the swing push rod 9, the mechanism rotates around the push rod support 14, the robot moves forward to cross the obstacle after the mechanism is offline, the swing push rod motor 10 acts in the reverse direction to retract the swing push rod 9 after the obstacle crossing is completed, and the mechanism feeds the wire to complete 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 (8)
1. The utility model provides a transmission line sees ice maker robot walking obstacle crossing mechanism which characterized in that: comprises a walking wheel (1), clamping wheels (3), an electric clamping push rod (7), an electric swinging push rod (9) and an electric arm push rod (18), wherein the walking wheel (1) is connected on a walking motor (20), the walking motor (20) is connected at the end part of the push rod of the arm push rod (18) through a motor supporting seat (19), one side of the motor supporting seat (19) is vertically and fixedly connected with a supporting plate (16), the rear side of the supporting plate (16) is connected with the electric clamping push rod (7) through a clamping push rod seat (15), the push rod at the upper end of the electric clamping push rod (7) is fixedly connected with a clamping push rod fixing frame (6), the clamping push rod fixing frame (6) is connected with two clamping wheels (3) through a clamping wheel frame (4), the two clamping wheels (3) and the walking wheel (1) can clamp a high-voltage wire (2), and the electric clamping push rod (7) is fixedly connected on a push rod support (14), the lower end of the supporting plate (16) movably extends into the push rod support (14), the lower end of the push rod support (14) is hinged to the upper portion of one end of the bottom plate (12), the upper end of one side of the push rod support (14) is hinged to the end portion of a push rod of the electric swing push rod (9), and a push rod seat of the electric swing push rod (9) is hinged to the upper portion of the other end of the bottom plate (12).
2. The walking obstacle crossing mechanism of the ice observation robot for the power transmission line according to claim 1, characterized in that: the clamping push rod fixing frame (6) is connected with the clamping wheel frame (4) through a spring mechanism (5).
3. The walking obstacle crossing mechanism of the ice observation robot for the power transmission line according to claim 2, characterized in that: spring mechanism (5) include spring, cylinder cover and interior guide post, and cylinder cover bottom end fixed connection is on pressing from both sides tight push rod mount (6), and cylinder cover both sides are provided with two bar holes of symmetry, and interior guide post activity is arranged in the cylinder cover and two articulated shafts of both ends fixedly connected with in, and two articulated shafts articulate to press from both sides tight wheel carrier (4) after stretching out two bar holes on, and the spring cup joints on the cylinder cover and both ends lean on respectively on pressing from both sides tight wheel carrier (4) and the step that the cylinder cover bottom set up.
4. The walking obstacle crossing mechanism of the ice observation robot for the power transmission line according to claim 1, characterized in that: one side of the clamping push rod fixing frame (6) is provided with a guide sliding block, and the middle part of the supporting plate (16) is provided with a guide sliding groove matched with the guide sliding block in the vertical direction.
5. The walking obstacle crossing mechanism of the ice observation robot for the power transmission line according to claim 1, characterized in that: a U-shaped supporting plate positioning block (17) is fixedly connected to the supporting plate (16), and the electric arm push rod (18) is movably sleeved on the supporting plate positioning block (17).
6. The walking obstacle crossing mechanism of the ice observation robot for the power transmission line according to claim 1, characterized in that: the push rod bracket (14) is an angle frame integrated structure.
7. The walking obstacle crossing mechanism of the ice observation robot for the power transmission line according to claim 1, characterized in that: the push rod bracket (14) is hinged to the bottom plate (12) through an arm push rod seat (13).
8. The walking obstacle crossing mechanism of the ice observation robot for the power transmission line according to claim 1, characterized in that: the electric swing push rod (9) is hinged to the bottom plate (12) through a swing push rod fixing seat (11).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210405379.9A CN114583616A (en) | 2022-04-18 | 2022-04-18 | Walking obstacle crossing mechanism walking obstacle crossing mechanism of ice observation robot for power transmission line |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210405379.9A CN114583616A (en) | 2022-04-18 | 2022-04-18 | Walking obstacle crossing mechanism walking obstacle crossing mechanism of ice observation robot for power transmission line |
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Cited By (3)
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| CN114865530A (en) * | 2022-06-06 | 2022-08-05 | 江苏中梦孚生科技有限公司 | Line inspection robot and obstacle avoidance method thereof |
| CN114899784A (en) * | 2022-07-14 | 2022-08-12 | 杭州申昊科技股份有限公司 | Transmission line walking deicing robot with compress tightly subassembly |
| CN116073280A (en) * | 2023-04-04 | 2023-05-05 | 辽宁省送变电工程有限公司 | Damper righting processing robot and use method |
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| CN112454322A (en) * | 2020-11-17 | 2021-03-09 | 贵州电网有限责任公司 | Swing obstacle crossing mechanism of high-voltage line walking robot |
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| CN114362046A (en) * | 2022-01-17 | 2022-04-15 | 广东科凯达智能机器人有限公司 | Obstacle-crossing inspection robot |
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