CN201853971U - Mobile robot suitable for inspection for large-span power transmission lines - Google Patents

Mobile robot suitable for inspection for large-span power transmission lines Download PDF

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Publication number
CN201853971U
CN201853971U CN2010206088808U CN201020608880U CN201853971U CN 201853971 U CN201853971 U CN 201853971U CN 2010206088808 U CN2010206088808 U CN 2010206088808U CN 201020608880 U CN201020608880 U CN 201020608880U CN 201853971 U CN201853971 U CN 201853971U
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CN
China
Prior art keywords
pawl
arm
transmission line
mobile robot
power transmission
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Expired - Lifetime
Application number
CN2010206088808U
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Chinese (zh)
Inventor
王洪光
凌烈
何立波
孙鹏
杨树权
张宏志
盛天宇
王飞
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Maintenance Branch, Liaoning Power Co.,Ltd.
State Grid Corp of China SGCC
Shenyang Institute of Automation of CAS
Original Assignee
NEG JINZHOU ULTRA HIGH VOLTAGE BUREAU
Shenyang Institute of Automation of CAS
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Application filed by NEG JINZHOU ULTRA HIGH VOLTAGE BUREAU, Shenyang Institute of Automation of CAS filed Critical NEG JINZHOU ULTRA HIGH VOLTAGE BUREAU
Priority to CN2010206088808U priority Critical patent/CN201853971U/en
Application granted granted Critical
Publication of CN201853971U publication Critical patent/CN201853971U/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Abstract

The utility model relates to a mobile robot mechanism, in particular to a mobile robot suitable for inspection for large-span power transmission lines. The mobile robot comprises a front upper arm, a rear upper arm, a front lower arm, a rear lower arm and an electric device box, one end of the front lower arm and one end of the rear lower arm are respectively mounted on the electric device box, the other end of the front lower arm and the other end of the rear lower arm are rotationally connected with one end of the front upper arm and one end of the rear upper arm through a front rotating mechanism and a rear rotating mechanism, and the other end of the front upper arm and the other end of the rear upper arm are provided with a travel mechanism running on a power transmission line and a clamping mechanism for clamping the power transmission line. The front rotating mechanism and the rear rotating mechanism share the same structure and respectively comprise a rotating pair and springs, one end of each of the two upper arms of the mobile robot is rotationally connected with the other end of each of the two lower arms of the mobile rotor through the rotating pair, and the springs for driving the upper arms to rotate to reset are arranged among the upper arms and the lower arms of the mobile robot. The mobile robot has the advantages of large climbing angle, fine line release prevention and safety protection, short obstacle clearing time, simple obstacle clearing process, fault releasing function, wider applicable range and the like.

Description

Be applicable to the mobile robot of big span polling transmission line
Technical field
The utility model relates to mobile robot mechanism, specifically a kind of mobile robot who is applicable to big span polling transmission line.
Background technology
Transmission line is the very important part of electric power system, safely and steadily runs in order to guarantee it, need regularly carry out walkaround inspection.The method that the current power transmission line data-logging adopts mainly contains manual inspection and helicopter is patrolled and examined.The efficient of manual inspection is low, and labour intensity is big, and is dangerous high; The cost height that helicopter is patrolled and examined is patrolled and examined quality and is subject to climatic effect.Therefore, need development can carry communication and the robot that patrols and examines instrument replaces manually transmission line being patrolled and examined automatically,, guarantee the safe operation of transmission line to raise the efficiency.In existing EHV transmission line patrol robot mechanism, the most of employing by the wheeled mobile composite moving mechanism that combines with composite rod mechanism (referring to document 1:Jun Sawada, Kazuyuki Kusumoto, Tadashi Munakata, Yasuhisa Maikawa, Yoshinobu Ishikawa, " A Mobile Robot For Inspection of Power Transmission Lines ", IEEE Trans. Power Delivery, 1991, Vol.6, No.1:pp..309-315; Document 2:Mineo Higuchi, Yoichiro Maeda, Sadahiro Tsutani, Shiro Hagihara, " Development of a Mobile Inspection Robot for Power Transmission Lines ", J. of the Robotics Society of Japan, Japan, Vol. 9, No. 4, pp. 457-463,1991), (the document 3:Shin-ichi Aoshima of multiple degrees of freedom travel mechanism that perhaps adopts many group mobile units to be composed in series, Takeshi Tsujimura, Tetsuro Yabuta, " A Wire Mobile Robot with Multi-unit Structure ", IEEE/RSJ Intermational Workshop on Intelligent Robots and Systems ' 89, Sep. 4-6,1989, Tsukuba, Japan, pp. 414-421).Complex structure, the weight of these mechanisms are big, and ramp angle is little, and obstacle detouring process complexity and obstacle detouring time are long, and security protection is poor when walking, and clamp system can't be opened when breaking down, and are not easy to rescue and roll off the production line.
The utility model content
For overcome above-mentioned travel mechanism mechanism structure complexity, weight is big, ramp angle is little, obstacle detouring process complexity and obstacle detouring time are long, clamp system can't be opened when breaking down, be not easy to rescue and roll off the production line and wait deficiency, the purpose of this utility model is to provide a kind of mobile robot who is applicable to big span polling transmission line.This mobile robot is in light weight, ramp angle is big, and the obstacle detouring process is simple and the obstacle detouring time is short, has good safety protection function during walking, and clamp system can unclamp power transmission line when breaking down.
The purpose of this utility model is achieved through the following technical solutions
The utility model comprises preceding upper arm, preceding underarm, electrical equipment casing, back underarm and back upper arm, wherein an end of preceding underarm is installed on the electrical equipment casing, one end of the other end and preceding upper arm is rotationally connected by preceding rotating mechanism, and the other end of preceding upper arm is provided with walking mechanism of walking and the clamp system that clamps power transmission line on power transmission line; One end of back underarm is installed on the electrical equipment casing, and the other end is rotationally connected by the back rotating mechanism with an end of back upper arm, and the other end of back upper arm is provided with walking mechanism of walking and the clamp system that clamps power transmission line on power transmission line; Described forward and backward rotating mechanism structure is identical, comprise revolute pair and spring, one end of two upper arm of mobile robot is rotationally connected with the other end of two underarms of mobile robot respectively by revolute pair, is provided with to make upper arm rotate the spring that resets between mobile robot's upper arm and underarm.
Wherein: described revolute pair is the passive rotation joint; Leave the space of limiting preceding upper arm and back upper arm rotational angle between described preceding upper arm and the preceding underarm and between back upper arm and the back underarm respectively; Preceding upper arm is identical with the back upper arm structure, comprise wheel carrier, reel, road wheel, gentle rope, preceding clip and back clip, wherein road wheel is installed on the wheel carrier, drives by movable motor and walk on power transmission line, is respectively equipped with preceding clip and the back clip that is installed on the wheel carrier the forward and backward side of road wheel; Described reel is installed on the wheel carrier, and an end of gentle rope is wrapped on the reel, and the other end is divided into two strands, links to each other with the back clip with preceding clip respectively; Before clip comprise before left pawl, preceding right pawl, elevating arc and back-moving spring, wherein before left pawl and before be respectively equipped with elevating arc on the right pawl, the elevating arc on two pawls is meshed and is installed in rotation on the wheel carrier by gear shaft; Left pawl and preceding right pawl lay respectively at the left and right sides of road wheel before described, one end of preceding left pawl links to each other by back-moving spring with an end of preceding right pawl, the other end of preceding left pawl and the other end of preceding right pawl are respectively equipped with the sleeve that clamps power transmission line, are connected with gentle rope on preceding left pawl or preceding right pawl; The sleeve of the preceding left pawl other end and the sleeve of the preceding right pawl other end are clamped in the below of power transmission line; Described back clip is identical with preceding clip structure, comprises the left pawl in back, the right pawl in back, elevating arc and back-moving spring, wherein the left pawl in back and after be respectively equipped with elevating arc on the right pawl, the elevating arc on two pawls is meshed and is installed in rotation on the wheel carrier by gear shaft; The right pawl of described left pawl in back and back lays respectively at the left and right sides of road wheel, one end of the left pawl in back links to each other by back-moving spring with an end of the right pawl in back, the other end of the left pawl in back is respectively equipped with the sleeve that clamps power transmission line with the other end of the right pawl in back, is connected with gentle rope on the right pawl of left pawl in back or back; The sleeve of the right pawl other end of the sleeve of the left pawl other end in back and back is clamped in the below of power transmission line; Described reel is by being installed in the reel motor-driven on the wheel carrier, and gentle rope is two, and an end of two gentle ropes is wound on the reel in the same way, and the other end of two gentle ropes links to each other with preceding clip and back clip respectively.
Advantage of the present utility model and good effect are:
1. ramp angle is big.The chucking power that the utility model makes full use of road wheel front and back clip increases the normal pressure of road wheel and power transmission line, thereby increases frictional force, is easy to climb the more gradient of wide-angle, maximum climbing circuit angle 45 o
2. anti-off-line, security protection is good.The utility model in the process of walking; four clips in the forward and backward upper arm are clamped line from the below of power transmission line; also there are two clips to clamp power transmission line during obstacle detouring; the jaw of clip and road wheel form enclosed construction; make the mobile robot in walking and obstacle detouring process, prevent that mobile robot's road wheel from deviating from from power transmission line, play the safeguard protection effect.
3. obstacle detouring time weak point and obstacle detouring process are simple.The mode that the utility model adopts road wheel directly to open barrier is come leaping over obstacles, and the obstacle detouring action is simple, need not to adjust in addition the attitude of car body, can directly cross over stockbridge damper, aluminium hydraulic pressed connecting pipe on the extra high voltage network.
4. has fault release function.When the utility model mobile robot broke down, under the stretching action of its clip jaw back-moving spring, clip can discharge to be opened, and is convenient to roll off the production line.
5. range of application is wider.The utility model can be used as the crusing robot travel mechanism of ultra-high-tension power transmission line and telephone line.
Description of drawings
Fig. 1 is a structural representation of the present utility model;
Fig. 2 is the structural representation of preceding (back) upper arm among Fig. 1;
Fig. 3 a is one of the structural representation of preceding (back) rotating mechanism among Fig. 1 (front view);
Fig. 3 b is two (rearviews) of the structural representation of preceding (back) rotating mechanism among Fig. 1;
Fig. 3 c is three (end views) of the structural representation of preceding (back) rotating mechanism among Fig. 1;
Fig. 4 a be among Fig. 1 before the structural representation (clamped condition) of clamp system in (back) upper arm;
Fig. 4 b be among Fig. 1 before the structural representation (release open mode) of clamp system in (back) upper arm;
Fig. 5 is an obstacle environment schematic diagram;
Wherein: 1 is preceding upper arm, and 2 is preceding underarm, and 3 is the electrical equipment casing, and 4 is the back underarm, and 5 is the back upper arm, 6 is video camera, and 7 is preceding rotating mechanism, and 8 is the back rotating mechanism, and 9 is wheel carrier, and 10 is reel, 11 is road wheel, and 12 is preceding left pawl, and 13 is preceding right pawl, and 14 is elevating arc, and 15 is back-moving spring, 16 are gentle rope, and 17 is the left pawl in back, and 18 is the right pawl in back, and 19 is sleeve, 20 is revolute pair, and 21 is spring, and 22 is preceding clip, and 23 is the back clip, 24 is power transmission line, and 25 is aluminium hydraulic pressed connecting pipe, and 26 is stockbridge damper, and 27 is shaft tower.
Embodiment
The utility model is described in further detail below in conjunction with accompanying drawing.
As shown in Figure 1, the utility model comprises preceding upper arm 1, preceding underarm 2, electrical equipment casing 3, back underarm 4 and back upper arm 5, one end (lower end) of preceding underarm 2 is fixed in the upper surface of electrical equipment casing 3, the other end (upper end) is rotationally connected by preceding rotating mechanism 7 with an end (lower end) of preceding upper arm 1, and the other end of preceding upper arm 1 (upper end) is provided with the walking mechanism of walking on power transmission line 24 and clamps the clamp system of power transmission line 24; One end (lower end) of back underarm 4 is fixed in the upper surface of electrical equipment casing 3, the other end (upper end) is rotationally connected by back rotating mechanism 8 with an end (lower end) of back upper arm 5, and the other end of back upper arm 5 (upper end) is provided with the walking mechanism of walking on power transmission line 24 and clamps the clamp system of power transmission line 24.Lower surface at electrical equipment casing 3 is connected with video camera 6.
As shown in Figure 2, upper arm 1 is identical with back upper arm 5 structures before of the present utility model, comprise wheel carrier 9, reel 10, road wheel 11, gentle rope 16, preceding clip 22 and back clip 23, wherein road wheel 11 is installed in rotation on the wheel carrier 9 by live axle, and drives walking on power transmission line 24 by the movable motor that is installed in equally on the wheel carrier 9; Forward and backward side at road wheel 11 direction of travel is respectively equipped with preceding clip 22 and the back clip 23 that is installed on the wheel carrier 9; Described reel 10 is installed on the wheel carrier 9, and by being installed in the reel motor-driven on the wheel carrier 9, an end of gentle rope 16 is wrapped on the reel 10, and the other end is divided into two strands, links to each other with back clip 23 with preceding clip 22 respectively.Gentle rope 16 also can be two, and an end of two gentle ropes is wound on the reel 10 in the same way, and the other end of two gentle ropes links to each other with preceding clip 22 and back clip 23 respectively again.Reel motor-driven reel rotates, rolling-in or unclamp gentle rope 16, thus the jaw in (back) clip before the pulling makes clamp or unclamps power transmission line 24, the effect of playing clamping or unclamping.
Shown in Fig. 4 a, Fig. 4 b, left pawl 12, preceding right pawl 13, elevating arc 14 and back-moving spring 15 before preceding clip 22 comprises, be respectively equipped with elevating arc 14 on left pawl 12 and the preceding right pawl 13 wherein, preceding left pawl 12 and preceding right pawl 13 are installed in rotation on the wheel carrier 9 by the gear shaft of elevating arc respectively; Elevating arc 14 is a prior art, before promptly left pawl 12 and before right pawl 13 relative sides partly be shaped on tooth, the part that is shaped on tooth is fan-shaped, the elevating arc on two pawls is meshed.Preceding left pawl 12 and preceding right pawl 13 lay respectively at the left and right sides of road wheel 11, one end of preceding left pawl 12 links to each other by back-moving spring 15 with an end of preceding right pawl 13, the other end of preceding left pawl 12 and the other end of preceding right pawl 13 are respectively equipped with the sleeve 19 that clamps power transmission line 24, and the sleeve of the sleeve of preceding left pawl 12 other ends and preceding right pawl 13 other ends is clamped in the below of power transmission line 24.Gentle rope 16 can be connected on preceding left pawl 12 or the preceding right pawl 13.
Back clip 23 is identical with preceding clip 22 structures, comprise the left pawl 17 in back, the right pawl 18 in back, elevating arc 14 and back-moving spring 15, wherein be respectively equipped with elevating arc 14 on the right pawl 18 of left pawl 17 in back and back, the right pawl 18 of left pawl 17 in back and back is installed in rotation on the wheel carrier 9 by the gear shaft of elevating arc respectively.The right pawl 18 of left pawl 17 in back and back lays respectively at the left and right sides of road wheel 11, one end of the left pawl 17 in back links to each other by back-moving spring 15 with an end of the right pawl 18 in back, the other end of the left pawl 17 in back is respectively equipped with the sleeve 19 that clamps power transmission line 24 with the other end of the right pawl 18 in back, the sleeve of right pawl 18 other ends of the sleeve of left pawl 17 other ends in back and back is clamped in the below of power transmission line 24, can increase the normal pressure of road wheel 11 and power transmission line 24, help climbing the wide-angle circuit.Gentle rope 16 can be connected on the right pawl 18 of left pawl 17 in back or back.When breaking down, preceding (back) clip 22(23) under the effect of back-moving spring 15, can open automatically, be convenient to rescue, have fault release function.
Shown in Fig. 3 a~3c, forward and backward rotating mechanism 7,8 structures of the present utility model are identical, comprise revolute pair 20 and spring 21, and revolute pair 20 can be hinge; The lower end of the wheel carrier 9 in the preceding upper arm 1 and an end (upper end) of preceding underarm 2 are rotationally connected by revolute pair 20, between wheel carrier 9 lower ends and preceding underarm 2 upper ends, be provided with spring 21, the quantity of spring 21 is two, and an end is fixed in the lower surface of wheel carrier 9, and the other end is fixed on the preceding underarm 2.Leave the space between the wheel carrier 9 of preceding upper arm 1 and the preceding underarm 2, the rotational angle of upper arm 1 before can limiting.The lower end of the wheel carrier 9 in the back upper arm 5 is rotationally connected by revolute pair 20 with an end (upper end) of back underarm 4, between wheel carrier 9 lower ends and underarm 4 upper ends, back, be provided with spring 21, the quantity of spring 21 is two, and an end is fixed in the lower surface of wheel carrier 9, and the other end is fixed on the underarm 4 of back.Leave the space between the wheel carrier 9 of back upper arm 5 and the back underarm 4, can limit the rotational angle of back upper arm 5.The mobile robot is when crossing over stockbridge damper 26, aluminium hydraulic pressed connecting pipe 25, road wheel 11 is directly crossed over from barriers such as stockbridge damper 26, aluminium hydraulic pressed connecting pipes 25, drive during leap before (back) upper arm 1(5) around preceding (back) rotating mechanism 7(8) and in revolute pair 20 with respect to preceding (back) underarm 2(5) rotation; Behind obstacle, preceding (back) upper arm 1(5) again by preceding (back) rotating mechanism 7(8) in spring 21 effects under set back.Revolute pair 20 of the present utility model is the passive rotation joint, no motor-driven.
Video camera 6, data transmission/receiving system, image emissions device, controller and power supply are installed on the electrical equipment casing 3 of the present utility model, and the image emissions device all is connected with controller with data transmission/receiving system; Data transmission/the receiving system of crusing robot is under the control of controller, the state information of self is sent to ground base station, and receive the control command that ground base station sends, line facility (shaft tower, power transmission line, gold utensil, the insulator) image that video camera is taken sends to ground base station by the image emissions device under the control of controller.
As shown in Figure 5, be extra high voltage network obstacle environment, the major obstacle thing in a grade on (two shaft tower 27 between) power transmission line 24 is stockbridge damper 26, aluminium hydraulic pressed connecting pipe 25.Because the deadweight on the power transmission line 24 makes power transmission line 24 be the stretched wire shape between shaft tower 27.Mobile apparatus of the present utility model is by the road wheel motor-driven, and 11 direct drive mobile robots advance and across obstacle along the line by road wheel.
Operation principle of the present utility model is:
Walking on power transmission line 24: movable motor work, ground-engaging wheel 11 rotates, and realization road wheel 11 is walked on power transmission line 24.
Clamp/unclamp: the reel machine operation, reel 10 is rotated, drive gentle rope 16 tensions on it, an end of a jaw that spurs forward and backward clip is outside, the other end that jaw has sleeve 19 inwardly rotates around the gear shaft of elevating arc 14, thereby clamps power transmission line 24; The counter-rotating of reel motor drives reel 10 backward rotation, and the gentle rope 16 on it is unclamped, and jaw rotates around elevating arc 14 under the effect of the back-moving spring 15 of one end, gets back to the position of initial opening, thereby realizes unclamping power transmission line 24.
Obstacle detouring: the road wheel 11 in upper arm before the mobile robot 1 runs into stockbridge damper 26, during aluminium hydraulic pressed connecting pipe 25 obstacles such as grade, the preceding clip 22 of preceding upper arm 1 and back clip 23 unclamp, before two road wheels 11 in upper arm 1 and the back upper arm 5 jointly by separately road wheel motor-driven, road wheel 11 before making in the upper arm 1 is directly opened barrier, when the road wheel 11 in the preceding upper arm 1 is gone up obstacle more, preceding upper arm 1 rotates around the revolute pair 20 of preceding rotating mechanism 7, road wheel 11 before making in the upper arm 1 arrives the top of barrier easily more, pass through from the barrier top, after arriving barrier the place ahead, before the preceding upper arm 1, back clip 22,23 clamp again; After surmounting obstacles, two road wheels 11 in preceding upper arm 1 and the back upper arm 5 walk on, and the road wheel 11 in the back upper arm 5 also directly breaks the barriers in the same way.
Fault discharges: when the mobile robot walks on power transmission line 24, and four clamp power transmission lines of forward and backward upper arm.When robot breaks down, reel motor dead electricity, two jaws of clip are opened under the restoring force effect of back-moving spring 15, get back to the position of initial opening, realize fault release function.
Image transmission and demonstration: the front lower place of electric appliance box 3 is equipped with camera 6, when the mobile robot patrols and examines, camera 6 is with the image of the transmission line facility (power transmission line 24, shaft tower 27, gold utensil, insulator and passage etc.) that photographs, wireless image transmitter and antenna by electric appliance box 3 send to ground base station in real time, wireless image receiver and antenna by ground base station receive, after image pick-up card is handled, be transferred to the industrial computer of base station, through industrial computer to image processing after, on the industrial computer display, show the image of taking, and be stored in the hard disk.
Wireless data transmission: respectively carry a wireless data transmission radio station in ground base station and the electric appliance box 3, the ground base station personnel are by the instruction of operation interface input mobile apparatus human action, wireless data transmission radio station by ground base station and the antenna transmission mobile robot to the power transmission line 24, receive by the wireless data transmission radio station on the mobile robot, be sent to the mobile robot control device, the controlling and driving motor rotation immediately of mobile robot control device, corresponding sports is carried out in the joint that the drive mobile robot is correlated with, and has realized the straighforward operation of ground base station to mobile robot mechanism.Mobile robot's state information arrives ground base station by wireless data transmission radio station and the antenna transmission that the mobile robot carries, after the wireless data transmission radio station reception by ground base station, be sent to the ground base station industrial computer, after treatment, on the ground base station display, show, thereby recognize mobile robot's running status at ground base station.
After the mobile robot reached the standard grade, two road wheels 11 in mobile robot's the forward and backward upper arm 1,5 were all on power transmission line 24, and after movable motor powered on, ground-engaging wheel 11 rotated, and the mobile robot is advanced on power transmission line 24 or retreat; When the power transmission line angle was big, reel driven by motor reel 10 rotated, the gentle rope 16 of tension, and the forward and backward clip 22,23 before making in upper arm 1 and the back upper arm 5 clamps power transmission lines 24, increases normal pressure, the power transmission line of the wide-angle of being convenient to creep.
Road wheel 11 before the mobile robot in the upper arm 1 stops when running into stockbridge damper 26, before the preceding upper arm 1, back clip 22,23 open, road wheel 11 in road wheel 11 in the preceding upper arm 1 and the back upper arm 5 drives the mobile robot again and advances, after road wheel 11 in the preceding upper arm 1 is run into stockbridge damper 26, preceding upper arm 1 rotates around the revolute pair 20 of preceding rotating mechanism 7, rotate to an angle, simultaneously under the common drive of the road wheel 11 in road wheel in preceding upper arm 1 11 and the back upper arm 5, road wheel 11 in the preceding upper arm 1 is gone up stockbridge damper 26 more, ride over stockbridge damper 26 tops, after this under the common driving of the road wheel 11 in road wheel in preceding upper arm 1 11 and the back upper arm 5, road wheel 11 in the preceding upper arm 1 passes through from stockbridge damper 26 tops, after arriving the another side of stockbridge damper 26, before the preceding upper arm 1, back clip 22,23 clamps again.Before road wheel 11 in the upper arm 1 and the road wheel 11 in the upper arm 5 of back continue to drive the online walking of mobile robots, the road wheel 11 in the upper arm 5 of back stops when running into stockbridge damper 26, the forward and backward clip 22,23 of back upper arm unclamps; After this, road wheel in the back upper arm 5 11 is crossed over stockbridge dampers 26, and the leap process is identical with road wheel 11 leap processes in the preceding upper arm 1.
The mobile robot crosses over the process and the similar process of crossing over stockbridge damper 26 of aluminium hydraulic pressed connecting pipe 25.
In the process of patrolling and examining, the mobile robot patrols and examines by the 6 pairs of power transmission facilities of camera (power transmission line 24, shaft tower 27, gold utensil, insulator and passage etc.) that carry.The mobile robot sends to ground base station with the transmission line facility image that photographs in real time by wireless image transmitter and antenna in the electric appliance box 3, wireless image receiver and antenna by ground base station receive, after image pick-up card is handled, be transferred to the industrial computer of base station, industrial computer to image processing after, on the industrial computer display, show the image of taking, and be stored in the hard disk.
The ground base station personnel are by the instruction of operation interface input mobile apparatus human action, wireless data transmission radio station by ground base station and the antenna transmission mobile robot to the power transmission line, receive by the wireless data transmission radio station on the mobile robot, be sent to mobile robot's controller, mobile robot's controller is controlled the motor rotation immediately, corresponding sports is carried out in the joint that the drive mobile robot is correlated with, and has realized the straighforward operation of ground base station to mobile robot mechanism.Mobile robot's state information arrives ground base station by wireless data transmission radio station and the antenna transmission that the mobile robot carries, after the wireless data transmission radio station reception by ground base station, be sent to the ground base station industrial computer, after treatment, on the ground base station display, show, thereby recognize mobile robot's running status at ground base station.

Claims (9)

1. mobile robot who is applicable to big span polling transmission line, it is characterized in that: comprise preceding upper arm (1), preceding underarm (2), electrical equipment casing (3), back underarm (4) and back upper arm (5), one end of wherein preceding underarm (2) is installed on the electrical equipment casing (3), one end of the other end and preceding upper arm (1) is rotationally connected by preceding rotating mechanism (7), and the other end of preceding upper arm (1) is provided with at power transmission line (24) and goes up the walking mechanism of walking and the clamp system of clamping power transmission line (24); One end of back underarm (4) is installed on the electrical equipment casing (3), the other end is rotationally connected by back rotating mechanism (8) with an end of back upper arm (5), and the other end of back upper arm (5) is provided with at power transmission line (24) and goes up walking mechanism of walking and the clamp system that clamps power transmission line (24); Described forward and backward rotating mechanism (7,8) structure is identical, comprise revolute pair (20) and spring (21), one end of two upper arm of mobile robot is rotationally connected with the other end of two underarms of mobile robot respectively by revolute pair (20), is provided with to make upper arm rotate the spring (21) that resets between mobile robot's upper arm and underarm.
2. by the described mobile robot who is applicable to big span polling transmission line of claim 1, it is characterized in that: described revolute pair (20) is the passive rotation joint.
3. by the described mobile robot who is applicable to big span polling transmission line of claim 1, it is characterized in that: leave the space of limiting preceding upper arm (1) and back upper arm (5) rotational angle between described preceding upper arm (1) and the preceding underarm (2) and between back upper arm (5) and the back underarm (4) respectively.
4. by the described mobile robot who is applicable to big span polling transmission line of claim 1, it is characterized in that: upper arm (1) is identical with back upper arm (5) structure before described, comprise wheel carrier (9), reel (10), road wheel (11), gentle rope (16), preceding clip (22) and back clip (23), wherein road wheel (11) is installed in wheel carrier (9) and goes up, drives at power transmission line (24) by movable motor and go up walking, is respectively equipped with preceding clip (22) and the back clip (23) that is installed on the wheel carrier (9) the forward and backward side of road wheel (11); Described reel (10) is installed on the wheel carrier (9), and an end of gentle rope (16) is wrapped on the reel (10), and the other end is divided into two strands, links to each other with back clip (23) with preceding clip (22) respectively.
5. by the described mobile robot who is applicable to big span polling transmission line of claim 4, it is characterized in that: left pawl (12), preceding right pawl (13), elevating arc (14) and back-moving spring (15) before clip (22) comprises before described, wherein left pawl (12) and before be respectively equipped with elevating arc (14) on the right pawl (13), the elevating arc on two pawls is meshed and is installed in rotation on the wheel carrier (9) by gear shaft; Left pawl (12) and preceding right pawl (13) lay respectively at the left and right sides of road wheel (11) before described, one end of preceding left pawl (12) links to each other by back-moving spring (15) with an end of preceding right pawl (13), the other end of preceding left pawl (12) and the other end of preceding right pawl (13) are respectively equipped with the sleeve (19) that clamps power transmission line (24), are connected with gentle rope (16) on preceding left pawl (12) or preceding right pawl (13).
6. by the described mobile robot who is applicable to big span polling transmission line of claim 5, it is characterized in that: the sleeve of the sleeve of left pawl (12) other end and preceding right pawl (13) other end is clamped in the below of power transmission line (24) before described.
7. by the described mobile robot who is applicable to big span polling transmission line of claim 4, it is characterized in that: described back clip (23) is identical with preceding clip (22) structure, comprise back left pawl (17), back right pawl (18), elevating arc (14) and back-moving spring (15), wherein be respectively equipped with elevating arc (14) on back left pawl (17) and the back right pawl (18), the elevating arc on two pawls is meshed and is installed in rotation on the wheel carrier (9) by gear shaft; Described back left pawl (17) and the right pawl in back (18) lay respectively at the left and right sides of road wheel (11), one end of the left pawl in back (17) links to each other by back-moving spring (15) with an end of the right pawl in back (18), the other end of the left pawl in back (17) is respectively equipped with the sleeve (19) that clamps power transmission line (24) with the other end of the right pawl in back (18), is connected with gentle rope (16) on back left pawl (17) or the right pawl in back (18).
8. by the described mobile robot who is applicable to big span polling transmission line of claim 7, it is characterized in that: the sleeve of described back left pawl (17) other end and the sleeve of back right pawl (18) other end are clamped in the below of power transmission line (24).
9. by the described mobile robot who is applicable to big span polling transmission line of claim 4, it is characterized in that: described reel (10) is by being installed in the reel motor-driven on the wheel carrier (9), gentle rope (16) is two, one end of two gentle ropes is wound on the reel (10) in the same way, and the other end of two gentle ropes links to each other with preceding clip (22) and back clip (23) respectively.
CN2010206088808U 2010-11-16 2010-11-16 Mobile robot suitable for inspection for large-span power transmission lines Expired - Lifetime CN201853971U (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102468621A (en) * 2010-11-16 2012-05-23 中国科学院沈阳自动化研究所 Mobile robot being applicable to large span transmission line routing inspection
CN108681691A (en) * 2018-04-09 2018-10-19 上海大学 A kind of marine ships and light boats rapid detection method based on unmanned water surface ship
CN109060170A (en) * 2018-09-05 2018-12-21 贵州创联电气科技有限公司 A kind of distributed fiber temperature measuring device for power grid

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102468621A (en) * 2010-11-16 2012-05-23 中国科学院沈阳自动化研究所 Mobile robot being applicable to large span transmission line routing inspection
CN102468621B (en) * 2010-11-16 2014-01-15 中国科学院沈阳自动化研究所 Mobile robot being applicable to large span transmission line routing inspection
CN108681691A (en) * 2018-04-09 2018-10-19 上海大学 A kind of marine ships and light boats rapid detection method based on unmanned water surface ship
CN109060170A (en) * 2018-09-05 2018-12-21 贵州创联电气科技有限公司 A kind of distributed fiber temperature measuring device for power grid

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