CN114633245A - Overhead line whole-course inspection robot and method - Google Patents
Overhead line whole-course inspection robot and method Download PDFInfo
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- CN114633245A CN114633245A CN202011490254.8A CN202011490254A CN114633245A CN 114633245 A CN114633245 A CN 114633245A CN 202011490254 A CN202011490254 A CN 202011490254A CN 114633245 A CN114633245 A CN 114633245A
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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
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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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
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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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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- 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 provides an overhead line whole-course inspection robot and a system, when the robot needs to pass through an anti-vibration hammer, a tangent tower and a strain tower, the self-balancing dead weight and the self-adaptive variable curvature track of a driving arm can be controlled through the matching of a guide part and a motor direct-drive rotating part, the obstacle crossing safety and reliability are ensured, and meanwhile, when the overhead line has a slope, the sliding problem caused by insufficient friction and the like can not occur by utilizing the control of the pressing force of a walking wheel when the robot inclines or climbs the line; the whole course barrier-free, safe and intelligent inspection is really realized.
Description
Technical Field
The invention belongs to the technical field of overhead line inspection, and particularly relates to an overhead line whole-process inspection robot and an overhead line whole-process inspection method.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The overhead transmission line inspection robot is used as an intelligent tool for assisting and replacing manual line inspection, and becomes important force for protecting the safe operation of a power line. 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, cross obstacles and prevent falling.
According to the inventor's understanding, the current technical scheme of the line patrol robot is mostly a climbing mode of two arms or three arms, and the following disadvantages are:
(1) when the robot runs on a line with a large gradient, the condition that the walking wheels slip and cannot run forwards is generated because the weight of the robot and the friction force provided by the walking wheels are limited.
(2) When the robot crosses the damper and the suspension insulator, two arms or multiple arms are required to perform various complex obstacle crossing actions, even some robots cannot complete the crossing of the strain tower, the adaptability to various obstacles in complex environments is low, the motion planning is complex during obstacle crossing, the obstacle crossing efficiency is low, potential safety hazards exist in the obstacle crossing process, and autonomous obstacle crossing is difficult.
In order to solve the problems, the prior art tries to adopt the modes of increasing the friction coefficient of materials used for walking wheels, increasing the dead weight, designing a robot protection mechanism, obstacle crossing mechanisms and the like, the modes can ensure that the robot safely and effectively runs on a straight line, but also have a complex mechanical structure, locking operation is carried out by depending on the mechanical structure, the rotation angle of the mechanical arm is not favorably controlled, and meanwhile, when the line inclines or needs to climb, the robot can also incline due to the dead weight, the mechanical arm is inclined, meanwhile, the robot cannot meet the requirement of friction force during climbing, and the problems of certain potential safety hazards and the like exist.
Disclosure of Invention
The invention provides an overhead line whole-process inspection robot and a method for solving the problems, wherein the robot is ensured not to slip due to insufficient friction and the like when the robot inclines or climbs a slope by utilizing the control of the pressing force of a walking wheel; when the robot needs to pass through the damper, the tangent tower and the tension tower, the self-balance dead weight and the self-adaptive variable curvature track can be automatically balanced by controlling the driving arm, and the obstacle crossing safety and reliability are ensured.
According to some embodiments, the invention adopts the following technical scheme:
the robot comprises a robot body, wherein the robot body is provided with a plurality of walking arms which are arranged side by side, each walking arm comprises a walking wheel and a motor direct-drive rotating part, and at least part of the walking arms are provided with a guide part or/and an auxiliary pressing part;
the centers of the travelling wheel, the guide component and the motor direct-drive rotating component are positioned on the same vertical axis;
the travelling wheel is positioned at the upper end of the travelling arm and comprises a first driving unit and a driving wheel, and the first driving unit is used for driving the driving wheel to rotate;
the guide component comprises a support and guide wheels, the support can move along the corresponding walking arm, a plurality of guide wheels are arranged on the support, and the guide wheels are symmetrically distributed along the vertical axis;
the motor direct-drive rotating component is positioned at the lower end of the traveling arm and comprises a second driving unit, a bearing seat and a suspension arm, the suspension arm is rotatably connected with the traveling arm, and the second driving unit is used for driving the suspension arm to rotate so as to adjust the provided moment and balance the gravity imbalance state of the traveling arm;
the auxiliary pressing part is arranged beside the travelling wheel and comprises a third driving unit, a transmission part and an auxiliary pressing part, the auxiliary pressing part is of an open-close type paw structure, driving force generated by the third driving unit can be transmitted to the auxiliary pressing part through the transmission part to control the opening and closing degree of the auxiliary pressing part, and therefore the pressing degree of the auxiliary pressing part and the overhead line is controlled.
Among the above-mentioned technical scheme, when normal straight line walking on the overhead line, utilize the walking wheel, this robot can satisfy the task of quick walking, when the slope takes place or needs the climbing in the circuit, according to the inclination of robot and circuit, the supplementary degree of compressing tightly of piece and overhead line of control to the packing force increase walking wheel of increase walking wheel frictional force, guarantee the safety of robot.
When the robot needs to cross a tower and run on a variable-curvature track, the guide wheel can wrap the lower edge of the track by utilizing the up-and-down movement of the guide component, so that the curvature of the track is self-adapted; when the robot inclines during running at a corner of a track, the motor directly drives the rotating part to provide a proper moment, the gravity imbalance state of the walking arm is balanced, the stable running of the robot is ensured, and the operation safety is improved.
In an alternative embodiment, the driver has a recess in the circumferential direction, and the surface of the recess is provided with a plurality of claws.
As an alternative, the top of the guide wheel is curved to fit the curvature of the track.
As an alternative embodiment, the robot body further has a box structure, an industrial personal computer is arranged on the box structure and used for controlling the robot body to move, and the box structure is connected with the suspension arm.
As an alternative embodiment, the box structure is further provided with a detection element.
As an alternative embodiment, the detection element comprises an angle acquisition module.
As an alternative embodiment, the two walking arms are symmetrically arranged on the robot body, and each walking arm is provided with a guide part and an auxiliary pressing part.
In an alternative embodiment, the traveling arm is provided with a lifting mechanism, and the guide member is provided on the lifting member.
In an alternative embodiment, the guide wheels are four and are arranged in a central symmetry manner, and are used for wrapping the track in the middle.
As an alternative embodiment, the traveling arm and the boom arm are connected by a bearing block.
As an alternative embodiment, the transmission part includes a transmission gear and a worm, the output shaft of the third driving unit can drive the transmission gear to rotate, and the transmission gear can drive the worm to rotate.
As an alternative embodiment, 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 gyro wheel to remove in order to realize opening and shutting control.
As an alternative embodiment, the device further comprises a pressure sensor and an inclination angle sensor, wherein the pressure sensor detects the pressure value between the auxiliary pressing piece and the line in real time, and the inclination angle sensor measures the inclination angle of the line in real time.
The inspection control method based on the robot comprises the following steps:
when the robot runs on the overhead line, the motor direct-drive rotating part is controlled to be in a locking state, the walking arm is kept parallel to the overhead line, the linear running state of the robot is guaranteed, and the overhead line is detected;
when the robot runs on an overhead line with a slope, determining the inclination angle of the robot and the line, controlling the compression degree of the auxiliary compression piece and the line, and ensuring the safe walking of the robot;
when the robot runs on the ground wire track, the walking arm and the motor are controlled to directly drive the rotating component according to the running state of the robot, so that the robot keeps a balanced running state.
When the robot runs on a ground wire track, the concrete process of controlling the walking arm and the motor to directly drive the rotating component according to the running state of the robot comprises the following steps:
when the robot runs on a non-gradient line, the motor direct-drive rotating part is in a locking state, all walking arms of the robot are kept parallel to the overhead line, and meanwhile, the guide part is located at the lowest position of the walking arms;
the auxiliary pressing piece is only contacted with the circuit without pressure.
When part of the walking arms of the robot are positioned on the track and the other part of the walking arms of the robot are positioned on the overhead line, the motor is controlled to directly drive the rotating part to act, so that the suspension arm rotates for a set angle relative to the walking arms, and a set torque is provided to balance the gravity imbalance state of the walking arms.
And the set angle/set moment is calculated according to the weight of the walking arm and the inclination angle value of the robot.
When the robot integrally runs on the track, the motor directly drives the rotating part to be in an unlocking state, the guide part is controlled to ascend, the guide wheel of the guide part is made to be tangent to the lower end of the track all the time, and the stability of the integral posture of the robot is guaranteed.
Compared with the prior art, the invention has the beneficial effects that:
the invention innovatively provides an overhead line whole-course inspection robot, when the robot needs to pass through an anti-vibration hammer, a tangent tower and a tension tower, the self-balance dead weight and the self-adaptive variable curvature track of a driving arm can be controlled through the matching of a guide part and a motor direct-drive rotating part, the obstacle-crossing safety and reliability are ensured, meanwhile, when the overhead line has a slope, the sliding problem caused by insufficient friction and the like can not occur when the robot inclines or climbs the line by utilizing the control of the pressing force of a walking wheel, and the whole-course obstacle-free, safe and intelligent inspection is really realized.
The invention innovatively provides a self-adaptive auxiliary climbing inspection robot, which can adjust the driving force of a motor according to the line gradient information returned by an inclination angle sensor and the pressure information returned by a pressure sensor, realize the change of the line gradient climbed by the robot, and dynamically provide the required pressing force, thereby providing enough climbing friction force for the climbing of the walking wheels of the robot, and ensuring the safety of the robot when climbing.
The invention innovatively provides an inspection robot with an autonomous balance walking arm, a motor directly drives a rotating part to provide a proper moment, so that when the robot inclines in the operation of a corner of a track, the moment is utilized to balance the gravity imbalance state of the walking arm, the stable operation of the robot is ensured, and the operation safety is improved.
The invention innovatively provides a self-adaptive variable-curvature double-track inspection robot, which ensures the safety of the robot in normal operation by utilizing a V-shaped structure of a driving wheel and uniformly distributed convex clamping jaws on the V-shaped surface, and guides the robot to run along a track path by utilizing the up-and-down movement of a guide component and wrapping the track, thereby being self-adaptive to the variable-curvature track.
The invention innovatively provides a patrol control method, which autonomously controls and adjusts the posture of a robot according to the running state, the line condition and the running channel type of the robot, and dynamically adjusts the required pressing force by using an auxiliary device to ensure the stability and the safety of the whole posture of the robot.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are included to illustrate an exemplary embodiment of the invention and not to limit the invention.
Fig. 1 is a structural diagram of an inspection robot in the first embodiment;
FIG. 2 is a side view of the inspector in the first embodiment;
FIG. 3 is a structural view of a traveling wheel in the first embodiment;
FIG. 4(a) and FIG. 4(b) are views showing the structure of a guide member according to the first embodiment;
fig. 5 is a structure diagram of a direct drive rotating part of the motor in the first embodiment.
Fig. 6 shows the operation state of the robot in the first embodiment when the robot is located at the intersection between the track and the ground wire.
FIG. 7 is a schematic view showing the construction of an auxiliary pressing means in a second embodiment;
FIG. 8 is a schematic view showing the operation of the robot in the second embodiment when there is no slope or a small slope on the robot line;
fig. 9 is a schematic operation diagram of the robot according to the second embodiment when climbing a slope on a road.
The specific implementation mode is as follows:
the invention is further described with reference to the following figures and examples.
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. 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 invention 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 exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
In the present invention, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only terms of relationships determined for convenience of describing structural relationships of the parts or elements of the present invention, and are not intended to refer to any parts or elements of the present invention, and are not to be construed as limiting the present invention.
In the present invention, terms such as "fixedly connected", "connected", and the like are to be understood in a broad sense, and mean either a fixed connection or an integrally connected or detachable connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be determined according to specific situations by persons skilled in the relevant scientific or technical field, and are not to be construed as limiting the present invention.
The first embodiment is as follows:
the invention provides an overhead line whole-course inspection robot, which is applied to an overhead transmission line.
As shown in fig. 1 and 2, the inspection robot includes a traveling arm, a guide component and a control box component, and is configured to run along an overhead transmission line and a tower track 16, autonomously span a damper, a tangent tower and a tension tower, and detect an overhead line 23 by the robot.
The walking arms 1 are arranged on the top of the control box component 3 in a bilateral symmetry mode, are in a vertical state, and are used for driving the robot to linearly run along the overhead transmission line and adapt to the variable curvature track 16 of the tower 22; each walking arm 1 comprises a walking wheel 4, a lifting part 5 and a motor direct-drive rotating part 6, and each lifting part 5 is provided with a guide part 2 which can drive the guide part 2 to move up and down.
Of course, in other embodiments, the number of travelling arms 1 may be increased, such as three travelling arms, arranged side by side along the robot body or control box part 3.
The walking wheel 4, the guide part 2 and the motor direct-drive rotating part 6 of the robot are positioned on the same axis, and the center gravity of the whole center of the robot is also positioned on the axis, so that the balance of the robot is favorably ensured.
By the design, when the robot runs linearly, the locking torque of the motor direct-drive rotating part 6 is effectively reduced; and the whole gravity center of the robot is superposed on the axis, so that the high-altitude operation posture of the robot is ensured, and the safety is improved.
The travelling wheel is positioned at the top end of the travelling arm and comprises a first driving unit 7, a hinged support seat 8 and a driving wheel 9, a bearing is arranged in the hinged support seat 8, and the first driving unit 7 drives the driving wheel 9 to rotate through the hinged support seat 8; the driving wheel 9 is driven to rotate by the first driving unit 7, and when the robot is in a suspension state, the hinged supporting seat 8 bears the whole weight of the robot;
as shown in fig. 3, the inner side of the driving wheel 9 is in a V-shaped structure, and the V-shaped surface is provided with uniformly distributed raised claws, so that when the robot needs to press the damper, the raised claws can provide extra ground gripping force for the robot to prevent slipping due to the smooth arc shape of the upper surface of the damper; the inner side of the driving wheel 9 is made of rubber materials and has a conductive function, and when the robot is positioned on an overhead ground wire, the influence of the overhead conductor on induced electricity generated by the robot can be reduced.
Of course, in other embodiments, the concave portion on the driving wheel 9 may not be V-shaped, and may be arc-shaped, or U-shaped.
As shown in fig. 4(a) and 4(b), the guide member 2 is operated only when the robot crosses the tower 22 and runs on the variable curvature track 16, and comprises a support 10, a guide wheel 11 and a guide member 12; the guide wheels are 4 and are arranged in a rectangular shape, the lower rail 16 with the diameter R can be wrapped in the guide wheels, and according to the turning angle of the rail 16 and the distance parameter between two booms of the robot, the distance L1 between the two guide wheels in the radial direction of the rail 16 is as follows: l1 is more than or equal to R +3mm and less than or equal to R +8 mm; the top of the guide wheel 11 is provided with a guide part 12, the top end of the guide part 12 is arc-shaped, when the guide part 2 rises and gradually approaches the lower rail 16, the arc surface of the guide part 12 is contacted with the circular surface of the rail 16, the rail smoothly runs to a proper position, and the lower end of the rail is wrapped in the rectangular frame of the guide wheel.
When the robot runs along the straight line section of the overhead line 23, the guide part 2 is positioned at the lowest end of the walking arm 1; when the robot runs along the variable curvature track, the guide component 2 rises to the lower end of the track 16 along with the lifting component 5 and is flush with the lower track, and the robot runs at the turning of the track with a certain inclination due to wind power and gravity, at the moment, two guide wheels are always in contact with the track to guide the robot to run along the track path, so that the robot is adaptive to the variable curvature track.
As shown in fig. 5, the motor direct-drive rotating component 6 is located at the bottom end of the traveling arm 1 and comprises a second driving unit 13, a bearing seat 14 and a boom 15, the bearing seat 14 is fixed on the control box 3, the bearing seat 14 is hinged with the boom 15, the boom 15 is driven by the second driving unit 13 to rotate left and right, and the motor direct-drive rotating component 6 can perform locking and unlocking operations;
the control box component is provided with a lithium battery pack 17, a motor driver 18, an industrial personal computer 19, an inclinometer 20 and a photoelectric sensor 21. The lithium battery pack 17 is used for providing power for the robot, and the motor driver 18 is used for driving each execution motor; the industrial personal computer 19 is used for controlling the walking wheels 4, the guide part 2, the motor direct-drive rotating part 6 and other parts. The inclinometer 20 is used for detecting the inclination angle of the robot, and the photoelectric sensor 21 is used for detecting the zero position of the rotation angle of the motor direct-drive rotating component 6.
Of course, the control box component also comprises a detection element for executing the inspection task or/and an inspection environmental parameter acquisition element, such as an image acquisition device (including but not limited to visible light, infrared and ultraviolet images), a wind speed, humidity and temperature acquisition module and the like. The inspection task or the inspection requirement can be added or changed by a person skilled in the art, and the inspection task or the inspection requirement is considered to be within the protection scope of the invention.
Example two:
in this embodiment, the difference from the first embodiment is that the inspection robot further includes an auxiliary pressing device.
In order to ensure that those skilled in the art can more clearly understand the technical solution, the parts corresponding to the embodiments, except for necessary parts, are not shown in the drawings of the embodiments.
The auxiliary pressing device is arranged beside the walking wheels 4, and when the walking wheels 4 are two, the auxiliary pressing device can be arranged at the front ends of the front walking wheels 4 and the rear ends of the rear walking wheels 4.
Of course, in other embodiments, the auxiliary pressing device is configured to be adjustable, and the reason for configuring the auxiliary pressing device mainly lies in that when the robot climbs a slope, the auxiliary pressing device is in contact with the overhead line, so that the friction force between the robot and the overhead line is improved, and slipping and falling are avoided.
Referring to fig. 7, including: the third driving unit, the transmission piece and the auxiliary pressing piece; the auxiliary pressing piece is of an open-close type gripper structure, and driving force generated by the third driving unit can be transmitted to the auxiliary pressing piece through the transmission piece so as to control the opening and closing degree of the auxiliary pressing piece and control the pressing degree of the auxiliary pressing piece and the circuit.
Specifically, the third driving unit is a driving motor 27, the transmission part comprises a gear and a worm 25, an output shaft of the driving motor 27 is connected with a transmission gear 26, and the transmission gear 26 is meshed with the worm 25. The output shaft of the driving motor 27 rotates to drive the transmission gear 26 to rotate, and the transmission gear 26 rotates to drive the worm 25 to rotate.
Supplementary compressing tightly the piece includes: the two opposite claw rollers 24 are not interfered with each other, each claw roller 24 is connected with a worm wheel through a connecting piece, and the worm wheels are meshed with the worm 25; the worm 25 rotates to drive the worm wheel to rotate, and the worm wheel rotates to drive the paw idler wheel 24 to move so as to realize opening and closing control.
The paw rollers 24, the transmission worm gear 25, the transmission gear 26 and the driving motor 27 are installed and combined together to form a mechanical paw with two paw rollers 24, and the two paw rollers 24 of the mechanical paw can encircle and tightly press a line when being closed, so that the walking wheel 4 of the robot is prevented from being separated from the line, and the robot is prevented from falling off the line.
The position state is transmitted to the two paw rollers 24 through the worm gear 25 and the transmission gear 26 by controlling the rotation position of the driving motor 27, and is converted into the opening and closing size of the paw rollers 24, and the maximum moment limiting function of the motor can enable the pressure between the two paw rollers 24 and the line to reach a proper value, so that the paw rollers 24 tightly clamp the line with a proper clamping force.
In some embodiments, the above-mentioned mechanical gripper is mounted on the inner side framework of the walking wheel 4 through a support 29, a pressure sensor 28 is embedded in the support 29, a pressure value between the roller gripper and the line can be obtained in real time through the pressure sensor 28, and the driving motor 27 adjusts the opening and closing degree of the two gripper rollers 24 in real time according to the pressure value, so as to adjust the pressing degree between the auxiliary pressing member and the line.
The paw rollers 24 can be passively rubbed and rolled when contacting with the line, and the gripping tightness between the two paw rollers 24 and the overhead line when the two paw rollers are closed can be dynamically controlled by adjusting the output torque of the driving motor 27. Therefore, the paw idler wheel 24 can provide corresponding pressure according to different slopes of the robot to increase the climbing friction force of the walking wheel 4.
The driving motor 27 works in a position mode, and limits and controls the maximum output torque, so that the opening and closing size of the two paw rollers 24 can be controlled, and the maximum torque of the two rollers contacting with the wire is limited.
In some embodiments, a tilt sensor 30 is disposed on the robot, and the tilt sensor 30 can measure the tilt 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 24 according to the tilt information.
The output torque of the driving motor 27 can be adjusted according to the gradient information of the robot or the line returned by the inclination angle sensor 30, and then the gripping tightness of the hand-gripping 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 three:
an application embodiment two provides an overhead line inspection robot inspection method, which includes the following steps:
when the robot runs on the overhead line, the motor direct-drive rotating part is controlled to be in a locking state, the walking arm is kept parallel to the overhead line, the linear running state of the robot is guaranteed, and the overhead line is detected;
when the robot runs on an overhead line with a slope, determining the inclination angle of the robot and the line, controlling the compression degree of the auxiliary compression piece and the line, and ensuring the safe walking of the robot;
when the robot runs on the ground wire track, the walking arm and the motor are controlled to directly drive the rotating component according to the running state of the robot, so that the robot keeps a balanced running state.
Specifically, when the inspection robot runs on the overhead line 23, the motor direct-drive rotating part is controlled to be in a locking state, the two traveling arms are kept parallel to the overhead line 23, the linear traveling state of the robot is guaranteed, and the overhead transmission line is detected.
In the operation process is examined in the robot fortune, the robot state corresponds 23 straightways of overhead line respectively, has a walking arm to be located the track, and the robot is whole all to be in three kinds of states on the track, and its embodiment is:
when the robot runs along the overhead ground wire in a straight line, the motor direct-drive rotating part 6 is in a locking state, two walking arms 1 of the robot are kept parallel to the overhead line 23, and meanwhile, the guide part 2 is located at the lowest position of the walking arms;
when the robot has one traveling arm on the track and the other on the overhead line 23, the track is inclined due to line sag and the track path undergoes an arc transition, at which time the robot is in an inclined state. The mass centers of the two walking arms are not positioned on the plane of the track, but outside the plane of the track, and the robot tilts due to the action of gravity, so that the motor direct-drive rotating part 6 is required to provide a proper moment to balance the gravity imbalance state of the walking arms. The magnitude of the moment is calculated according to the weight of the walking arm and the inclination angle value a of the robot.
When the robot integrally runs on the track 16, the motor directly drives the rotating part 6 to be in an unlocking state, and at the moment, the guide part 2 rises to enable the guide wheel to be tangent to the track 16 all the time, so that the stability of the integral posture of the robot is ensured.
When the robot is operated on a line without a slope or a slight slope, as shown in fig. 8, the normal frictional force of the traveling wheels 4 is sufficient because the slope of the line is small. In consideration of saving electric quantity and reducing abrasion, the paw roller 24 only catches the line 31 in a virtual way, so that the robot walking wheel 4 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 fig. 9, the normal friction provided by the road wheels 4 is insufficient to support the need for the robot to climb a slope due to the relatively steep grade of the line. This requires more pressure from the auxiliary climbing claw device to the road wheels 4, increasing the friction between the road wheels 4 and the line 31. Meanwhile, in order to provide proper pressure, the inclination angle of the robot and/or the line is measured by the inclination angle sensor 30, so that the friction force required when the robot climbs the slope and the auxiliary pressure required to be increased at 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 controlling the pressure between the paw and the circuit 31.
Meanwhile, the real-time change value of the pressure can be read from the pressure sensor 28, so that the output of the motor can be adjusted more accurately.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
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 (16)
1. The utility model provides an overhead line is whole patrols and examines robot, characterized by: the robot comprises a robot body, wherein the robot body is provided with a plurality of walking arms which are arranged side by side, each walking arm comprises a walking wheel and a motor direct-drive rotating part, and at least part of the walking arms are provided with a guide part or/and an auxiliary pressing part;
the centers of the travelling wheel, the guide component and the motor direct-drive rotating component are positioned on the same vertical axis;
the travelling wheel is positioned at the upper end of the travelling arm and comprises a first driving unit and a driving wheel, and the first driving unit is used for driving the driving wheel to rotate;
the guide component comprises a support and guide wheels, the support can move along the corresponding walking arm, a plurality of guide wheels are arranged on the support, and the guide wheels are symmetrically distributed along the vertical axis;
the motor direct-drive rotating component is positioned at the lower end of the traveling arm and comprises a second driving unit, a bearing seat and a suspension arm, the suspension arm is rotatably connected with the traveling arm, and the second driving unit is used for driving the suspension arm to rotate so as to adjust the provided moment and balance the gravity imbalance state of the traveling arm;
the auxiliary pressing part is arranged beside the travelling wheel and comprises a third driving unit, a transmission part and an auxiliary pressing part, the auxiliary pressing part is of an open-close type paw structure, driving force generated by the third driving unit can be transmitted to the auxiliary pressing part through the transmission part to control the opening and closing degree of the auxiliary pressing part, and therefore the pressing degree of the auxiliary pressing part and the overhead line is controlled.
2. The overhead line full-process inspection robot according to claim 1, wherein: the driving wheel is circumferentially provided with a concave part, and the surface of the concave part is provided with a plurality of clamping jaws.
3. The overhead line whole-process inspection robot according to claim 1, characterized in that: the robot body is also provided with a box body structure, an industrial personal computer is arranged on the box body structure and used for controlling the robot body to move, and the box body structure is connected with the suspension arm;
the box body structure is also provided with a detection element.
4. The overhead line whole-process inspection robot according to claim 1, characterized in that: the robot comprises a robot body, two walking arms and a guide part, wherein the two walking arms are symmetrically arranged on the robot body in a left-right mode, and each walking arm is provided with the guide part and the auxiliary pressing part.
5. The overhead line full-process inspection robot according to claim 1, wherein: the walking arm is provided with a lifting mechanism, and the guide part is arranged on the lifting part.
6. The overhead line full-process inspection robot according to claim 1, wherein: the guide wheels are four and are arranged in central symmetry and used for wrapping the track in the middle.
7. The overhead line full-process inspection robot according to claim 1, wherein: the walking arm and the suspension arm are connected through a bearing seat.
8. The overhead line full-process inspection robot according to claim 1, wherein: the transmission part comprises a transmission gear and a worm, the transmission gear can be driven to rotate by an output shaft of the third driving unit, and the transmission gear can drive the worm to rotate.
9. The overhead line full-process inspection robot according to claim 1, wherein: the auxiliary pressing piece comprises two opposite claw rollers which are respectively connected with the transmission piece 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.
10. The overhead line whole-process inspection robot according to claim 1, characterized in that: the pressure sensor detects the pressure value between the auxiliary pressing piece and the line in real time, and the inclination angle sensor measures the inclination angle of the line in real time.
11. An inspection control method for a robot according to any one of claims 1 to 10, characterized in that: the method comprises the following steps:
when the robot runs on the overhead line, the motor direct-drive rotating part is controlled to be in a locking state, the walking arm is kept parallel to the overhead line, the linear running state of the robot is guaranteed, and the overhead line is detected;
when the robot runs on an overhead line with a slope, determining the inclination angle of the robot and the line, controlling the compression degree of the auxiliary compression piece and the line, and ensuring the safe walking of the robot;
when the robot runs on the ground wire track, the walking arm and the motor are controlled to directly drive the rotating component according to the running state of the robot, so that the robot keeps a balanced running state.
12. The inspection control method according to claim 11, wherein: when the robot runs on the ground wire track, the concrete process of controlling the walking arm and the motor to directly drive the rotating component according to the running state of the robot comprises the following steps:
when the robot runs on a non-gradient line, the motor direct-drive rotating part is in a locking state, all walking arms of the robot are kept parallel to the overhead line, and meanwhile, the guide part is located at the lowest position of the walking arms;
the auxiliary pressing piece is only contacted with the circuit without pressure.
13. The inspection control method according to claim 11, wherein: when part of the walking arms of the robot are positioned on the track and the other part of the walking arms of the robot are positioned on the overhead line, the motor is controlled to directly drive the rotating part to act, so that the suspension arm rotates for a set angle relative to the walking arms, and a set torque is provided to balance the gravity imbalance state of the walking arms.
14. The inspection control method according to claim 11, wherein: and the set angle/set moment is calculated according to the weight of the walking arm and the inclination angle value of the robot.
15. The inspection control method according to claim 11, wherein: when the robot integrally runs on the track, the motor directly drives the rotating part to be in an unlocking state, the guide part is controlled to ascend, the guide wheel of the guide part is made to be tangent to the lower end of the track all the time, and the stability of the integral posture of the robot is guaranteed.
16. The inspection control method according to claim 11, wherein: the concrete process of the degree of compaction of supplementary compressing tightly piece of control and circuit includes: 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.
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| CN202011490254.8A CN114633245A (en) | 2020-12-16 | 2020-12-16 | Overhead line whole-course inspection robot and method |
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| CN202011490254.8A CN114633245A (en) | 2020-12-16 | 2020-12-16 | Overhead line whole-course inspection robot and method |
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| CN117206776A (en) * | 2023-11-08 | 2023-12-12 | 中铁三局集团有限公司 | Portable robot moving chassis with three-dimensional guide rail |
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