CN202917898U - Divided conductor patrol work robot platform - Google Patents

Abstract

The utility model discloses a divided conductor patrol work robot platform comprising six identical driving arms, a linked plate framework and a cell control box, wherein the six driving arms are symmetrically arranged on two sides of the linked plate framework, the cell control box is connected with all power consuming equipment, the driving arm comprises a driving wheel mechanism, the driving wheel mechanism is connected with an elevating joint through a rotation joint, the elevating joint is fixed on the linked plate framework, the six driving arms are symmetrically arranged on left and right sides and are arranged in front-middle-back pattern, an effective distance between an front arm and a middle arm and a distance between a middle arm and a back arm are both slightly bigger than a length of a biggest obstacle on power transmission line. The divided conductor patrol work robot platform employs six left-right symmetrical driving arms with same structure, whole structure is simple and compact, the robot can run on any horizontally adjacent two divided conductors, can cross various obstacles on the power transmission line, the driving arms of the robot can freely adjust when the robot run on a straight line, the robot is self-adaptive to distance changes of conductors, and the robot is safe and stable.

Description

A robot platform for inspection of split wires

technical field

The utility model relates to a robot platform, in particular to a robot platform for inspection of split wires.

Background technique

Ultra-high voltage transmission lines are an important part of high-voltage power grids. In order to ensure their safety and stability during operation, regular inspections are required; due to the distribution points of transmission lines, they are far away from towns, the terrain is complex, and the conductors are exposed to severe conditions. Leakage in the field, long-term exposure to wind and rain, and being affected by continuous mechanical tension, electrical flashing, and material aging, is likely to cause wear, broken strands, corrosion and other damage. If it is not repaired and replaced in time, it is easy to cause serious accidents and cause Large-scale power outages and economic and property losses. Therefore, it is necessary to carry out regular inspections on the transmission lines to keep abreast of and understand the safe operation of the transmission lines in order to discover and eliminate hidden dangers in time and prevent accidents;

For a long time, my country's inspections of transmission lines have mainly relied on manual inspections, or telescopes, or infrared thermal imagers, which can be seen while walking. Some special inspections also require electric workers to climb high-voltage lines for inspection, which is time-consuming, laborious, and extremely dangerous. , Some virgin forests and cliff routes cannot be inspected manually at all. The use of robots for live inspection and maintenance of ultra-high voltage transmission networks can not only reduce the labor intensity of workers thousands of miles of inspection and live work, but also improve detection accuracy and efficiency, replace people working directly in high-risk places, and greatly reduce human resources. , It is of great significance to improve the automation level of the power grid and ensure the safe operation of the power grid.

Chinese patent ZL200410061316.8 discloses a robot that travels along overhead high-voltage transmission lines, including a pair of small-arm manipulator mechanisms that move along the transmission line. On the transmission mechanism of the big arm, each small arm has 4 degrees of freedom, and the upper part of the small arm is the end effector, which has a driving wheel hanging on the power line, its first driving mechanism, and a driven wheel and a clamping mechanism for gripping power lines. Comprehensive analysis, this patent mainly has the following disadvantages: the patented robot can only walk along a single-strand wire, and only has the detection function. When dismantling the anti-vibration hammer, repairing wires, etc.), the center of gravity of the robot body is prone to shift, resulting in unstable posture of the machine, and safe operation cannot be guaranteed. the

Chinese patent ZL200410020490.8 discloses an ultra-high voltage transmission line inspection robot mechanism, which is composed of a mobile car body, a rear arm, and a front arm. The moving pair is installed on the main body and grasped with the wire. The main body is respectively connected with the front and rear arms through the rotating pair, and the end of the arm is a claw; the front arm and the rear arm have the same structure, and each arm is composed of an upper arm and a lower arm. The arm is composed of two parts. The upper arm is a combined structure of a connecting rod, a ball screw and a slider. It is connected with the lower arm through a horizontal rotation pair. The lower arm is a large-stroke telescopic mechanism. According to comprehensive analysis, this patent mainly has the following disadvantages: it can only run on a single-strand wire, and it can cross obstacles such as anti-vibration hammers and insulator strings, but the obstacle-crossing efficiency is low, and its narrow and long mobile platform is not conducive to the integration of various detection and operation tools. .

Utility model content

The purpose of this utility model is to solve the above problems and provide a robot platform for inspection of split wires, which has the advantages of integrating detection tools on the robot, expanding the operating manipulator arm and special tools for clearing obstacles and repairing lines.

In order to achieve the above object, the utility model adopts the following technical solutions:

A split wire inspection robot platform, which includes six identical drive arms, a connecting plate frame and a battery control box, the six driving arms are symmetrically installed on both sides of the connecting plate frame, and the six driving arms form a front Arranged in the middle and rear and distributed symmetrically from left to right, the six driving arms include forearm, middle arm and rear arm; the effective distance between the forearm and the middle arm and the middle arm and the rear arm is slightly greater than the length of the largest obstacle on the transmission line, the battery The control box is connected with all electrical equipment, and the driving arm includes a driving wheel mechanism, which is connected with a lifting joint through a rotating joint, and the lifting joint is fixed on the connecting plate frame.

The driving wheel mechanism includes a driving shaft, the two ends of the driving shaft are respectively provided with a driving wheel and a transmission device, the driving shaft is hinged to the fixed plate, the transmission device is connected and fixed to the driving motor, and the fixed plate is connected to the rotary joint.

The transmission device is a gear transmission or a synchronous belt transmission or a worm gear transmission.

The lifting joint includes a lead screw and a base plate, one end of the lead screw is connected to the DC motor, the other end is connected to the base plate through a bearing seat, a lead screw nut is provided on the lead screw, a linear guide rail is fixed on the base plate, and a linear guide rail is provided on the linear guide rail. The slider is connected with the lead screw nut through a connecting plate, a limit switch is arranged at the bottom of the lead screw, and the connecting plate is connected with the rotary joint.

The rotary joint includes a rotary shaft, the rotary shaft is erected between the rotary bearing seats at both ends, the rotary shaft is hinged to the U-shaped connector through the bearing, and the rotary shaft end is connected to the rotary motor fixed on the rotary bearing seat, and the U-shaped A clutch stator is fixed on the connecting piece, and a clutch rotor is also fixed on the rotating shaft.

The rotary joint is connected with the connecting plate of the lifting joint through the rotary bearing seats at both ends.

The fixed plate of the drive wheel mechanism is connected with the U-shaped connector on the rotary joint.

The battery control box is fixed in the connecting plate frame.

The utility model can run on any horizontally adjacent two split wires, each driving arm can provide driving force for the robot, and when the robot encounters the anti-vibration hammer, it can be crushed without any obstacle-crossing action; When running on the wire segment, the clutch stator and the clutch rotor are separated, and the drive wheel mechanism can freely rotate around the rotation axis through the U-shaped connector connected to it, so that the robot can effectively adapt to the wire spacing caused by spacers, wind dance, etc. Variety;

When the robot approaches the spacer bar and the hanging insulator string, the two driving arms at the front end start to move over obstacles at the same time, the clutch is powered on to close the clutch rotor and the clutch stator, maintaining the current position of the driving wheel mechanism, and then the lifting joint The DC motor drives the lead screw to rotate, and drives the driving wheel mechanism to move upward through the linear guide rail and the slider. After the driving wheel is separated from the wire, the lifting joint stops moving; at this time, the rotating motor on the rotary joint drives the driving wheel mechanism to the outside of the wire through the rotating shaft. Swing, so that the drive wheel swings away from the wires and obstacles.

Under the automatic control, the two driving arms in the middle and the rear end of the robot drive the robot forward. After the two driving arms at the front end have crossed the obstacle, the robot stops moving forward, and the two lifting joints at the front end start to descend, driving the driving wheels to do the opposite action to the previous one. After the driving wheel rides on the wire again, the clutch is powered off, so that the clutch stator and the clutch rotor are separated, and the driving wheel mechanism can rotate freely around the rotating shaft again, adapting to the change of the wire spacing.

Afterwards, the drive arms in the middle and rear of the robot move over obstacles in the same way as the drive arms at the front end.

Beneficial effects of the utility model: the utility model adopts six driving arms with the same structure and left and right symmetry, the structure is simple and compact, and it can run on any two horizontally adjacent split conductors, and cross various obstacles on the transmission conductor ( Vibration hammers, spacers, hanging insulator strings, etc.), the driving arm of the robot can be adjusted freely when running on a straight line, and the spacing of the adaptive wires changes. When the robot is running, it straddles two split wires. Even if the center of gravity shifts, it can ensure the robot's running posture, which is safe and stable. It is beneficial to integrate detection tools on the robot, and can expand the operating manipulator and special tools for obstacle removal. , line repair, etc.

Description of drawings

Fig. 1 is the three-dimensional structure schematic diagram of the present utility model;

Fig. 2 is a structural schematic diagram of a drive arm and a drive wheel mechanism of the present invention;

Fig. 3 is a structural schematic diagram of the lifting joint of the utility model;

Fig. 4 is a structural schematic diagram of the rotary joint of the utility model;

Among them: 1. Drive arm, 2. Joint plate frame, 3. Battery control box, 4. Transmission device, 5. Drive motor, 6. Drive wheel, 7. Drive shaft, 8. Fixed plate, 9. Rotary joint, 10 .Elevating joint, 11. Bearing seat, 12. Lead screw, 13. Bottom plate, 14. Lead screw nut, 15. Connecting plate, 16. Limit switch, 17. DC motor, 18. Linear guide rail, 19. Slider, 20. Rotary bearing seat, 21. U-shaped connector, 22. Clutch rotor, 23. Clutch stator, 24. Rotary motor, 25. Rotary shaft.

Detailed ways

Below in conjunction with accompanying drawing and embodiment the utility model is further described.

As shown in Figure 1, the utility model runs on any two horizontally adjacent split wires, and can adapt to the change of the wire spacing. A split wire inspection robot platform includes a drive arm 1 with the same structure, a joint Plate frame 2 and battery control box 3, wherein each driving arm 1 includes a driving wheel mechanism, a lifting joint 10 and a rotating joint 9 with the same structure; the driving arm 1 is suspended on the split wire through the driving wheel 6, and the lower end of the driving wheel mechanism passes through The rotary joint 9 is connected with the lifting joint 10, and the lifting joint 10 is fixed on the connecting plate frame 2.

As shown in Figure 2, the drive wheel mechanism includes a transmission device 4, a drive motor 5, a drive wheel 6, a drive shaft 7 and a fixed plate 8; wherein, the drive shaft 7 ends are respectively provided with a drive wheel 6 and a transmission device 4, and are hinged On the fixed plate 8 , the transmission device 4 is arranged on the fixed plate 8 , and the drive motor 5 is arranged on the casing of the transmission device 4 ; the lower end of the fixed plate 8 is connected with the rotary joint 9 .

As shown in Figure 3, the lifting joint 10 includes a bearing seat 11, a lead screw 12, a base plate 13, a lead screw nut 14, a connecting plate 15, a limit switch 16, a DC motor 17, a linear guide rail 18 and a slider 19; The two ends of the bar 12 are fixed on the base plate 13 through the bearing seat 11, and one end of the screw 12 is connected with the DC motor 17; a linear guide rail 18 is arranged in parallel on one side of the screw screw 12, and a slide block 19 that can slide up and down freely is arranged on the linear guide rail 18 , the slider 19 and the screw nut 14 arranged on the lead screw 12 are connected and fixed through the connecting plate 15, and the rotary joint 9 is fixed on the connecting plate 15; the limit switch 16 is fixed at the bottom of the lead screw 12 for controlling the lifting joint 10 bottom limit position.

As shown in Figure 4, the rotary joint 9 includes a rotary bearing seat 20, a U-shaped connector 21, a clutch rotor 22, a clutch stator 23, a rotating motor 24 and a rotating shaft 25, and the rotating shaft 25 is erected between the rotating bearing seats 20 at both ends. , the center of the rotating shaft 25 is hinged with the U-shaped connector 21 through a bearing, the clutch stator 23 is fixed on the U-shaped connector 21, and the clutch rotor 22 is fixed on the rotating shaft 25;

Working principle of the utility model:

The utility model can run on any two horizontally adjacent split wires, and each driving arm 1 can provide driving force for the robot, and when the robot encounters the anti-vibration hammer, it can be crushed without doing obstacle-crossing actions; When running on the lead wire segment, the clutch stator 23 and the clutch rotor 22 are separated, and the driving wheel mechanism can freely rotate around the rotation axis 25 through the U-shaped connection 21 connected thereto, so that the robot can effectively adapt to being driven by spacers, wind dancers, etc. The resulting change in wire spacing;

When the robot is close to the spacer bar and the hanging insulator string, first the two driving arms 1 at the front end start to move over obstacles simultaneously, the clutch is powered on to close the clutch rotor 22 and the clutch stator 23, and keep the current position state of the driving wheel mechanism, and then The DC motor 17 of the lifting joint 10 drives the lead screw 12 to rotate, and drives the driving wheel 6 to move upward through the linear guide rail 18 and the slider 19. After the driving wheel 6 is separated from the wire, the lifting joint 10 stops moving; at this time, the rotation on the rotating joint 9 The motor 24 drives the driving wheel mechanism to swing to the outside of the wire through the rotating shaft 25, so that the driving wheel 6 swings away from the wire and obstacles;

Under the automatic control, the two driving arms 1 in the middle and the rear end of the robot drive the robot forward. After the two driving arms 1 at the front end have crossed the obstacle, the robot stops moving forward, and the two lifting joints 10 at the front end begin to descend, driving the driving wheel 6 to do the opposite. The action of driving wheel 6 rides on the wire again and the clutch is powered off, so that the clutch stator 23 and the clutch rotor 22 are separated, and the driving wheel mechanism can rotate freely around the rotating shaft 25 again, and the adaptive wire spacing changes.

Afterwards, the drive arm 1 in the middle of the robot and the rear end all cross obstacles in the same way as the front end drive arm 1 .

Although the specific implementation of the utility model has been described above in conjunction with the accompanying drawings, it does not limit the protection scope of the utility model. Those skilled in the art should understand that on the basis of the technical solution of the utility model, those skilled in the art do not need to Various modifications or deformations that can be made with creative efforts are still within the protection scope of the present utility model.

Claims (8)

1. a bundle conductor is patrolled and examined the Work robot platform, it is characterized in that, it comprises six identical actuating arms, yoke plate framework and battery control cabinet, described battery control cabinet is connected with all power consumption equipments, described actuating arm comprises drive wheel mechanism, drive wheel mechanism is connected with the lifting joint by rotary joint, the lifting arthrodesis is on the yoke plate framework, the both sides that are installed in the yoke plate framework of described six actuating arm symmetries, arrange behind described six actuating arm Cheng Qianzhong and the left-right symmetric distribution, described six actuating arms comprise forearm, middle arm and postbrachium; The length that the coverage of forearm and middle arm and middle arm and postbrachium is a bit larger tham biggest obstacle thing on the power transmission line.

2. a kind of bundle conductor is patrolled and examined the Work robot platform as claimed in claim 1, it is characterized in that, described drive wheel mechanism comprises driving shaft, the driving shaft two ends are respectively equipped with driving wheel and transmission device, driving shaft and fixed head are hinged, transmission device and drive motors are connected and fixed, and fixed head is connected with rotary joint.

3. a kind of bundle conductor is patrolled and examined the Work robot platform as claimed in claim 2, it is characterized in that, described transmission device is gear drive or toothed belt transmission or turbine and worm transmission.

4. a kind of bundle conductor is patrolled and examined the Work robot platform as claimed in claim 1, it is characterized in that, described lifting joint comprises leading screw and base plate, and described leading screw one end is connected with direct current machine, and the other end is connected with base plate by bearing pedestal, leading screw is provided with feed screw nut, be fixed with line slideway on the base plate, line slideway is provided with slide block, and slide block is connected with feed screw nut by connecting plate, the leading screw bottom is provided with limit switch, and described connecting plate is connected with rotary joint.

5. patrol and examine the Work robot platform such as a kind of bundle conductor as described in claim 1 or 2 or 4, it is characterized in that, described rotary joint comprises rotating shaft, described rotating shaft is erected between the rotating shaft holder of two ends, rotating shaft is hinged by bearing and U-shaped connector, the rotation axle head is connected with electric rotating machine on being fixed on rotating shaft holder, is fixed with the clutch stator on the U-shaped connector, also is fixed with clutch rotor on the rotating shaft.

6. a kind of bundle conductor is patrolled and examined the Work robot platform as claimed in claim 1, it is characterized in that, described rotary joint links to each other with the connecting plate in lifting joint by the rotating shaft holder at two ends.

7. a kind of bundle conductor is patrolled and examined the Work robot platform as claimed in claim 1, it is characterized in that, the fixed head of described drive wheel mechanism links to each other with U-shaped connector on the rotary joint.

8. a kind of bundle conductor is patrolled and examined the Work robot platform as claimed in claim 1, it is characterized in that, described battery control cabinet is fixed in the yoke plate framework.

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