CN114696260A - Ice observation robot for power transmission line and obstacle crossing method thereof - Google Patents
Ice observation robot for power transmission line and obstacle crossing method thereof Download PDFInfo
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Abstract
The invention discloses an ice observation robot for a power transmission line and an obstacle crossing method thereof. The invention adopts a symmetrical modular design to realize the functions of walking, crawling, obstacle crossing, charging and the like on a high-voltage line, and only the position of an off-line space reserved by the mechanical arm needs to be determined in the obstacle crossing process; in addition, in the whole obstacle crossing process, the push rod and the lead screw move in a translation mode, so that the obstacle crossing mechanism has the advantages of being simple in obstacle crossing principle, high in obstacle crossing capability, simple to control and the like.
Description
Technical Field
The invention relates to the technical field of ice observation robots for power transmission lines, in particular to an ice observation robot for power transmission lines and an obstacle crossing method of the ice observation robot.
Background
The running state of the power transmission line is related to the running safety of a power grid, the conditions of icing, meteorological environment and the like of the power transmission line lead are timely found and mastered, and the method has important significance for improving the load capacity of the power transmission line and preventing power grid accidents. In the complex terrain, mountain areas, forests and forest lands with rugged terrain are also the necessary ground for part of high-voltage lines, which causes that workers and vehicles are difficult to reach, and the difficulty of ice observation of the lines is undoubtedly increased. Therefore, in order to ensure the safe operation of the line, the automatic inspection on the line by using a robot becomes a necessary means. In order to enable autonomous inspection of power lines, researchers in japan, the united states, canada, thailand, china, and other countries have conducted research on inspection robots.
The Chinese patent application (application number is 201610318990.2) discloses a walking mechanism, a line patrol robot mechanical structure and an obstacle crossing method thereof, wherein the walking mechanism comprises a frame, a pair of main and auxiliary walking split wheels and a pair of pressing split wheels. The automatic inspection device has the advantages that the active traveling split wheels are utilized to realize traveling, the lead screws are utilized to push the pressing split wheels to realize pressing and locking of the wires, and the split wheels are opened and closed to realize separation from the wires and obstacle crossing, so that the inspection function is realized. However, this solution still has drawbacks. Because the master-slave walking split wheels and the pressing split wheels need two groups of machine frame supports, and the split wheels need to be opened and closed by other devices, the whole weight is overlarge, and the instability and the power consumption are increased. In addition, in order to ensure that the split wheels are always closed when the split wheels walk, certain pressure needs to be applied to the split wheels, and the pressure is from the lower part of the machine frame, so that a large moment can be generated during meshing, and the whole stress condition is poor.
The high-voltage line inspection robot needs to have the characteristics of stable and reliable stress, light weight and the like, so that the design of a walking obstacle crossing mechanism which is lighter and has better stress has great significance.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the utility model provides a transmission line ice observation robot and an obstacle crossing method thereof, which aims to solve the technical problems in the prior art.
The technical scheme adopted by the invention is as follows: the ice observation robot for the power transmission line comprises a left power arm, a middle power arm, an electromagnetic induction electricity taking module, a right power arm, an obstacle crossing base plate and clamping devices, wherein the left power arm, the middle power arm and the right power arm are sequentially arranged in a staggered mode, the left power arm and the right power arm are installed on the obstacle crossing base plate, the middle power arm and the electromagnetic induction electricity taking module are installed on a transverse driving mechanism, the transverse driving mechanism is installed on the obstacle crossing base plate, and the left power arm, the middle power arm and the right power arm are all provided with the clamping devices for clamping high-voltage wires.
Preferably, the transverse driving mechanism comprises a guide rail sliding table, a guide rail sliding block, a lead screw motor, a lead screw, a nut seat and a lead screw bearing seat, the guide rail sliding table is installed on the obstacle crossing bottom plate and is arranged along the length direction of the guide rail sliding table, the guide rail sliding table is connected with a sliding plate through the guide rail sliding table, a power arm and an electromagnetic induction electricity-taking module are installed on the sliding plate, the bottom of the sliding plate is fixedly connected with the nut seat, the nut seat movably penetrates through a strip-shaped hole formed in the obstacle crossing bottom plate along the length direction of the guide rail sliding table, two ends of the lead screw used in cooperation with the nut seat are connected to the bottom of the obstacle crossing bottom plate through the two lead screw bearing seats respectively, one end of the lead screw stretches out of the lead screw bearing seat and then is connected with the lead screw motor, and the lead screw motor is installed at the bottom of the obstacle crossing bottom plate through a motor frame.
Preferably, the middle part of the bottom side of the obstacle crossing base plate is connected to the electrical box through the profile frame.
Preferably, the profile frame comprises two vertical profiles on the front side and the rear side and a bottom square frame profile, and the front side and the rear side of the bottom square frame profile are fixedly connected to the bottom of the obstacle crossing bottom plate through the two vertical profiles respectively.
Preferably, the left power arm, the middle power arm and the right power arm respectively comprise a walking wheel, a clamping wheel, an electric clamping push rod, an electric swinging push rod and an electric arm push rod, the walking wheel is connected to a walking motor, the walking motor is connected to the end part of the push rod of the arm push rod through a motor supporting seat, one side of the motor supporting seat is vertically and fixedly connected with a supporting plate, the rear side of the supporting plate is connected with the electric clamping push rod through a clamping push rod seat, the push rod at the upper end of the electric clamping push rod is fixedly connected with a clamping push rod fixing frame, the clamping push rod fixing frame is connected with two clamping wheels through a clamping wheel frame, the two clamping wheels and the walking wheel can clamp a high-voltage wire, the electric clamping push rod is fixedly connected to a push rod bracket, the lower end of the supporting plate movably extends into the push rod bracket, the lower end of the push rod bracket is hinged to the upper part of one end of the bottom plate, the upper end of the push rod bracket is hinged to the end of the electric swinging push rod bracket, the push rod seat of the electric swing push rod is hinged on the upper part of the other end of the bottom plate.
Preferably, the clamping push rod fixing frame is connected with the clamping wheel frame through a spring mechanism.
Preferably, the spring mechanism comprises a spring, a cylindrical sleeve and an inner guide post, the bottom end of the cylindrical sleeve is fixedly connected to the clamping push rod fixing frame, two symmetrical strip-shaped holes are formed in the two sides of the cylindrical sleeve, the inner guide post is movably arranged in the cylindrical sleeve, two hinge shafts are fixedly connected to the two ends of the inner guide post, the two hinge shafts extend out of the two strip-shaped holes and then are hinged to the clamping wheel frame, and the spring is sleeved on the cylindrical sleeve, and the two ends of the spring abut against steps formed in the clamping wheel frame and the bottom end of the cylindrical sleeve respectively.
Preferably, one side of the clamping push rod fixing frame is provided with a guide sliding block, and the middle part of the supporting plate is provided with a guide sliding groove matched with the guide sliding block in the vertical direction.
Preferably, a U-shaped supporting plate positioning block is fixedly connected to the supporting plate, and the supporting plate positioning block is movably sleeved with an electric movable arm push rod.
An obstacle crossing method of an ice observation robot for a power transmission line comprises the following steps: when the robot encounters an obstacle, the electric arm push rod of the right power arm rises, and the electric swing push rod moves to enable the right power arm to be off-line; then the robot moves forwards for a certain distance, the middle power arm clamping device clamps the wire under the combined action of the middle power arm clamping device and the travelling wheel, the wire is locked, then the lead screw motor works, the relative positions of the middle power arm and the high-voltage wire are kept unchanged, the robot integrally moves to the right, the electric swing push rod and the electric arm push rod of the right power arm work, and the right power arm feeds the wire; then, the middle power arm clamping device is pushed to loosen, and an off-line space is reserved; the electric swing push rod of the middle power arm moves to be off-line, and then the robot moves for a certain distance; when a screw motor works, the middle power arm moves forwards, and an electric swing push rod of the middle power arm moves to lead the middle power arm to be fed with wires and then is clamped; similarly, the left power arm is off-line, the lead screw motor works, then the robot moves for a certain distance, the left power arm enters the wire, and the whole set of obstacle crossing action is completed.
The invention has the beneficial effects that: compared with the prior art, the invention has the following effects:
(1) the invention provides a three-mechanical-arm high-voltage-line obstacle crossing inspection robot which adopts a symmetrical modular design and comprises a walking module, a clamping module, an obstacle crossing module and an electromagnetic induction charging module, so that the functions of walking, crawling, obstacle crossing, charging and the like on a high-voltage line can be realized, and in the obstacle crossing process, the position of an offline space reserved by a mechanical arm is only required to be determined, namely the lifting distance of a lifting arm push rod in the obstacle crossing module and the front-back movement distance of a lead screw; in addition, in the whole obstacle crossing process, the push rod and the lead screw move in a translation mode, so that the obstacle crossing mechanism has the advantages of being simple in obstacle crossing principle, high in obstacle crossing capability, simple to control and the like.
(2) The obstacle crossing mechanism provides a reliable end mechanism connected with a high-voltage wire for a robot with a three-arm structure, the obstacle crossing mechanism is simple, compact, stable and reliable in structure, adopts a large-diameter walking motor to provide large power and can be self-locked and locked at any time so as to realize crawling, simultaneously adopts a simple jaw type clamping device to make the efficiency of grabbing and clamping electric wires more high, a clamping wheel frame can rotate so as to adapt to clamping at different angles, a spring structure also avoids the generation of rigid force, and the mechanism can realize off-line and wire-incoming operations only by moving a small distance through a labor-consuming lever structure; the whole stress condition of the mechanism is good, the reliability is high, the operation is simple, and the mechanism has the advantages of small size, light weight, low power consumption and the like.
Drawings
FIG. 1 is a perspective view of a robot;
FIG. 2 is a schematic view of a partial perspective structure of the underside of the robot;
FIG. 3 is a schematic diagram of an obstacle crossing process of the robot;
FIG. 4 is a schematic perspective view of the left, middle and right power arms;
FIG. 5 is a view of the pinch wheel in a pinch state;
fig. 6 is an offline obstacle detouring state diagram.
Detailed Description
The invention is further described below with reference to specific examples.
Example 1: as shown in fig. 1-6, the ice observation robot for the power transmission line comprises a left power arm 1, a middle power arm 2, an electromagnetic induction electricity taking module 3, a right power arm 4, an obstacle crossing base plate 8 and a clamping device 9, wherein the left power arm 1, the middle power arm 2 and the right power arm 4 are sequentially arranged in a staggered manner, the left power arm 1 and the right power arm 4 are installed on the obstacle crossing base plate 8, the middle power arm 2 and the electromagnetic induction electricity taking module 3 are installed on a transverse driving mechanism, the transverse driving mechanism is installed on the obstacle crossing base plate 8, and the clamping device 9 for clamping a high-voltage wire 10 is installed on each of the left power arm 1, the middle power arm 2 and the right power arm 4.
Preferably, the transverse driving mechanism comprises a guide rail sliding table 5, a guide rail sliding block 6, a lead screw motor 11, a lead screw 12, a nut seat 13 and a lead screw bearing seat 15, the guide rail sliding table 5 is installed on the obstacle crossing base plate 8 and is arranged along the length direction of the guide rail sliding table, the guide rail sliding table 5 is connected with a sliding plate 16 through the guide rail sliding table 5, a middle power arm 2 and an electromagnetic induction electricity-taking module 3 are installed on the sliding plate 16, the bottom of the sliding plate 16 is fixedly connected with the nut seat 13, the nut seat 13 movably penetrates through a strip-shaped hole 17 formed in the obstacle crossing base plate 8 along the length direction of the obstacle crossing base plate, two ends of the lead screw 12 used in cooperation with the nut seat 13 are respectively connected to the bottom of the obstacle crossing base plate 8 through the two lead screw bearing seats 15, one end of the lead screw motor 11 extends out of the lead screw bearing seats 15 and then is connected with the lead screw motor 11, and the lead screw motor 11 is installed at the bottom of the obstacle crossing base plate 8 through a motor frame.
Preferably, the middle of the bottom side of the obstacle crossing floor 8 is connected to the electrical box 7 through a profile frame 14.
Preferably, the profile frame 14 includes two vertical profiles on the front and rear sides and a bottom square profile, and the front and rear sides of the bottom square profile are respectively and fixedly connected to the bottom of the obstacle crossing base plate 8 through the two vertical profiles.
Preferably, the left power arm 1, the middle power arm 2 and the right power arm 4 each include a walking wheel 101, a clamping wheel 103, an electric clamping push rod 107, an electric swinging push rod 109 and an electric arm push rod 118, the walking wheel 101 is connected to a walking motor 120, the walking motor 120 is connected to the end of the arm push rod 118 through a motor support 119, a support plate 116 is vertically and fixedly connected to one side of the motor support 119, the rear side of the support plate 116 is connected to the electric clamping push rod 107 through a clamping push rod seat 115, the push rod at the upper end of the electric clamping push rod 107 is fixedly connected to a clamping push rod fixing frame 106, the clamping push rod fixing frame 106 is connected to two clamping wheels 103 through a clamping wheel frame 104, the two clamping wheels 103 and the walking wheel 101 can clamp the high-voltage wire 10, the electric clamping push rod 7 is fixedly connected to a push rod support 114, the lower end of the support plate 116 movably extends into the push rod support 114, and the lower end of the push rod support 114 is hinged to the upper part of one end of the bottom plate 112, the upper end of one side of the push rod bracket 114 is hinged with the push rod end part of the electric swing push rod 109, the push rod seat of the electric swing push rod 109 is hinged with the upper part of the other end of the bottom plate 112, and the two clamping wheels 103, the clamping wheel frame 104, the clamping push rod fixing frame 106, the electric clamping push rod 107 and the clamping push rod seat 115 form a clamping device 9; the two clamping wheels 103 are symmetrically and rotatably connected to the two sides of the clamping wheel frame 104, the two wheels are locked, an upper isosceles triangle and a lower isosceles triangle are formed with the walking wheels to be in compression joint with the high-voltage wire, the locking is reliable and stable, the clamping wheel frame 104 is hinged with the clamping push rod fixing frame 106, the self-positioning of the two clamping wheels 103 can be realized, the high-voltage wire is effectively contacted, and the locking is more stable and reliable.
Preferably, the clamping push rod fixing frame 106 is connected with the clamping wheel frame 104 through a spring mechanism 105; the spring mechanism 5 can avoid the clamping wheel from generating rigid force when clamping.
Preferably, the spring mechanism 105 comprises a spring, a cylindrical sleeve and an inner guide post, the bottom end of the cylindrical sleeve is fixedly connected to the clamping push rod fixing frame 106, two symmetrical strip-shaped holes are formed in two sides of the cylindrical sleeve, the inner guide post is movably arranged in the cylindrical sleeve, two hinged shafts are fixedly connected to two ends of the inner guide post, the two hinged shafts extend out of the two strip-shaped holes and then are hinged to the clamping wheel frame 104, the spring is sleeved on the cylindrical sleeve, two ends of the spring abut against steps arranged at the bottom ends of the clamping wheel frame 104 and the cylindrical sleeve respectively, the steps are fixedly connected to the clamping push rod fixing frame 106, the structure is simple, the elastic telescopic guidance performance is good, the telescopic stability is high, and the clamping wheel frame can rotate to adapt to clamping at different angles.
Preferably, a guide sliding block is arranged on one side of the clamping push rod fixing frame 106, and a guide sliding groove matched with the guide sliding block is arranged in the middle of the supporting plate 116 in the vertical direction, so that the directional movement of the clamping roller can be ensured, and the clamping accuracy and stability can be ensured.
Preferably, a U-shaped supporting plate positioning block 117 is fixedly connected to the supporting plate 116, the supporting plate positioning block 117 is movably sleeved on the electric arm push rod 118, the supporting plate is moved in a movable and directional manner relative to the electric arm push rod by approaching the lower end of the supporting plate, and the stability of the directional movement of the supporting plate can be realized.
Preferably, above-mentioned push rod support 114 is an angular form frame body structure, including the scute of handstand L type, set up two oblique set-squares in the scute front and back side, two oblique set-squares lower extreme sets up two hinge holes of linking arm push rod seat 113, the ears structure, connect reliable and stable, be provided with the lightening hole on two oblique set-squares, weight greatly reduced, flight control of being convenient for, scute right side top is provided with the connection ears of connecting electronic swing push rod 109, the ears are connected, stable and reliable, ears salient structure, easy to assemble, the scute right side is provided with the lightening hole, the scute top is provided with the hole that stretches out of arm push rod motor and lets the flexible guiding hole of backup pad activity, compact structure, and accurate direction.
Preferably, the push rod support 114 is hinged to the bottom plate 112 through an arm push rod seat 113, and the arm push rod seat 113 is a double-lug seat structure and is fixedly connected to the bottom plate through screws.
Preferably, the electric swing push rod 109 is hinged to the bottom plate 112 through a swing push rod fixing seat 111, and the swing push rod fixing seat 111 is of a double-lug seat structure and is fixedly connected to the bottom plate through a screw.
The electromagnetic induction electricity taking module 3 comprises a first semicircular electromagnetic clamp 301 and a second semicircular electromagnetic clamp 302, electromagnetic induction coils are installed in the first electromagnetic clamp 301 and the second electromagnetic clamp 302, the first electromagnetic clamp 301 is obliquely installed on the rack, the lower end of the second electromagnetic clamp 302 is connected to the rack 303 through a driving mechanism, a driver of the driving mechanism rotates to be capable of being closed with the first electromagnetic clamp 301 and clamping a power transmission line under the action of an electric lifting push rod, two ends of the rack 303 are connected to the top ends of push rods of two electric lifting push rods 304, the lower ends of the two electric lifting push rods 304 are fixedly connected to bending tables on two sides of a sliding plate 17, the sliding plate is in a convex shape and is bridged above a section bar rack 14, so that the structure is more compact, the gravity center of a robot is more stable, the middle part of the back of the first electromagnetic clamp 301 is fixedly connected to the rack 303 through an elastic telescopic support 305, the elastic telescopic support 305 comprises a spring and a fixed seat, the fixed seat is fixedly connected to the middle part of the back of the first electromagnetic clamp 301 through the spring, fixing base fixed connection is in the frame, two direction supporting shoe 306 of electromagnetic clamp 301 back lower extreme both sides fixedly connected with, two direction supporting shoe 306 are groove structure, activity joint is on the slope section 307 of frame 303 both sides wall board respectively, the flexible support of direction supporting shoe cooperation elasticity, can make the closure better among the clamping process, and play the effect of buffering elasticity protection, actuating mechanism includes the actuating arm 308 of one end fixed connection electromagnetic clamp two 302, actuating arm 308 articulates on frame 303 near the middle part, the actuating arm 308 other end articulates the jar pole of pneumatic or hydraulic telescopic cylinder 309, the cylinder base tail end of telescopic cylinder 309 articulates on frame 303, during the use, through the height to the suitable position of adjusting two electric lift push rods, the drive telescopic cylinder stretches out, closed electromagnetic clamp two 302 and electromagnetic frame 301.
Example 2: an obstacle crossing method of an ice observation robot of a power transmission line comprises the following steps: when the robot encounters an obstacle, the electric arm push rod of the right power arm 4 rises, and the electric swing push rod moves to enable the right power arm 4 to be off-line; then the robot moves forward for a certain distance, the middle power arm clamping device 9 clamps the wire, the wire is locked under the combined action of the middle power arm clamping device and the travelling wheel, then the lead screw motor 11 works, the relative position of the middle power arm 2 and the high-voltage wire is kept unchanged, the robot integrally moves to the right, the electric swing push rod and the electric arm push rod of the right power arm 4 work, and the right power arm 4 feeds the wire; then, 9 wheels of the middle power arm clamping device are pushed to be loosened, and an off-line space is reserved; the electric swing push rod of the middle power arm 2 moves to be off-line, and then the robot moves for a certain distance; the lead screw motor 11 works, the middle power arm 2 moves forwards, and the electric swing push rod of the middle power arm moves to lead the lead-in wire to be clamped; similarly, the left power arm 1 is off-line, the lead screw motor 11 works, then the robot moves for a certain distance, the left power arm 1 feeds in the line again, and the whole set of obstacle crossing action is completed.
The ice observation robot for the power transmission line has two working conditions: 1. Normal walking without obstacles, 2, clamping and crawling.
Obstacle-free normal walking: the walking motors on the left power arm 1, the middle power arm 2 and the right power arm 4 work simultaneously to drive the robot to move forward, and at the moment, the clamping device 9 is in a loosening state, so that the robot walks normally.
Clamping and crawling: a nut seat 13 on a screw 12 is connected with a middle power arm and an electromagnetic induction electricity taking module 3, under the loosening state of a middle arm clamping device 9, a screw motor 11 pushes the middle power arm 2 to the limit position, the middle power arm clamping device 9 clamps, the screw motor 11 pushes the middle power arm 2 to the other limit position, and crawling can be completed repeatedly.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of changes or substitutions within the technical scope of the present invention, and therefore, the scope of the present invention should be determined by the scope of the claims.
Claims (10)
1. The utility model provides an ice observation robot for transmission line which characterized in that: the obstacle crossing mechanism comprises a left power arm (1), a middle power arm (2), an electromagnetic induction electricity taking module (3), a right power arm (4), an obstacle crossing base plate (8) and clamping devices (9), wherein the left power arm (1), the middle power arm (2) and the right power arm (4) are sequentially arranged in a staggered mode, the left power arm (1) and the right power arm (4) are installed on the obstacle crossing base plate (8), the middle power arm (2) and the electromagnetic induction electricity taking module (3) are installed on a transverse driving mechanism, the transverse driving mechanism is installed on the obstacle crossing base plate (8), and the clamping devices (9) for clamping high-voltage wires (10) are installed on the left power arm (1), the middle power arm (2) and the right power arm (4).
2. The ice observation robot for the power transmission line according to claim 1, wherein: the transverse driving mechanism comprises a guide rail sliding table (5), a guide rail sliding block (6), a screw motor (11), a screw (12), a nut seat (13) and a screw bearing seat (15), the guide rail sliding table (5) is arranged on the obstacle crossing bottom plate (8) and is arranged along the length direction of the obstacle crossing bottom plate, is connected with a sliding plate (16) through a guide rail sliding table (5), a middle power arm (2) and an electromagnetic induction power taking module (3) are arranged on the sliding plate (16), a nut seat (13) is fixedly connected with the bottom of the sliding plate (16), the nut seat (13) movably penetrates through a strip-shaped hole (17) which is arranged on an obstacle crossing bottom plate (8) along the length direction of the obstacle crossing bottom plate, two ends of a lead screw (12) matched with the nut seat (13) are respectively connected to the bottom of the obstacle crossing base plate (8) through two lead screw bearing seats (15), and one end of the screw rod motor (11) is connected with the screw rod motor (11) after extending out of the screw rod bearing seat (15), and the screw rod motor (11) is installed at the bottom of the obstacle crossing bottom plate (8) through a motor frame.
3. The ice observation robot for the power transmission line according to claim 1, wherein: the middle part of the bottom side of the obstacle crossing bottom plate (8) is connected to an electric box (7) through a section bar frame (14).
4. The ice observation robot for the power transmission line according to claim 3, wherein: the section bar frame (14) comprises two vertical section bars at the front side and the rear side and a bottom square frame section bar, and the front side and the rear side of the bottom square frame section bar are respectively fixedly connected to the bottom of the obstacle crossing bottom plate (8) through the two vertical section bars.
5. The ice observation robot for the power transmission line according to claim 1, wherein: the left power arm (1), the middle power arm (2) and the right power arm (4) respectively comprise a walking wheel (101), a clamping wheel (103), an electric clamping push rod (107), an electric swinging push rod (109) and an electric arm push rod (118), the walking wheel (101) is connected to a walking motor (120), the walking motor (120) is connected to the end part of the push rod of the arm push rod (118) through a motor supporting seat (119), a supporting plate (116) is vertically and fixedly connected to one side of the motor supporting seat (119), the rear side of the supporting plate (116) is connected to the electric clamping push rod (107) through a clamping push rod seat (115), the push rod at the upper end of the electric clamping push rod (107) is fixedly connected to a clamping push rod fixing frame (106), the clamping push rod fixing frame (106) is connected to two clamping wheels (103) through a clamping wheel frame (104), and the two clamping wheels (103) and the walking wheel (101) can clamp a high-voltage wire (10), the electric clamping push rod (7) is fixedly connected to the push rod support (114), the lower end of the supporting plate (116) movably extends into the push rod support (114), the lower end of the push rod support (114) is hinged to the upper portion of one end of the bottom plate (112), the upper end of one side of the push rod support (114) is hinged to the end portion of the push rod of the electric swinging push rod (109), and the push rod seat of the electric swinging push rod (109) is hinged to the upper portion of the other end of the bottom plate (112).
6. The ice observation robot for the power transmission line according to claim 5, wherein: the clamping push rod fixing frame (106) is connected with the clamping wheel frame (104) through a spring mechanism (105).
7. The ice observation robot for the power transmission line according to claim 5, wherein: the spring mechanism (105) comprises a spring, a cylindrical sleeve and an inner guide post, the bottom end of the cylindrical sleeve is fixedly connected to the clamping push rod fixing frame (106), two symmetrical strip-shaped holes are formed in two sides of the cylindrical sleeve, the inner guide post is movably arranged in the cylindrical sleeve, two hinged shafts are fixedly connected to two ends of the inner guide post, the two hinged shafts are hinged to the clamping wheel frame (104) after extending out of the two strip-shaped holes, the spring is sleeved on the cylindrical sleeve, and two ends of the spring abut against steps formed in the clamping wheel frame (104) and the bottom end of the cylindrical sleeve respectively.
8. The ice observation robot for the power transmission line according to claim 5, wherein: one side of the clamping push rod fixing frame (106) is provided with a guide sliding block, and the middle part of the supporting plate (116) is provided with a guide sliding groove matched with the guide sliding block in the vertical direction.
9. The ice observation robot for the power transmission line according to claim 5, wherein: a U-shaped supporting plate positioning block (117) is fixedly connected to the supporting plate (116), and the electric arm push rod (118) is movably sleeved on the supporting plate positioning block (117).
10. The obstacle crossing method of the ice observing robot for the power transmission line according to any one of claims 1 to 9, wherein the obstacle crossing method comprises the following steps: the method comprises the following steps: when the robot encounters an obstacle, the electric arm push rod of the right power arm (4) rises, and the electric swing push rod moves to enable the right power arm (4) to be off-line; then the robot moves forwards for a certain distance, the middle power arm clamping device (9) clamps the wire, the wire is locked under the combined action of the middle power arm clamping device and the travelling wheel, then the lead screw motor (11) works, the relative position of the middle power arm (2) and the high-voltage wire is kept unchanged, the robot integrally moves to the right, the electric swing push rod and the electric arm push rod of the right power arm (4) work, and the right power arm (4) feeds the wire; then, the middle power arm clamping device (9) is pushed to release, and an off-line space is reserved; the electric swing push rod of the medium power arm (2) moves to be off-line, and then the robot moves for a certain distance; the screw motor (11) works, the middle power arm (2) moves forwards, and the electric swing push rod of the middle power arm moves to lead the middle power arm to be fed with wires and then is clamped; similarly, the left power arm (1) is off-line, the lead screw motor (11) works, then the robot moves for a certain distance, the left power arm (1) enters the line again, and the whole set of obstacle crossing action is completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210404017.8A CN114696260A (en) | 2022-04-18 | 2022-04-18 | Ice observation robot for power transmission line and obstacle crossing method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210404017.8A CN114696260A (en) | 2022-04-18 | 2022-04-18 | Ice observation robot for power transmission line and obstacle crossing method thereof |
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| CN114696260A true CN114696260A (en) | 2022-07-01 |
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| CN202210404017.8A Pending CN114696260A (en) | 2022-04-18 | 2022-04-18 | Ice observation robot for power transmission line and obstacle crossing method thereof |
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| CN115173308A (en) * | 2022-07-26 | 2022-10-11 | 安徽工业大学 | Reversible obstacle-surmounting high-voltage line inspection device |
| CN115663736A (en) * | 2022-08-29 | 2023-01-31 | 国网浙江省电力有限公司绍兴供电公司 | Obstacle-crossing deicing robot and obstacle-crossing method and deicing method thereof |
| CN117578258A (en) * | 2023-10-13 | 2024-02-20 | 武汉理工大学 | Bionic multifunctional high-voltage cable crawler |
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| CN117578258B (en) * | 2023-10-13 | 2024-05-28 | 武汉理工大学 | Bionic multifunctional high-voltage cable crawler |
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