CN202917898U - Divided conductor patrol work robot platform - Google Patents

Divided conductor patrol work robot platform Download PDF

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Publication number
CN202917898U
CN202917898U CN 201220664436 CN201220664436U CN202917898U CN 202917898 U CN202917898 U CN 202917898U CN 201220664436 CN201220664436 CN 201220664436 CN 201220664436 U CN201220664436 U CN 201220664436U CN 202917898 U CN202917898 U CN 202917898U
Authority
CN
China
Prior art keywords
arm
robot
work robot
rotating shaft
robot platform
Prior art date
Legal status (The legal status 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 status listed.)
Withdrawn - After Issue
Application number
CN 201220664436
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Chinese (zh)
Inventor
郭锐
曹雷
张峰
仲亮
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.)
State Grid Corp of China SGCC
Shandong Electric Power Research Institute
Original Assignee
State Grid Corp of China SGCC
Shandong Electric Power Research Institute
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 State Grid Corp of China SGCC, Shandong Electric Power Research Institute filed Critical State Grid Corp of China SGCC
Priority to CN 201220664436 priority Critical patent/CN202917898U/en
Application granted granted Critical
Publication of CN202917898U publication Critical patent/CN202917898U/en
Withdrawn - After Issue legal-status Critical Current
Anticipated expiration legal-status Critical

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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 kind of bundle conductor is patrolled and examined the Work robot platform
Technical field
The utility model relates to a kind of robot platform, relates in particular to a kind of bundle conductor and patrols and examines the Work robot platform.
Background technology
Extra high voltage network is the important component part of high-voltage fence, for guaranteeing its safety and stability in running, needs the regular work of patrolling and examining of carrying out; Because the transmission line distributed points is many, and is away from cities and towns, with a varied topography, and wire is sudden and violent to be leaked in the open air, long-term wind and weather, and the mechanical tension that is continued, electric sudden strain of a muscle is ironed, the impact of material aging causes wearing and tearing easily, disconnected strand, the corrosion equivalent damage, if untimely reparation is changed, easily cause serious accident, cause the loss of large-area power-cuts and economic asset.So, must carry out regular walkaround inspection to transmission line, grasp at any time and understand the safe operation situation of transmission line, in order in time find and remove a hidden danger trouble-saving generation;
For a long time, China is artificial to the main dependence of patrolling and examining of transmission line, or telescope, or infrared thermography, see that while walking patrolling and examining that some are special also needs the power worker to climb up high-tension line inspection, wastes time and energy, greatly dangerous, some virgin forest, cliff circuit manually can't be patrolled and examined at all.Utilize the robot inspection of power transmission line and safeguard the EHV transmission network, not only can alleviate the labour intensity of workman's a thousand li line walking and live line working, and can improve accuracy of detection and detection efficiency, replace people's on-line operation in the occasion of high-risk, greatly reduce simultaneously human resources, to improving the grid automation level of operation, ensureing that electric power netting safe running is significant.
Chinese patent ZL200410061316.8 discloses a kind of robot that travels along aerial high-voltage power transmission line, comprise a pair of forearm manipulator mechanism that moves along power transmission line, the lower end of two forearm manipulators is connected in respectively on the transmission mechanism of a large arm that can change two forearm relative distances, each forearm has respectively 4 degrees of freedom; the forearm top is end effector mechanism, and this end effector mechanism has the driving wheel and the first driving mechanism, a driven pulley and the clamp system that can grasp power transmission line that hang on the power transmission line.Analysis-by-synthesis, this patent mainly contains following shortcoming: this patent robot can only walk along single cord, only possesses measuring ability, because robot can only move along single cord, when expanding again on-line operation function (remove grog cloth foreign matter, dismounting stockbridge damper, repair wire etc.), the robot body center of gravity is offset easily, causes the machine attitude unstable, can't guarantee safety work.
Chinese patent ZL200410020490.8 discloses a kind of EHV transmission line patrol robot mechanism, it is comprised of moving body, rear arm, forearm, wherein: moving body is comprised of body and road wheel, road wheel is installed on the body by horizontally rotating pair and moving sets, and grasp mutually with line, body links to each other with forward and backward arm respectively by revolute pair, and the arm end is paw; Described forearm, rear arm structure are identical, and wherein each arm is comprised of upper arm, underarm two parts, and upper arm is connecting rod and ball-screw and slide block combination, secondaryly are connected with underarm by horizontally rotating, and underarm is large stroke telescoping mechanism.Analysis-by-synthesis, this patent mainly contains following shortcoming: can only move at single cord, cross over the barriers such as stockbridge damper and insulator string, but obstacle detouring efficient be lower, its long and narrow mobile platform is unfavorable for integrated multiple detection and power tool.
The utility model content
The purpose of this utility model is exactly in order to address the above problem, provide a kind of bundle conductor to patrol and examine the Work robot platform, it has and is beneficial to integrated testing tool in robot, the advantage of expansion Work machine arm and the work such as specific purpose tool is removed obstacles, circuit mending.
To achieve these goals, the utility model adopts following technical scheme:
A kind of bundle conductor is patrolled and examined the Work robot platform, it comprises six identical actuating arms, yoke plate framework and battery control cabinet, the both sides that are installed in the yoke plate framework of described six actuating arm symmetries, arrange behind 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, 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, and the lifting arthrodesis is on the yoke plate framework.
Described drive wheel mechanism comprises driving shaft, and the driving shaft two ends are respectively equipped with driving wheel and transmission device, and driving shaft and fixed head are hinged, and transmission device and drive motors are connected and fixed, and fixed head is connected with rotary joint.
Described transmission device is gear drive or toothed belt transmission or turbine and worm transmission.
Described lifting joint comprises leading screw and base plate, described leading screw one end is connected with direct current machine, 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.
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, be fixed with the clutch stator on the U-shaped connector, also be fixed with clutch rotor on the rotating shaft.
Described rotary joint links to each other with the connecting plate in lifting joint by the rotating shaft holder at two ends.
The fixed head of described drive wheel mechanism links to each other with U-shaped connector on the rotary joint.
Described battery control cabinet is fixed in the yoke plate framework.
The utility model can move at two adjacent bundle conductors of any level, and each actuating arm can both provide actuating force for robot, and need not to do the obstacle detouring action when running into stockbridge damper in robot can press; When clog-free conducting line segment moves, the clutch stator separates with clutch rotor, drive wheel mechanism can freely rotate around rotating shaft by the U-shaped connector that is attached thereto, and robot can effectively adapt to the wire pitch variation that is caused by conductor spacer, wind dance etc. like this;
In robot during near conductor spacer, suspension insulator, at first two of front end actuating arms begin to carry out simultaneously the obstacle detouring action, clutch powers on and makes clutch rotor and clutch stator closure, maintain the current position state of drive wheel mechanism, then the direct current machine in lifting joint drives the leading screw rotation, drive drive wheel mechanism by line slideway and slide block and move up, after driving wheel broke away from wire, the lifting joint stopped action; At this moment, the electric rotating machine on the rotary joint drives the outer side oscillation of drive wheel mechanism guiding line by rotating shaft, thereby makes driving wheel arrange wire and barrier.
Robot centre and rear end two actuating arm bands mobile robot advance under automatically controlling, halt until two actuating arms of front end rear robot that clears the jumps, two lifting joints of front end begin to descend, driving driving wheel does and opposite before action, clutch power down after making driving wheel again ride on the wire, the clutch stator is separated with clutch rotor, and drive wheel mechanism can freely rotate around rotating shaft again, and the self adaptation wire pitch changes.
Afterwards, the actuating arm of in the middle of the robot and rear end all clears the jumps in the identical mode of front end actuating arm.
The beneficial effects of the utility model: the utility model is owing to adopt six identical and symmetrical actuating arms of structure, simple and compact for structure, can move at two adjacent bundle conductors of any level, cross over various barriers (stockbridge damper, conductor spacer, suspension insulator etc.) on the transmission pressure, the actuating arm of robot can freely be adjusted when straightway moves, and the spacing of self adaptation wire changes.During this robot operation across on two bundle conductors, even the operation attitude that skew also can guarantee robot occurs in center of gravity, safety and steady is conducive to integrated testing tool in robot, and can expand the Work machine arm and the work such as specific purpose tool is removed obstacles, circuit mending.
Description of drawings
Fig. 1 is perspective view of the present utility model;
Fig. 2 is the utility model actuating arm and drive wheel mechanism structural representation;
Fig. 3 the utility model lifting articulation structure schematic diagram;
Fig. 4 the utility model rotation joint structure schematic diagram;
Wherein: 1. actuating arm, 2. yoke plate framework, 3. battery control cabinet, 4. transmission device, 5. drive motors, 6. driving wheel, 7. driving shaft, 8. fixed head, 9. rotary joint, 10. lifting joint, 11. bearing pedestals, 12. leading screws, 13. base plates, 14. feed screw nut, 15. connecting plates, 16. limit switches, 17. direct current machines, 18. line slideway, 19. slide blocks, 20. rotating shaft holders, 21.U type connector, 22. clutch rotor, 23. clutch stators, 24. electric rotating machines, 25. rotating shafts.
Embodiment
The utility model is described in further detail below in conjunction with accompanying drawing and embodiment.
As shown in Figure 1, the utility model moves at two adjacent bundle conductors of any level, variation that can the self adaptation wire pitch, a kind of bundle conductor is patrolled and examined the Work robot platform, it comprises the identical actuating arm of structure 1, yoke plate framework 2 and battery control cabinet 3, and wherein each actuating arm 1 comprises the identical drive wheel mechanism of structure, lifting joint 10 and rotary joint 9; Actuating arm 1 is suspended on the bundle conductor by driving wheel 6, and the drive wheel mechanism lower end is connected with lifting joint 10 by rotary joint 9, and lifting joint 10 is fixed on the yoke plate framework 2.
As shown in Figure 2, drive wheel mechanism comprises transmission device 4, drive motors 5, driving wheel 6, driving shaft 7 and fixed head 8; Wherein, driving shaft 7 two ends are respectively equipped with driving wheel 6 and transmission device 4, and are hinged on the fixed head 8, and transmission device 4 is arranged on the fixed head 8, and drive motors 5 is arranged on transmission device 4 shells; Fixed head 8 lower ends link to each other with rotary joint 9.
As shown in Figure 3, lifting joint 10 comprises bearing pedestal 11, leading screw 12, base plate 13, feed screw nut 14, connecting plate 15, limit switch 16, direct current machine 17, line slideway 18 and slide block 19; Wherein, leading screw 12 two ends are fixed on the base plate 13 by bearing pedestal 11, and leading screw 12 1 ends link to each other with direct current machine 17; Be arranged with line slideway 18 in parallel in leading screw 12 1 sides, but the slide block 19 that has easy on and off to slide on the line slideway 18, and slide block 19 is connected and fixed by connecting plate 15 with the feed screw nut 14 that is arranged on the leading screw 12, is fixed with rotary joint 9 at connecting plate 15; Leading screw 12 bottoms are fixed with limit switch 16, are used for the extreme position of control 10 lower ends, lifting joint.
As shown in Figure 4, rotary joint 9 comprises rotating shaft holder 20, U-shaped connector 21, clutch rotor 22, clutch stator 23, electric rotating machine 24 and rotating shaft 25, rotating shaft 25 is erected between the two ends rotating shaft holder 20, hinged by bearing and U-shaped connector 21 in the middle of the rotating shaft 25, clutch stator 23 is fixed on the U-shaped connector 21, and clutch rotor 22 is fixed on the rotating shaft 25; Rotating shaft 25 axle heads link to each other with electric rotating machine 24.
Operation principle of the present utility model:
The utility model can move at two adjacent bundle conductors of any level, and each actuating arm 1 can both be for robot provides actuating force, and need not to do the obstacle detouring action when running into stockbridge damper in robot can press; When clog-free conducting line segment moves, clutch stator 23 separates with clutch rotor 22, drive wheel mechanism can freely rotate around rotating shaft 25 by the U-shaped connection 21 that is attached thereto, and robot can effectively adapt to the wire pitch variation that is caused by conductor spacer, wind dance etc. like this;
In robot during near conductor spacer, suspension insulator, at first the obstacle detouring action is carried out in two of front end actuating arm 1 beginnings simultaneously, clutch powers on and makes clutch rotor 22 and clutch stator 23 closures, maintain the current position state of drive wheel mechanism, then the direct current machine 17 in lifting joint 10 drives leading screw 12 rotations, drive driving wheel 6 by line slideway 18 and slide block 19 and move up, after driving wheel 6 broke away from wire, lifting joint 10 stopped action; At this moment, the electric rotating machine 24 on the rotary joint 9 drives the outer side oscillation of drive wheel mechanism guiding line by rotating shaft 25, thereby makes driving wheel 6 arrange wire and barrier;
Robot centre and two actuating arms in rear end, 1 band mobile robot advance under automatically controlling, halt until two actuating arms 1 of front end rear robot that clears the jumps, two lifting joints 10 of front end begin to descend, driving driving wheel 6 does and opposite before action, clutch power down after making driving wheel 6 again ride on the wire, clutch stator 23 is separated with clutch rotor 22, and drive wheel mechanism can freely rotate around rotating shaft 25 again, and the self adaptation wire pitch changes.
Afterwards, the actuating arm 1 of in the middle of the robot and rear end all clears the jumps in front end actuating arm 1 identical mode.
Although above-mentionedly by reference to the accompanying drawings embodiment of the present utility model is described; but be not the restriction to the utility model protection range; one of ordinary skill in the art should be understood that; on the basis of the technical solution of the utility model, those skilled in the art do not need to pay various modifications that creative work can make or distortion still in protection range 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.
CN 201220664436 2012-12-05 2012-12-05 Divided conductor patrol work robot platform Withdrawn - After Issue CN202917898U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 201220664436 CN202917898U (en) 2012-12-05 2012-12-05 Divided conductor patrol work robot platform

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 201220664436 CN202917898U (en) 2012-12-05 2012-12-05 Divided conductor patrol work robot platform

Publications (1)

Publication Number Publication Date
CN202917898U true CN202917898U (en) 2013-05-01

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Application Number Title Priority Date Filing Date
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Country Status (1)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102946072A (en) * 2012-12-05 2013-02-27 山东电力集团公司电力科学研究院 Bundle conductor inspection robot platform
WO2014086086A1 (en) * 2012-12-05 2014-06-12 国网山东省电力公司电力科学研究院 Inspection robot platform of 500kv split conductors
CN103971578A (en) * 2014-03-18 2014-08-06 浙江工业大学 Patrol robot teaching device and control method thereof
CN105826865A (en) * 2016-05-25 2016-08-03 山东大学 Suspended line inspection robot structure applicable to single wires and obstacle crossing method thereof

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102946072A (en) * 2012-12-05 2013-02-27 山东电力集团公司电力科学研究院 Bundle conductor inspection robot platform
WO2014086086A1 (en) * 2012-12-05 2014-06-12 国网山东省电力公司电力科学研究院 Inspection robot platform of 500kv split conductors
CN102946072B (en) * 2012-12-05 2015-04-22 山东电力集团公司电力科学研究院 Bundle conductor inspection robot platform
CN103971578A (en) * 2014-03-18 2014-08-06 浙江工业大学 Patrol robot teaching device and control method thereof
CN103971578B (en) * 2014-03-18 2016-03-30 浙江工业大学 Patrol robot instructional device and control method thereof
CN105826865A (en) * 2016-05-25 2016-08-03 山东大学 Suspended line inspection robot structure applicable to single wires and obstacle crossing method thereof
CN105826865B (en) * 2016-05-25 2018-02-27 山东大学 Adapt to the suspension type inspection robot structure and its obstacle-detouring method of single conductor

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C14 Grant of patent or utility model
GR01 Patent grant
AV01 Patent right actively abandoned

Granted publication date: 20130501

Effective date of abandoning: 20150422