CN204858415U - Open hanging wire running gear in V of line robot type patrols - Google Patents
Open hanging wire running gear in V of line robot type patrols Download PDFInfo
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- CN204858415U CN204858415U CN201520623365.XU CN201520623365U CN204858415U CN 204858415 U CN204858415 U CN 204858415U CN 201520623365 U CN201520623365 U CN 201520623365U CN 204858415 U CN204858415 U CN 204858415U
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Abstract
The utility model relates to a can be used to the open hanging wire running gear in V of line robot type patrols that high tension transmission line overhauld, including last tongs and lower tongs, it comprises a support of falling the V -arrangement to go up the tongs, the sling is provided with a walking wheel that is controlled by driving motor in the support of falling the V -arrangement, the tongs comprises the lower extreme U -shaped support continuous with patrolling line robot arm down, one side hack lever of U -shaped support and the support of falling the V -arrangement is through the actuation of closed locking electromagnetism pin looks, the opposite side hack lever of U -shaped support and the support of falling the V -arrangement is articulated mutually through the round pin axle, be equipped with the automatically controlled mechanism that opens and shuts that is used for making the support of falling V -arrangement rotate around the pin roll on this side bearer pole. The utility model discloses a fall on the V -arrangement " go up and open " formula structure that the tongs is formed under tongs and the U -shaped, this structure has reduced the position control precision of arm when " grabbing the line ", easily realizes motion control, can satisfy hanging wire running gear and hinder more and the requirement of cross -line in -process " tension releasing " and " grabbing the line ".
Description
Technical field
The utility model belongs to robot architecture's design field, relates to walking mechanism on a kind of cantilever type inspection robot line that can be applicable to ultra-high-tension power transmission line maintenance.
Background technology
In prior art, mechanical structure for the inspection robot of ultra-high-tension power transmission line maintenance is varied, and function and purposes are also different, though wherein most robot possesses obstacle crossing function on basic line, but lack " cross-line " function, can only walk between two shaft towers.For inspection robot, rational mechanical structure is that it crosses over various obstacle, the basis that transmission line drives safely, especially its " clamp " mechanism and " hoofing part " mechanism.Current inspection robot many employings cantilever structure well known in the art, its on line walking manner be rely on road wheel be pressed on electric wire, by gravity-pressing cotton rope, under the drive of motor, the frictional force between wheel and rope is utilized to walk on line, the inspection robot developed as Shandong University and walking mechanism etc. thereof.After this kind of walking mechanism runs into obstacle on transmission line, three arms are adopted to unclamp the mode of reach in turn, realize obstacle detouring and cross-line (cotton rope that cross-line refers to from running at present is changed to another cotton rope, also alternately grabs line by mechanical arm and realizes).
In tread systems design except basic runner line ball walking structure, also to consider mechanism's " loose ends " in obstacle detouring process, " grabbing line " and when external applied load is disturbed road wheel line on reset issues.On conventional line, walking steps up walking mechanism and is mainly the mechanism with upper driving wheel and lower pinch wheels, is realized the clamping of cotton rope by the groove between upper and lower two-wheeled.The reliability of this method clamp is better, affect little by external force, can stabilized walking on line, but needing cotton rope to align accurately when reaching the standard grade in the middle of two wheels to clamp, after inspection robot loose ends obstacle detouring, require very high to the control of manipulator motion position and accuracy of detection when again reaching the standard grade.The pendency walking mechanism adopting left and right two halves formula again in the application for this reason more, its when " loose ends " about two parts separately, mechanical arm moves down realization " loose ends "; When " grabbing line ", cotton rope controls in the middle of the two parts of structure left and right by mechanical arm, after then two parts close up, mechanical arm is drop-down to be made " driving wheel " press to realize reaching the standard grade operation on line.Adopt the pendency walking mechanism of this left and right two halves formula, driving wheel is made up of left and right two parts, about when reaching the standard grade, two-part aperture can affect and grab the successful probability of line, the precision of target identification be there are certain requirements, simultaneously structure is divided right and left the stability that two-part design also can effect string be walked, also higher to the coherence request of left and right two-part structure processing and manufacturing, and this structure driving wheel when being subject to the effect of large wind load departs from after cotton rope, owing to there is no the reset guide mechanism of rope sheave, cotton rope is likely stuck in non-moving parts, affect the service work of inspection robot to transmission line.
Utility model content
The purpose of this utility model is to overcome the weak point that prior art exists, and provides that a kind of structure is simple, easy to operate, open type hanging wire walking mechanism in the inspection robot V-type that is easy to realize motion control.
For achieving the above object and adopt technical solution be such: in the inspection robot V-type provided, open type hanging wire walking mechanism comprises handgrip and lower handgrip, wherein, upper handgrip is propped up by an inverted V-shaped and is configured to, in inverted V-shaped support, sling is provided with the road wheel that is controlled by drive motors, the U-shaped that lower handgrip is connected with inspection robot mechanical arm by a lower end props up and is configured to, the side hack lever of U-shaped support and inverted V-shaped support is by the adhesive of closed-lock electromagnetism pin phase, the opposite side hack lever of U-shaped support and inverted V-shaped support is hinged by bearing pin, this side frame bar is provided with the automatically controlled open-and-close mechanism for making inverted V-shaped support rotate around bearing pin.
In above-mentioned inspection robot V-type in open type hanging wire walking mechanism, described automatically controlled open-and-close mechanism is made up of rocking bar, connecting rod, crank, shaft coupling and stepping motor, stepping motor is arranged on the hack lever of U-shaped support hinged end side, its output shaft is connected with one end of crank by shaft coupling, the other end of crank is connected with one end of rocking bar by connecting rod, and the other end of rocking bar is welded on the hack lever of inverted V-shaped support hinged end side.
In above-mentioned inspection robot V-type in open type hanging wire walking mechanism, on the both sides hack lever of inverted V-shaped support, symmetry is respectively provided with a bearing spider, the axostylus axostyle of road wheel is contained on two bearings bearing, the hack lever of inverted V-shaped support is equipped with motor support base, drive motors is arranged on motor support base, and its output shaft is connected with the axostylus axostyle of road wheel by shaft coupling.
The utility model is that hanging wire walking mechanism to adopt on inverted V-shaped handgrip composition " above opening " formula structure under handgrip and U-shaped relative to the improvement of prior art, the structure " above opened " reduces the position control accuracy of mechanical arm when " grabbing line ", be easy to realize motion control, the requirement of " loose ends " and " grabbing line " in obstacle detouring and cross-line process of hanging wire walking mechanism can be met.In real work, after upper handgrip opens, as long as cotton rope enters the scope of handgrip on inverted V-shaped and after closing handgrip, cotton rope will slip in road wheel groove along inverted V-shaped framework under the effect of and gravity drop-down at mechanical arm, so cotton rope can be controlled in walking mechanism." V " shape design of falling of upper handgrip also has motion guide function, can prevent the lower road wheel of the wind effect of carrying from departing from cotton rope.The utility model adopts " U-shaped " design in the below of cotton rope road wheel in addition, larger space is left to walking mechanism, the less barrier (as stockbridge damper etc.) of part directly can be allowed in work, walking mechanism is made to possess directly current ability when barrier is less, its efficiency that improve and walking mechanism line is walked that matches with the structure of " above opening ".
Compared with prior art, structure of the present utility model is simple, easy to operate, in travelling robot walking process, require very low to the accuracy of detection of the movement position of mechanical arm, be easy to establishment design con-trol algorithm, reduce the requirement to transducer and control system Treatment Analysis ability, thus reduce development difficulty and the cost of control system.
Accompanying drawing explanation
Fig. 1 is the structural representation of the utility model specific embodiment.
Fig. 2 is folding extreme position schematic diagram of the present utility model, and the dotted line in interior is upper handgrip closure state, and solid line is upper handgrip open mode.
Fig. 3 is the motion connection diagram of automatically controlled open-and-close mechanism.
Fig. 4-Fig. 5 grabs chirokinesthetic direction schematic diagram on stepping motor drives, and wherein Fig. 4, before stepping motor rotary motion, half cycle grabs chirokinesthetic direction schematic diagram, and stepping motor rotary motion second half grabs chirokinesthetic direction schematic diagram to Fig. 5.
Fig. 6-Fig. 7 is the schematic diagram of cotton rope motion mode in walking mechanism, and wherein Fig. 6 is the schematic diagram of cotton rope access mechanism, and Fig. 7 is that inverted V-shaped structure carries out the schematic diagram of guide effect to cotton rope.
Fig. 8 be the utility model cotton rope up walk the schematic diagram of state.
In figure, the title of each number designation respectively: the upper handgrip of 1-, handgrip under 2-, 3-stepping motor, 4-crank, 5-connecting rod, 6-drive motors, 7-motor support base, 8-road wheel, 9-closed-lock electromagnetism pin, 10-bearing pin, 11-rocking bar, 12-shaft coupling, 13-cotton rope.
Embodiment
Below with reference to accompanying drawing, the utility model content is described further, but actual fabrication structure of the present utility model is not limited in embodiment shown in the drawings.
See accompanying drawing, in inspection robot V-type described in the utility model, open type hanging wire walking mechanism forms primarily of upper handgrip 1 and lower handgrip 2.Upper handgrip 1 is propped up by an inverted V-shaped and is configured to, on the both sides hack lever of inverted V-shaped support, symmetry is respectively provided with a bearing spider, the axostylus axostyle of road wheel 8 is contained on two bearings bearing, the hack lever of inverted V-shaped support is equipped with motor support base 7, drive motors 6 is arranged on motor support base 7, and its output shaft is connected by the axostylus axostyle of shaft coupling with road wheel 8; Lower handgrip 2 adopts U-shaped support Design, is connected (only depict coupling part in Fig. 1, mechanical arm does not draw) bottom it by four screws with inspection robot mechanical arm.The side hack lever of U-shaped support and inverted V-shaped support is by the adhesive of closed-lock electromagnetism pin 9 phase, the opposite side hack lever of U-shaped support and inverted V-shaped support is hinged by bearing pin 10, and this side frame bar is provided with the automatically controlled open-and-close mechanism for making inverted V-shaped support rotate around bearing pin 10.
The motion connected mode of automatically controlled open-and-close mechanism is main as shown in Figure 3.Number in the figure 11 is rocking bar (welding with upper handgrip 1), and 5 is connecting rod, and 4 is crank, and 3 is stepping motor, and 12 is the shaft couplings for being connected with crank 4 by stepping motor 3.During work, crank 4 drives rocking bar 11 to move by connecting rod 5 under the control of stepping motor 3, and rocking bar 11 welds with upper handgrip and is connected, and under the control of stepping motor 3, upper handgrip 1 rotates around bearing pin 10, realizes opening and closing movement.As shown in Figure 2, the dotted line in Fig. 2 is upper handgrip closure state to two extreme positions that upper handgrip 1 moves, and solid line is upper handgrip open mode.
Fig. 4-Fig. 5 grabs chirokinesthetic direction schematic diagram on stepping motor drives.Fig. 4 is half cycle before stepping motor 3 rotary motion, and in drive, handgrip 1 is opened, and Fig. 5 is stepping motor 3 rotary motion second half, drive is changed hands 1 to close, its characteristics of motion meets crank and rocker mechanism feature, and the angle rotated by control step motor 3, realizes the control to the folding of upper handgrip 1.
Fig. 6-Fig. 7 is the schematic diagram of cotton rope motion mode in walking mechanism.As shown in Figure 6, the overall construction design of upper open type hanging wire walking mechanism contributes to mechanical arm and " to reach the standard grade " operation, can reduce the precision that manipulator motion controls.After upper handgrip 1 opens, as long as cotton rope 13 enters the scope in figure shown in dotted line, at this moment closed upper handgrip 1, just can control cotton rope 13 in walking structure.In Fig. 1, upper handgrip 1 falls the design of " V " font and has motion guide function.After upper handgrip 1 and lower handgrip 2 are closed, drop-down at mechanical arm with under the effect of gravity, as shown in Figure 7, line, 13 can slip in road wheel groove along inverted V-shaped framework.Cause after road wheel 8 departs from cotton rope 13 when swing occurs hanging wire walking mechanism complete machine under high wind carries effect, under gravity, cotton rope 13 also can slip in the groove of road wheel 8 along inverted V-shaped framework, realizes the reset of walking mechanism on cotton rope.
Lower handgrip 2 in this hanging wire walking mechanism adopts the structural design of U-shaped support, match with upper handgrip 1, the space that a part is larger just can be left like this in the below of road wheel 8, when inspection robot is walked on transmission line, when running into the barrier being positioned at such as stockbridge damper one class small volume below transmission line, can directly pass through, do not need the action carried out loose ends again, grab line, that can improve inspection robot patrols and examines efficiency.
Claims (3)
1. open type hanging wire walking mechanism in an inspection robot V-type, it is characterized in that: comprise handgrip (1) and lower handgrip (2), described upper handgrip (1) is propped up by an inverted V-shaped and is configured to, and in inverted V-shaped support, sling is provided with the road wheel (8) that is controlled by drive motors (6); The U-shaped that described lower handgrip (2) is connected with inspection robot mechanical arm by a lower end props up and is configured to, the side hack lever of U-shaped support and inverted V-shaped support is by closed-lock electromagnetism pin (9) phase adhesive, the opposite side hack lever of U-shaped support and inverted V-shaped support is hinged by bearing pin (10), and this side frame bar is provided with the automatically controlled open-and-close mechanism for making inverted V-shaped support rotate around bearing pin (10).
2. open type hanging wire walking mechanism in inspection robot V-type according to claim 1, it is characterized in that: described automatically controlled open-and-close mechanism is by rocking bar (11), connecting rod (5), crank (4), shaft coupling (12) and stepping motor (3) composition, stepping motor (3) is arranged on the hack lever of U-shaped support hinged end side, its output shaft is connected with one end of crank (4) by shaft coupling (12), the other end of crank (4) is connected with one end of rocking bar (11) by connecting rod (5), the other end of rocking bar (11) is welded on the hack lever of inverted V-shaped support hinged end side.
3. open type hanging wire walking mechanism in inspection robot V-type according to claim 1, it is characterized in that: on the both sides hack lever of inverted V-shaped support, symmetry is respectively provided with a bearing spider, the axostylus axostyle of road wheel (8) is contained on two bearings bearing, the hack lever of inverted V-shaped support is equipped with motor support base (7), drive motors (6) is arranged on motor support base (7), and its output shaft is connected by the axostylus axostyle of shaft coupling with road wheel (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520623365.XU CN204858415U (en) | 2015-08-18 | 2015-08-18 | Open hanging wire running gear in V of line robot type patrols |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520623365.XU CN204858415U (en) | 2015-08-18 | 2015-08-18 | Open hanging wire running gear in V of line robot type patrols |
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| CN204858415U true CN204858415U (en) | 2015-12-09 |
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| CN201520623365.XU Expired - Fee Related CN204858415U (en) | 2015-08-18 | 2015-08-18 | Open hanging wire running gear in V of line robot type patrols |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106451223A (en) * | 2016-12-07 | 2017-02-22 | 东北大学 | Wheel-clamping compound mechanism for power transmission line polling robot |
| CN106711848A (en) * | 2016-12-22 | 2017-05-24 | 国网河北省电力公司衡水供电分公司 | Vertical double-bundled line outgoing operation platform |
| CN108082317A (en) * | 2017-12-15 | 2018-05-29 | 长沙志唯电子科技有限公司 | Open type hanging wire walking mechanism in inspection robot V-type |
| CN110988611A (en) * | 2019-11-07 | 2020-04-10 | 广西电网有限责任公司电力科学研究院 | Crawler-type insulator detection robot can open and shut |
-
2015
- 2015-08-18 CN CN201520623365.XU patent/CN204858415U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106451223A (en) * | 2016-12-07 | 2017-02-22 | 东北大学 | Wheel-clamping compound mechanism for power transmission line polling robot |
| CN106451223B (en) * | 2016-12-07 | 2018-02-16 | 东北大学 | A kind of transmission line polling robot wheel presss from both sides composite structure |
| CN106711848A (en) * | 2016-12-22 | 2017-05-24 | 国网河北省电力公司衡水供电分公司 | Vertical double-bundled line outgoing operation platform |
| CN106711848B (en) * | 2016-12-22 | 2019-03-26 | 国网河北省电力公司衡水供电分公司 | Vertical double bundle conductor outlet job platform |
| CN108082317A (en) * | 2017-12-15 | 2018-05-29 | 长沙志唯电子科技有限公司 | Open type hanging wire walking mechanism in inspection robot V-type |
| CN110988611A (en) * | 2019-11-07 | 2020-04-10 | 广西电网有限责任公司电力科学研究院 | Crawler-type insulator detection robot can open and shut |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151209 Termination date: 20160818 |