CN205734919U - Imitative insecticide creeping motion type two-wheel two-arm inspection robot frame for movement - Google Patents

Imitative insecticide creeping motion type two-wheel two-arm inspection robot frame for movement Download PDF

Info

Publication number
CN205734919U
CN205734919U CN201620440417.4U CN201620440417U CN205734919U CN 205734919 U CN205734919 U CN 205734919U CN 201620440417 U CN201620440417 U CN 201620440417U CN 205734919 U CN205734919 U CN 205734919U
Authority
CN
China
Prior art keywords
arm
frame
wheel
inspection robot
roller
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.)
Active
Application number
CN201620440417.4U
Other languages
Chinese (zh)
Inventor
杜宗展
高琦
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.)
Shandong University
Original Assignee
Shandong University
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 Shandong University filed Critical Shandong University
Priority to CN201620440417.4U priority Critical patent/CN205734919U/en
Application granted granted Critical
Publication of CN205734919U publication Critical patent/CN205734919U/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Abstract

The utility model discloses a kind of imitative insecticide creeping motion type two-wheel two-arm inspection robot frame for movement, belong to robotics, described imitative insecticide creeping motion type two-wheel two-arm inspection robot frame for movement includes frame, the top of frame is provided with can open the roller arm of Guan Bi in both sides, split type roller is set on roller arm, the bottom of frame is provided with at least one forward direction mechanical arm and backward mechanical arm, is all driven by motor at each jointed shaft.Compared with prior art, this utility model has reducing labor intensity, reduces operating cost, and can the advantage of crossing over blockage.

Description

Imitative insecticide creeping motion type two-wheel two-arm inspection robot frame for movement
Technical field
This utility model relates to robotics, particularly relates to a kind of imitative insecticide creeping motion type two-wheel double Arm inspection robot frame for movement.
Background technology
Extra high voltage network distribution site is many, area wide, and residing with a varied topography, natural environment is severe. Electric lines of force and shaft tower adnexa are affected by mechanical tension, electric flashover, material aging etc. for a long time, can produce Raw disconnected stock, wear and tear, corrode equivalent damage, as repaired not in time, major accident will be caused, to electric power biography Defeated bring very big hidden danger.Therefore, it is necessary to transmission line of electricity to be carried out periodical inspection inspection, at any time grasp and Understand the ruuning situation of transmission line of electricity and circuit surrounding and the situation of change in route protection district, and Shi Faxian and removing a hidden danger, trouble-saving generation, it is ensured that power supply safety.
The traditional approach patrolling and examining transmission line of electricity is mainly to use ground artificial range estimation patrol and examine and go straight up to Aircraft aerial survey.It is low that the former patrols and examines precision, and labor intensity is big, exists and patrols and examines blind area, forest disease and open country Lively thing brings potential safety hazard also to tour personnel;There is flight safety hidden danger in the latter and line walking expense is held high Expensive, directly limit being widely popularized of helicopter routing inspection.
Robotics develop into transmission line of electricity patrol and examine and operation of removing obstacles provides a kind of new flat Platform.Robot can live line work, creep along power transmission line with certain speed, and can cross over stockbridge damper, The obstacles such as strain clamp, suspension clamp, shaft tower, utilize the sensor apparatus carried to shaft tower, wire and Lightning conducter, insulator, line hardware, line channel etc. implement proximity test, utilize self-contained Device carries out circuit and removes obstacles, and replaces workman to carry out the work of patrolling and examining and remove obstacles of power circuit.Therefore, defeated Electric line line walking obstacle removing robot becomes the focus of robotics research.
The high pressure of research, extra high voltage network robot mostly are both arms antisymmetry knot the most both at home and abroad Structure, three-arm arrangement and many arm configurations, its running environment mostly is aerial earth wire.It is installed on aerial earth wire Line robot not only running in easily affected by the external force in natural environment, cause run shakiness Fixed, even drop from transmission line of electricity, but also existence is patrolled and examined to remove obstacles and is limited in scope, inefficiency Shortcoming.The developed countries such as Japan, Canada, the U.S. have successively carried out the research work of inspection robot Make, for there is the situations such as insulator chain, aluminium hydraulic pressed connecting pipe and suspension clamp on transmission line of electricity, it is impossible to cross over, Patrolling and examining continuously of extra high voltage network can not be realized.Chinese Academy of Sciences's Shenyang Institute of Automation, Shandong University, The unit such as Wuhan University, BJ University of Aeronautics & Astronautics needs also for patrolling and examining continuously of extra high voltage network Ask the development carrying out this respect technology and equipment, achieve certain corresponding achievement, but do not possess Obstacle crossing function.
Utility model content
The technical problems to be solved in the utility model is to provide one and reduces labor intensity, reduces and run into This, and can the imitative insecticide creeping motion type two-wheel two-arm inspection robot frame for movement of crossing over blockage.
For solving above-mentioned technical problem, this utility model provides technical scheme as follows:
A kind of imitative insecticide creeping motion type two-wheel two-arm inspection robot frame for movement, it is characterised in that include Frame, wherein:
The top of described frame is provided with at least one can open the roller arm of Guan Bi, described roller in both sides Split type roller is set on arm;
The bottom of described frame is provided with at least one forward direction mechanical arm that can horizontally rotate, described forward direction Mechanical arm includes the most hinged first connecting rod, second connecting rod, third connecting rod and fourth link, described The end of fourth link is provided with for embracing the first mechanical hand grabbing circuit from side;
The bottom of described frame is provided with at least one backward mechanical arm that can horizontally rotate, described backward Mechanical arm includes the most hinged the 5th connecting rod, six-bar linkage, seven-link assembly and the 8th connecting rod, described The end of the 8th connecting rod is provided with for embracing the second mechanical hand grabbing circuit from side;
All driven by motor at each jointed shaft.
This utility model has the advantages that
This utility model based on imitative insecticide creeping motion type two-wheel two-arm inspection robot frame for movement, frame Top is provided with at least one can open the roller arm of Guan Bi in both sides, and roller arm arranges split type rolling Wheel, this being designed to makes robot when level tangent track is walked, and roller is played a supporting role, obstacle detouring Time roller play clamping action, strengthen overall stability.Frame lower arranges at least one forward direction machinery Arm and at least one backward mechanical arm, mechanical arm is linkage, and this design is simple and compact for structure, Weight is little, and power control part can also be integrated on the bracing frame of roller arm.This utility model can The non-straight circuits such as straight and various resistance to bracing cables, drainage thread are walked, solve in prior art, The artificial problem that line walking labor intensity is big and aircraft line walking operating cost is high, and conventional obstacles can be crossed (such as insulator chain, aluminium hydraulic pressed connecting pipe, suspension clamp etc.), it is achieved that patrolling and examining continuously high-voltage line.Cause This, compared with prior art, this utility model has reducing labor intensity, reduces operating cost, and Can the advantage of crossing over blockage.
Accompanying drawing explanation
Fig. 1 is the knot of imitative insecticide creeping motion type two-wheel two-arm inspection robot frame for movement of the present utility model Structure schematic diagram;
Fig. 2-Fig. 5 is imitative insecticide creeping motion type two-wheel two-arm inspection robot machinery of the present utility model knot The view that each step of the obstacle-detouring method of structure is corresponding.
Detailed description of the invention
For making the technical problems to be solved in the utility model, technical scheme and advantage clearer, below To be described in detail in conjunction with the drawings and the specific embodiments.
On the one hand, this utility model provides a kind of inspection robot frame for movement, as it is shown in figure 1, bag Including rack 1, wherein: the top of frame 1 is provided with at least one can open the roller arm of Guan Bi in both sides 2, roller arm 2 arranges split type roller 3, the bottom of frame is provided with at least one and can horizontally rotate Forward direction mechanical arm 4, forward direction mechanical arm 4 include the most hinged first connecting rod 5, second connecting rod 6, Third connecting rod 7 and fourth link 8, the end of fourth link 8 is provided with and grabs circuit for embracing from side The first mechanical hand 9, the bottom of frame 1 is provided with at least one backward mechanical arm that can horizontally rotate 10, backward mechanical arm 10 includes the most hinged the 5th connecting rod 11, six-bar linkage 12, seven-link assembly 13 and the 8th connecting rod 14, the end of the 8th connecting rod 14 is provided with and grabs the second of circuit for embracing from side Mechanical hand 15, is all driven by motor at each jointed shaft.
This utility model is based on imitative insecticide creeping motion type two-wheel two-arm inspection robot frame for movement, frame 1 On arrange two and can open the roller arm 2 of Guan Bi in both sides, roller arm 2 arranges split type roller 3, This being designed to makes robot when level tangent track is walked, and roller is played a supporting role, and rolls during obstacle detouring Take turns clamping action, strengthen overall stability.Frame lower arranges what at least one can horizontally rotate Forward direction mechanical arm 4 and at least one backward mechanical arm 10 that can horizontally rotate, mechanical arm is connecting rod machine Structure, this design is simple and compact for structure, and weight is little, and power control part can be integrated on roller arm.
Further, the two ends, bottom of frame 1 are respectively arranged with the first rotating basis that can horizontally rotate 16 and second rotating basis 17, first connecting rod 5 is arranged on the first rotating basis 16, the 5th connecting rod 11 are arranged on the second rotating basis 17.This structure is so that mechanical arm is in frame 1 plane Rotate, clear up the foreign material in remaining phase line.
Further, roller arm 2 is by being connected in frame 1 by motor-driven jointed shaft, this Design simple in construction, easy to control.
Further, split type roller 3 is arranged on the end of roller arm 2, and this design structure is prone to Control the folding of roller, and by frame and roller arm, smooth the coupling together of roller.
As a kind of improvement of the present utility model, roller arm 2 is two, and this structure makes robot During moving obstacle-crossing, structure is more stable.
Preferably, first mechanical hand the 9, second mechanical hand 15 is rotary structure, this design energy Enough motility when raising travelling robot walking and obstacle detouring and stability.
Preferably, first mechanical hand the 9, second mechanical hand 15 all includes the upper mechanical paw cooperated 18 and lower mechanical paw 19, the design of this structure can improve jail when robot moves on the line Solidity.
It addition, upper mechanical paw 18 and lower mechanical paw 19 are L hook-like configuration, this structure sets Meter can make the action of mechanical paw more finely, improves further and embraces the accuracy grabbed.
As a kind of optimization of the present utility model, power control part can be integrated on roller arm, this Design, power control part can not only provide the energy for the motion of inspection robot, it is also possible to takes into account Simplify overall structure, alleviate weight.
In addition to the above-mentioned embodiment be given, it can also use and well known to a person skilled in the art Other modes various, here is omitted.
On the other hand, as shown in figs 2-4, this utility model also provides for a kind of above-mentioned based on imitative elder brother The obstacle-detouring method of worm creeping motion type two-wheel two-arm inspection robot frame for movement, including:
Step 1: when not running into obstacle, the first mechanical hand 9 and the second mechanical hand 15 being positioned in frame Opening, roller 3 drives frame 1 to move forward;
Step 2: when running into obstacle, roller 3 stops mobile, and the first mechanical hand 9 moves forward cut-through Grasping circuit after thing, then the second mechanical hand 15 grasps circuit, rear roller 3 at roller arm 2 Open under drive, after frame 1 cut-through thing, roller 3 sets up on the line again, goes to step 1, wait obstacle detouring next time.
Further, imitative insecticide creeping motion type two-wheel two-arm inspection robot frame for movement of the present utility model Obstacle-detouring method in, such as Fig. 5, when finding have, on circuit, the foreign material that can clear up, it is also possible to utilize the Barrier is cleared up by one mechanical hand 9 and/or the second mechanical hand 15.
This work process makes robot walk and during obstacle detouring, at least one machinery all the time Hands and roller effect on the line, can maintain stablizing of system.This utility model can straight and Walk on the non-straight circuits such as various resistance to bracing cables, drainage thread, solve in prior art, artificial line walking The problem that labor intensity is big and aircraft line walking operating cost is high, and conventional obstacles can be crossed (such as insulation Substring, aluminium hydraulic pressed connecting pipe, suspension clamp etc.), it is achieved that patrolling and examining continuously high-voltage line.Therefore, with existing Having technology to compare, this utility model has reducing labor intensity, reduces operating cost, and can cross The advantage of obstacle.
It should be pointed out that, for those skilled in the art, new without departing from this practicality On the premise of principle described in type, it is also possible to make some improvements and modifications, these improvements and modifications also should It is considered as protection domain of the present utility model.

Claims (8)

1. an imitative insecticide creeping motion type two-wheel two-arm inspection robot frame for movement, it is characterised in that bag Including rack, wherein:
The top of described frame is provided with at least one can open the roller arm of Guan Bi, described roller in both sides Split type roller is set on arm;
The bottom of described frame is provided with at least one forward direction mechanical arm that can horizontally rotate, described forward direction Mechanical arm includes the most hinged first connecting rod, second connecting rod, third connecting rod and fourth link, described The end of fourth link is provided with for embracing the first mechanical hand grabbing circuit from side;
The bottom of described frame is provided with at least one backward mechanical arm that can horizontally rotate, described backward Mechanical arm includes the most hinged the 5th connecting rod, six-bar linkage, seven-link assembly and the 8th connecting rod, described The end of the 8th connecting rod is provided with for embracing the second mechanical hand grabbing circuit from side;
All driven by motor at each jointed shaft.
Imitative insecticide creeping motion type two-wheel two-arm inspection robot machinery the most according to claim 1 is tied Structure, it is characterised in that the two ends, bottom of described frame are respectively arranged with the first rotation that can horizontally rotate Pedestal and the second rotating basis, described first connecting rod is arranged on described first rotating basis, and described Five connecting rods are arranged on described second rotating basis.
Imitative insecticide creeping motion type two-wheel two-arm inspection robot machinery the most according to claim 1 is tied Structure, it is characterised in that described roller arm is by being connected in described frame by motor-driven jointed shaft.
Imitative insecticide creeping motion type two-wheel two-arm inspection robot machinery the most according to claim 1 is tied Structure, it is characterised in that described split type roller is arranged on the end of described roller arm.
Imitative insecticide creeping motion type two-wheel two-arm inspection robot machinery the most according to claim 4 is tied Structure, it is characterised in that described roller arm is two.
Imitative insecticide creeping motion type two-wheel two-arm inspection robot machinery the most according to claim 1 is tied Structure, it is characterised in that described first mechanical hand, the second mechanical hand are rotary structure.
7. according to the imitative insecticide creeping motion type two-wheel two-arm inspection robot machinery described in claim 6 Structure, it is characterised in that described first mechanical hand, the second mechanical hand all include the upper machine cooperated Tool paw and lower mechanical paw.
Imitative insecticide creeping motion type two-wheel two-arm inspection robot machinery the most according to claim 7 is tied Structure, it is characterised in that described upper mechanical paw and lower mechanical paw are L hook-like configuration.
CN201620440417.4U 2016-05-12 2016-05-12 Imitative insecticide creeping motion type two-wheel two-arm inspection robot frame for movement Active CN205734919U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201620440417.4U CN205734919U (en) 2016-05-12 2016-05-12 Imitative insecticide creeping motion type two-wheel two-arm inspection robot frame for movement

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201620440417.4U CN205734919U (en) 2016-05-12 2016-05-12 Imitative insecticide creeping motion type two-wheel two-arm inspection robot frame for movement

Publications (1)

Publication Number Publication Date
CN205734919U true CN205734919U (en) 2016-11-30

Family

ID=57366792

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201620440417.4U Active CN205734919U (en) 2016-05-12 2016-05-12 Imitative insecticide creeping motion type two-wheel two-arm inspection robot frame for movement

Country Status (1)

Country Link
CN (1) CN205734919U (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105798901A (en) * 2016-05-12 2016-07-27 山东大学 Mechanical structure of insect-imitated creeping double-wheel and double-arm line patrol robot and obstacle crossing method thereof
CN108493832A (en) * 2018-03-19 2018-09-04 洛阳理工学院 A kind of cable car type line inspection device for high-tension bus-bar detection
CN109728777A (en) * 2019-03-05 2019-05-07 浙江国自机器人技术有限公司 A kind of straddle cleaning device
CN112165029A (en) * 2020-10-20 2021-01-01 云南电网有限责任公司怒江供电局 Overhead transmission conductor inspection obstacle crossing robot and obstacle crossing method thereof

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105798901A (en) * 2016-05-12 2016-07-27 山东大学 Mechanical structure of insect-imitated creeping double-wheel and double-arm line patrol robot and obstacle crossing method thereof
CN108493832A (en) * 2018-03-19 2018-09-04 洛阳理工学院 A kind of cable car type line inspection device for high-tension bus-bar detection
CN109728777A (en) * 2019-03-05 2019-05-07 浙江国自机器人技术有限公司 A kind of straddle cleaning device
CN112165029A (en) * 2020-10-20 2021-01-01 云南电网有限责任公司怒江供电局 Overhead transmission conductor inspection obstacle crossing robot and obstacle crossing method thereof

Similar Documents

Publication Publication Date Title
CN205734919U (en) Imitative insecticide creeping motion type two-wheel two-arm inspection robot frame for movement
CN103056866B (en) Transformer station's hot line robot
CN105798901A (en) Mechanical structure of insect-imitated creeping double-wheel and double-arm line patrol robot and obstacle crossing method thereof
CN201504053U (en) Pitch variable wheel arm composite inspection robot mechanism
CN102946072B (en) Bundle conductor inspection robot platform
CN102938544B (en) A kind of transmission line active obstacle travelling robot
CN203092545U (en) Transformer station live working robot
CN107097866A (en) Power line operation walking robot and its obstacle-detouring method
CN106505463A (en) A kind of HVDC magnetic suspension crusing robot obstacle avoidance apparatus
CN102941570B (en) Patrol robot for power transmission lines
CN205734920U (en) Imitative insecticide creeping motion type inspection robot frame for movement
CN103594967A (en) Overturning obstacle crossing type overhead line work robot
CN202917898U (en) Divided conductor patrol work robot platform
CN105846351B (en) Inspection robot mechanical structure and its obstacle-detouring method
CN202930832U (en) Line patrol robot for power transmission line
CN205706949U (en) Apery walking inspection robot frame for movement
CN206878378U (en) A kind of crusing robot running gear
CN205724653U (en) Six arm robot frame for movements based on slide block mechanism
CN202917899U (en) Line robot actuating arm with obstacle crossing function
CN205791195U (en) Inspection robot frame for movement
CN105826861B (en) Six arm robot mechanical structures and its obstacle-detouring method based on slide block mechanism
CN203553762U (en) Turnover obstacle surmounting type overhead line operation robot
CN105811309B (en) Annular bag arm inspection robot mechanical structure and its obstacle-detouring method
CN205753184U (en) Annular bag arm inspection robot frame for movement
CN105818140B (en) Imitative insect creeping motion type inspection robot mechanical structure and its obstacle-detouring method

Legal Events

Date Code Title Description
C14 Grant of patent or utility model
GR01 Patent grant