CN114633244A - Overhead line robot auxiliary pressing device, inspection robot and method - Google Patents
Overhead line robot auxiliary pressing device, inspection robot and method Download PDFInfo
- Publication number
- CN114633244A CN114633244A CN202011487311.7A CN202011487311A CN114633244A CN 114633244 A CN114633244 A CN 114633244A CN 202011487311 A CN202011487311 A CN 202011487311A CN 114633244 A CN114633244 A CN 114633244A
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- Prior art keywords
- robot
- piece
- line
- auxiliary
- overhead line
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses an overhead line robot auxiliary pressing device, an inspection robot and a method, wherein the inspection robot comprises the following steps: the device comprises a driving piece, a transmission piece and an auxiliary pressing piece; the supplementary piece that compresses tightly is open-close type hand claw structure, and the drive power that the driving piece produced can pass through the transmission piece transmission to supplementary piece that compresses tightly to control the degree of opening and shutting of supplementary piece that compresses tightly, thereby the degree of compressing tightly of supplementary piece and circuit of compressing tightly of control. The invention adopts a mode that the paw roller clamps the wire, thereby not only providing downward pressure of the walking wheel, but also tightly clamping the line, thereby preventing the robot from falling.
Description
Technical Field
The invention relates to the technical field of overhead line inspection robots, in particular to an auxiliary pressing device of an overhead line robot, an inspection robot and an inspection method.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
With the continuous increase of the erection length of overhead transmission lines and the continuous development of robot technology, the special electric power robot gradually replaces manual operation, and becomes important force for protecting the safe operation of electric power lines. Many overhead transmission lines are erected in mountains and mountains, which causes that the overhead lines have a lot of up-and-down slopes due to the erected terrain, and the special line inspection robot running on the overhead lines needs to go up slopes, go down slopes and prevent falling.
The inventor finds that when the robot runs on a line with a large gradient, the walking wheels slip and cannot run forwards due to the fact that the weight of the robot and the friction force provided by the walking wheels are limited.
In order to solve the problem, the prior art adopts a mode of increasing the friction coefficient of materials used by a travelling wheel, and the mode can ensure that the robot can safely and effectively run on a straight line, but can not meet the requirement of friction force during climbing; the prior art increases the self weight of the robot to increase the friction force, but the application of the method is limited because of strict requirements on the weight of the robot.
Disclosure of Invention
In view of the above, the invention provides an overhead line robot auxiliary pressing device, an inspection robot and a method, wherein the friction force of a walking wheel is increased by increasing the pressing force of the walking wheel, so that the problem of skidding caused by insufficient friction force when the robot climbs a slope can be effectively solved.
According to a first aspect of embodiments of the present invention, there is provided an overhead line robot-assisted compacting apparatus including: the device comprises a driving piece, a transmission piece and an auxiliary pressing piece; the supplementary piece that compresses tightly is open-close type hand claw structure, and the drive power that the driving piece produced can pass through the transmission piece transmission to supplementary piece that compresses tightly to control the degree of opening and shutting of supplementary piece that compresses tightly, thereby the degree of compressing tightly of supplementary piece and circuit of compressing tightly of control.
Further, the driving medium includes drive gear and worm, and driving piece output shaft can drive gear and rotate, and drive gear can drive the worm and rotate.
The auxiliary pressing member includes: the two opposite claw rollers are respectively connected with the transmission part and do not interfere with each other, each claw roller is connected with a worm wheel through a connecting piece, and the worm wheels are meshed with the worm; the turbine rotates and can drive the paw idler wheel to move so as to realize opening and closing control.
According to a second aspect of the embodiments of the present invention, there is provided an overhead line inspection robot including: the auxiliary pressing device is provided.
According to a third aspect of the embodiments of the present invention, there is provided a method for inspecting an overhead line inspection robot, including:
when the robot runs on a sloping line, determining the inclination angles of the robot and the line, and calculating the auxiliary pressure required by the robot when climbing the slope under the inclination angles; and controlling the pressing degree of the auxiliary pressing piece and the circuit based on the auxiliary pressure.
When the robot runs on a line without gradient, the auxiliary pressing piece is only in contact with the line without pressure.
Compared with the prior art, the invention has the beneficial effects that:
(1) the invention adopts a mode that the paw roller clamps the wire, thereby not only providing downward pressure of the walking wheel, but also tightly clamping the line, thereby preventing the robot from falling.
(2) The paw roller has the function of preventing the robot from falling due to the fact that the robot walking wheel is separated from the lead, the driving force of the motor can be adjusted according to the line gradient information returned by the inclination angle sensor and the pressure information returned by the pressure sensor, the change of the line gradient climbed by the robot is achieved, the required pressing force is dynamically provided, and therefore sufficient climbing friction force is provided for climbing of the robot walking wheel.
Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
FIG. 1 is a schematic structural diagram of an overhead line robot-assisted hold-down device according to an embodiment of the invention;
FIG. 2 is a schematic diagram of the operation of a robot according to an embodiment of the present invention when there is no slope or a slight slope on the line;
FIG. 3 is a schematic view of the operation of a robot according to an embodiment of the present invention when climbing a slope on a road;
the robot comprises a gripper roller 1, a worm 2, a transmission gear 3, a driving motor 4, a pressure sensor 5, a support 6, an inclination angle sensor 7, a travelling wheel 8 and a circuit 9.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure herein. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular is intended to include the plural unless the context clearly dictates otherwise, and furthermore, it should be understood that the terms "comprises" and "comprising," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The embodiments and features of the embodiments of the invention may be combined with each other without conflict.
Example one
According to an embodiment of the present invention, there is provided an embodiment of an overhead line robot-assisted compacting apparatus, referring to fig. 1, including: the device comprises a driving piece, a transmission piece and an auxiliary pressing piece; wherein, supplementary piece that compresses tightly is open-close type hand claw structure, and the drive power that the driving piece produced can pass through the driving medium transmission to supplementary piece that compresses tightly to the degree of opening and shutting that the supplementary piece that compresses tightly of control, thereby the supplementary degree of compressing tightly of control and circuit.
Specifically, the driving piece is a driving motor 4, the transmission piece comprises a gear and a worm 2, an output shaft of the driving motor 4 is connected with a transmission gear 3, and the transmission gear 3 is meshed with the worm 2. An output shaft of the driving motor 4 rotates to drive the transmission gear 3 to rotate, and the transmission gear 3 rotates to drive the worm 2 to rotate.
Supplementary compressing tightly the piece includes: the two opposite claw rollers 1 are not interfered with each other, each claw roller 1 is connected with a worm wheel through a connecting piece, and the worm wheels are meshed with the worm 2; the worm 2 rotates to drive the turbine to rotate, and the turbine rotates to drive the paw idler wheel 1 to move so as to realize opening and closing control.
The gripper idler wheel 1, the transmission worm gear 2, the transmission gear 3 and the driving motor 4 are assembled together to form a mechanical gripper with two gripper idler wheels 1, the two gripper idler wheels 1 of the mechanical gripper can encircle and tightly press a circuit when being closed, so that the robot walking wheel 8 is prevented from being separated from the circuit, and the robot is prevented from falling off from the circuit.
Through the control of the rotating position of the driving motor 4, the position state is transmitted to the two paw rollers 1 through the worm gear 2 and the transmission gear 3 and converted into the opening and closing size of the paw rollers 1, and the maximum torque limiting function of the motor can enable the pressure between the two paw rollers 1 and the circuit to reach a proper value, so that the paw rollers 1 tightly clamp the circuit by using proper clamping force.
In some embodiments, the mechanical gripper is mounted on the inner side framework of the walking wheel 8 through a support 6, a pressure sensor 5 is embedded in the support 6, a pressure value of the roller gripper and the line can be obtained in real time through the pressure sensor 5, and the driving motor 4 adjusts the opening and closing degree of the two gripper rollers 1 in real time according to the pressure value, so that the pressing degree of the auxiliary pressing piece and the line is adjusted.
The paw rollers 1 can be in friction rolling passively when contacting a circuit, and the gripping tightness between the paw rollers 1 and an overhead circuit when the two paw rollers are closed can be dynamically controlled by adjusting the output torque of the driving motor 4. From this, hand claw gyro wheel 1 can provide corresponding pressure according to the different slopes of robot climbing, increases walking 8's climbing frictional force.
The driving motor 4 works in a position mode, and limits and controls the output maximum torque, so that the opening and closing sizes of the two paw rollers 1 can be controlled, and the maximum torque of the two rollers contacting with a lead is also limited.
Example two
According to the embodiment of the invention, the embodiment of the overhead line inspection robot is provided, and the overhead line inspection robot comprises a robot walking wheel 8 connected with an overhead line, wherein the auxiliary pressing devices in the first embodiment are respectively arranged at the front end of the front walking wheel 8 and the rear end of the rear walking wheel 8, so that when the robot climbs a slope, the auxiliary pressing devices are in contact with the overhead line, the friction force between the robot and the overhead line is improved, and slipping and falling are avoided.
In some embodiments, an inclination sensor 7 is disposed on the robot, and the inclination sensor 7 can measure the inclination information of the line or the robot and calculate the friction force required by the robot to climb the slope and the pressure value required to be provided by the gripper roller 1 through the inclination value.
The output torque of the driving motor 4 can be adjusted according to the gradient information of the robot or the line returned by the inclination angle sensor 7, and then the grasping tightness of the grasping roller and the overhead line is adjusted, so that different pressing forces are provided according to different gradients, and the most suitable climbing friction force is finally obtained.
EXAMPLE III
According to the embodiment of the invention, the embodiment of the inspection method of the overhead line inspection robot is provided, which specifically comprises the following steps:
when the robot is operated on a route without a slope or a small slope, as shown in fig. 2, the normal frictional force of the traveling wheels 8 is sufficient because the slope of the route is small. In consideration of saving electric quantity and reducing abrasion, the paw roller 1 only catches the line 9 in a virtual way, so that the walking wheel 8 of the robot is prevented from being separated from the line to cause the falling of the robot.
When the robot is operating on a relatively steep grade line, as shown in figure 3, the normal friction provided by the road wheels 8 is insufficient to support the climbing of the robot due to the relatively steep grade of the line. This requires greater pressure to be applied to the road wheels 8 by the aid of the climbing gripper device, which increases the friction between the road wheels 8 and the line 9. Meanwhile, in order to provide proper pressure, the inclination angle of the robot and/or the line is measured through the inclination angle sensor 7, so that the friction force required when the robot climbs the slope and the auxiliary pressure required to be increased under the angle are calculated. After the auxiliary pressure is calculated, the maximum torque limit of the motor is used for controlling the output torque of the motor, and further the pressure between the paw and the circuit 9 is controlled.
Meanwhile, the real-time change value of the pressure can be read from the pressure sensor 5, so that the output of the motor can be adjusted more accurately.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (10)
1. The utility model provides an auxiliary closing device of overhead line robot which characterized in that includes: the auxiliary pressing piece is arranged on the driving piece; the supplementary piece that compresses tightly is open-close type hand claw structure, and the drive power that the driving piece produced can pass through the transmission piece transmission to supplementary piece that compresses tightly to control the degree of opening and shutting of supplementary piece that compresses tightly, thereby the degree of compressing tightly of supplementary piece and circuit of compressing tightly of control.
2. An overhead line robot-assisted hold down device as claimed in claim 1, wherein the drive member includes a drive gear and a worm, the drive gear being rotatable by the drive member output shaft, the worm being rotatable by the drive gear.
3. An overhead line robot-assisted hold-down device as claimed in claim 2, wherein the auxiliary hold-down member comprises: the two opposite claw rollers are respectively connected with the transmission part and do not interfere with each other, each claw roller is connected with a worm wheel through a connecting piece, and the worm wheels are meshed with the worm; the turbine rotates and can drive the paw gyro wheel to remove in order to realize opening and shutting control.
4. The overhead line robot-assisted hold-down device of claim 1, further comprising a pressure sensor that detects in real time a pressure value between the auxiliary hold-down member and the line.
5. The overhead line robot-assisted hold down device of claim 1, further comprising a tilt sensor that measures the tilt angle of the line in real time.
6. The overhead line robot auxiliary pressing device of claim 1, further comprising a support member by which the auxiliary pressing device of any one of claims 1 to 5 is connected to the inspection robot.
7. The utility model provides an overhead line patrols and examines robot which characterized in that includes: an auxiliary pressing device as defined in any one of claims 1 to 6.
8. The utility model provides an overhead line patrols and examines inspection method of robot which characterized in that includes:
when the robot runs on a sloping line, determining the inclination angles of the robot and the line, and calculating the auxiliary pressure required by the robot when climbing the slope under the inclination angles; and controlling the pressing degree of the auxiliary pressing piece and the circuit based on the auxiliary pressure.
9. The inspection method according to claim 8, further comprising: when the robot runs on a line without gradient, the auxiliary pressing piece is only in contact with the line without pressure.
10. The inspection method according to claim 8, wherein pressure values of the auxiliary pressing member and the line are obtained in real time, and the pressing degree of the auxiliary pressing member and the line is adjusted in real time according to the pressure values.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011487311.7A CN114633244A (en) | 2020-12-16 | 2020-12-16 | Overhead line robot auxiliary pressing device, inspection robot and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011487311.7A CN114633244A (en) | 2020-12-16 | 2020-12-16 | Overhead line robot auxiliary pressing device, inspection robot and method |
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| Publication Number | Publication Date |
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| CN114633244A true CN114633244A (en) | 2022-06-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011487311.7A Pending CN114633244A (en) | 2020-12-16 | 2020-12-16 | Overhead line robot auxiliary pressing device, inspection robot and method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117798953A (en) * | 2024-03-01 | 2024-04-02 | 国网山东省电力公司威海供电公司 | Pressing mechanism based on high-voltage line inspection robot |
| CN118067750A (en) * | 2024-04-19 | 2024-05-24 | 四川赛康智能科技股份有限公司 | X-ray detection device and method for strain clamp of four-split conductor of power transmission line |
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| CN108879464A (en) * | 2017-05-10 | 2018-11-23 | 国网江苏省电力公司南京供电公司 | A kind of microminiature obstacle crossing type electric inspection process robot |
| WO2020098090A1 (en) * | 2018-11-15 | 2020-05-22 | 山东科技大学 | Robot walking and climbing along overhead line |
| CN111823214A (en) * | 2020-07-22 | 2020-10-27 | 中信重工开诚智能装备有限公司 | Track inspection robot driving device capable of automatically adjusting clamping force |
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| CN201544221U (en) * | 2009-10-26 | 2010-08-11 | 中国科学院沈阳自动化研究所 | Swing type wheel arm paw composite inspection robot mechanism |
| CN102709838A (en) * | 2011-12-15 | 2012-10-03 | 东北大学 | High-voltage power transmission line inspection robot mechanism |
| CN103928866A (en) * | 2014-04-18 | 2014-07-16 | 东北大学 | Walking and clamping mechanism suitable for high-voltage wire polling robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117798953A (en) * | 2024-03-01 | 2024-04-02 | 国网山东省电力公司威海供电公司 | Pressing mechanism based on high-voltage line inspection robot |
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| CN118067750A (en) * | 2024-04-19 | 2024-05-24 | 四川赛康智能科技股份有限公司 | X-ray detection device and method for strain clamp of four-split conductor of power transmission line |
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