CN114597816A - Three-arm type autonomous obstacle crossing mechanism of ground wire inspection robot - Google Patents
Three-arm type autonomous obstacle crossing mechanism of ground wire inspection robot Download PDFInfo
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- CN114597816A CN114597816A CN202210210376.XA CN202210210376A CN114597816A CN 114597816 A CN114597816 A CN 114597816A CN 202210210376 A CN202210210376 A CN 202210210376A CN 114597816 A CN114597816 A CN 114597816A
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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 three-arm type automatic obstacle crossing mechanism of an inspection robot along a ground wire, which comprises a first arm type mechanism, a second arm type mechanism and a third arm type mechanism which are sequentially arranged along the length direction of a control box, wherein each arm type mechanism comprises a travelling mechanism, a lifting mechanism and a translation base platform; the travelling mechanism comprises a travelling wheel fixed connecting plate, a left side transmission supporting arm arranged on the travelling wheel fixed connecting plate, a travelling wheel arranged on the left side transmission supporting arm and a travelling motor driving the travelling wheel to travel, the lifting mechanism is connected with the travelling wheel fixed connecting plate and used for driving the travelling mechanism to lift, the lifting mechanism is arranged on the translation base platform, and the translation base platform drives the lifting mechanism to move horizontally. According to the invention, through the three-arm structure, two arms of the inspection robot are always hung on the line in the obstacle crossing process, so that the whole mechanism is ensured not to overturn, and the inspection robot is safe and stable and can be widely applied to inspection of power transmission lines.
Description
Technical Field
The invention belongs to the technical field of power inspection, and particularly relates to an inspection robot.
Background
The power transmission line is an extremely important component of a power system, is related to the livelihood of society, and is an 'artery' of national infrastructure and social development. In order to ensure safe and stable operation, patrol inspection is required to be performed regularly. The currently adopted methods mainly include manual inspection and unmanned aerial vehicle inspection. The manual inspection mainly depends on auxiliary equipment such as naked eyes or telescopes to observe the defects of the lines, and has the advantages of high labor intensity, low efficiency and high danger. Unmanned aerial vehicle patrols and examines with high costs, controls the difficulty, and flying speed is fast, and the accuracy is not high, easily receives the weather influence. Therefore, the power department urgently needs to research a new inspection mode.
The development of mobile robot technology provides a good development basis for overhead power line inspection. The inspection robot has the functions of crossing obstacles such as towers, insulators, vibration dampers and the like while inspecting the working conditions of the line and the accessory fittings, and can even utilize the visual angle advantage of the inspection robot to expand the line inspection robot technology to monitoring application of other working occasions. However, due to the influence of the external environment, when the current high-voltage transmission line inspection robot walks on a high-voltage line, the problems of difficulty in obstacle crossing and poor stability often exist, and the problems are specifically represented by instability in obstacle crossing and overturning in the advancing process.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide the autonomous obstacle crossing mechanism of the three-arm type ground wire inspection robot, which has strong obstacle crossing capability and solves the problems of instability and easy overturning of the inspection robot in the prior art.
In order to solve the technical problems, the invention adopts the following technical scheme: a three-arm type automatic obstacle crossing mechanism of an inspection robot along a ground wire comprises a control box with a rectangular structure, and a first arm type mechanism, a second arm type mechanism and a third arm type mechanism which are sequentially arranged along the length direction of the control box, wherein the first arm type mechanism, the second arm type mechanism and the third arm type mechanism respectively comprise a travelling mechanism, a lifting mechanism and a translation base platform; the travelling mechanism comprises a travelling wheel fixed connection plate, a left side transmission support arm arranged on the travelling wheel fixed connection plate, a travelling wheel arranged on the left side transmission support arm and a travelling motor driving the travelling wheel to travel, the lifting mechanism is connected with the travelling wheel fixed connection plate and used for driving the travelling mechanism to lift, and the lifting mechanism is arranged on the translation base platform and is driven by the translation base platform to move horizontally.
Preferably, the lifting mechanism comprises a push rod control motor, an electric push rod, a lifting screw rod and a lifting nut, the push rod control motor is used for driving the electric push rod, and the lifting nut is connected with the lifting screw rod through threads.
Preferably, the translation base platform is provided with a translation slide rail, a translation motor, a translation lead screw and a translation nut, the translation nut is in threaded connection with the translation lead screw, the translation nut is connected with a push rod fixed connection plate, the push rod fixed connection plate is provided with a slide block in sliding fit with the translation slide rail, and the translation motor drives the translation lead screw to rotate.
Preferably, the right side of the left side transmission supporting arm is provided with a right side transmission supporting arm, and the walking wheel fixing connecting plate is provided with a moving mechanism for driving the right side transmission supporting arm to horizontally slide left and right.
Preferably, the moving mechanism comprises a moving support frame, a moving motor, a moving screw rod and a moving nut, the moving motor is installed on the outer side of the moving support frame, the moving screw rod is installed in the middle of the moving support frame and connected with an output shaft of the moving motor, and the moving nut is connected with the moving screw rod through threads.
The technical scheme adopted by the invention has the following beneficial effects:
through the three-arm structure, the inspection robot has two arms always hung on the line in the obstacle crossing process, the whole mechanism is prevented from overturning, safety and stability are achieved, and the inspection robot can be widely applied to inspection of power transmission lines.
The following detailed description and the accompanying drawings are included to provide a further understanding of the invention.
Drawings
The invention is further described with reference to the accompanying drawings and the detailed description below:
FIG. 1 is a schematic structural diagram of an autonomous obstacle crossing mechanism of a three-arm type ground wire inspection robot according to the invention;
in the figure: 1. the device comprises a right side transmission supporting arm, 2 parts of a locking wheel, 3 parts of a locking control motor, 4 parts of a coupler, 5 parts of a travelling wheel fixing connecting plate, 6 parts of a supporting rod support, 7 parts of an electric push rod, 8 parts of an auxiliary supporting rod, 9 parts of a lifting nut, 10 parts of a push rod fixing connecting plate, 11 parts of a translation sliding rail, 12 parts of a fixing lock catch, 13 parts of a gear shell, 14 parts of a transmission gear, 15 parts of a base, 16 parts of an open slot, 17 parts of a direct current power supply, 18 parts of a supporting sleeve, 19 parts of a central gear, 20 parts of a translation screw rod, 21 parts of a translation control motor, 22 parts of a push rod control motor, 23 parts of a connecting gear, 24 parts of a moving motor, 25 parts of a travelling motor, 26 parts of a left side transmission supporting arm and 27 parts of a travelling wheel.
Detailed Description
The technical solutions of the embodiments of the present invention are explained and illustrated below with reference to the drawings of the embodiments of the present invention, but the following embodiments are only preferred embodiments of the present invention, and not all embodiments. Based on the embodiments in the implementation, other embodiments obtained by those skilled in the art without any creative effort belong to the protection scope of the present invention.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Words such as "upper," "lower," "left," "right," and the like, which indicate an orientation or positional relationship, are based only on the orientation or positional relationship shown in the drawings, are merely for convenience in describing the present invention and to simplify the description, and do not indicate or imply that the referenced devices/elements must have a particular orientation or be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
It will be appreciated by those skilled in the art that features from the examples and embodiments described below may be combined with each other without conflict.
As shown in fig. 1, the invention provides an autonomous obstacle crossing mechanism of a three-arm inspection robot applied to inspection of power transmission lines, and when the autonomous obstacle crossing mechanism is applied to a robot, three separable obstacle crossing mechanical arms need to be assembled at the same time. The control box comprises a rectangular structure, and a first arm type mechanism, a second arm type mechanism and a third arm type mechanism which are sequentially arranged along the length direction of the control box, wherein the first arm type mechanism, the second arm type mechanism and the third arm type mechanism all comprise a traveling mechanism, a lifting mechanism and a translation base platform.
Fig. 1 shows one of them arm-type mechanism, as shown in fig. 1, the advancing mechanism includes walking wheel fixed connection board 5, locates left side transmission support arm 26 on the walking wheel fixed connection board, locates walking wheel 27 on the transmission support arm of left side, the motor of marcing 25 that the driven walking wheel marched, elevating system is connected with walking wheel fixed connection board for the lift of driven advancing mechanism, elevating system locates on the translation base platform, drives elevating system horizontal migration by the translation base platform.
As an implementation mode, elevating system includes push rod control motor 22, bracing piece support 6, electric putter 7, push rod fixed connection board 10, lifting nut 9, auxiliary stay 8, wherein push rod control motor installs in the electric putter left side, auxiliary stay is four vertical support's fixed branch, and electric putter is equipped with the lift lead screw, and rod control motor is used for driving electric putter, lifting nut 9 links to each other with the lift lead screw through the screw, goes up and down through lifting nut lift drive running gear and goes up and down. The lower end of the auxiliary supporting rod is connected with a push rod fixed connecting plate 10, and the upper end of the auxiliary supporting rod is connected with a supporting rod bracket 6.
Furthermore, a connecting gear 23 can be arranged to connect the advancing mechanism and the lifting mechanism, and the connecting gear can be driven by the rotating motor to drive the advancing mechanism to rotate.
As an implementation mode, the translation bottom table is provided with a translation slide rail 11, a translation control motor 21, a translation lead screw 20 and a translation nut, the translation nut is in threaded connection with the translation lead screw, the translation nut is connected with a push rod fixed connection plate 10, the push rod fixed connection plate 10 is provided with a slide block in sliding fit with the translation slide rail, and the translation control motor drives the translation lead screw to rotate. The fixed lock catch 12 fixes the translation screw rod 20, the gear shell 13 protects the transmission gear 14, the base 15 fixes the whole translation bottom platform, the opening groove 16 and the central gear 19 facilitate the installation of other two mechanical arms, and the direct current motor 17 supplies power for the mechanism and supports the sleeve 18 to be used for connecting the upper part and the lower part.
The right side of the left side transmission supporting arm is provided with a right side transmission supporting arm 1, and the walking wheel fixing connecting plate is provided with a moving mechanism for driving the right side transmission supporting arm to horizontally slide left and right. And a locking mechanism is arranged on the right side transmission supporting arm. The locking mechanism comprises a locking wheel 2, a locking control motor 3, a coupler 4, a screw, a nut, a locking arm and a locking support frame, wherein the locking wheel can slide up and down, an output shaft of the locking motor is connected with the screw through the coupler 4, the other end of the screw is installed on the locking support frame, the nut is in threaded connection with the screw, one end of the locking arm is connected with the nut, the locking wheel 2 is installed on the locking arm, and the locking arm is driven to drive the locking wheel through the screw and the nut.
As an implementation mode, the moving mechanism comprises a moving support frame, a moving motor 24, a moving screw rod and a moving nut, the moving support frame is installed on a walking wheel fixed connection plate 5, the moving motor is installed on the outer side of the moving support frame, the moving screw rod is installed in the middle of the moving support frame and connected with an output shaft of the moving motor, the moving nut is connected with the moving screw rod through threads, the moving nut is connected with a right side transmission support arm 1 to drive the right side transmission support arm 1 to slide left and right, and a slide rail and the right side transmission support arm 1 are arranged on the moving support frame in a sliding fit mode.
The working process comprises the following specific obstacle crossing process:
the robot adopting the invention is arranged on a high-voltage line to run, and the whole robot normally runs on the high-voltage line through the travelling wheels 27. When the robot encounters obstacles such as the damper and the insulator wire clamp in the process of advancing along the line, the advancing motor 25 stops rotating, and the mechanical arm is transferred to perform obstacle crossing operation. The travelling motor 25 controls the travelling wheel 27 to be separated from the high-voltage wire, the push rod control motor 22 drives the electric push rod 7 to enable the first arm type mechanism to be lifted upwards, and the translation control motor drives the lifting mechanism to horizontally slide to drive the first arm type mechanism to move towards the direction far away from the ground wire. At this time, the travelling wheels 27 complete one-time two-side separation, and the first arm type mechanism crosses the obstacle. After the first arm type mechanism is separated from the high-voltage line, other two arms in the three-arm robot are still on the high-voltage line, and the whole machine body continues to move forward. Then, the control box controls the mechanical arm to move, after the mechanical arm passes over an obstacle, the electric push rod 7 repeats the previous action, the connecting gear 23 rotates the guide mechanism once at the left and the right, and therefore the travelling wheels can be accurately hung on the high-voltage line.
When the three mechanical arms continuously cross the obstacle, the distance between two obstacles is too close, the distance between the obstacles is smaller than the width of the two mechanical arms hung on the high-voltage line, and the former mechanical arm needs to cross the obstacle again according to the advancing direction, so that enough space is provided for the latter mechanical arm to cross the obstacle.
Three arms are all connected on the control box, have guaranteed that whole robot rigidity is strong enough in the horizontal direction. In the whole obstacle crossing process, at least two arms are hung on the line at the same time, the stability in the operation process can be ensured through the double hanging points, and the first arm and the third arm are symmetrical along the ground line, so that the center of gravity always falls near the central axis in the operation process, and the deviation cannot occur. Different from the existing inspection robot, the unique mechanical connection structure ensures that the rigidity of the whole robot in the horizontal direction is enough, and meanwhile, a single arm type mechanism can also rotate in the horizontal direction, so that the flexibility of the robot is enhanced, and the robot can cross over obstacles with a certain angle.
When the mechanical arm is hung on a high-voltage wire, the right transmission supporting arm 1 and the left transmission supporting arm 26 are clasped, the high-voltage wire is arranged below the walking wheel 27 at the moment, and when the driving is abnormal, the clasping is the tightest, so that the whole machine is stably stopped at the fixed position of the high-voltage wire, and the safety of the whole machine in the high-altitude operation process is protected.
While the invention has been described with reference to specific embodiments thereof, it will be understood by those skilled in the art that the invention is not limited thereto, and may be embodied in many different forms without departing from the spirit and scope of the invention as set forth in the following claims. Any modification which does not depart from the functional and structural principles of the present invention is intended to be included within the scope of the claims.
Claims (5)
1. The three-arm type automatic obstacle crossing mechanism of the ground wire inspection robot is characterized by comprising a control box with a rectangular structure, and a first arm type mechanism, a second arm type mechanism and a third arm type mechanism which are sequentially arranged along the length direction of the control box, wherein the first arm type mechanism, the second arm type mechanism and the third arm type mechanism respectively comprise a travelling mechanism, a lifting mechanism and a translation base platform; the travelling mechanism comprises a travelling wheel fixed connection plate, a left side transmission support arm arranged on the travelling wheel fixed connection plate, a travelling wheel arranged on the left side transmission support arm and a travelling motor driving the travelling wheel to travel, the lifting mechanism is connected with the travelling wheel fixed connection plate and used for driving the travelling mechanism to lift, and the lifting mechanism is arranged on the translation base platform and is driven by the translation base platform to move horizontally.
2. The automatic obstacle crossing mechanism of the three-arm ground wire inspection robot according to claim 1, wherein the lifting mechanism comprises a push rod control motor, an electric push rod, a lifting screw rod and a lifting nut, the push rod control motor is used for driving the electric push rod, and the lifting nut is connected with the lifting screw rod through threads.
3. The automatic obstacle crossing mechanism of the three-arm ground wire inspection robot is characterized in that a translation sliding rail, a translation motor, a translation screw rod and a translation nut are arranged on the translation base platform, the translation nut is in threaded connection with the translation screw rod and is connected with a push rod fixing and connecting plate, a sliding block in sliding fit with the translation sliding rail is arranged on the push rod fixing and connecting plate, and the translation motor drives the translation screw rod to rotate.
4. The automatic obstacle crossing mechanism of the three-arm ground wire inspection robot according to claim 1, wherein a right transmission supporting arm is arranged on the right side of the left transmission supporting arm, and a moving mechanism for driving the right transmission supporting arm to horizontally slide left and right is arranged on the walking wheel fixing connecting plate.
5. The automatic obstacle crossing mechanism of the three-arm type ground wire inspection robot is characterized in that the moving mechanism comprises a moving support frame, a moving motor, a moving screw rod and a moving nut, the moving motor is installed on the outer side of the moving support frame, the moving screw rod is installed in the middle of the moving support frame and connected with an output shaft of the moving motor, and the moving nut is connected with the moving screw rod through threads.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210210376.XA CN114597816A (en) | 2022-03-04 | 2022-03-04 | Three-arm type autonomous obstacle crossing mechanism of ground wire inspection robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210210376.XA CN114597816A (en) | 2022-03-04 | 2022-03-04 | Three-arm type autonomous obstacle crossing mechanism of ground wire inspection robot |
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| CN202210210376.XA Pending CN114597816A (en) | 2022-03-04 | 2022-03-04 | Three-arm type autonomous obstacle crossing mechanism of ground wire inspection robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115117782A (en) * | 2022-07-11 | 2022-09-27 | 重庆小目科技有限责任公司 | Clamping device of crawler-type overhead transmission line inspection robot |
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2022
- 2022-03-04 CN CN202210210376.XA patent/CN114597816A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115117782A (en) * | 2022-07-11 | 2022-09-27 | 重庆小目科技有限责任公司 | Clamping device of crawler-type overhead transmission line inspection robot |
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