CN115582846B - Modularized live working robot - Google Patents
Modularized live working robot Download PDFInfo
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- CN115582846B CN115582846B CN202211261558.6A CN202211261558A CN115582846B CN 115582846 B CN115582846 B CN 115582846B CN 202211261558 A CN202211261558 A CN 202211261558A CN 115582846 B CN115582846 B CN 115582846B
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- clamping jaw
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- 238000007906 compression Methods 0.000 claims abstract description 14
- 230000006835 compression Effects 0.000 claims description 11
- 230000001360 synchronised effect Effects 0.000 claims description 8
- 238000013016 damping Methods 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 5
- 230000001681 protective effect Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 abstract description 19
- 239000000725 suspension Substances 0.000 abstract description 13
- 238000003825 pressing Methods 0.000 abstract description 8
- 125000006850 spacer group Chemical group 0.000 abstract description 3
- 238000007689 inspection Methods 0.000 description 10
- 230000008859 change Effects 0.000 description 8
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 5
- 229910052782 aluminium Inorganic materials 0.000 description 5
- 238000012423 maintenance Methods 0.000 description 5
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- 230000008569 process Effects 0.000 description 4
- 238000004804 winding Methods 0.000 description 4
- 230000003028 elevating effect Effects 0.000 description 3
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000008439 repair process Effects 0.000 description 2
- 238000012271 agricultural production Methods 0.000 description 1
- 239000004411 aluminium Substances 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 239000012212 insulator Substances 0.000 description 1
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- 230000007246 mechanism Effects 0.000 description 1
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Classifications
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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
- 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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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a modularized live working robot which mainly comprises a walking arm module, a case module, a tail end platform and a mechanical working arm, wherein all the components are detachably connected. The two groups of walking arm modules are detachably connected to two ends of the chassis module and can deflect to the outer side of the lead, and walking on the lead is realized through the walking wheel assembly and the pressing wheel assembly at the upper end of the arm body. The terminal platform can carry various operation terminals, so that the function is diversified, the mechanical arm can automatically take and put the operation terminals, and the terminal platform can be used for multiple purposes. Each module can be separated independently, and is assembled rapidly when being applied on site, so that the safety and convenience in the field transportation environment can be improved effectively. The structure of the vertical double-compression wheel and the walking wheel are adopted to form a form of clamping the transmission line to walk on the transmission line, and the distance between the two wheels can be changed in a self-adaptive manner when the robot is patrolled and examined to meet the obstacle, so that the robot can stably and effectively span the obstacles such as the damper, the suspension clamp and the spacer, and the efficiency of the robot patrolling and examining operation is improved.
Description
Technical Field
The invention relates to the field of automatic live working of high-voltage transmission lines, in particular to a modularized live working robot.
Background
Because the transmission line is exposed to natural environment for a long time and is damaged, hardware fittings on the line are extremely easy to generate defects, such as wire breakage, bolt looseness, insulator fouling and other problems which threaten the safety of the line. If the power transmission line is not found and processed in time, the running stability of the power transmission line is damaged, regional power failure is caused, and great inconvenience is brought to industrial and agricultural production and people's life. Therefore, regular and irregular line inspection and repair operations become a routine task for the power sector.
In the past, the inspection and maintenance work of the power transmission line is carried out by manually logging on the tower to carry out live working, so that a great amount of manpower and material resources are consumed, and particularly, the safety of operators is greatly threatened. Along with the continuous improvement of the operation and maintenance management automation level of an intelligent power transmission network, in recent years, a power transmission line robot aiming at various live working tasks is generated, the robot is required to be on line in various modes before the robot works, the robot is required to be transported back to the ground after the robot works, the traditional robot is mainly on line and off line in a manual hoisting mode, the problems of low efficiency, poor reliability and the like exist, the improvement of the practical level of the robot is seriously restricted, and the problem becomes an important bottleneck technical problem that the power transmission line live working robot needs to break through.
In addition, the robot is transported to the application site as an integral structure, the integral structure causes fewer functions of the robot, in addition, the integral structure causes inconvenience for field transportation, and the robot is easy to damage.
Disclosure of Invention
The invention aims to provide a modularized live working robot capable of being assembled rapidly on site and having various functions.
The modularized live working robot mainly comprises a walking arm module, a case module, a tail end platform and a mechanical working arm; the walking arm module comprises two groups, each group comprises an arm body, a lifting device, a walking wheel assembly, a compression wheel assembly and a rotary driving device, the walking wheel assembly is detachably connected to the upper end of the arm body, the lifting device is arranged on the arm body, the compression wheel assembly is arranged on the lifting device, and the rotary driving device is connected to the lower end of the arm body; the chassis module comprises a chassis, a plurality of mounting seats and aviation plugs, wherein the mounting seats and the aviation plugs extend out of a top plate of the chassis, and the mounting seats are respectively used for mounting the operation mechanical arm and the camera; the rotary driving devices of the two groups of walking arm modules are respectively detachably connected to two ends of the chassis in the length direction; the chassis module further comprises clamping jaw devices symmetrically arranged at two ends of the length direction of the inner cavity of the chassis, the upper and lower positions of openable clamping jaws of the clamping jaw devices are adjustable, and a yielding hole is formed in the bottom surface of the chassis corresponding to the clamping jaw positions; the tail end platform comprises a main body support, embedded quick-change devices and operation tail ends, the support frame is connected to the lower side of the main body support, the embedded quick-change devices are respectively connected to the main body support, and each embedded quick-change device is respectively connected with the operation tail ends with different functions; the main body bracket of the tail end platform is clamped and fixed by the clamping jaw; the mechanical operation arm is a six-degree-of-freedom arm, and can be detachably fixed on a corresponding mounting seat through a fastener, so that the operation tail end can be automatically grabbed and returned to the embedded quick-change device.
In one embodiment of the robot, the arm body is a square hollow column, the lifting device is a screw rod sliding block device, a driving motor of the lifting device adopts a direct current servo motor and is fixed at the lower end of the arm body, the screw rod is arranged at the central position of the arm body, the lower end of the screw rod is connected with an output shaft of the driving motor through a coupler, and a sliding block travel groove is formed in the side wall of the arm body;
in one embodiment of the robot, the screw rod sliding block is connected with a square sliding sleeve sleeved outside the arm body, a sliding rail is arranged outside the arm body, and a sliding block matched with the sliding rail is arranged on the inner wall of the square sliding sleeve.
In one embodiment of the above robot, the traveling wheel assembly includes a driving motor and traveling wheels driven by the driving motor, a protective cover is arranged above the traveling wheels, and a stand of the driving motor is fixed at the upper end of the arm body.
In one embodiment of the robot, the pressing wheel assembly comprises a pressing wheel, an equipotential wheel, a wheel seat, a damping assembly and a baffle assembly, wherein the pressing wheel and the equipotential wheel are respectively arranged at the left side and the right side of the wheel seat, the two ends of a wheel shaft of the pressing wheel and the equipotential wheel are respectively connected with the spring damping assembly, the left end and the right end of the wheel seat are symmetrically provided with the elastic baffle assembly, and a brake block is arranged in the middle of the wheel seat; the wheel seat is connected with the square sliding sleeve.
In one embodiment of the robot, the rotation driving device comprises a worm gear device and a square sleeve, the worm gear device is arranged in the housing, a wheel shaft of the worm gear extends out, one end of the worm gear is vertically connected with the square sleeve, the other end of the worm gear is connected with the bearing, the bearing is externally connected with the end cover, the end cover is fixed on the housing, and the worm gear is connected with a motor to drive the worm gear to rotate, and the wheel shaft of the worm gear drives the arm body to rotate on a vertical surface through the square sleeve; the housing is connected with a mounting frame.
In one embodiment of the robot, the clamping jaw device comprises a hanging frame, a screw rod, a sliding block, a lower synchronizing wheel and a clamping jaw assembly, wherein the hanging frame is horizontally arranged, the screw rod is vertically connected to the center position of the hanging frame, the sliding block is connected to the screw rod, the lower synchronizing wheel is connected to the lower end of the screw rod, the clamping jaw comprises a sliding block seat, a connecting rod arm and a clamping jaw, the sliding block seat is sleeved outside the sliding block, the two sides of the sliding block seat are symmetrically hinged with the connecting rod arm, and the tail end of the connecting rod arm is hinged with the clamping jaw;
in one embodiment of the robot, the driving device further comprises a driving device, the driving device comprises a servo motor and an upper synchronizing wheel connected with an output shaft at the upper end of the servo motor, the servo motor is fixed on the hanging frame, the upper end of a screw rod of the clamping jaw device penetrates through the hanging frame and then is connected with the upper synchronizing wheel, a synchronous belt is connected between the two upper synchronizing wheels, and a synchronous belt is connected between the lower synchronizing wheels of the two sets of clamping jaw devices.
In one embodiment of the robot, two square tubes are disposed in the inner cavity of the chassis and symmetrically disposed with respect to the central plane of the chassis in the width direction, and the mounting frame and the hanging frame are respectively mounted/fixed through the square tubes.
In one embodiment of the robot, the working arm mounting base includes a base fixed on the square tube and a top base on the top surface of the base, and the inclination angle of the mounting surface of the top base is 45-60 °.
The invention adopts a modularized design, and each module can be separated independently and assembled rapidly when being applied on site, so that the safety and convenience in the field transportation environment can be improved effectively. The robot body is provided with the clamping jaw device, the mechanical arm seat, the aviation connector, the wear-resistant pipe and other reserved interface devices, the tail end platform and the mechanical operation arm can be assembled through the interfaces, the operation type of the power transmission line mobile robot is expanded, and the practicability level of the robot is improved. The robot body adopts the structure of vertical double-compression wheel and the form of walking wheel formation centre gripping transmission line to walk on transmission line, and its damping spring can change the distance between compression wheel and the walking wheel, can the self-adaptation change the interval change between the two wheels when its robot inspection meets the obstacle, makes its robot can be stable effectual stride across obstacles such as damper, suspension clamp, conductor spacer, has improved the efficiency of robot inspection operation. The mechanical arm seat of the robot body can improve the stability of the mechanical arm seat, after the mechanical arm is equipped with different operation ends, the functions of the robot can be expanded, so that the robot can not only carry out line inspection and obstacle surmounting operation, but also carry out maintenance operation tasks of various hardware fittings, and the multifunctional robot is realized.
Drawings
Fig. 1 is a schematic structural view of an embodiment of the present invention.
Fig. 2 is an assembled schematic view of the walking arm module and the chassis module.
Fig. 3 is a schematic diagram of the assembly of the end platform and the electric wringing device.
Fig. 4 is an enlarged schematic view of the walking arm module.
Fig. 5 is a schematic view of the travel arm module with the travel wheel assembly, pinch roller assembly and rotary drive removed.
Fig. 6 is an enlarged schematic view of the pinch roller assembly.
Fig. 7 is a schematic top view of a chassis module (with the chassis top plate removed).
Fig. 8 is an enlarged schematic view of a jaw device of the chassis module.
Fig. 9 is an enlarged schematic view of a mechanical arm mount.
Fig. 10 to 24 are schematic diagrams of the system structure of the robot up-down line and the application process of the robot.
Detailed Description
As shown in fig. 1 to 9, the modular live working robot disclosed in this embodiment mainly includes a walking arm module a, a chassis module B, a terminal platform C, and a mechanical working arm D. The walking arm module A has two groups, and every group includes the arm body A1, elevating gear A2, walking wheel subassembly A3, pinch roller subassembly A4 and rotary drive device A5, and walking wheel subassembly A3 can dismantle the upper end of connecting in the arm body A1, and elevating gear A2 installs on the arm body, and pinch roller subassembly A3 installs on elevating gear A2, and rotary drive device A5 connects in the lower extreme of arm body A1.
The chassis module B comprises a chassis B1, a mechanical operation arm installation seat B2 extending out of a chassis top plate, an aviation plug B3 and a camera installation seat. The rotary driving devices A5 of the two groups of walking arm modules A are respectively detachably connected to two ends of the chassis B1 in the length direction. The chassis module B further comprises clamping jaw devices B4 symmetrically arranged at two ends of the length direction of the inner cavity of the chassis, the upper and lower positions of openable clamping jaws of the clamping jaw devices are adjustable, and a yielding hole is formed in the bottom surface of the chassis corresponding to the positions of the clamping jaws.
The tail end platform C comprises a main body support C1, an embedded quick-change device C2 and an operation tail end C3, wherein a plurality of embedded quick-change devices are respectively connected to the main body support, and each embedded quick-change device is respectively connected with the operation tail end with different functions.
The main body support C1 of the tail end platform C is clamped and fixed through clamping jaws, the number of the embedded quick-change devices C2 is determined according to the required number of operation tail ends, the operation tail ends are required to comprise two clamping type paw devices, pin repair operation tail ends, bolt fastening operation tail ends, foreign matter removal operation tail ends and the like can be configured according to hardware fittings on a routing inspection line.
The mechanical operation arm D is a six-degree-of-freedom arm and can be detachably fixed on the mechanical arm mounting seat B2 through a fastener, and the tail end of the operation can be automatically grabbed and returned to the embedded quick-change device.
Specifically:
The arm body A1 is a square hollow column.
The lifting device A2 is a screw rod sliding block device, a driving motor of the lifting device A2 adopts a direct current servo motor and is fixed at the lower end of the arm body A1, a screw rod A21 is arranged at the central position of the arm body, the lower end of the screw rod A21 is connected with an output shaft of the driving motor through a coupler, and a sliding block travel groove A11 is formed in the side wall of the arm body.
The screw rod sliding block is connected with a square sliding sleeve A21 sleeved outside the arm body, a sliding rail A22 is arranged outside the arm body, and a sliding block matched with the sliding rail is arranged on the inner wall of the square sliding sleeve.
The walking wheel assembly A3 comprises a driving motor and walking wheels driven by the driving motor, a protective cover is arranged above the walking wheels, and a stand of the driving motor is fixed at the upper end of the arm body.
The pinch roller subassembly A4 includes pinch roller A41, wheel seat A42, damper A43, baffle subassembly A44 and brake block A45, and pinch roller A41 divides the left and right sides of locating wheel seat A42, and damper A43 is connected respectively at their shaft both ends, and the left and right sides symmetry of wheel seat is equipped with elasticity baffle subassembly A44, and the centre is equipped with brake block A45.
The wheel seat A42 is connected with the square sliding sleeve A21.
The rotary driving device A5 comprises a worm gear device A51 and a square sleeve A52, the worm gear is arranged in a housing A53, a wheel shaft of the worm gear extends out, one end of the worm gear is vertically connected with the square sleeve A52, the other end of the worm gear is connected with a bearing, the bearing is externally connected with an end cover A54, and the end cover is fixed on the housing A53. The motor connected with the worm wheel works to enable the worm to drive the worm wheel to rotate, and the wheel shaft of the worm wheel drives the arm body A1 to rotate on the vertical surface through the square sleeve A52.
The outer wall of the housing A53 is connected with a mounting frame A55.
Two aluminum square tubes B5 which are symmetrically arranged about the central plane in the width direction of the case are arranged in the inner cavity of the case B1. The two ends of the chassis are provided with pad feet.
The clamping jaw device B4 comprises a hanging bracket B41, a screw rod B42, a sliding block, a lower synchronizing wheel B43 and a clamping jaw assembly, wherein the hanging bracket B41 is horizontally arranged, the screw rod B42 is vertically connected to the central position of the hanging bracket, the sliding block is connected to the screw rod, and the lower synchronizing wheel B43 is connected to the lower end of the screw rod. The clamping jaw assembly comprises a sliding block seat B44, a connecting rod arm B45 and a clamping jaw B46, wherein the sliding block seat B44 is sleeved and fixed outside the sliding block, the two sides of the sliding block seat are symmetrically hinged with the connecting rod arm B45, and the tail end of the connecting rod arm is hinged with the clamping jaw B46.
One clamping jaw device further comprises a driving device, the driving device comprises a servo motor B47 and an upper synchronizing wheel B48 connected with an output shaft at the upper end of the servo motor B47, the servo motor B47 is fixed on a hanging bracket B41, the upper end of a screw rod of the clamping jaw device penetrates through the hanging bracket and then is connected with the upper synchronizing wheel B48, a synchronous belt TBD is connected between the two upper synchronizing wheels, and a synchronous belt TBD is connected between the lower synchronizing wheels of the two sets of clamping jaw devices.
The top surface of left side gallows sets up two risers, and the upper end of riser is fixed in the bottom surface of aluminium side pipe respectively. The top surface of the right hanging bracket is provided with two rectangular sleeves, and the rectangular sleeves are respectively sleeved on the aluminum square pipe B5.
The rotary driving device A5 is sleeved on the aluminum square tube B5 through a mounting frame A55.
The working principle of the clamping jaw device is as follows: the servo motor B47 of the right clamping jaw device works, the screw rod B42 is driven to rotate by a synchronous belt connected with an upper synchronous wheel, a sliding block on the screw rod drives the sliding block seat B44 to move up and down along the screw rod, and the sliding block seat realizes the up-down position change of the inner end of the connecting rod arm B45, so that the clamping jaw B46 rotates around the hinge joint of the clamping jaw B and the connecting rod arm to realize opening and closing.
The two ends of the main body support C1 of the tail end platform C are symmetrically connected with T-shaped plates, and clamping jaws B46 of the clamping jaw device C4 extend out of the bottom surface of the chassis to clamp the wider parts of the T-shaped plates.
The mechanical working arms D are two and are six-degree-of-freedom arms. The working arm mounting seat B2 comprises a base B21 fixed on the aluminum square tube B5 and a top seat B22 on the top surface of the base, and the inclination angle of the mounting surface of the top seat is 45-60 degrees.
As can be seen from fig. 10 to 24, the robot up-and-down line system configured with the robot mainly includes an unmanned plane E, an insulating rope suspension assembly F and an insulating rope winding and unwinding device G.
The insulating rope winding and unwinding device G is an electric winch device and is arranged on the lower side of the main body support C1, and an insulating rope at the lower end of the insulating rope suspension assembly F passes through the chassis module B and is fixed on a winch of the electric winch device G.
Specifically:
unmanned aerial vehicle E is four gyroplanes.
The insulating rope suspension assembly F comprises insulating ropes F1, cross frames F2 and hook assemblies F3, the upper ends of the four insulating ropes are respectively fixed on each rotor wing installation arm of the unmanned aerial vehicle, the middle parts of the insulating ropes are connected through one cross frame, the lower ends of the insulating ropes are connected to the other cross frame, and the hook assemblies F3 are elastically detachably connected to the lower sides of the central positions of the cross frames. The hook component comprises a connecting block F31, a cavity cover F32, a movable pin F33, a spring shaft pin F34, a spring F35, a movable block F36 and a pulley F37, wherein the cavity and the cavity cover F32 are connected with the connecting block, and the movable pin moves up and down along a guide groove on the cavity to separate and lock the connecting block; the pulleys and the movable blocks are positioned on the same horizontal plane and are arranged on two sides of the main body. One side of the bottom end of the hook main body part is an outward-expanding bending plate, and the other side is in a truncated cone shape and is used for being connected with an underlying insulating rope F1. Namely, the locking mechanism is arranged above the hook, and the effective detachment and retrieval of the hook of the unmanned aerial vehicle can be ensured by the extension and retraction of the movable block and the lead on the hook and the locking and separation of the hook and the connecting block.
The electric grinding device comprises a box body G1 and a planetary gear transmission assembly G3 symmetrically driven by a double-output-shaft motor G2 arranged in the box body. The box G1 is fixed in the downside of main part support C1, and planetary gear transmission assembly G3's output shaft is connected respectively and is prevented running line capstan winch G4, prevents running line capstan winch and is fixed in the both ends outer wall of box G1 respectively.
The planetary gear transmission assembly comprises a planetary gear (called three-system planetary gear for short) formed by three identical planetary pinions arranged in a rotating way around a sun gear and a planetary gear (called four-system planetary gear for short) formed by four identical planetary pinions arranged in a rotating way around the sun gear; one end of the third-series planetary gear is connected with the motor, the other end of the third-series planetary gear is connected with the fourth-series planetary gear, and the other end of the fourth-series planetary gear is connected with the rope winding disc.
Guide pipes B6 are symmetrically arranged at two ends of the machine case module B in the length direction, and an insulating rope connected with the lower end of the hook penetrates through the guide pipes and then is fixed on the winch. The guide tube adopts the wear-resisting pipe, and the narrow section end of limbs support C1 both ends T shaped plate sets up the boss that is used for fixed guide tube of location.
In order to facilitate the robot to install the operation terminal and prevent the operation terminal from touching the bottom surface after being assembled, a support frame H is also connected to the lower side of the limb support to protect the operation terminal. In addition, the support frame is convenient for carrying the robot.
According to the structure of the robot, the modules are detachably connected, the on-site assembly is convenient, the on-site insulation rope suspension assembly of the on-site accessible robot on-off line system is detachably connected with the hook assembly, so that the unmanned aerial vehicle can be automatically connected with the hook assembly to realize the suspension of the hook on the target conductor, and after the hook is hung, the unmanned aerial vehicle can be automatically separated from the hook for return.
The steps of the modularized live working robot system when in application are as follows:
1. Modularized robot online
(1) Fixing the upper ends of four insulating ropes of the insulating rope suspension assembly with the unmanned aerial vehicle, and connecting the lower ends of the hooks with another insulating rope for connecting with a winch;
(2) The unmanned aerial vehicle carries an insulating rope suspension assembly to lift off, and the hook is hung on the target guide wire;
(3) Repeating the steps (1) and (2) to hang the second hook on the target conductor;
(4) The ground staff pulls the insulating ropes connected with the two hooks to adjust the distance between the two hooks, so that the distance between the two hooks is consistent with the distance between the two guide pipes on the chassis module, and the two insulating ropes respectively penetrate through the guide pipes and are fixed on corresponding winches;
(5) The double-output shaft motor of the electric winch device works positively, so that the length of an insulating rope connected with the hook is shortened, and the insulating rope is lifted to a specified height with the modularized robot;
(6) The rotation driving device driving arm bodies of the two walking arm modules are deflected by a designated angle;
(7) The double-output shaft motor of the electric grinding device continues to work positively until the lower surface of the travelling wheel at the upper end of the arm body exceeds the designated height of the target wire;
(8) The driving arm bodies of the rotary driving devices of the two walking arm modules are brought back to the vertical state;
(9) The double-output shaft motor of the electric winch device works reversely to enable the wheel groove of the travelling wheel to fall on the target guide line, and the contact condition of the wheel groove of the travelling wheel and the guide line is shot through a camera on the chassis;
(10) The servo motor of the screw rod sliding block device of the walking arm module works, so that the screw rod sliding block drives the pressing wheel assembly to move upwards through the square sliding block until the upper edge of a wheel groove of the pressing wheel is contacted with a target wire, and the modular live working robot finishes the online work at the moment;
(11) The tail ends of the clamping type claws assembled at the tail ends of the two mechanical working arms of the modularized working robot are used for respectively taking down the hooks from the target guide wire, and the double-output-shaft motor of the electric winch device works to shorten the insulating rope connected with the hooks until the bottoms of the hooks are inserted into the guide tubes on the chassis module. The above-described process is shown in fig. 14 to 24.
2. Modular robot live working
(1) The modularized robot is driven by the walking wheel to walk on the target guide line, and the condition of the tool on the guide line is shot by the camera carried at the working tail end of the mechanical working arm;
(2) Determining that a mechanical operation arm is spliced, assembled and taken down from a corresponding embedded quick-change device on the tail end platform according to shooting conditions to operate a corresponding operation tail end;
(3) When the obstacle is surmounted on the guide wire in the walking process, the servo motor of the screw rod sliding block device of the front walking arm module works successively, so that the hold-down wheel of the front walking arm module moves downwards to loosen the guide wire, the front walking wheel and the rear walking wheel walk forwards until the front walking wheel surmount the obstacle, the front hold-down wheel is lifted to reset, and then the hold-down wheel of the rear walking arm module moves downwards to loosen the guide wire, and the guide wire is lifted to reset after surmounting the obstacle;
(4) When the suspension clamp on the lead is used for crossing an obstacle in the walking process, the rear walking arm module is kept on the lead, the front pressing wheel is downwards loosened, the mechanical operation arm clamps the hook of the near-front walking arm module through the tail end of the clamping type paw and hangs the hook on the lead, the front walking wheel is separated from the lead, then the front walking arm module deflects outwards of the lead through the rotary driving device, the rear walking arm module walks on the lead until the front walking arm module passes over the suspension clamp, the front walking arm module is reset to clamp the lead, and the hook is taken down; and then obstacle surmounting is carried out on the rear walking arm module, so that the front and rear walking arm modules avoid the suspension clamp.
3. Modularized robot offline
After inspection and maintenance operation is completed, the mechanical operation arm is hung on the lead through two hooks at the tail end of the clamping type paw, so that the double-output-shaft motor of the electric twisting and grinding device works reversely, the insulating rope connected with the hooks is paid off, and the modularized robot descends and returns gradually along with the paying off of the insulating rope.
In summary, the invention adopts a modularized design, and each module can be separated independently, and can be assembled rapidly when being applied on site, so that the unit weight of the robot in a field transportation environment can be effectively reduced. The robot body is provided with the clamping jaw device, the mechanical arm seat, the aviation connector, the wear-resistant pipe and other reserved interface devices, and the tail end platform can be assembled through the interfaces, so that the operation variety of the power transmission line mobile robot is expanded, and the practicability level of the robot is improved. The robot body adopts the structure of vertical double-compression wheel and the form of walking wheel formation centre gripping transmission line to walk on transmission line, and its damping spring can change the distance between compression wheel and the walking wheel, can the self-adaptation change the interval change between the two wheels when its robot inspection meets the obstacle, makes its robot can be stable effectual stride across obstacles such as damper, suspension clamp, conductor spacer, has improved the efficiency of robot inspection operation.
Can cooperate robot to go up the line system down to adopt unmanned aerial vehicle to hang the couple on the wire, the insulating rope that the couple is connected realizes receiving and releasing through electronic hank grinds the device, receive and releases through insulating rope and realize the lift of robot to realize the autonomous line of going up and down of robot, improved the operating efficiency of robot by a wide margin, reduced personnel and pulled the energy loss of insulating rope. The robot can autonomously change the tail end of the operation according to the operation object on line, the tail end of the operation is not changed by manual work when the robot is not off line, the operation object on line is not single, the operation range, the operation efficiency and the economic benefit of the robot are improved, and the energy consumption of personnel is reduced. The mechanical arm seat of the robot body can improve the stability of the mechanical arm seat, after the mechanical arm is equipped with different operation ends, the functions of the robot can be expanded, so that the robot can not only carry out line inspection and obstacle surmounting operation, but also carry out maintenance operation tasks of various hardware fittings, and the multifunctional robot is realized. The unmanned aerial vehicle hangs the couple on the wire, then realizes the automation of robot through insulating rope winding and unwinding device and goes up, the operating personnel need not to step on the tower also need not to drag the robot of hoist and mount, only controls unmanned aerial vehicle and robot on ground and just can accomplish the technique of going up and down, has effectively improved workman's intensity of labour, has improved live working security. The unmanned aerial vehicle carries a couple online every time, has reduced unmanned aerial vehicle load and has guaranteed that unmanned aerial vehicle can fly steadily, and two insulating ropes can guarantee the stable lift of robot moreover.
Claims (10)
1. A modular live working robot, characterized by: the device mainly comprises a walking arm module, a case module, a tail end platform and a mechanical operation arm;
The walking arm module comprises two groups, each group comprises an arm body, a lifting device, a walking wheel assembly, a compression wheel assembly and a rotary driving device, the walking wheel assembly is detachably connected to the upper end of the arm body, the lifting device is arranged on the arm body, the compression wheel assembly is arranged on the lifting device, and the rotary driving device is connected to the lower end of the arm body;
the chassis module comprises a chassis, a plurality of mounting seats and aviation plugs, wherein the mounting seats and the aviation plugs extend out of a top plate of the chassis, and the mounting seats are respectively used for mounting the operation mechanical arm and the camera;
The rotary driving devices of the two groups of walking arm modules are respectively detachably connected to two ends of the chassis in the length direction;
the chassis module further comprises clamping jaw devices symmetrically arranged at two ends of the length direction of the inner cavity of the chassis, the upper and lower positions of openable clamping jaws of the clamping jaw devices are adjustable, and a yielding hole is formed in the bottom surface of the chassis corresponding to the clamping jaw positions;
the tail end platform comprises a main body support, embedded quick-change devices and operation tail ends, the support frame is connected to the lower side of the main body support, the embedded quick-change devices are respectively connected to the main body support, and each embedded quick-change device is respectively connected with the operation tail ends with different functions;
The main body bracket of the tail end platform is clamped and fixed by the clamping jaw;
the mechanical operation arm is a six-degree-of-freedom arm, and can be detachably fixed on a corresponding mounting seat through a fastener, so that the operation tail end can be automatically grabbed and returned to the embedded quick-change device.
2. The modular live working robot of claim 1 wherein: the lifting device is a screw rod sliding block device, a driving motor of the lifting device adopts a direct-current servo motor and is fixed at the lower end of the arm body, a screw rod is arranged at the central position of the arm body, the lower end of the screw rod is connected with an output shaft of the driving motor through a coupler, and a sliding block travel groove is formed in the side wall of the arm body.
3. The modular live working robot of claim 2 wherein: the screw rod sliding block is connected with a square sliding sleeve sleeved outside the arm body, a sliding rail is arranged outside the arm body, and the inner wall of the square sliding sleeve is provided with a sliding block matched with the sliding rail.
4. A modular live working robot as claimed in claim 3, wherein: the walking wheel assembly comprises a driving motor and a walking wheel driven by the driving motor, a protective cover is arranged above the walking wheel, and a stand of the driving motor is fixed at the upper end of the arm body.
5. The modular live working robot of claim 4 wherein: the compression wheel assembly comprises compression wheels, a wheel seat, a damping assembly and a baffle assembly, wherein the compression wheels are respectively arranged at the left side and the right side of the wheel seat, the two ends of a wheel shaft of the compression wheels are respectively connected with the spring damping assembly, the left end and the right end of the wheel seat are symmetrically provided with the elastic baffle assembly, and a brake block is arranged in the middle of the compression wheels; the wheel seat is connected with the square sliding sleeve.
6. The modular live working robot of claim 2 wherein: the rotary driving device comprises a worm gear device and a square sleeve, the worm gear device is arranged in the housing, the wheel shaft of the worm gear extends out, one end of the worm gear is vertically connected with the square sleeve, the other end of the worm gear is connected with the bearing, the bearing is externally connected with an end cover, the end cover is fixed on the housing, and a motor connected with the worm gear works to drive the worm gear to rotate, and the wheel shaft of the worm gear drives the arm body to rotate on a vertical surface through the square sleeve; the housing is connected with a mounting frame.
7. The modular live working robot of claim 6 wherein: the clamping jaw device comprises a hanging frame, a screw rod, a sliding block, a lower synchronous wheel and a clamping jaw assembly, wherein the hanging frame is horizontally arranged, the screw rod is vertically connected to the central position of the hanging frame, the sliding block is connected to the screw rod, the lower synchronous wheel is connected to the lower end of the screw rod, the clamping jaw comprises a sliding block seat, a connecting rod arm and a clamping jaw, the sliding block seat is sleeved outside the sliding block, the two sides of the sliding block seat are symmetrically hinged with the connecting rod arm, and the tail end of the connecting rod arm is hinged with the clamping jaw.
8. The modular live working robot of claim 7 wherein: one of them clamping jaw device still includes drive arrangement, and drive arrangement includes servo motor and upper end output shaft's last synchronizing wheel, and servo motor is fixed in on the gallows, this clamping jaw device's lead screw upper end passes connect the synchronizing wheel after the gallows, connect the hold-in range between two last synchronizing wheels, connect the hold-in range between the lower synchronizing wheel of two sets of clamping jaw devices.
9. The modular live working robot of claim 7 wherein: two square tubes which are symmetrically arranged on the central surface of the width direction of the case are arranged in the inner cavity of the case, and the mounting rack and the hanging bracket are respectively installed/fixed through the square tubes.
10. The modular live working robot of claim 9 wherein: the mechanical operation arm installation seat comprises a base fixed on the square tube and a top seat on the top surface of the base, and the inclination angle of the installation surface of the top seat is 45-60 degrees.
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| CN202211261558.6A CN115582846B (en) | 2022-10-14 | 2022-10-14 | Modularized live working robot |
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| CN202211261558.6A CN115582846B (en) | 2022-10-14 | 2022-10-14 | Modularized live working robot |
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| CN116073280B (en) * | 2023-04-04 | 2023-06-27 | 辽宁省送变电工程有限公司 | Damper righting processing robot and use method |
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| CN115609601A (en) * | 2022-10-14 | 2023-01-17 | 国网湖南省电力有限公司 | Modularized live working robot system and working method thereof |
| CN115609563A (en) * | 2022-10-14 | 2023-01-17 | 国网湖南省电力有限公司 | Modular live working robot body capable of mounting end platform |
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| CN115588930A (en) * | 2022-10-14 | 2023-01-10 | 国网湖南省电力有限公司 | Modularization live working robot body |
| CN115609601A (en) * | 2022-10-14 | 2023-01-17 | 国网湖南省电力有限公司 | Modularized live working robot system and working method thereof |
| CN115609563A (en) * | 2022-10-14 | 2023-01-17 | 国网湖南省电力有限公司 | Modular live working robot body capable of mounting end platform |
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