CN116352689A - Contact net equipment inspection robot - Google Patents

Contact net equipment inspection robot Download PDF

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Publication number
CN116352689A
CN116352689A CN202211537453.9A CN202211537453A CN116352689A CN 116352689 A CN116352689 A CN 116352689A CN 202211537453 A CN202211537453 A CN 202211537453A CN 116352689 A CN116352689 A CN 116352689A
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CN
China
Prior art keywords
arm
base
rotating
assembly
rotating assembly
Prior art date
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Pending
Application number
CN202211537453.9A
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Chinese (zh)
Inventor
王国志
李荣铎
王喜铄
陶祝同
齐天星
张峰伟
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Southwest Jiaotong University
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Southwest Jiaotong University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Southwest Jiaotong University filed Critical Southwest Jiaotong University
Priority to CN202211537453.9A priority Critical patent/CN116352689A/en
Publication of CN116352689A publication Critical patent/CN116352689A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60M—POWER SUPPLY LINES, AND DEVICES ALONG RAILS, FOR ELECTRICALLY- PROPELLED VEHICLES
    • B60M1/00—Power supply lines for contact with collector on vehicle
    • B60M1/12—Trolley lines; Accessories therefor
    • B60M1/28—Manufacturing or repairing trolley lines
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/025—Arms extensible telescopic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/04—Arms extensible rotatable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • Manufacturing & Machinery (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a contact net equipment inspection robot, which comprises a fixed base and a rotating base arranged on the fixed base, wherein a base rotating assembly is arranged in the rotating base; the rotating base is connected with a big arm, and a big arm rotating assembly is arranged on the rotating base; the large arm is connected with a small arm, the small arm rotating assembly is further arranged on the large arm, a telescopic arm is arranged in the small arm, the extending end of the telescopic arm is connected with an actuator swing arm, the actuator swing arm is provided with a swing arm rotating assembly, and the actuator swing arm is provided with an end actuator; the forearm is also provided with a telescopic arm moving assembly for driving the telescopic arm to move. The invention comprises a base rotating assembly, a large arm rotating assembly, a small arm telescopic assembly and a swing arm rotating assembly, wherein five degrees of freedom can be formed by the base rotating assembly, the large arm rotating assembly, the small arm telescopic assembly and the swing arm rotating assembly, the end effector of the inspection robot is driven to finish corresponding work tasks according to different working conditions, and meanwhile, the position of the end effector can be adjusted in real time according to the parking condition of a vehicle.

Description

Contact net equipment inspection robot
Technical Field
The invention relates to the field of railway transportation, in particular to a contact net equipment inspection robot.
Background
Railway development has undergone a process from the steam age, the internal combustion age to the electrical age, wherein electrified railways play a significant role in the acceleration process. The contact net plays an indispensable role in the electrified railway. The overhead contact system is a special type of power transmission line which is erected along the overhead of a railway line and supplies power to an electric locomotive, and plays a vital role in railway transportation. Therefore, in order to ensure the safety and the rapidness of railway transportation, the running state and related parameters of the overhead contact system must be mastered in time.
According to the railway technical management regulations and the railway passenger special line technical management methods, regular detection and comprehensive inspection of the electrified railway overhead contact system are required to be carried out every three years. The main mode of comprehensive inspection of the contact net at present is also manual inspection, so that the contact net is high in strength, has a certain risk, and has the problems of inaccurate inspection information, inspection dead angles and the like. Therefore, it is necessary to provide a contact net apparatus inspection robot.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a contact net equipment inspection robot.
In order to achieve the aim of the invention, the invention adopts the following technical scheme:
the utility model provides a contact net equipment inspection robot, which comprises a fixed base and a rotating base arranged on the fixed base, wherein a base rotating assembly is arranged in the rotating base; the rotary base is connected with a big arm, and a big arm rotary assembly for driving the big arm to rotate is arranged on the rotary base; the large arm is connected with a small arm, the small arm rotating assembly is further arranged on the large arm, a telescopic arm is arranged in the small arm, the extending end of the telescopic arm is connected with an actuator swing arm, the actuator swing arm is provided with a swing arm rotating assembly, and the actuator swing arm is provided with an end actuator; the forearm is also provided with a telescopic arm moving assembly; the big arm rotating assembly, the small arm rotating assembly and the swing arm rotating assembly are identical in structure.
Further, the rotating assembly comprises a base servo motor, a driving gear arranged on the base servo motor, a transmission gear meshed with the driving gear, a gear shaft for fixing the transmission gear and a first harmonic reducer connected with the gear shaft; the first harmonic reducer is connected with a first absolute encoder, and the first absolute encoder is connected with a first torque sensor; the bottom of the first torque sensor is connected with the fixed base through a flange plate, and the upper end of the first torque sensor is connected with the rotary base through a flange plate; the top of the first torque sensor is connected with a steel wheel of the first harmonic reducer through a rotating shaft, and a gear shaft is connected with a wave generator of the first harmonic reducer.
Further, the large arm rotating assembly comprises a second servo motor, a motor flange plate for installing the second servo motor, a second harmonic reducer connected with the second servo motor, a second absolute encoder connected with the second harmonic reducer and a second torque sensor connected with the second absolute encoder; the second torque sensor is fixedly connected with the rotating base through a flange plate, and the motor flange plate is fixedly connected with the large arm; an output shaft of the second servo motor is connected with a wave generator of the second harmonic reducer, and the second torque sensor is connected with a steel wheel of the second harmonic reducer through a rotating shaft.
Further, the forearm moving assembly comprises a screw rod arranged in the forearm, a screw rod nut arranged on the screw rod, a support end mounting base for mounting the screw rod and a coupler, wherein the coupler is connected with a planetary reducer, and the planetary reducer is connected with a telescopic arm servo motor; the support end mounting base is arranged at the extending end of the small arm, and the fixed end mounting base is arranged at the inserting end of the small arm; the screw rod nut is fixed at the insertion end of the telescopic arm;
further, a plurality of nylon sliding blocks are arranged on the inner side of the extending end of the forearm and the outer side of the inserting end of the forearm.
Further, the two sides of the supporting end mounting base are respectively provided with a small arm guide part, and the two sides of the small arm are respectively provided with a strip-shaped opening matched with the small arm guide parts.
Further, a laser displacement sensor for measuring the moving distance of the screw nut is further arranged on the supporting end mounting base.
Further, the end effector comprises a light source, a binocular camera, a high-definition camera and a shell, wherein the light source, the binocular camera and the high-definition camera are fixedly installed on the shell through bolts.
Further, a U-shaped bracket is arranged outside the shell and is arranged on an actuator swing arm, a horizontal plane rotating motor for driving the U-shaped bracket is arranged on the actuator swing arm, and the U-shaped bracket is arranged on an output shaft of the horizontal plane rotating motor; the shell is hinged and fixed on the U-shaped bracket, and a vertical surface rotating motor for driving the shell to rotate is further arranged on the outer side of the U-shaped bracket.
The beneficial effects of the invention are as follows:
1. the invention comprises a fixed base, a rotating base, a base rotating assembly, a big arm rotating assembly, a small arm rotating assembly, a telescopic arm moving assembly, an actuator swing arm, a swing arm rotating assembly and an end actuator; the base rotating assembly drives the rotating base to rotate 360 degrees on the fixed base; the large arm rotating assembly drives the large arm to rotate in a certain angle range on the rotating base; the small arm rotating assembly drives the small arm to rotate in a certain angle range on the large arm; the telescopic arm moving assembly drives the telescopic arm to stretch in the forearm, so that the shooting range of the end effector on the swing arm of the effector is enlarged; the swing arm rotating assembly drives the actuator swing arm to rotate, so that the shooting range of the end effector is further enlarged.
2. The invention comprises a base rotating assembly, a large arm rotating assembly, a small arm telescopic assembly and a swing arm rotating assembly, wherein five degrees of freedom can be formed by the base rotating assembly, the large arm rotating assembly, the small arm telescopic assembly and the swing arm rotating assembly, the end effector of the inspection robot is driven to finish corresponding work tasks according to different working conditions, and meanwhile, the position of the end effector can be adjusted in real time according to the parking condition of a vehicle.
3. The five-degree-of-freedom inspection robot can realize multi-position, multi-angle and close-distance inspection, ensures comprehensive, reliable and safe inspection, has the characteristics of simple structure, flexible action, large working space, convenient maintenance and the like, has higher inspection efficiency and inspection quality, reduces the working intensity of workers, and saves time and cost.
4. Because the overhead line system is higher and needs to be photographed at a short distance, the robot needs to have a large arm length, but the large arm length can reduce the flexibility of the robot, and meanwhile the mass of the body is increased. The telescopic five-seven-degree-of-freedom robot has the advantages of large working range, small volume, full coverage of photographing range, diversified photographing angles, flexible movement and the like, and can greatly improve the efficiency and quality of contact net inspection.
Drawings
FIG. 1 is a schematic diagram of the overall outline structure of the present invention;
FIG. 2 is a schematic view of a base rotating assembly according to the present invention;
FIG. 3 is a schematic view of a large arm rotating assembly according to the present invention;
FIG. 4 is a schematic view of the structure of the forearm in the invention;
FIG. 5 is a schematic view of a telescopic arm moving assembly according to the present invention;
FIG. 6 is a schematic view of an end effector according to the present invention;
FIG. 7 is a flow chart of an inspection method of the present invention;
wherein the symbols of the components are as follows;
1. a fixed base; 2. rotating the base;
3. a base rotation assembly; 31. a base servo motor; 32. a drive gear; 33. a transmission gear; 34. a gear shaft; 35. a first harmonic reducer; 36. a first absolute encoder; 37. a first torque sensor;
4. a large arm rotating assembly; 41. a swing arm servo motor; 42. a motor flange; 43. a second harmonic reducer; 45. a second absolute encoder; 46. a second torque sensor;
5. a large arm; 6. a forearm rotation assembly; 7. a forearm;
8. a telescoping arm movement assembly; 81. a nylon slide block; 82. a screw rod; 83. a screw nut; 84. a coupling; 85. a telescopic arm servo motor; 86. a supporting end mounting base; 87. a laser displacement sensor; 88. a fixed end mounting base; 89. a planetary reducer;
9. a telescoping arm; 10. a swing arm rotation assembly; 11. an actuator swing arm;
12. an end effector; 121. a housing; 122. a light source; 123. a binocular camera; 124. a high definition camera; 125. a horizontal plane rotation motor; 126. a vertical surface rotating motor; 127. u-shaped support.
Detailed Description
The following description of the embodiments of the present invention is provided to facilitate understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and all the inventions which make use of the inventive concept are protected by the spirit and scope of the present invention as defined and defined in the appended claims to those skilled in the art.
As shown in fig. 1, the inspection robot for the contact network equipment comprises a fixed base 1 and a rotating base 2 arranged on the fixed base 1, wherein a base rotating assembly 3 is arranged in the rotating base 2. The rotating base 2 is connected with a big arm 5, and the rotating base 2 is provided with a big arm rotating assembly 4 for driving the big arm 5 to rotate. The big arm 5 is connected with the forearm 7, still is provided with the forearm rotating assembly 6 of drive forearm 7 pivoted on the big arm 5, installs flexible arm 9 in the forearm 7, and the extension end of flexible arm 9 is connected with executor swing arm 11, is provided with the rotatory swing arm rotating assembly 10 of drive executor swing arm 11 pivoted on the executor swing arm 11, is provided with end effector 12 on the executor swing arm 11. The forearm 7 is also provided with a telescopic arm moving assembly 8 which drives a telescopic arm 9 to move. The big arm rotating assembly 4, the small arm rotating assembly 6 and the swing arm rotating assembly 10 are identical in structure.
As shown in fig. 2, the rotating assembly 3 includes a base servomotor 31, a drive gear 32 mounted on the base servomotor 31, a transmission gear 33 meshed with the drive gear 32, a gear shaft 34 fixing the transmission gear 33, and a first harmonic reducer 35 connected to the gear shaft 34. The first harmonic reducer 35 is connected to a first absolute encoder 36, and the first absolute encoder 36 is connected to a first torque sensor 37. The bottom of the first torque sensor 37 is connected with the fixed base 1 through a flange, and the upper end of the first torque sensor 37 is connected with the rotating base 2 through a flange. The top of the first torque sensor 37 is connected with a steel wheel of the first harmonic reducer 35 through a rotating shaft, and the gear shaft 34 is connected with a wave generator of the first harmonic reducer 35.
As shown in fig. 3, the boom rotation unit 4 includes a second servo motor 41, a motor flange 42 to which the second servo motor 41 is mounted, a second harmonic reducer 43 connected to the second servo motor 41, a second absolute encoder 45 connected to the second harmonic reducer 43, and a second torque sensor 46 connected to the second absolute encoder 45. The second torque sensor 46 is fixedly connected with the rotating base 2 through a flange plate, and the motor flange plate 42 is fixedly connected with the large arm 5. An output shaft of the second servo motor 41 is connected with a wave generator of the second harmonic reducer 43, and the second torque sensor 46 is connected with a steel wheel of the second harmonic reducer 43 through a rotating shaft.
As shown in fig. 4 and 5, the arm moving assembly 8 includes a screw 82 installed in the arm 7 and a screw nut 83 installed on the screw 82, and a support end installation base 86 and a coupling 84 to which the screw 82 is installed, the coupling 84 being connected with a planetary reducer 89, and the planetary reducer being connected with a telescopic arm servo motor 85. The support end mounting base 86 is mounted on the extension end of the forearm 7, and the fixed end mounting base 88 is mounted on the insertion end of the forearm 7. A lead screw nut 83 is fixed to the insertion end of the telescopic arm 9. The base servo motor 31 and the swing arm servo motor 41 are also provided with a brake, the moment output by the output shaft of the motor is used for the movement of a joint, and the other end of the joint is a flange connection end for driving connection. A plurality of nylon sliding blocks 81 are arranged on the inner side of the extending end of the small arm 7 and the outer side of the inserting end of the small arm 7. The two sides of the support end mounting base 86 are also respectively provided with a small arm guide part, and the two sides of the small arm 7 are also respectively provided with a strip-shaped opening matched with the small arm guide part. The support end mounting base 86 is further provided with a laser displacement sensor 87 for measuring the moving distance of the lead screw nut 83.
As shown in fig. 6, the end effector 12 includes a light source 122, a binocular camera 123, a high definition camera 124, and a housing, and the light source 122, the binocular camera 123, and the high definition camera 124 are fixedly mounted on the housing 121 by bolts.
The outer part of the shell 121 is also provided with a U-shaped bracket 127, the U-shaped bracket is installed on the actuator swing arm 11, the actuator swing arm 11 is provided with a horizontal plane rotation motor 125 for driving the U-shaped bracket 127, and the U-shaped bracket 127 is installed on an output shaft of the horizontal plane rotation motor 125. The housing 121 is hinged and fixed on a U-shaped bracket 127, and a vertical surface rotation motor 126 for driving the housing 121 to rotate is further arranged on the outer side of the U-shaped bracket 127.
The corresponding connection parts of the rotating assembly 3, the big arm rotating assembly 4, the small arm rotating assembly 6, the small arm moving assembly 8 and the swing arm rotating assembly 10 are respectively provided with a protection sealing device by adopting sealing rings.
The first and second harmonic reducers 35, 43 are preferably Laifu harmonic LSS-40, the first and second torque sensors 37, 46 are preferably torque sensors Target DTDR-F, and the first and second absolute encoders 36, 45 are preferably encoders Sanchen sensor SE206T60.
The invention comprises a fixed base 1, a rotary base 2, a base rotary component 3, a big arm 5, a big arm rotary component 4, a small arm 7, a small arm rotary component 6, a telescopic arm 9, a telescopic arm moving component 8, an actuator swing arm 11, a swing arm rotary component 10 and an end effector 12. The base rotating component 3 drives the rotating base 2 to rotate 360 degrees on the fixed base 1. The large arm rotating assembly 4 drives the large arm 5 to rotate in a certain angle range on the rotating base 2. The forearm rotating assembly 6 drives the forearm 7 to rotate in a certain angle range on the big arm 5. The telescopic arm moving assembly 8 drives the telescopic arm 9 to stretch and retract in the forearm 7, so that the shooting range of the end effector 12 on the effector swing arm 11 is enlarged. The swing arm rotating assembly 10 drives the actuator swing arm 11 to rotate, so that the shooting range of the end effector 12 is further enlarged. The horizontal plane rotating motor 125 and the vertical plane rotating motor 126 of the end effector 12 are further used for compensating and adjusting the angle and the position of the end effector 12 after the position is changed, so that the binocular camera 123, the high-definition camera 124 and the light source 122 on the end effector 12 are matched, and an inspection photo or video information of a proper angle of the contact net equipment is taken, so that the running state and related parameters of the contact net can be mastered in time later
The working principle of the invention is as follows:
the inspection robot is divided into two working states, an operation state and a working state.
And in the running state, the inspection robot is completely retracted and locked into the limit of the train vehicle and runs on the train.
During working state, the inspection robot base rotating group 3, the big arm rotating assembly 4, the small arm rotating assembly 6 and the telescopic arm moving assembly 8 send the end effector to the appointed position, in the running process, obstacle avoidance planning is carried out, the swing arm rotating assembly 10, the horizontal plane rotating motor 125 and the vertical plane rotating motor 126 adjust shooting angles, distance adjustment can be carried out according to information fed back by the binocular camera, so that the optimal shooting effect is achieved, whether the contact net equipment generates defects is determined according to shot photos, and timely maintenance and replacement are carried out.
The inspection method of the contact net equipment inspection robot of the invention, as shown in fig. 7, specifically comprises the following steps:
s1, a distance value between a stop position of a contact net operation vehicle and a horizontal position of the contact net is a horizontal target distance signal, and a distance value between a robot fixed base (1) and a vertical position of the contact net is a vertical target distance signal;
s2, a binocular camera (123) sends a horizontal distance between the inspection robot and the overhead line system and a vertical distance between the robot fixing base (1) and the overhead line system, and sends the horizontal distance and the vertical distance as distance input signals to a servo control module, wherein the base servo motor 31, the swing arm servo motor 41, the telescopic arm servo motor 85, the horizontal plane rotating motor 125 and the vertical plane rotating motor 126 are not controlled;
s3, the servo control module compares the input distance signal of the binocular camera (123) with the target distance signal to obtain a signal transmission difference value, generates a control quantity based on the signal transmission difference value and sends a command to the servo drive module, so that the base servo motor 31, the swing arm servo motor 41, the telescopic arm servo motor 85, the horizontal plane rotation motor 125 and the vertical plane rotation motor 126 obtain position or angle adjustment data;
and S4, controlling each joint of the inspection robot to move by a servo driving module according to a control command, and respectively driving the rotary base 2, the large arm 5, the small arm 7, the telescopic arm 9 and the actuator swing arm 11 to rotate through the base rotary assembly 3, the large arm rotary assembly 4, the small arm rotary assembly 6, the telescopic arm moving assembly 8 and the swing arm rotary assembly 10, so that the end effector 12 moves a specified distance, and the specified distance can be used for setting a shooting optimal distance H.

Claims (9)

1. The contact net equipment inspection robot is characterized by comprising a fixed base (1) and a rotating base (2) arranged on the fixed base (1), wherein a base rotating assembly (3) is arranged in the rotating base (2); the rotary base (2) is connected with a big arm (5), and the rotary base (2) is provided with a big arm rotary assembly (4); the large arm (5) is connected with a small arm (7), the small arm rotating assembly (6) is further arranged on the large arm (5), a telescopic arm (9) is arranged in the small arm (7), an actuator swing arm (11) is connected to the extending end of the telescopic arm (9), a swing arm rotating assembly (10) is arranged on the actuator swing arm (11), and an end effector (12) is arranged on the actuator swing arm (11); the small arm (7) is also provided with a telescopic arm moving assembly (8) for driving the telescopic arm (9) to move; the big arm rotating assembly (4), the small arm rotating assembly (6) and the swing arm rotating assembly (10) are identical in structure.
2. The overhead line equipment inspection robot according to claim 1, wherein the rotating assembly (3) comprises a base servo motor (31), a driving gear (32) mounted on the base servo motor (31), a transmission gear (33) meshed with the driving gear (32), a gear shaft (34) for fixing the transmission gear (33), and a first harmonic reducer (35) connected with the gear shaft (34); the first harmonic reducer (35) is connected with a first absolute encoder (36), and the first absolute encoder (36) is connected with a first torque sensor (37); the bottom of the first torque sensor (37) is connected with the fixed base (1) through a flange plate, and the upper end of the first torque sensor (37) is connected with the rotating base (2) through a flange plate; the top of the first torque sensor (37) is connected with a steel wheel of the first harmonic reducer (35) through a rotating shaft, and the gear shaft (34) is connected with a wave generator of the first harmonic reducer (35).
3. The overhead line equipment inspection robot according to claim 1, wherein the boom rotation assembly (4) comprises a second servo motor (41), a motor flange (42) for mounting the second servo motor (41), a second harmonic reducer (43) connected with the second servo motor (41), a second absolute encoder (45) connected with the second harmonic reducer (43), and a second torque sensor (46) connected with the second absolute encoder (45); the second torque sensor (46) is fixedly connected with the rotating base (2) through a flange plate, and the motor flange plate (42) is fixedly connected with the large arm (5); the output shaft of the second servo motor (41) is connected with the wave generator of the second harmonic reducer (43), and the second torque sensor (46) is connected with the steel wheel of the second harmonic reducer (43) through a rotating shaft.
4. The overhead line equipment inspection robot according to claim 1, wherein the small arm moving assembly (8) comprises a screw rod (82) installed in the small arm (7) and a screw nut (83) installed on the screw rod (82), and a support end installation base (86) and a coupler (84) for installing the screw rod (82), wherein the coupler (84) is connected with a planetary reducer (89), and the planetary reducer is connected with a telescopic arm servo motor (85); the support end mounting base (86) is mounted at the extending end of the small arm (7), and the fixed end mounting base (88) is mounted at the inserting end of the small arm (7); the screw nut (83) is fixed at the insertion end of the telescopic arm (9).
5. The overhead line equipment inspection robot according to claim 4, wherein a plurality of nylon sliders (81) are provided on the inner side of the protruding end of the arm (7) and the outer side of the inserting end of the arm (7).
6. The overhead line equipment inspection robot according to claim 4, wherein the two sides of the support end mounting base (86) are further provided with a small arm guide portion, respectively, and the two sides of the small arm (7) are further provided with a bar-shaped opening matched with the small arm guide portion, respectively.
7. The overhead line equipment inspection robot according to claim 4, wherein a laser displacement sensor (87) for measuring a moving distance of the lead screw nut (83) is further provided on the support end mounting base (86).
8. The overhead line system equipment inspection robot according to claim 1, wherein the end effector (12) comprises a light source (122), a binocular camera (123), a high-definition camera (124) and a housing, and the light source (122), the binocular camera (123) and the high-definition camera (124) are fixedly mounted on the housing (121) through bolts.
9. The overhead line equipment inspection robot according to claim 8, wherein a U-shaped bracket (127) is further provided outside the housing (121), the U-shaped bracket is mounted on the actuator swing arm (11), a horizontal plane rotation motor (125) for driving the U-shaped bracket (127) is provided on the actuator swing arm (11), and the U-shaped bracket (127) is mounted on an output shaft of the horizontal plane rotation motor (125); the shell (121) is hinged and fixed on the U-shaped support (127), and a vertical surface rotating motor (126) for driving the shell (121) to rotate is further arranged on the outer side of the U-shaped support (127).
CN202211537453.9A 2022-12-02 2022-12-02 Contact net equipment inspection robot Pending CN116352689A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202211537453.9A CN116352689A (en) 2022-12-02 2022-12-02 Contact net equipment inspection robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202211537453.9A CN116352689A (en) 2022-12-02 2022-12-02 Contact net equipment inspection robot

Publications (1)

Publication Number Publication Date
CN116352689A true CN116352689A (en) 2023-06-30

Family

ID=86915250

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202211537453.9A Pending CN116352689A (en) 2022-12-02 2022-12-02 Contact net equipment inspection robot

Country Status (1)

Country Link
CN (1) CN116352689A (en)

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