CN202952262U - High-altitude quality inspection robot for power transmission lines - Google Patents
High-altitude quality inspection robot for power transmission lines Download PDFInfo
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- CN202952262U CN202952262U CN 201220571806 CN201220571806U CN202952262U CN 202952262 U CN202952262 U CN 202952262U CN 201220571806 CN201220571806 CN 201220571806 CN 201220571806 U CN201220571806 U CN 201220571806U CN 202952262 U CN202952262 U CN 202952262U
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Abstract
The utility model relates to a high-altitude quality inspection robot for power transmission lines. The robot comprises a front axial arm and a rear axial arm which are parallel to a guide line, two adjacent ends of the two axial arms are fixedly connected on a middle revolute joint, the front axial arm and the rear axial arm are fixedly connected with a front suspension arm and a rear suspension arm respectively through quick mounting mechanisms, a front driving wheel and a rear driving wheel are arranged on upper portions of the front suspension arm and the rear suspension arm respectively and contact with the guide line by the lower side of the guide line, a transverse locking guide rail is arranged on the upper portion of each suspension arm, two locking jaws capable of moving relatively are slidingly arranged on each locking guide rail, each locking jaw inclines towards the side of the corresponding locking jaw, and the locking jaws are staggered along a moving direction. The robot is capable of achieving contact and separation of the driving wheels and the guide line only by relative movement action of the locking jaws, parts, except for the locking jaws, of the robot are all below the guide line, on-line and off-line operations of the suspension arms can be achieved quickly and reliably, and the robot is more simplified in control and structure and convenient to transport and can be mounted and demounted quickly.
Description
Technical field
The utility model is the checkout gear about a kind of transmission line of electricity, relates in particular to a kind of transmission line high-altitude quality examination machine people.
Background technology
After super (spy) ultra-high-tension power transmission line stringing engineering completes, must be checked, be checked and accepted lead wire and earth wire surface quality, splicing sleeve crimp quality, conductor spacer installation quality, insulator chain (rod) and tower head quality according to the rules.Current methods for check and accept is completely high-altitude artificial " walking ray examination ", has that security risk is large, the meteorological condition impact is large, efficiency is low, checks that effect unstable (being mainly the impact of experience, sense of responsibility) and defect evidence obtaining inconvenience inscribes between waiting.Thus, people develop transmission line high-altitude quality examination machine people, to overcome the problems referred to above.
Robot for polling transmission line has roughly experienced two developing stage.Early stage crusing robot does not have obstacle climbing ability, can only in a span, move, and it is patrolled and examined job area and is extremely restricted.Afterwards, people design the transmission line high-altitude quality examination machine people with obstacle crossing function, for example: " a kind of polling transmission line or the deicing robot " that application number is 201010614326.5; This robot comprises forearm, postbrachium and waist joint, forearm and postbrachium are symmetricly set on waist joint, be respectively arranged with the transmission line of electricity jockey on forearm and postbrachium, robot can carry various detecting sensors closely, the operation conditions of Monitoring Line of various visual angles, can alleviate the labour intensity of workman's line walking, improve quality and the operating efficiency of patrolling and examining operation, gold utensil on can span line, as suspension clamp, stockbridge damper, conductor spacer, shading ring etc., automatically walk along circuit, be subject to the impact of natural environment little, the scope of patrolling and examining is large.But the driving wheel that should have now in robot is to be placed in directly over wire, adopts two paws to embrace wire, and driving wheel is pressed on wire; When the driving wheel off-line, at first to open paw, then the mode by side-sway make driving wheel leave wire directly over; The action of reaching the standard grade is just in time contrary, by side-sway, makes driving wheel directly over wire, and then closed paw, embrace wire; Because driving wheel takes off, reaching the standard grade needs paw to open and close and two actions of driving wheel side-sway, this just makes the control ratio of driver part more loaded down with trivial details, complicated structure; In addition, two fingers of paw must have strict symmetric relation, and must meet the strict characteristics of motion, otherwise can have a strong impact on mechanism characteristics, therefore, parts machining, debugging to mechanism in existing structure have higher requirement, have increased difficulty of processing; Moreover, between the forward and backward arm of existing robot and waist joint, be an overall structure, be not easy to dismounting and transportation.
Thus, the inventor, by means of being engaged in experience and the practice of relevant industries for many years, proposes a kind of transmission line high-altitude quality examination machine people, to overcome the defect of prior art.
The utility model content
The purpose of this utility model is to provide a kind of transmission line high-altitude quality examination machine people, can in the obstacle detouring process, realize simply, the action that takes off efficiently, reaches the standard grade, and improves thus the reliability of obstacle detouring action.
Another purpose of the present utility model is to provide a kind of transmission line high-altitude quality examination machine people, can realize rapid disassembling, assembling to robot, makes robot be convenient to transportation.
The purpose of this utility model is to realize like this, a kind of transmission line high-altitude quality examination machine people, described robot comprises front axial arm and the rear axial arm be arranged in parallel with wire, and the abutting end of described forward and backward axial arm is fixedly connected on a middle revolute joint; Be fixedly connected with a front boom vertically arranged by a front quick assembling mechanism on described front axial arm; Be fixedly connected with a back boom vertically arranged by a rear quick assembling mechanism on described rear axial arm; Described forward and backward cantilever top is respectively equipped with a front driving wheel and a rear drive sprocket, and described forward and backward driving wheel contacts with wire by the wire downside; Described forward and backward cantilever top is respectively equipped with front locking guide rail and the rear locking guide rail of horizontally set, be slidably equipped with two front locking jaws that can relatively move on described front locking guide rail, described each front locking jaw rolls oblique setting to the other side, and described two front locking jaws are staggered along moving direction and arrange; Locking jaw after being slidably equipped with two that can relatively move on described rear locking guide rail, described each rear locking jaw rolls oblique setting to the other side, and described two rear locking jaws are staggered along moving direction and arrange.
In a better embodiment of the present utility model, described forward and backward driving wheel drives rotation by forward and backward driving wheel motor respectively.
In a better embodiment of the present utility model, described front locking jaw and rear locking jaw are driven by forward and backward locking screw respectively.
In a better embodiment of the present utility model, the angle of inclination of described forward and backward locking jaw is horizontal by 30～60 degree.
In a better embodiment of the present utility model, described forward and backward quick assembling mechanism comprises respectively the upper terminal pad that is arranged on forward and backward cantilever bottom, be arranged on before and after lower terminal pad and the Quick hoop that is fixedly connected with upper and lower terminal pad on axial arm; Described Quick hoop is toroidal, is to be fixedly connected with and to be formed by two semicircular ring textural associations.
In a better embodiment of the present utility model, described upper terminal pad top surface edge and lower terminal pad lower surface edge are equipped with the conical surface, and the inboard of described Quick hoop is provided with the annular cone groove corresponding with the described conical surface.
In a better embodiment of the present utility model, described forward and backward axial arm forms by brace summer and the axial guidance that is fixed in brace summer; Described axial guidance is provided with slide block, and described lower terminal pad is fixed on slide block, and described slide block one side connects with the Timing Belt that is located at corresponding axial arm two ends belt wheel, and described belt wheel is driven by belt wheel motor.
From the above mentioned, in the utility model, due to the frame mode that adopts the driving wheel underlying, when two locking jaws move in opposite directions, wire progressively can be pressed in from top to bottom on driving wheel and realize locking.When the needs release, as long as two locking jaws are moved round about, can progressively free the suppression to wire, after locking jaw is thrown off wire fully, as long as corresponding axial arm is rotated along middle revolute joint, can make this axial arm and wire throw off fully; Swing work owing to having omitted the driven wheel side in the existing structure, and only can be reached the standard grade and the off-line function with this action that relatively moves of locking jaw, therefore, can realize quick, the reliable off-line of driving wheel and the operation of reaching the standard grade; Also can make its operation control and structure further simplify simultaneously.
The accompanying drawing explanation
The following drawings only is intended to the utility model is done and schematically illustrated and explain, does not limit scope of the present utility model.Wherein:
Fig. 1: be the utility model transmission line high-altitude quality examination machine people's structural representation.
Fig. 2: be the structural representation of front boom in the utility model.
Fig. 3: be the structural representation of forward and backward axial arm and middle revolute joint in the utility model.
Fig. 4: be the structural representation of front quick assembling mechanism in the utility model.
Fig. 5 a～Fig. 5 k: be the utility model robot obstacle detouring schematic flow sheet.
The specific embodiment
Understand for technical characterictic of the present utility model, purpose and effect being had more clearly, now contrast accompanying drawing the specific embodiment of the present utility model is described.
As shown in Figure 1 to 4, the utility model proposes a kind of transmission line high-altitude quality examination machine people 100, described robot 100 comprises front axial arm 1 and the rear axial arm 2 be arranged in parallel with wire 9, the abutting end of described forward and backward axial arm 1,2 is fixedly connected on a middle revolute joint 3, this centre revolute joint 3 is prior art, it be one by the cradle head of electric machine rotation, can make the forward and backward axial arm of robot rotate around middle revolute joint 3, thereby make front axial arm or rear axial arm lift and fall; Be fixedly connected with a front boom 5 vertically arranged by a front quick assembling mechanism 4 on described front axial arm 1; Be fixedly connected with a back boom 7 vertically arranged by a rear quick assembling mechanism 6 on described rear axial arm 2; Described forward and backward cantilever 5,7 tops are respectively equipped with a front driving wheel 51 and a rear drive sprocket 71, and described forward and backward driving wheel 51,71 contacts with wire by wire 9 downsides; Described forward and backward cantilever 5,7 tops are respectively equipped with front locking guide rail 52 and the rear locking guide rail 72 of horizontally set, be slidably equipped with two front locking jaws 53 that can relatively move on described front locking guide rail 52, described each front locking jaw 53 rolls oblique setting to the other side, and described two front locking jaws 53 are staggered along moving direction and arrange; Locking jaw 73 after being slidably equipped with two that can relatively move on described rear locking guide rail 72, described each rear locking jaw 73 rolls oblique setting to the other side, and described two rear locking jaws 73 are staggered along moving direction and arrange; Described forward and backward driving wheel 51,71 drives rotation by the front and back driving wheel motor respectively; Described front locking jaw 53 and rear locking jaw 73 are driven by forward and backward locking screw 54,74 respectively.Various kinds of sensors can be installed as required by this robot, and installation of sensors is below forward and backward cantilever; Driving wheel contacts with wire, by driving wheel motor, rotates, and drives the driving wheel rotation, and Robot wire 9 is advanced.
Because back boom 7 and front boom 5 structures are identical, only take front boom 5 structures at this and describe as example.As shown in Figure 2, two front locking jaws 53 be a pair of in opposite directions, the finger member of interlaced arrangement, be arranged on respectively on a pair of slide block of front locking guide rail 52, and be connected with a pair of screw of front locking screw 54 respectively; Front locking screw 54 be one have left-right rotary to leading screw, in when action, a pair of screw on it is done in opposite directions or is oppositely mobile, and translational speed is identical; Thus, two front locking jaws 53 are done in opposite directions or counter motion along front locking guide rail 52, realized locking or the unlocking operation of mechanism; Because described front driving wheel 51 is to be contacted with wire by wire 9 downsides, when two front locking jaws 53 move in opposite directions, wire 9 progressively can be pressed on front driving wheel 51 from top to bottom, realize locking.When the needs release, as long as two front locking jaws 53 are moved round about to (that is: progressively opening two front locking jaws 53), can progressively free the suppression to wire, after locking jaw 53 is thrown off (opening) wire fully, as long as front axial arm 1 is rotated along middle revolute joint 3, can make front axial arm 1 throw off (action of rear axial arm 2 is described identical therewith) fully with wire 9; Swing work owing to having omitted the driven wheel side in the existing structure, and only with this action of the relatively moving of locking jaw (closed or open), can be reached the standard grade and off-line operation, therefore, can realize quick, the reliable off-line of driving wheel 51 and the action of reaching the standard grade; Also can make its operation control and structure further simplify simultaneously.In the present embodiment, because described two front locking jaws 53 are staggered state along moving direction, arrange, therefore, only need to both can obtain easily symmetric relation by assembling and setting, greatly reduce the difficulty of processing of parts; In the present embodiment, the angle of inclination of described front locking jaw 53 and rear locking jaw is preferably horizontal by 30～60 degree.
In the present embodiment, as shown in Figure 3, front axial arm 1 is identical with the structure of rear axial arm 2, and both are mirror by relatively middle revolute joint 3; Described forward and backward axial arm 1,2 forms by brace summer 11,21 and the axial guidance 12,22 that is fixed in brace summer; Axial arm 1 was the example explanation in the past, and described axial guidance 12 is provided with slide block 121; Described slide block 121 1 sides are connected with the Timing Belt 13 that is located at front axial arm 1 two ends belt wheel, and described belt wheel is driven by belt wheel motor.
In the present embodiment, described forward and backward quick assembling mechanism 4,6 structures are identical, quick assembling mechanism 4 was the example explanation in the past, as shown in Figure 4, front quick assembling mechanism 4 comprises the upper terminal pad 41 that is arranged on front boom 5 bottoms, is arranged on lower terminal pad 42 and the Quick hoop 43 that is fixedly connected with upper and lower terminal pad on front axial arm 1, described Quick hoop 43 is toroidal, is to be fixedly connected with and to be formed by two semicircular ring textural associations; Described upper terminal pad 41 top surface edge and lower terminal pad 42 lower surface edges are equipped with the conical surface, and the inboard of described Quick hoop 43 is provided with the annular cone groove corresponding with the described conical surface, can realize thus the automatic centering function of mechanism; Due to the simple in structure of described quick assembling mechanism and there is the automatic centering function, so robot is very convenient and be difficult for wrongly installed when dismounting, rapid disassembling, the assembling of robot have been realized, also convenient transportation.
Further, as shown in Figure 3, described lower terminal pad 42 is fixed on the slide block 121 of axial guidance 12, and is connected with Timing Belt 13, and under the effect of Timing Belt 13, lower terminal pad 42 can be done and move forward and backward on axial guidance 12.Due to the length difference of various barriers, the distance between each barrier is also incomplete same, and this just needs to regulate distance between robot front boom and back boom to adapt to different situations.By regulating the front and back position of lower terminal pad on axial guidance, the distance before and after can further regulating between cantilever.
From the above mentioned, in the present embodiment, described robot adopts the frame mode of driving wheel underlying, utilizes two locking jaws that relatively move to be compressed on from top to bottom on driving wheel by wire; When obstacle detouring not, driving wheel and locking jaw are embraced wire, and during obstacle detouring, locking jaw is opened, and make corresponding axial arm break away from wire.Described locking jaw has two effects: (1) is compressed on driving wheel by wire and embraces wire, prevents that driving wheel breaks away from wire, causes robot to fall; (2) by holding wire tightly, increase the normal pressure between wheel and wire, thereby increase the frictional force between wheel and wire, prevent wheel slip.Owing to only can being reached the standard grade and off-line operation with this action of the relatively moving of locking jaw (closed or open) in the utility model, therefore, can realize driving wheel fast, off-line reliably and the action of reaching the standard grade; Omitted the action of driving wheel side-sway of the prior art, reduced side-sway motor and associated components, the robot overall structure is simplified, weight is minimized.
As shown in Fig. 5 a～Fig. 5 k, be the schematic flow sheet that utilizes robot 100 of the present utility model to carry out the obstacle detouring operation, its obstacle detouring process is as follows:
(1) as shown in Figure 5 a, robot 100 detects the place ahead obstacle;
(2) the locking jaw release on front boom 5 as shown in Figure 5 b;
(3) as shown in Figure 5 c, middle revolute joint 3 rotates, and front axial arm 1 is rotated;
(4) as shown in Fig. 5 d, the driving wheel on back boom 7 rotates, and driven machine people moves forward;
(5) as shown in Fig. 5 e, middle revolute joint 3 rotates, and front axial arm 1 is upwards rotated, until the driving wheel contact wire on front boom 5;
(6), as shown in Fig. 5 f, the locking jaw closure on front boom 5 is locked;
(7) as shown in Fig. 5 g, the locking jaw release on back boom 7;
(8), as shown in Fig. 5 h, middle revolute joint 3 rotates, and rear axial arm 2 is rotated;
(9) as shown in Fig. 5 i, the driving wheel on front boom 5 rotates, and driven machine people moves forward;
(10) as shown in Fig. 5 j, middle revolute joint 3 rotates, and rear axial arm 2 is upwards rotated, until the driving wheel on back boom 7 contacts and push down wire;
(11), as shown in Fig. 5 k, the locking jaw closure on back boom 7 is locked.
So far, detected obstacle crossed by the way by robot.
In the utility model, due to the frame mode that adopts the driving wheel underlying, when two locking jaws move in opposite directions, wire progressively can be pressed in from top to bottom on driving wheel and realize locking.When the needs release, as long as two locking jaws are moved round about, can progressively free the suppression to wire, after locking jaw is thrown off wire fully, as long as corresponding axial arm is rotated along middle revolute joint, can make this axial arm and wire throw off fully; Swing work owing to having omitted the driven wheel side in the existing structure, and only can be reached the standard grade and the off-line function with this action that relatively moves of locking jaw, therefore, can realize quick, the reliable off-line of driving wheel and the operation of reaching the standard grade; Also can make its operation control and structure further simplify simultaneously.
The foregoing is only the schematic specific embodiment of the utility model, not in order to limit scope of the present utility model.Any those skilled in the art, the equivalent variations of having done under the prerequisite that does not break away from design of the present utility model and principle and modification, all should belong to the scope that the utility model is protected.
Claims (7)
1. a transmission line high-altitude quality examination machine people, it is characterized in that: described robot comprises front axial arm and the rear axial arm be arranged in parallel with wire, the abutting end of described forward and backward axial arm be fixedly connected on one in the middle of on revolute joint; Be fixedly connected with a front boom vertically arranged by a front quick assembling mechanism on described front axial arm; Be fixedly connected with a back boom vertically arranged by a rear quick assembling mechanism on described rear axial arm; Described forward and backward cantilever top is respectively equipped with a front driving wheel and a rear drive sprocket, and described forward and backward driving wheel contacts with wire by the wire downside; Described forward and backward cantilever top is respectively equipped with front locking guide rail and the rear locking guide rail of horizontally set, be slidably equipped with two front locking jaws that can relatively move on described front locking guide rail, described each front locking jaw rolls oblique setting to the other side, and described two front locking jaws are staggered along moving direction and arrange; Locking jaw after being slidably equipped with two that can relatively move on described rear locking guide rail, described each rear locking jaw rolls oblique setting to the other side, and described two rear locking jaws are staggered along moving direction and arrange.
2. transmission line high-altitude quality examination machine people as claimed in claim 1 is characterized in that: described forward and backward driving wheel drives rotation by forward and backward driving wheel motor respectively.
3. transmission line high-altitude quality examination machine people as claimed in claim 1 is characterized in that: described front locking jaw and rear locking jaw are driven by forward and backward locking screw respectively.
4. transmission line high-altitude quality examination machine people as claimed in claim 1 is characterized in that: the angle of inclination of described forward and backward locking jaw is horizontal by 30～60 degree.
5. transmission line high-altitude quality examination machine people as claimed in claim 1 is characterized in that: described forward and backward quick assembling mechanism comprises respectively the upper terminal pad that is arranged on forward and backward cantilever bottom, be arranged on before and after lower terminal pad and the Quick hoop that is fixedly connected with upper and lower terminal pad on axial arm; Described Quick hoop is toroidal, is to be fixedly connected with and to be formed by two semicircular ring textural associations.
6. transmission line high-altitude quality examination machine people as claimed in claim 5, it is characterized in that: described upper terminal pad top surface edge and lower terminal pad lower surface edge are equipped with the conical surface, and the inboard of described Quick hoop is provided with the annular cone groove corresponding with the described conical surface.
7. transmission line high-altitude quality examination machine people as claimed in claim 5 is characterized in that: described forward and backward axial arm forms by brace summer and the axial guidance that is fixed in brace summer; Described axial guidance is provided with slide block, and described lower terminal pad is fixed on slide block, and described slide block one side connects with the Timing Belt that is located at corresponding axial arm two ends belt wheel, and described belt wheel is driven by belt wheel motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220571806 CN202952262U (en) | 2012-11-01 | 2012-11-01 | High-altitude quality inspection robot for power transmission lines |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220571806 CN202952262U (en) | 2012-11-01 | 2012-11-01 | High-altitude quality inspection robot for power transmission lines |
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| CN202952262U true CN202952262U (en) | 2013-05-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201220571806 Expired - Lifetime CN202952262U (en) | 2012-11-01 | 2012-11-01 | High-altitude quality inspection robot for power transmission lines |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103586861A (en) * | 2013-11-26 | 2014-02-19 | 国家电网公司 | Inspection robot |
| CN103921270A (en) * | 2014-04-30 | 2014-07-16 | 国家电网公司 | Line patrol robot and obstacle crossing method |
| CN104600628A (en) * | 2015-02-13 | 2015-05-06 | 深圳市富斯遥控模型技术有限公司 | Automatic inspection device and automatic inspection system for high-voltage wires |
| CN106313025A (en) * | 2016-10-21 | 2017-01-11 | 国网山东省电力公司电力科学研究院 | Swing arm device for separating driving wheels of line inspection robot from conductor |
| CN103786145B (en) * | 2012-11-01 | 2017-07-21 | 北京国网富达科技发展有限责任公司 | Transmission line high-altitude quality examination machine people |
| CN110921227A (en) * | 2019-11-08 | 2020-03-27 | 中国科学院自动化研究所 | Carrying mechanism for on-line walking |
| CN115986629A (en) * | 2022-12-19 | 2023-04-18 | 国家电网有限公司 | Hardware fitting assembling device and spacer mounting robot |
-
2012
- 2012-11-01 CN CN 201220571806 patent/CN202952262U/en not_active Expired - Lifetime
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103786145B (en) * | 2012-11-01 | 2017-07-21 | 北京国网富达科技发展有限责任公司 | Transmission line high-altitude quality examination machine people |
| CN103586861A (en) * | 2013-11-26 | 2014-02-19 | 国家电网公司 | Inspection robot |
| CN103921270A (en) * | 2014-04-30 | 2014-07-16 | 国家电网公司 | Line patrol robot and obstacle crossing method |
| CN104600628A (en) * | 2015-02-13 | 2015-05-06 | 深圳市富斯遥控模型技术有限公司 | Automatic inspection device and automatic inspection system for high-voltage wires |
| CN106313025A (en) * | 2016-10-21 | 2017-01-11 | 国网山东省电力公司电力科学研究院 | Swing arm device for separating driving wheels of line inspection robot from conductor |
| CN106313025B (en) * | 2016-10-21 | 2019-01-15 | 国网山东省电力公司电力科学研究院 | A kind of inspection robot driving wheel is detached from the swinging arm device of conducting wire |
| CN110921227A (en) * | 2019-11-08 | 2020-03-27 | 中国科学院自动化研究所 | Carrying mechanism for on-line walking |
| CN110921227B (en) * | 2019-11-08 | 2020-10-16 | 中国科学院自动化研究所 | Carrying mechanism for on-line walking |
| US11283247B2 (en) | 2019-11-08 | 2022-03-22 | Institute Of Automation, Chinese Academy Of Sciences | Carrier mechanism for walking on line |
| CN115986629A (en) * | 2022-12-19 | 2023-04-18 | 国家电网有限公司 | Hardware fitting assembling device and spacer mounting robot |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20130529 Effective date of abandoning: 20170721 |