CN115102125A - Transmission line walking deicing robot with locking arm assembly - Google Patents
Transmission line walking deicing robot with locking arm assembly Download PDFInfo
- Publication number
- CN115102125A CN115102125A CN202210823057.6A CN202210823057A CN115102125A CN 115102125 A CN115102125 A CN 115102125A CN 202210823057 A CN202210823057 A CN 202210823057A CN 115102125 A CN115102125 A CN 115102125A
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- Prior art keywords
- arm
- assembly
- locking
- walking
- transmission line
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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
- H02G7/00—Overhead installations of electric lines or cables
- H02G7/16—Devices for removing snow or ice from lines or cables
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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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
- B25J19/0008—Balancing devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention relates to the technical field of robots, in particular to a power transmission line walking deicing robot with a locking arm assembly; a transmission line walking deicing robot having a locking arm assembly comprising: two sets of walking assemblies, wherein a set of walking assembly is connected with first linking arm, another group walking assembly is connected with the second linking arm, first linking arm and/or second linking arm be equipped with be used for with walking assembly complex compress tightly the subassembly, connect through exhibition arm subassembly between first linking arm lower extreme and the second linking arm lower extreme, be equipped with locking arm subassembly between first linking arm and the exhibition arm subassembly in order to lock the relative angle of exhibition arm subassembly of first linking arm, and/or, be equipped with locking arm subassembly between second linking arm and the exhibition arm subassembly. According to the invention, the locking arm assembly can lock the angle of the first connecting arm relative to the arm spreading assembly and lock the angle of the second connecting arm relative to the arm spreading assembly, so that the gravity center of the power transmission line walking deicing robot is stable, and the power transmission line walking deicing robot can move forward conveniently.
Description
Technical Field
The invention relates to a power transmission line walking deicing robot with a locking arm assembly.
Background
At present, the power transmission line robot is mainly used for line inspection and deicing operation in a power grid. Outdoor transmission lines are mostly located at high altitude in the open air, are mostly subjected to severe environments such as wind wave vibration or frost, rain and snow, and outdoor temperature changes frequently.
Disclosure of Invention
In order to solve the technical problem, the invention provides a power transmission line walking deicing robot with a locking arm assembly.
The invention adopts the following technical scheme:
the utility model provides a transmission line walking deicing robot with locking arm subassembly, is including being used for ordering about its two sets of walking subassemblies that remove on the circuit, walking subassembly is including the walking wheel that is used for walking on the circuit, and one of them group walking subassembly is connected with first linking arm, and another group walking subassembly is connected with the second linking arm, first linking arm and/or second linking arm be equipped with be used for with the walking wheel complex compresses tightly the subassembly, connect through exhibition arm subassembly between first linking arm lower extreme and the second linking arm lower extreme, first linking arm with be equipped with locking arm subassembly between the exhibition arm subassembly in order to lock first linking arm is relative the angle of exhibition arm subassembly, and/or, the second linking arm with be equipped with locking arm subassembly between the exhibition arm subassembly in order to lock the second linking arm is relative the angle of exhibition arm subassembly.
Optionally, the arm spreading assembly is provided with a first hinge element for being hinged to the first connecting arm, the arm locking assembly includes a locking arm telescopic motor mounted on one of the first hinge element and the first connecting arm and a locking hole disposed on the other, the locking arm telescopic motor has a telescopic shaft, the locking hole is a non-circular hole, the telescopic shaft is a non-circular shaft matched with the locking hole, and after the first connecting arm rotates by a fixed angle relative to the first hinge element, the telescopic shaft extends into the locking hole to lock the relative position of the first connecting arm and the first hinge element;
and/or, exhibition arm assembly be equipped with be used for with second linking arm articulated second articulated elements, the locking arm assembly including install in the second articulated elements with the locking hole of the flexible motor of locking arm of one of second linking arm with locating another, the second linking arm is relative after the second articulated elements rotates fixed angle the telescopic shaft stretches into locking hole internal locking the second linking arm with the relative position of second articulated elements.
Optionally, a movable electric cabinet is arranged at the bottom of the arm spreading assembly.
Optionally, the electric cabinet and the arm spreading assembly are connected through a second lead screw driving mechanism.
Optionally, first connecting arm tip articulates there is first articulated elements, first articulated elements with exhibition arm subassembly mobilizable connection, the tip of second connecting arm is equipped with the second articulated elements, the second articulated elements with exhibition arm subassembly mobilizable connection, between first articulated elements and the exhibition arm subassembly all be equipped with first lead screw actuating mechanism between second articulated elements and the exhibition arm subassembly.
Optionally, first lead screw actuating mechanism includes the second motor, rotatable locate exhibition arm assembly's second lead screw, with second lead screw complex second feed nut and with second lead screw complex third feed nut, the second motor with second lead screw transmission connects, the second feed nut with first articulated elements fixed connection, the third feed nut with second articulated elements fixed connection, first articulated elements with the second articulated elements all with exhibition arm assembly slidable connects, first feed nut with the screw thread spiral opposite direction in the second feed nut, so that when the second lead screw rotates to one side, first articulated elements with the second articulated elements are close to each other, when the second lead screw counter-rotation, first articulated elements with the second articulated elements phase separation.
Optionally, the first hinge member is fixedly connected to the second feed nut by a first moving member, and the first moving member is slidably connected to the arm assembly.
Optionally, the first moving member includes an accommodating groove, the second feeding nut includes a cylindrical portion and a fixed baffle, the cylindrical portion is disposed in the accommodating groove, and the fixed baffle abuts against an end face of the accommodating groove and is in screw connection with the first moving member.
Optionally, the first moving member includes a bending connection portion and a flat plate portion, the arm spreading assembly includes a second shell, the bending connection portion forms a bending groove, an edge of the second shell is disposed in the bending groove so that the first moving member and the arm spreading assembly can be slidably connected, and the flat plate portion is disposed at the bottom of the first hinge member and connected with the first hinge member by a screw.
Optionally, the second lead screw driving mechanism includes a third motor, a third lead screw rotatably disposed on the arm-expanding assembly, and a fourth feeding nut engaged with the third lead screw, the third motor is in transmission connection with the third lead screw, the fourth feeding nut is fixedly connected with the electric cabinet, and the electric cabinet is in slidable connection with the arm-expanding assembly.
Compared with the prior art, the technical scheme provided by the invention has the following beneficial effects:
by adopting the technical scheme, through setting the locking arm component, the locking arm component can lock the angle of the first connecting arm relative unfolding arm component and lock the angle of the second connecting arm relative unfolding arm component, and when the power transmission line walking deicing robot travels, the power transmission line walking deicing robot can easily shake so that the gravity center fluctuation is not beneficial to traveling, and the locking arm component can lock the angle of the first connecting arm relative unfolding arm component and lock the angle of the second connecting arm relative unfolding arm component, so that the gravity center of the power transmission line walking deicing robot can be stably beneficial to the traveling of the power transmission line walking deicing robot.
Drawings
FIG. 1 is an exploded view of a power transmission line walking deicing robot according to the present invention;
FIG. 2 is a cross-sectional view of the power transmission line walking deicing robot of the present invention;
FIG. 3 is a schematic diagram of the power transmission line walking deicing robot of the invention;
FIG. 4 is a schematic view of the walking assembly of the present invention;
FIG. 5 is a cross-sectional view of the walking assembly and additional functional components of the present invention;
FIG. 6 is an exploded view of the hold down assembly of the present invention;
FIG. 7 is a cross-sectional view of the hold down assembly of the present invention;
FIG. 8 is a schematic view of the connection of the hold down assembly and the first riser of the present invention;
fig. 9 is a simplified mechanism diagram of the power transmission line walking deicing robot of the present invention;
FIG. 10 shows the power transmission line walking deicing robot of the invention at a slope angleθA simplified stress model diagram of the line travel;
fig. 11-17 are schematic diagrams of obstacle crossing processes of the power transmission line walking deicing robot.
The reference numerals in the schematic drawings illustrate:
1. a dual-arm assembly; 11. a first connecting arm; 111. a first hinge member; 112. a third shell; 1121. a slide rail; 1122. a slider; 1123. a vertical chute; 12. a second connecting arm; 2. a walking assembly; 21. a driver; 22. a traveling motor; 23. a motor fixing disc; 24. a motor casing; 241. a connecting seat; 25. a motor case cover; 26. a traveling wheel; 261. a hub; 262. a tire; 27. a first flange; 28. a second flange; 29. a first bearing; 3. a support frame; 31. a left support arm; 32. a cross arm; 33. a right support arm; 331. an inductive conductive wheel; 34. a motor shell is added; 35. a third flange; 36. a fourth flange; 37. a decoration piece; 38. a second bearing; 39. an additional motor; 4. a compression assembly; 41. a base; 411. a charging contact; 412. a pin shaft; 413. a force sensor; 414. a triangular block; 42. swinging arms; 43. a pinch roller; 44. a first elastic member; 45. a first slide bar; 451. a containing groove; 452. a drop-off prevention member; 453. a through hole; 46. a second slide bar; 461. anti-drop nails; 462. a protective member; 5. a first inductor; 51. a first shell; 511. a first slide hole; 52. a first sensor; 521. triggering the elastic sheet; 53. impacting a buffer member; 531. a first spool; 532. triggering a baffle; 54. a second elastic member; 6. a screw rod lifting mechanism; 61. a first lifting member; 611. an elastic block; 612. a copper sleeve; 613. a touch plate; 62. a first lead screw; 63. a first feed nut; 64. a first motor; 7. unfolding the arm; 71. a second motor; 72. a second lead screw; 73. a second feed nut; 731. a cylindrical portion; 732. fixing a baffle plate; 75. a first moving member; 751. accommodating grooves; 752. bending the connecting part; 7521. bending the groove; 753. a flat plate portion; 76. a third motor; 77. a second shell; 81. a locking arm telescopic motor; 82. an electric cabinet; 83. a line; 831. side track; 9. a deicing mechanism; 10. a vibration damper.
Detailed Description
For a further understanding of the present invention, reference is made to the following detailed description taken in conjunction with the accompanying drawings 1-17 and the examples.
With reference to fig. 1-17, the power transmission line walking deicing robot with the locking arm assembly of the present embodiment includes a walking assembly 2, a dual-arm assembly 1, a pressing assembly 4, a walking steering assembly, a locking arm assembly, an additional functional assembly, and an arm spreading assembly. The running assemblies 2 are provided in two groups and are arranged at intervals on a line 83 for power transmission. Both arms subassembly 1 includes the linking arm, and the linking arm is equipped with two and is first linking arm 11 and second linking arm 12 respectively, and first linking arm 11 and second linking arm 12 upper end correspond respectively to set up a set of running gear 2, and running gear 2 is used for ordering about transmission line walking deicing robot to move on circuit 83. The pressing component 4 is provided with two mechanisms which are respectively arranged on the first connecting arm 11 and the second connecting arm 12, and the first connecting arm 11 and the second connecting arm 12 are both provided with a mechanism which can enable the pressing component 4 to ascend and descend. The walking steering assembly is arranged between the walking assembly 2 and the connecting arm and used for controlling the rotation activity of the walking assembly 2 and the connecting arm. The exhibition arm subassembly includes exhibition arm 7, and exhibition arm 7 is equipped with the mechanism of distance between the adjustable first linking arm 11 second linking arm 12. The locking arm assembly is arranged between the connecting arm and the display arm assembly and is used for adjusting the rotation activity between the connecting arm and the display arm assembly. The additional functional component is arranged on the walking component 2, in the embodiment, the additional functional component comprises a support frame 3 and an induction electric conduction wheel 331, in other embodiments, the additional functional component can also be an anti-falling functional component or a deicing mechanism 9 for deicing the line, and the deicing mechanism 9 removes the ice on the line through clamping or shoveling actions.
The walking assembly 2 comprises a driver 21, a walking motor 22, a motor fixing disc 23, a motor shell 24, a motor shell cover 25 and walking wheels 26. The first link arm 11 and the second link arm 12 have the same configuration, and the first link arm 11 will be described as an example.
The motor case 24, the motor case cover 25, and the motor fixing disk 23 enclose an accommodating space for accommodating the driver 21 and the traveling motor 22. The driver 21 is electrically connected with the walking motor 22, and the walking motor 22 is in transmission connection with the walking wheel 26. The walking motor 22 is fixed on the motor fixing disc 23, the motor fixing disc 23 is fixed on the motor casing 24, and the end part of the motor casing 24 is fixedly connected with the motor casing cover 25.
An output shaft of the walking motor 22 extends out of the motor fixing disc 23, a first flange 27 is fixedly connected to the output shaft of the walking motor 22, a second flange 28 is fixedly connected to the first flange 27, and the second flange 28 is fixedly connected with the walking wheel 26. The motor fixing disc 23 is partially of a cylindrical structure, the second flange 28 is partially of a cylindrical structure, so that the second flange 28 can be sleeved outside the motor fixing disc 23, and the second flange 28 is connected with the motor fixing disc 23 through a first bearing 29, so that the travelling wheel 26 can rotate relative to the motor fixing disc 23. The road wheel 26 comprises a hub 261 and a tire 262, wherein the hub 261 is sleeved outside the second flange 28 and fixedly connected with the second flange 28. The cross section of the hub 261 is a V-shaped structure, the cross section of the corresponding tire 262 is a V-shaped structure, so that the cross section of the walking surface of the walking wheel 26 is V-shaped, the line 83 is arranged in a crack of the V-shaped structure of the tire 262, and the width of the bottom of the walking surface is smaller than the diameter of the line 83, so that a gap is reserved between the bottom of the walking surface and the line 83 when the walking wheel 26 walks on the line, and walking is facilitated. In operation, the driver 21 sends an electrical signal to the traveling motor 22, and the traveling motor 22 drives the traveling wheels 26 to rotate through the first flange 27 and the second flange 28. In particular applications, the tires 262 are made of a highly elastic, high friction polyurethane material to increase the friction between the tires 262 and the track 83 so that the road wheels 26 do not slip when rotating on the track 83. The first flange 27 is made of alloy steel material, and the second flange 28 and the hub 261 are made of light aluminum alloy material.
With reference to fig. 4 and 5, one end of the supporting frame 3 is fixedly connected to the motor housing 24, the other end of the supporting frame 3 is connected to the additional motor housing 34, the supporting frame 3 includes a left supporting arm 31, a right supporting arm 33 and a cross arm 32, the left supporting arm 31 is fixedly connected to the motor housing 24, the right supporting arm 33 is fixedly connected to the additional motor housing 34, and the cross arm 32 is disposed between the left supporting arm 31 and the right supporting arm 33. An additional motor 39 is fixed in the additional motor casing 34, an output shaft of the additional motor 39 is fixedly connected with a third flange 35, the third flange 35 is fixedly connected with a fourth flange 36, the fourth flange 36 is fixedly connected with a swing part 37, and the fourth flange 36 is connected with the first flange 27 through a second bearing 38. Rotation of the additional motor 39 drives oscillation of the swing portion 37. The end of the swing part 37 is rotatably provided with an induction electric conduction wheel 331, and during application, the induction electric conduction wheel 331 is made of wear-resistant copper alloy or graphite material. In this embodiment, goods of furniture for display rather than for use 37 are equipped with two, and another goods of furniture for display rather than for use 37 is rotatable locate motor fixed disk 23, and a goods of furniture for display rather than for use 37 tip is equipped with the electrically conductive round of support of response right side, and another goods of furniture for display rather than for use 37 tip is equipped with the electrically conductive round of support of response left side, and the electrically conductive round of support of response right side and the electrically conductive round of support of response left side is equipped with the axis of rotation, and the electrically conductive round of response 331 of response is located on the axis of rotation. The inductive conductive wheel 331 can make the whole of the power transmission line walking deicing robot form the equipotential with the line 83 so as to avoid causing electric shock hazard. The support frame 3 is a gantry structure or arch structure for avoiding the travelling wheels 26, and the travelling wheels 26 are positioned between a left support arm 31 and a right support arm 33.
With reference to fig. 1 and 2, the walking steering assembly includes a steering motor, the motor housing 24 is fixed with a connecting base 241, the steering motor is disposed on one of the connecting base 241 and the connecting arm, and the steering motor shaft is connected with the other connecting base to drive the connecting base 241 and the connecting arm to rotate relatively or lock relatively and cannot rotate; alternatively, the first connecting arm 11 and the connecting base 241 may be rotatably connected, and in a specific application, may be rotatably connected through a bearing. The connection seat 241 may be a housing or a block.
With reference to fig. 6 and 7, the hold-down assembly 4 is adapted to cooperate with the travel assembly 2 to hold down the line 83. The pressing assembly 4 comprises a base 41, a swing arm 42 and a pressing wheel 43, the swing arm 42 is rotatably connected with the base 41, the pressing wheel 43 is arranged at the end part of the swing arm 42, and the line 83 is positioned between the travelling wheels 26 and the pressing wheel 43. The surface of the pressing wheel 43 is a concave arc surface, so that the middle part of the surface of the pressing wheel 43 is lower than the two sides and is used for being matched with the V-shaped structure of the walking wheel 26, and the line 83 is prevented from falling off. The swing arms 42 are provided with two, a first elastic piece 44 is arranged between the two swing arms 42, the two swing arms 42 are arranged oppositely, the middle parts of the two swing arms 42 are hinged with the base 41, the two pressing wheels 43 are rotatably arranged at one ends of the two swing arms 42 respectively, and the first elastic piece 44 is arranged between the other ends of the two swing arms 42. The two swing arms 42 are in an open V-shaped structure, and the two swing arms 42 are both provided with bending structures, so that the two swing arms 42 are bent back to form the V-shaped structure. In operation, the V-shaped opening formed by the two swing arms 42 and the line 83 are opposite to each other, so that the pressing wheel 43 presses the line 83. When there is a protruding obstacle on the circuit 83, the two swing arms 42 will rotate around the hinge point between the two swing arms 42 and the base 41, so that the opening of the V-shaped structure is expanded, and the first elastic element 44 is compressed. The first elastic piece 44 enables the two swing arms 42 to be elastically expanded, so that the two pressing wheels 43 are pressed on the line 83 all the time, and the power transmission line walking deicing robot is prevented from falling off from the line 83. The pinch roller 43 is provided with a odometer for measuring distance, and the odometer detects the travel of the pinch roller 43 on the line 83.
When the sliding type door handle is used specifically, the other end of one of the swing arms 42 is hinged with a first sliding rod 45, the other end of the other swing arm 42 is hinged with a second sliding rod 46, the first sliding rod 45 is provided with an accommodating groove 451 used for accommodating one end of the second sliding rod 46, and therefore the first sliding rod 45 is connected with the second sliding rod 46 in a sliding mode. The first elastic element 44 is sleeved on the second sliding rod 46, the end of the accommodating groove 451 is provided with an anti-slip element 452, the anti-slip element 452 is provided with a penetrating hole 453 for extending one end of the second sliding rod 46, one end of the second sliding rod 46 is provided with an anti-slip nail 461, and the size of the anti-slip nail 461 is larger than that of the penetrating hole 453 so as to prevent the second sliding rod 46 from being disengaged from the accommodating groove 451. The second sliding rod 46 is provided with a protection member 462, one end of the first elastic member 44 abuts against the anti-release member 452, and the other end of the first elastic member 44 abuts against the protection member 462. The first elastic member 44 is a compression spring in this embodiment. In other embodiments, the first elastic member 44 is disposed between the swing arm 42 and the base 41, and the first elastic member 44 is a torsion spring disposed at a hinge point of the swing arm 42 and the base 41.
The first sliding rod 45, the second sliding rod 46 and the first elastic member 44 form an elastic connecting rod, and the elastic connecting rod plays a role in buffering and damping, can adapt to thickness change of the line 83 or small obstacles on the line 83, and has small abrasion damage to the line 83.
The base 41 is a housing when in specific application, and the left and right sides of the base 41 are provided with the first sensors 5 for detecting obstacles. The first inductor 5 includes a first housing 51 fixedly coupled to the base 41. The first case 51 has a space therein to accommodate the first sensor 52. The first shell 51 is slidably provided with a collision buffer 53, the collision buffer 53 is provided with a first sliding column 531, the first shell 51 is provided with a first sliding hole 511, the first sliding column 531 extends into the first sliding hole 511 to enable the collision buffer 53 to slide relative to the first shell 51, and a second elastic element 54 is arranged between the first sliding column 531 and the first shell 51. The first sensor 52 is provided with a trigger spring 521, the first spool 531 is provided with a trigger baffle 532, and the trigger baffle 532 is arranged in the first shell 51. When the impact buffer 53 impacts an obstacle on the line 83, the first sliding column 531 slides to enable the trigger baffle 532 to impact the trigger elastic sheet 521, the trigger elastic sheet 521 deforms to trigger the first sensor 52, and the first sensor 52 controls the whole first connecting arm 11 to move backwards through a controller of the power transmission line walking deicing robot. After the first connecting arm 11 moves backward, the impact buffer 53 returns to the initial position under the action of the second elastic element 54, so that the trigger baffle 532 and the trigger spring 521 are separated. After the first connecting arm 11 moves backwards, the pressing assembly 4 of the first connecting arm 11 is controlled to integrally descend, so that the obstacle is avoided in the advancing process of the power transmission line walking deicing robot. After the first link arm 11 passes over the obstacle, the pressing member 4 of the first link arm 11 is controlled to ascend the pressing line 83.
The base 41 is further provided with a charging contact 411 for charging the whole power transmission line walking deicing robot, a plurality of charging mechanisms are arranged on the line 83 at intervals, and when the power transmission line walking deicing robot moves to the position of the charging mechanism, the charging contact 411 can be in electrical contact with the charging mechanism.
In other embodiments, the charging contacts 411 may be resiliently biased into the base 41 such that the charging contacts 411 remain in resilient contact with the charging mechanism or line 83 and thus may remain energized during operation.
Referring to fig. 1 and 2, the first connecting arm 11 includes a third housing 112, the third housing 112 slidably has a first elevating member 61, the first elevating member 61 is rotatably connected to the base 41, so that the pressing member 4 can slightly swing back and forth to adapt the pressing member 4 to the curvature change of the line 83. A sliding rail 1121 is arranged in the third shell 112, the first lifting piece 61 is connected with a sliding block 1122 matched with the sliding rail 1121, and the third shell 112 is further provided with a vertical sliding groove 1123 which enables the first lifting piece 61 to enter the inside and is connected with the sliding block 1122. A screw rod lifting mechanism 6 is arranged between the first lifting piece 61 and the first connecting arm 11. The lead screw lifting mechanism 6 comprises a first lead screw 62 rotatably arranged in the third shell 112, a first feeding nut 63 matched with the first lead screw 62 and a first motor 64, the first feeding nut 63 is fixedly connected with the first lifting piece 61, and the first motor 64 is in transmission connection with the first lead screw 62 through a gear set/synchronous belt. The lower end of the third shell 112 is provided with a first motor mounting seat, and the first motor 64 is mounted on the first motor mounting seat.
Referring to fig. 8, the first elevating member 61 and the base 41 are connected by a pin 412. The base 41 is fixedly connected to the pin shaft 412, the first lifting element 61 is provided with a copper sleeve 612 sleeved outside the pin shaft 412, and the pin shaft 412 and the copper sleeve 612 are in clearance fit so that the pin shaft 412 can axially displace relative to the copper sleeve 612. The first lifting member 61 is provided with a contact plate 613, and a force sensor 413 is disposed on the contact plate 613 or at the bottom of the pin 412. When the pressing wheel 43 presses the line 83, the pin 412 moves downward under the action of the pressure to press the pressing force sensor 413, or the pin 412 drives the force sensor 413 to press the abutting plate 613, and the pressure from the line 83 is transmitted to the force sensor 413. The force sensor 413 transmits the pressure signal to the controller, and the controller adjusts the height of the compacting assembly 4 according to the received pressure signal so as to properly adjust the magnitude of the pressing force, so that the walking wheels 26 do not slip and the pressing force is not excessive when walking.
The upper end of the pin 412 is further provided with a triangular block 414, and when the pin 412 rotates, the triangular block 414 rotates clockwise or counterclockwise together with the pin 412. The first lifting member 61 is provided with an elastic block 611, the triangular block 414 acts on the elastic block 611, and when the pin 412 rotates, the triangular block 414 presses the elastic block 611 back and forth, so that the pressing assembly 4 can swing elastically when swinging, and the pressing assembly 4 always has a tendency of returning to the positive direction.
The first motor mounting base is hinged with a first hinge part 111, and a first screw rod driving mechanism is arranged between the first hinge part 111 and the display arm 7. The arm 7 includes a second housing 77, and the first lead screw driving mechanism includes a second motor 71 mounted on the second housing 77, a second lead screw 72 rotatably disposed in the second housing 77, and a second feed nut 73 engaged with the second lead screw 72. The second motor 71 is in transmission connection with the second lead screw 72 through a gear set/timing belt, and the second feeding nut 73 is fixedly connected with the first hinge 111 through the first moving member 75. The first moving member 75 has an accommodating groove 751 at one end, the second feed nut 73 includes a cylindrical part 731 and a fixed shutter 732, the cylindrical part 731 is disposed in the accommodating groove 751, and the fixed shutter 732 abuts against an end surface of the accommodating groove 751 and is screwed to the first moving member 75. The first moving member 75 is provided with a bent connecting portion 752 at a middle portion thereof, the bent connecting portion 752 is provided with a bent groove 7521, and an edge of the second shell 77 is provided in the bent groove 7521 so that the first moving member 75 and the second shell 77 are slidably connected. The other end of the first moving member 75 is provided with a flat plate portion 753, and the flat plate portion 753 is arranged at the bottom of the first hinge 111 and is in screw connection with the first hinge 111.
The first connecting arm 11 and the second connecting arm 12 are connected with the same spreading arm 7, the other end of the second connecting arm 12 is hinged with a second hinge element, the first screw rod 62 is further provided with a third feeding nut, the third feeding nut is fixedly connected with the second hinge element through a second moving element, the third feeding nut and the second feeding nut 73 are identical in structure, and the first moving element 75 of the second moving element is identical in structure. The difference is that the screw thread directions of the first and second feed nuts 63 and 73 are opposite, so that when the second screw 72 rotates to one side, the first and second hinge members 111 and 72 are close to each other, and when the second screw 72 rotates in the opposite direction, the first and second hinge members 111 and 72 are separated from each other. An electric cabinet 82 is further arranged at the bottom of the arm 7, and a second screw rod driving mechanism (not shown in the figure) is arranged between the arm 7 and the electric cabinet 82. The second screw rod driving mechanism comprises a third screw rod, a third motor 76 and a fourth feeding nut, wherein the third screw rod and the third motor 76 are rotatably arranged on the display arm 7, the fourth feeding nut is matched with the third screw rod, the third motor 76 is in transmission connection with the third screw rod, the fourth feeding nut is fixedly connected with the electric cabinet 82, and the electric cabinet 82 is in slidable connection with the display arm 7. The third motor 76 is mounted outside the arm 7.
The first connecting arm 11 and the second connecting arm 12 are arranged substantially in parallel, and when passing through the horizontal section of the line 83, the first connecting arm 11, the second connecting arm 12 and the display arm 7 substantially form a square structure. At the level of the line 83, the travel assembly 2 travels faster and the first link arm 11, the second link arm 12 and the spreader arm 7 will sway due to inertia when accelerating or decelerating. In order to improve the stability of the power transmission line walking deicing robot, a locking arm component is arranged between the first hinge joint 111 and the first connecting arm 11, and a locking arm component is also arranged between the same second connecting arm 12 and the second hinge joint. Specifically, the locking arm assembly includes a locking arm telescoping motor 81 mounted on one of the first hinge 111 and the first connecting arm 11, the locking arm telescoping motor 81 has a telescoping shaft (not shown in the figure), the other is provided with a locking hole (not shown in the figure), the locking hole is a non-circular hole, the telescoping shaft is a non-circular shaft matched with the locking hole, and the telescoping shaft extends into the locking hole to lock the relative position of the first connecting arm 11 and the first hinge 111; the locking arm assembly further comprises a locking arm telescopic motor arranged on one of the second hinged piece and the second connecting arm and a locking hole arranged on the other one of the second hinged piece and the second connecting arm, and after the second connecting arm rotates for a fixed angle relative to the second hinged piece, the telescopic shaft extends into the locking hole to lock the relative position of the second connecting arm and the second hinged piece. The lock arm telescoping motor 81 allows the first link arm 11, the second link arm 12 and the spread arm 7 to maintain the above-described square structure. When the power transmission line passes through the inclined section of the line 83, the power transmission line walking deicing robot makes climbing or descending motion, the locking arm assembly is controlled to unlock, the first hinged part 11 and the first connecting arm 11 and the second hinged part and the second connecting arm 12 can rotate relatively, the first hinged part 11 and the first connecting arm 11 and the second hinged part and the second connecting arm 12 rotate passively due to gravity, and at the moment, the square structure is changed into a parallelogram structure.
The rotating directions between the walking component 2 and the connecting arm and between the connecting arm and the arm spreading component are mutually vertical. The walking component 2 and the connecting arm can axially rotate, and the connecting arm and the display arm component can horizontally rotate.
And limit switches for limiting the lowest position of the pressing assembly 4 are arranged on the first connecting arm 11 and the second connecting arm 12. The electric control box 82 is internally provided with a power supply battery and a controller which are electrically connected, and the controller is electrically connected with a limit switch, a first sensor 52, a charging contact 411, the walking motor 22, a first motor 64, a second motor 71, a third motor 76, an additional motor 39, a locking arm telescopic motor 81 and a steering motor.
Referring to fig. 9, J1 is a revolute pair of walking wheel 26 of walking assembly 2, J2 is a revolute pair between the connecting arm and walking assembly 2, J3 is a revolute pair between the additional functional assembly and walking assembly 2, J4 is a revolute pair between the pressing assembly 4 and the connecting arm, J5 is a revolute pair between the pressing assembly 4 and the connecting arm, J6 is a revolute pair between the connecting arm and the spreading arm 7, J7 is a revolute pair between the connecting arm and the spreading arm 7, and J8 is a revolute pair between the spreading arm 7 and the electric cabinet 82.
Referring to fig. 10, the traveling assembly 22 has two sets, two corresponding traveling wheels 26 and two corresponding traveling motors 22 are provided, the right traveling wheel 26 is a front traveling wheel 26, the left traveling wheel 26 is a rear traveling wheel 26, the right traveling motor 22 is a front traveling motor 22, and the left traveling motor 22 is a rear traveling motor 22. In FIG. 10, the center of gravity of the whole vehicle is located at a distance from the front road wheels 26 in the direction of the line connecting the front road wheels 26 and the rear road wheels 26L F (ii) a Front road wheel 26 with center of gravityThe distance from the rear road wheel 26 in the direction of the line connecting the rear road wheel 26 isL R (ii) a The front road wheels 26 and the rear road wheels 26 have a track ofL(ii) a The weight of the whole machine is G; the front road wheel 26 is supported by a line 83 ofF F (ii) a The front road wheels 26 have an adhesion force off F (ii) a The rear road wheel 26 bears the supporting force of the line 83F R (ii) a The rear road wheels 26 have adhesion forces off R (ii) a The distance from the gravity center of the power transmission line walking deicing robot to the line 83 is H.
Listing the force and moment equilibrium equations
Combined adhesion with positive pressure
The following can be obtained:
it can be seen that whenHAfter design determination, for a certain slope angleθThe ratio of the adhesion force distribution of the front road wheels 26 to the rear road wheels 26 depends onL R AndL F i.e. the position of the centre of gravity in the direction of the line connecting the two running wheels 26. In the prior art, there are usuallyL R ≈L F Therefore, the formula is generally larger than 1, that is, the adhesion force of the front road wheels 26 is larger than that of the rear road wheels 26 when climbing the slope, the output power of the driving motors of the front road wheels 26 is larger than that of the driving motors of the rear road wheels 26, and the slope angleθThe larger the difference between the output power of the driving motors of the front and rear road wheels 26 is, the larger the difference is.
Further, let
The first derivative is obtained from the above equationZ(L R )Is aboutL R Increasing function (within the actual effective value range), i.e.L R The larger the size of the tube, the larger the tube,Z(L R )the larger the ratio of the adhesion distribution of the front and rear road wheels 26 is, the larger the difference of the adhesion distribution of the front and rear road wheels 26 is, and the larger the difference of the output power of the front and rear road wheels 22 is.
Because the front and rear traveling motors 22 are usually of the same type in the model selection process of the traveling motors 22 of the traveling wheels 26, the adhesion force of the front and rear traveling wheels 26 should be as close as possible in order to ensure that the output powers of the front and rear traveling motors 22 are as close as possible in the climbing process and avoid the severe working condition that one traveling wheel 26 runs at full load or overload and the other traveling wheel 26 has lower load. Therefore, the heat transfer efficiency can be reducedL R Thereby reducing the size ofZ(L R )Namely, the adhesion distribution ratio of the front and rear traveling wheels 26 is reduced, and the output power difference of the front and rear traveling motors 22 is further reduced, so that the purposes of optimizing the adhesion distribution of the front and rear traveling wheels 26, optimizing the output power distribution of the front and rear traveling motors 22, promoting the non-slip of the front and rear traveling wheels 26 in the climbing process and improving the climbing capacity of the whole machine are achieved.
Referring to fig. 11-17, the line 83 will typically be provided with obstacles such as a damper 10 or side rail 831. In the implementation process of the invention, taking the side rail 831 as an example, when the front travelling wheels 26 need to go up the side rail 831, the electric cabinet 82 moves backwards at first, the rear travelling wheels 26 are tightly pressed, and at the moment, the gravity center is distributed to the rear, which is beneficial to the side rail 831 on the front travelling wheels 26, so that the walking deicing robot for the power transmission line runs stably, and the obstacle crossing capability of the front travelling wheels 26 is improved; after the current traveling wheels 26 successfully go up the side rails 831, the electric cabinet 82 assembly moves forward first, the front traveling wheels 26 are compressed, the center of gravity is distributed forward, the rear traveling wheels 26 go up the side rails 831, the whole machine is more stable at the moment, and the obstacle crossing capability of the rear traveling wheels 26 is relatively improved. Taking the following side rail 831 as an example, when the front traveling wheels 26 need to go down the side rail 831, the electric control box 82 moves backwards at first, the rear traveling wheels 26 are tightly pressed, and at the moment, the gravity centers are distributed to be inclined backwards, so that the side rail 831 below the front traveling wheels 26 is facilitated, the running deicing robot for the power transmission line is stable, and the obstacle crossing capability of the front traveling wheels 26 is improved; after the front traveling wheels 26 successfully go down the side rails 831, the electric cabinet 82 assembly moves forward first, the front traveling wheels 26 are tightly pressed, the center of gravity is distributed to the front, the rear traveling wheels 26 go down the side rails 831, the whole machine is more stable, and the obstacle crossing capability of the rear traveling wheels 26 is relatively improved.
The present invention and its embodiments have been described above schematically, without limitation, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if the person skilled in the art receives the teaching, without departing from the spirit of the invention, the person skilled in the art shall not inventively design the similar structural modes and embodiments to the technical solution, but shall fall within the scope of the invention.
Claims (10)
1. A power transmission line walking deicing robot with a locking arm component is characterized by comprising two groups of walking components for driving the walking components to move on a line, wherein the walking components comprise walking wheels for walking on the line, one group of walking components is connected with a first connecting arm, the other group of walking components is connected with a second connecting arm, the first connecting arm and/or the second connecting arm are/is provided with a pressing component matched with the travelling wheel, the lower ends of the first connecting arm and the second connecting arm are connected through a spread arm component, a lock arm component is arranged between the first connecting arm and the spread arm component to lock the angle of the first connecting arm relative to the spread arm component, and/or a locking arm component is arranged between the second connecting arm and the exhibition arm component so as to lock the angle of the second connecting arm relative to the exhibition arm component.
2. The robot of claim 1, wherein the arm-expanding assembly is provided with a first hinge element for being hinged to the first connecting arm, the arm-expanding assembly comprises a locking arm expansion motor mounted on one of the first hinge element and the first connecting arm and a locking hole formed in the other of the first hinge element and the first connecting arm, the locking arm expansion motor is provided with an expansion shaft, the locking hole is a non-circular hole, the expansion shaft is a non-circular shaft matched with the locking hole, and after the first connecting arm rotates relative to the first hinge element by a fixed angle, the expansion shaft extends into the locking hole to lock the relative positions of the first connecting arm and the first hinge element;
and/or, exhibition arm assembly be equipped with be used for with the articulated second articulated elements of second linking arm, locking arm assembly including install in the second articulated elements with the locking hole of the flexible motor of locking arm of one of second linking arm with locating another, the second linking arm is relative after the second articulated elements rotates fixed angle the telescopic shaft stretches into the locking hole internal locking the second linking arm with the relative position of second articulated elements.
3. The power transmission line walking deicing robot with the locking arm assembly as claimed in claim 1, wherein a movable electric cabinet is arranged at the bottom of the spreading arm assembly.
4. The power transmission line walking deicing robot with the locking arm assembly according to claim 3, wherein the electric cabinet is connected with the arm spreading assembly through a second lead screw driving mechanism.
5. The power transmission line walking deicing robot with the locking arm assembly according to claim 1, wherein a first hinged part is hinged to an end of the first connecting arm, the first hinged part is movably connected with the spreading arm assembly, a second hinged part is arranged at an end of the second connecting arm, the second hinged part is movably connected with the spreading arm assembly, and first lead screw driving mechanisms are arranged between the first hinged part and the spreading arm assembly and between the second hinged part and the spreading arm assembly.
6. The power transmission line walking deicing robot with the locking arm assembly according to claim 5, wherein the first lead screw driving mechanism comprises a second motor, a second lead screw rotatably arranged on the spreading arm assembly, a second feeding nut matched with the second lead screw and a third feeding nut matched with the second lead screw, the second motor is in transmission connection with the second lead screw, the second feeding nut is fixedly connected with the first articulated piece, the third feeding nut is fixedly connected with the second articulated piece, the first articulated piece and the second articulated piece are both in slidable connection with the spreading arm assembly, the screw thread directions in the first feeding nut and the second feeding nut are opposite, so that when the second lead screw rotates to one side, the first articulated piece and the second articulated piece are close to each other, when the second screw rod rotates reversely, the first hinge part and the second hinge part are separated.
7. The line walking deicing robot of claim 6, wherein said first articulation is fixedly coupled to said second feed nut by a first moving member, said first moving member being slidably coupled to said spread arm assembly.
8. The power transmission line walking deicing robot with the locking arm assembly according to claim 7, wherein the first moving member comprises a containing groove, the second feed nut comprises a cylindrical part and a fixed baffle, the cylindrical part is arranged in the containing groove, and the fixed baffle abuts against an end face of the containing groove and is in screw connection with the first moving member.
9. The power transmission line walking deicing robot with the locking arm assembly according to claim 7, wherein the first moving member comprises a bent connecting part and a flat plate part, the arm spreading assembly comprises a second shell, the bent connecting part forms a bent groove, the edge of the second shell is arranged in the bent groove so that the first moving member and the arm spreading assembly can be slidably connected, and the flat plate part is arranged at the bottom of the first hinge part and is in screw connection with the first hinge part.
10. The power transmission line walking deicing robot with the locking arm assembly as claimed in claim 4, wherein the second lead screw driving mechanism comprises a third motor, a third lead screw rotatably arranged on the arm spreading assembly, and a fourth feed nut matched with the third lead screw, the third motor is in transmission connection with the third lead screw, the fourth feed nut is fixedly connected with the electric cabinet, and the electric cabinet is in slidable connection with the arm spreading assembly.
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Address after: No. 58 Shengli East Road, Shaoxing City, Zhejiang Province 312008 Applicant after: STATE GRID ZHEJIANG ELECTRIC POWER CO., LTD. SHAOXING POWER SUPPLY Co. Applicant after: Hangzhou Shenhao Technology Co.,Ltd. Address before: No.6, Changsong street, Cangqian street, Yuhang District, Hangzhou City, Zhejiang Province Applicant before: Hangzhou Shenhao Technology Co.,Ltd. Applicant before: STATE GRID ZHEJIANG ELECTRIC POWER CO., LTD. SHAOXING POWER SUPPLY Co. |
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