CN203553762U - Turnover obstacle surmounting type overhead line operation robot - Google Patents
Turnover obstacle surmounting type overhead line operation robot Download PDFInfo
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- CN203553762U CN203553762U CN201320744272.3U CN201320744272U CN203553762U CN 203553762 U CN203553762 U CN 203553762U CN 201320744272 U CN201320744272 U CN 201320744272U CN 203553762 U CN203553762 U CN 203553762U
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Abstract
The utility model provides a turnover obstacle surmounting type overhead line operation robot. The turnover obstacle surmounting type overhead line operation robot comprises a cross beam; two ends of the cross beam are respectively provided with slewing mechanisms; the slewing mechanisms can rotate in a reciprocating mode around the end parts of the cross beam; and the end part of each slewing mechanism is connected with a cantilever mechanism capable of sliding on the overhead line and capable of being separated from the overhead line. The turnover obstacle surmounting type overhead line operation robot has the advantages that the inspection range is large, the number of driving motors is few, the entire quality is small, the obstacle surmounting action is simple, and the obstacle surmounting adaptability is strong.
Description
Technical field
The utility model relates to a kind of upset obstacle crossing type overhead line operation robot, belongs to power grid transmission line road technique field.
Background technology
Because grid power transmission circuit distributed points is many, wide, the overwhelming majority is away from cities and towns, of living in a varied topography, natural environment is severe, and power line and shaft tower annex long term exposure are in the wild, the impact of lasting mechanical tension, electric flashover, material aging be can be subject to and disconnected thigh, wearing and tearing, corrosion equivalent damage produced, as repaired and change not in time, originally small breakage and defect just may expand, finally cause serious accident, cause large-area power-cuts, thereby cause great economic loss and serious social influence.So, must carry out periodical inspection inspection to transmission line, grasp at any time and understand the ruuning situation of transmission line and the situation of change in circuit surrounding environment and route protection district, to find in time and remove a hidden danger, trouble-saving generation, guarantees power supply safety.
At present, to two kinds of methods of the main employing of patrolling and examining of transmission line, i.e. ground artificial ocular estimate and helicopter aerophotographic method.What artificial line walking adopted is the working method of manual patrol, hand-kept, patrols and examines precision low, and labour intensity is large, is difficult to guarantee cyclic in-position measuring rate.Be subject to the impact of natural environment, some regional personnel and vehicle are difficult to arrive, and severe operating environment even threatens staff's personal safety.Current, transmission line rapidly increases, high mountain high hill circuit increasing proportion, and artificial line walking difficulty increases, and while meeting the generation of harsh weather fault, line walking difficulty and danger are larger.There is flight safety hidden danger in helicopter aerial survey, area with a varied topography particularly, and low air flow is unstable, and danger is larger, and line walking somewhat expensive, has limited the extensive popularization that helicopter is maked an inspection tour.
In addition, because China is vast in territory, weather conditions are changeable, and the possibility that on circuit, icing snow phenomenon occurs is increased, and even become the normal property sent out phenomenon in certain areas.The multiple disasters such as icing snow can cause down tower, breaks, waves, icing flashover, cause serious harm to the safe operation of overhead transmission line.For the icing methods that adopt artificial deicing, not only efficiency is low more at present, and deicing effect is bad, and because the impact of icing, task difficulty is large, easily causes casualty accident.
In the prior art, adopt in addition overhead line operation robot to patrol and examine operation and deicing operation.As shown in Figure 1, be the structural representation of existing overhead line operation robot.Existing overhead line operation robot comprises forearm 101, postbrachium 102, gripper motor 103, paw 104, driving wheel motor 105, driving wheel 106, side-sway joint motor 107, side-sway joint 108, linear joint 109, linear joint motor 110, lifting joint motor 111, lifting joint 112, driving wheel 106 is placed in directly over wire, adopt two paws 104 to embrace wire, driving wheel 106 is pressed on wire, when driving wheel 106 off-line, first open paw 104, then the mode by side-sway make driving wheel 106 leave wire directly over.The action of reaching the standard grade is just in time contrary, first by side-sway, makes driving wheel 106 directly over wire, and then closed paw 104, embraces wire.In the prior art, for adapting to different size (size, length etc.) barrier, need on forward and backward arm, guide rail be set, so that forward and backward arm can be along transverse shifting, complex structure, drive motors usage quantity are many, total quality large, obstacle detouring action is complicated, obstacle detouring bad adaptability.
Prior art:
101-forearm; 102-postbrachium; 103-gripper motor; 104-paw; 105-driving wheel motor; 106-driving wheel; 107-side-sway joint motor; 108-side-sway joint; 109-linear joint; 110-linear joint motor; 111-lifting joint motor; 112-lifting joint.
The utility model:
1-crossbeam; 2-cantilever mechanism; 21-cantilever main frame; The 22-unit of walking; 221-positive transport wheel; 222-positive transport wheel motor; 23-jacking grip unit; The upper jacking housing of 231-; The upper jacking axle of 232-; 233-jacking clamping wheel; 234-jacking clamping motor; 235-jacking clamping wheel locating rack; 3-slew gear; 31-turns round main frame; 32-pivoted arm; 33-turns round driver element; 331-turns round drive motors; 332-shaft coupling; 333-decelerator; 34-pivot; 4-quick assembling mechanism; 41-cantilever fast-assembling is added; 42-cantilever fast-assembling undercarriage; The outer clamping ring of 43-fast-assembling.
Utility model content
The purpose of this utility model is to provide a kind ofly can cross circuitry obstacle thing, patrol and examine that scope is large, drive motors quantity is few, total quality is little, obstacle detouring action is simple, the adaptable upset obstacle crossing type of obstacle detouring overhead line operation robot.
For achieving the above object, the utility model proposes a kind of upset obstacle crossing type overhead line operation robot, comprise crossbeam, at described crossbeam two ends, be respectively equipped with slew gear, described slew gear can be around the end of described crossbeam reciprocating rotation, and described in each, the end of slew gear is connected with the cantilever mechanism that can slide on overhead transmission line and can be separated with overhead transmission line.
Upset obstacle crossing type overhead line operation as above robot, wherein, described slew gear comprises:
Revolution main frame;
Two pivoted arms, are symmetricly set in the outside of described revolution main frame, and one end of described two pivoted arms is installed on the pivot that runs through described revolution main frame, and its other end is connected with described cantilever mechanism;
Revolution driver element, is connected with described pivot, and pivot rotates described in described revolution drive unit drives, and described pivot drives described pivoted arm to rotate around described pivot.
Upset obstacle crossing type overhead line operation as above robot, wherein, described revolution driver element comprises revolution drive motors, shaft coupling and the decelerator connecting successively, described pivot runs through on the output gear that is fixed on described decelerator.
Upset obstacle crossing type overhead line operation as above robot, wherein, described cantilever mechanism comprises:
Cantilever main frame, the bottom of described cantilever main frame is connected with described slew gear;
Walking unit, is located at the top of described cantilever main frame, comprises the positive transport wheel and the positive transport wheel motor that are connected, and described positive transport wheel motor drives described positive transport wheel to rotate;
Jacking grip unit, comprise jacking housing, jacking axle on two, two jacking clamping wheels and jacking clamping motor, the both sides, below that are arranged at described positive transport wheel that described two jacking clamping wheels can rotate, on described two, jacking axle runs through and is connected in described upper jacking housing, and on described two, jacking axle vertically arranges and is resisted against respectively the bottom of described two jacking clamping wheels, described jacking clamping motor drives jacking axle on described two to move up and down by described upper jacking housing, described two jacking clamping wheels are synchronizeed and are moved up and down with jacking axle on described two, described two jacking clamping wheels coordinate clamping overhead transmission line with described positive transport wheel.
Upset obstacle crossing type overhead line operation as above robot, wherein, described slew gear is connected by quick assembling mechanism with described cantilever mechanism, described quick assembling mechanism comprises: cantilever fast-assembling is added, the outer clamping ring of cantilever fast-assembling undercarriage and fast-assembling, the added bottom that is arranged at described cantilever mechanism of described cantilever fast-assembling, the outer clamping ring of described fast-assembling is clamped in the outside of the added and described cantilever fast-assembling undercarriage of described cantilever fast-assembling junction, and described cantilever fast-assembling undercarriage is connected with described slew gear.
Compared with prior art, the utlity model has following characteristics and advantage:
1, the utility model adopts convertible structure and pushes up wheeled method of clamping, compared with prior art, without cross slide way mechanism is set, reduce drive motors quantity, reduced total quality, and chucking power is controlled, can improve robot climbing capacity, and obstacle detouring action is simple, obstacle detouring strong adaptability.
2, the gold utensil of the utility model on can span line, as suspension clamp, stockbridge damper, conductor spacer, shading ring etc., walks automatically along circuit, is subject to the impact of natural environment little, the scope of patrolling and examining is large.
3, the utility model portability deicing module, can accomplish that ice remove, and reduces to greatest extent the impact of icing on transmission line, guarantees power supply safety.
Accompanying drawing explanation
Accompanying drawing described here is only for task of explanation, and is not intended to limit by any way the utility model scope of disclosure.In addition, the shape of each parts in figure and proportional sizes etc. are only schematically, for helping understanding of the present utility model, are not shape and the proportional sizes that specifically limits each parts of the utility model.Those skilled in the art, under instruction of the present utility model, can select various possible shapes and proportional sizes to implement the utility model as the case may be.
Fig. 1 is the structural representation of existing overhead line operation robot;
Fig. 2 is the structural representation of the utility model upset obstacle crossing type overhead line operation robot;
Fig. 3 A is the perspective view of cantilever mechanism of the present utility model;
Fig. 3 B is the cross-sectional view of cantilever mechanism of the present utility model;
Fig. 4 A is the perspective view of slew gear of the present utility model;
Fig. 4 B is the cross-sectional view of slew gear of the present utility model;
Fig. 5 A is the perspective view of quick assembling mechanism of the present utility model;
Fig. 5 B is the cross-sectional view of quick assembling mechanism of the present utility model;
Fig. 6 is the utility model upset obstacle crossing type overhead line operation robot upset obstacle detouring process schematic diagram.
Description of reference numerals:
Embodiment
With the description of the utility model embodiment, can more be well understood to details of the present utility model by reference to the accompanying drawings.But embodiment of the present utility model described here,, for explaining the purpose of this utility model, is only to restriction of the present utility model and can not be understood as by any way.Under instruction of the present utility model, technical staff can conceive based on possible distortion arbitrarily of the present utility model, and these all should be regarded as belonging to scope of the present utility model.
As shown in Figure 2, be the structural representation of the utility model upset obstacle crossing type overhead line operation robot.The upset obstacle crossing type overhead line operation robot that the utility model provides comprises crossbeam 1, cantilever mechanism 2, slew gear 3 and quick assembling mechanism 4, wherein, slew gear 3 symmetries be arranged at crossbeam 1 two ends, slew gear 3 can, around the end of crossbeam 1 reciprocating rotation, be connected with the cantilever mechanism 2 that can slide on overhead transmission line and can be separated with overhead transmission line in the end of each slew gear 3.Quick assembling mechanism 4 is for quick connecting cantilever mechanism 2 and slew gear 3.Like this, when the utility model upset obstacle crossing type overhead line operation robot is on overhead transmission line in walking process, while running into barrier, the cantilever mechanism 2 of controlling rear side departs from overhead transmission line, by slew gear 3, drive cantilever mechanism 2 upsets, realize the utility model upset obstacle crossing type overhead line operation robot upset obstacle crossing function, its obstacle detouring process of specifically overturning will have a detailed description hereinafter.
As shown in Fig. 3 A～Fig. 3 B, be respectively perspective view and the cross-sectional view of cantilever mechanism of the present utility model.Described cantilever mechanism of the present utility model comprises: cantilever main frame 21, walking unit 22 and jacking grip unit 23, the bottom of cantilever main frame 21 is connected with slew gear 3, and cantilever mechanism 2 and slew gear 3 are linked together.The top of cantilever main frame 21 is located in walking unit 22, walking unit 22 comprises positive transport wheel 221 and the positive transport wheel motor 222 being connected, positive transport wheel motor 222 drives positive transport wheel 221 to rotate, positive transport wheel 221 can freely be walked on overhead transmission line, thereby drive whole Work robot to walk along overhead transmission line.Jacking grip unit 23 comprises jacking axle 232 on jacking housing 231, two, two jacking clamping wheels 233 and jacking clamping motor 234, wherein go up jacking housing 231 between cantilever main frame 21 and positive transport wheel 221, on two, jacking axle 232 runs through jacking housing 231, and is connected with jacking housing 231.Below positive transport wheel 221, be provided with jacking clamping wheel locating rack 235, what two jacking clamping wheels 233 can rotate vertically is arranged in jacking clamping wheel locating rack 235, and match with it mounting groove of jacking clamping wheel locating rack 235 of the rotation axis of jacking clamping wheel 233 has certain end play, jacking clamping wheel 233 can be moved up and down along mounting groove under the effect of external force, and match to control the chucking power of 2 pairs of overhead transmission lines of cantilever mechanism with positive transport wheel 221, also can make cantilever mechanism 2 with overhead transmission line clamping or depart from.On two, jacking axle 232 vertically arranges and is resisted against respectively the bottom of two jacking clamping wheels 233, jacking clamping motor 234 drives jacking axle 233 on two to move up and down by upper jacking housing 231, make two jacking clamping wheels 233 synchronize and move up and down with jacking axle 232 on two, and then make overhead transmission line clamping or depart from the grooved passage between two jacking clamping wheels 233 and positive transport wheel 221.Preferably, on positive transport wheel 221 and jacking clamping wheel 233, offer V-shaped groove, thereby realize, wire clamp is held in V-shaped groove opposing upper and lower, realize the object of clamping walking, and can regulate robotic friction power by clamping dynamics.
As shown in Fig. 4 A～Fig. 4 B, be respectively perspective view and the cross-sectional view of slew gear of the present utility model.Slew gear 3 of the present utility model comprises that revolution main frame 31, two pivoted arm 32(comprise forearm and postbrachium), revolution driver element 33, two pivoted arms 32 are symmetricly set in the outside of revolution main frame 31, and one end of two pivoted arms 32 is installed in to be run through on the pivot 34 that turns round main frame 31, its other end is connected with cantilever mechanism 2, by revolution driver element 33, drive pivot to rotate, make pivoted arm 32 around pivot 34 rotations, and then drive cantilever mechanism 2 synchronous rotaries.In the present embodiment, revolution driver element 33 comprises revolution drive motors 331, shaft coupling 332 and the decelerator 333 connecting successively, and pivot 34 runs through on the output gear that is fixed on decelerator 333.Like this, revolution drive motors 331 drives decelerator 333 by shaft coupling 332, and then drives pivot 34 to rotate, and plays the effect that drives pivoted arm 32 pivotables.The structure of slew gear adopts simple outside framework to rotate form around pivot, realization is greater than the rotation of 200 degree, thereby can realize cantilever straight up, and cantilever is the multiple position functions such as straight down, flexible combination cantilever position, can realize several functions such as upset obstacle detouring, translation obstacle detouring.
As shown in Fig. 5 A～Fig. 5 B, be respectively perspective view and the cross-sectional view of quick assembling mechanism of the present utility model.Slew gear 3 of the present utility model is connected by quick assembling mechanism 4 with cantilever mechanism 2, quick assembling mechanism 4 comprises that cantilever fast-assembling is added 41, cantilever fast-assembling undercarriage 42 and the outer clamping ring 43 of fast-assembling, cantilever fast-assembling added 41 is arranged at the bottom of cantilever mechanism 2, the outer clamping ring 43 of fast-assembling is clamped in the outside of cantilever fast-assembling added 41 and cantilever fast-assembling undercarriage 42 junctions by bolt, cantilever fast-assembling added 41 and cantilever fast-assembling undercarriage 42 are fixedly clamped by the outer clamping ring 43 of fast-assembling.Cantilever fast-assembling undercarriage 42 is connected with the pivoted arm 32 of slew gear 3, and cantilever mechanism 2 and slew gear 3 are linked together.Quick assembling mechanism is upper and lower flange arrangement, i.e. cantilever fast-assembling added 41 and cantilever fast-assembling undercarriage 42 structures, and during fast-assembling, upper flange is aimed at lower flange, then puts the outer clamping ring 43 of outside fast-assembling.
As shown in Figure 6, be the utility model upset obstacle crossing type overhead line operation robot upset obstacle detouring process schematic diagram.The utility model upset obstacle crossing type overhead line operation robot, when upset obstacle detouring, comprises the following steps:
Step a: robot detects obstacle, enters obstacle detouring pattern;
Step b: postbrachium (swivel arm) release, departs from wire;
Step c: forearm (swivel arm) slew gear is rotated counterclockwise 90 degree;
Steps d: postbrachium slew gear is rotated counterclockwise 180 degree;
Step e: forearm slew gear is rotated counterclockwise 90 degree;
Step f: postbrachium is reached the standard grade, locking, now, the forearm of robot, postbrachium position exchange;
Step g: forearm release, departs from wire;
Step h: postbrachium slew gear is rotated counterclockwise 90 degree;
Step I: forearm slew gear is rotated counterclockwise 180 degree;
Step j: postbrachium slew gear is rotated counterclockwise 90 degree;
Step k: forearm is reached the standard grade, locking, so far, robot surmounts obstacles, and arm position, front and back is returned to the front state of obstacle detouring.
Detailed explanation for the respective embodiments described above, its object is only the utility model to make an explanation, so that can understand better the utility model, but, it is to restriction of the present utility model that these descriptions can not be construed to any reason, particularly, each feature of describing in different execution modes is combination in any mutually also, thereby form other execution modes, except there being clearly contrary description, these features should be understood to can be applied in any one execution mode, and are also not only confined to described execution mode.
Claims (5)
1. a upset obstacle crossing type overhead line operation robot, it is characterized in that, described upset obstacle crossing type overhead line operation robot comprises crossbeam, at described crossbeam two ends, be respectively equipped with slew gear, described slew gear can be around the end of described crossbeam reciprocating rotation, and described in each, the end of slew gear is connected with the cantilever mechanism that can slide on overhead transmission line and can be separated with overhead transmission line.
2. upset obstacle crossing type overhead line operation as claimed in claim 1 robot, is characterized in that, described slew gear comprises:
Revolution main frame;
Two pivoted arms, are symmetricly set in the outside of described revolution main frame, and one end of described two pivoted arms is installed on the pivot that runs through described revolution main frame, and its other end is connected with described cantilever mechanism;
Revolution driver element, is connected with described pivot, and pivot rotates described in described revolution drive unit drives, and described pivot drives described pivoted arm to rotate around described pivot.
3. upset obstacle crossing type overhead line operation as claimed in claim 2 robot, it is characterized in that, described revolution driver element comprises revolution drive motors, shaft coupling and the decelerator connecting successively, and described pivot runs through on the output gear that is fixed on described decelerator.
4. upset obstacle crossing type overhead line operation as claimed in claim 1 robot, is characterized in that, described cantilever mechanism comprises:
Cantilever main frame, the bottom of described cantilever main frame is connected with described slew gear;
Walking unit, is located at the top of described cantilever main frame, comprises the positive transport wheel and the positive transport wheel motor that are connected, and described positive transport wheel motor drives described positive transport wheel to rotate;
Jacking grip unit, comprise jacking housing, jacking axle on two, two jacking clamping wheels and jacking clamping motor, the both sides, below that are arranged at described positive transport wheel that described two jacking clamping wheels can rotate, on described two, jacking axle runs through and is connected in described upper jacking housing, and on described two, jacking axle vertically arranges and is resisted against respectively the bottom of described two jacking clamping wheels, described jacking clamping motor drives jacking axle on described two to move up and down by described upper jacking housing, described two jacking clamping wheels are synchronizeed and are moved up and down with jacking axle on described two, described two jacking clamping wheels coordinate clamping overhead transmission line with described positive transport wheel.
5. the upset obstacle crossing type overhead line operation robot as described in any one in claim 1 to 4, it is characterized in that, described slew gear is connected by quick assembling mechanism with described cantilever mechanism, described quick assembling mechanism comprises: cantilever fast-assembling is added, the outer clamping ring of cantilever fast-assembling undercarriage and fast-assembling, the added bottom that is arranged at described cantilever mechanism of described cantilever fast-assembling, the outer clamping ring of described fast-assembling is clamped in the outside of the added and described cantilever fast-assembling undercarriage of described cantilever fast-assembling junction, and described cantilever fast-assembling undercarriage is connected with described slew gear.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201320744272.3U CN203553762U (en) | 2013-11-21 | 2013-11-21 | Turnover obstacle surmounting type overhead line operation robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201320744272.3U CN203553762U (en) | 2013-11-21 | 2013-11-21 | Turnover obstacle surmounting type overhead line operation robot |
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| CN203553762U true CN203553762U (en) | 2014-04-16 |
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| CN201320744272.3U Expired - Fee Related CN203553762U (en) | 2013-11-21 | 2013-11-21 | Turnover obstacle surmounting type overhead line operation robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103594967A (en) * | 2013-11-21 | 2014-02-19 | 北京国网富达科技发展有限责任公司 | Overturning obstacle crossing type overhead line work robot |
| CN109066473A (en) * | 2018-09-30 | 2018-12-21 | 武汉武大英康集成媒体有限公司 | A kind of transmission line high-altitude line walking intelligent inspection robot and method for inspecting |
-
2013
- 2013-11-21 CN CN201320744272.3U patent/CN203553762U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103594967A (en) * | 2013-11-21 | 2014-02-19 | 北京国网富达科技发展有限责任公司 | Overturning obstacle crossing type overhead line work robot |
| CN109066473A (en) * | 2018-09-30 | 2018-12-21 | 武汉武大英康集成媒体有限公司 | A kind of transmission line high-altitude line walking intelligent inspection robot and method for inspecting |
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Granted publication date: 20140416 |