CN205734920U - Imitative insecticide creeping motion type inspection robot frame for movement - Google Patents
Imitative insecticide creeping motion type inspection robot frame for movement Download PDFInfo
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- CN205734920U CN205734920U CN201620440429.7U CN201620440429U CN205734920U CN 205734920 U CN205734920 U CN 205734920U CN 201620440429 U CN201620440429 U CN 201620440429U CN 205734920 U CN205734920 U CN 205734920U
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Abstract
The utility model discloses a kind of imitative insecticide creeping motion type inspection robot frame for movement, belong to robotics, described imitative insecticide creeping motion type 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, forward direction mechanical arm includes the most hinged first connecting rod, second connecting rod, third connecting rod and fourth link, the end of fourth link is provided with for embracing the first mechanical hand grabbing circuit from side, backward mechanical arm includes the 5th the most hinged connecting rod, six-bar linkage, seven-link assembly and the 8th connecting rod, 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.Compared with prior art, this utility model has reducing labor intensity, reduces operating cost, and can the advantage of crossing over blockage.
Description
Technical field
This utility model relates to robotics, particularly relates to a kind of imitative insecticide creeping motion type line walking machine
Device people's 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 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 inspection robot frame for movement, including frame, wherein:
The top of described frame is provided with can open the roller arm of Guan Bi in both sides, and described roller arm is arranged
Split type roller；
The bottom of described frame is provided with at least one forward direction mechanical arm, and described forward direction mechanical arm includes depending on
Secondary hinged first connecting rod, second connecting rod, third connecting rod and fourth link, the end of described fourth link
End 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, and described backward mechanical arm includes depending on
Secondary hinged the 5th connecting rod, six-bar linkage, seven-link assembly and the 8th connecting rod, the end of described 8th connecting rod
End is provided with for embracing the second mechanical hand grabbing circuit from side；
All driven by motor at each jointed shaft.
Further, described roller arm is by being connected in described frame by motor-driven jointed shaft.
Further, described split type roller is arranged on the end of described roller arm.
Further, described first mechanical hand, the second mechanical hand are rotary structure.
Further, described first mechanical hand, the second mechanical hand all include the upper mechanical hand cooperated
Split type roller described in pawl and lower mechanical paw is arranged on the end of described roller arm.
Further, described upper mechanical paw and lower mechanical paw are L hook-like configuration.
This utility model has the advantages that
This utility model is based on imitative insecticide creeping motion type inspection robot frame for movement, and this structure is all by cutting with scissors
Chain structure forms, and the top of frame is provided with can open the roller arm of Guan Bi in both sides, and roller arm is arranged
Split type roller, this being designed to makes robot when level tangent track is walked, and roller plays support and makees
With, during obstacle detouring, roller plays clamping action, strengthens overall stability.Frame lower arranges at least one
Forward direction mechanical arm and at least one backward mechanical arm, mechanical arm is linkage, the letter of this design structure
Single compact, weight is little, and power control part can also be integrated on mechanical arm or roller arm.This reality
Can walk on the non-straight circuits such as straight and various resistance to bracing cables, drainage thread with novel, solve existing
Have in technology, the problem that artificial line walking labor intensity is big and aircraft line walking operating cost is high, and can cross
Conventional obstacles (such as insulator chain, aluminium hydraulic pressed connecting pipe, suspension clamp etc.), it is achieved that the company to high-voltage line
Continue and patrol and examine.Therefore, compared with prior art, this utility model has reducing labor intensity, reduces fortune
Row cost, and can the advantage of crossing over blockage.
Accompanying drawing explanation
Fig. 1 is the structural representation of imitative insecticide creeping motion type inspection robot frame for movement of the present utility model
Figure；
Fig. 2-Fig. 8 is the obstacle detouring of imitative insecticide creeping motion type inspection robot frame for movement of the present utility model
The view that each step of method 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 arranges two can open the roller 2 of Guan Bi in both sides, and described roller arm 2 sets
Putting split type roller 3, the bottom of frame 1 arranges at least one forward direction mechanical arm, forward direction mechanical arm to
It is provided with the most hinged first connecting rod 5, second connecting rod 6, third connecting rod 7 and fourth link 8, the
The end of double leval jib 8 is provided with for embracing the first mechanical hand 4 grabbing circuit, frame 1 time from side
Portion arranges at least one backward mechanical arm, backward mechanical arm be provided with the most hinged the 5th connecting rod 9,
Six-bar linkage 10, seven-link assembly 11 and the 8th connecting rod 12, the end of the 8th connecting rod 12 is provided with use
In embracing the second mechanical hand 13 grabbing circuit from side.
All driven by motor at each jointed shaft.
This utility model is based on imitative insecticide creeping motion type inspection robot frame for movement, and this structure is all by cutting with scissors
Chain structure forms, and frame arranges two and can open the roller arm of Guan Bi in both sides, roller arm is arranged point
Body formula roller, this being designed to makes robot when level tangent track is walked, and roller is played a supporting role,
During obstacle detouring, roller plays clamping action, strengthens overall stability.Frame lower arranges at least one forward direction
Mechanical arm and at least one backward mechanical arm, mechanical arm is linkage, and this design simple in construction is tight
Gathering, weight is little, and power control part can be integrated on mechanical arm or roller arm.
High voltage power transmission process is a diversified process, according to difference and the transmission of electricity ground of transmission voltage
The difference of shape feature, whole transmission line structure is also not quite similar.Walking mechanism of the present utility model should
When inspection robot, inspection robot can be provided with one or more groups this walking mechanism, or
Person is also provided with other kinds of walking mechanism.
Preferably, roller arm 2 is connected in described frame 1 by jointed shaft.The letter of this design structure
Single, easy to control.
Further, split type roller 3 is arranged on the end of roller arm 2.This design structure is prone to
Control the folding of roller, and by frame and roller arm, smooth the coupling together of roller.
Further, first mechanical hand the 4, second mechanical hand 13 is rotary structure.This design
Motility when can improve travelling robot walking and obstacle detouring and stability.
Further, first mechanical hand the 4, second mechanical hand 13 all includes the upper mechanical hand cooperated
Pawl 4-1,13-1 and lower mechanical paw 4-2,13-2.It is online that the design of this structure can improve robot
Fastness when moving on road.
Further, upper mechanical paw 4-1,13-1 and lower mechanical paw 4-2,13-2 are L hook
Type structure.The design of this structure can make the action of mechanical paw more finely, and raising armful is grabbed further
Accuracy.
As a kind of optimization of the present utility model, power control part can be integrated in mechanical arm or roller
On arm, this design, power control part can not only provide the energy for the motion of inspection robot,
Simplification overall structure can also be taken into account, 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.
Inspection robot frame for movement of the present utility model merely illustrates the machinery knot of robot body
Structure, is not directed to other auxiliary device (photographic head, machinery of refuse cleaning such as walking observation
Hands etc.) design.In terms of control system, this utility model can use ground control platform or
Robot self intelligentized control method two ways.
On the other hand, as shown in Fig. 2-Fig. 8, 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 inspection robot frame for movement, including:
Step 1: when not running into obstacle, the first mechanical hand 4 being positioned at frame 1 front portion opens, and second
Mechanical hand 13 catches circuit, roller 3 to drive frame 1 to move forward after a segment distance, the first mechanical hand 4
Keeping open configuration reach, then circuit caught by the first mechanical hand 4, and the second mechanical hand 13 opens also
Reach, roller 3 drives frame 1 to move forward after a segment distance to stop, and circuit caught by the second mechanical hand 13,
Repeat this step 1；
Step 2: when running into obstacle, the first mechanical hand 4 being positioned at frame 1 front portion opens, the second machine
Tool hands 13 catches circuit, and then the first mechanical hand 4 reach cut-through thing catch circuit, roller 3
Driving frame 1 to move forward, then the second mechanical hand 14 opens reach and catches circuit, and roller 3 is in rolling
Wheel arm 2 opens drive frame 1 cut-through thing under driving after, roller 3 sets up on the line again,
Second mechanical hand 14 opens reach and cut-through thing catches circuit, goes to step 1, waits next time
Obstacle detouring.
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 noted that obstacle-detouring method of the present utility model focuses on have employed above-mentioned walking mechanism
The inspection robot method that carries out obstacle detouring.If be also provided with on inspection robot other kinds of can
The walking mechanism of obstacle detouring, then this other kinds of walking mechanism uses its obstacle-detouring method given tacit consent to carry out more
Hinder, not within focal point of the present utility model.
The above is preferred implementation of the present utility model, it is noted that for the art
Those of ordinary skill for, on the premise of without departing from principle described in the utility model, it is also possible to make
Going out some improvements and modifications, these improvements and modifications also should be regarded as protection domain of the present utility model.
Claims (6)
1. an imitative insecticide creeping motion type inspection robot frame for movement, it is characterised in that include frame,
Wherein:
The top of described frame is provided with can open the roller arm of Guan Bi in both sides, and described roller arm is arranged
Split type roller；
The bottom of described frame is provided with at least one forward direction mechanical arm, and described forward direction mechanical arm includes depending on
Secondary hinged first connecting rod, second connecting rod, third connecting rod and fourth link, the end of described fourth link
End 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, and described backward mechanical arm includes depending on
Secondary hinged the 5th connecting rod, six-bar linkage, seven-link assembly and the 8th connecting rod, the end of described 8th connecting rod
End 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 inspection robot frame for movement the most according to claim 1, it is special
Levying and be, described roller arm is by being connected in described frame by motor-driven jointed shaft.
Imitative insecticide creeping motion type inspection robot frame for movement the most according to claim 1, it is special
Levying and be, described split type roller is arranged on the end of described roller arm.
Imitative insecticide creeping motion type inspection robot frame for movement the most according to claim 1, it is special
Levying and be, described first mechanical hand, the second mechanical hand are rotary structure.
5. according to described imitative insecticide creeping motion type inspection robot machinery knot arbitrary in claim 1-4
Structure, it is characterised in that described first mechanical hand, the second mechanical hand all include the upper machinery cooperated
Paw and lower mechanical paw.
Imitative insecticide creeping motion type inspection robot frame for movement the most according to claim 5, its feature
Being, described upper mechanical paw and lower mechanical paw are L hook-like configuration.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620440429.7U CN205734920U (en) | 2016-05-12 | 2016-05-12 | Imitative insecticide creeping motion type inspection robot frame for movement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620440429.7U CN205734920U (en) | 2016-05-12 | 2016-05-12 | Imitative insecticide creeping motion type inspection robot frame for movement |
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| Publication Number | Publication Date |
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| CN205734920U true CN205734920U (en) | 2016-11-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620440429.7U Active CN205734920U (en) | 2016-05-12 | 2016-05-12 | Imitative insecticide creeping motion type inspection robot frame for movement |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105818140A (en) * | 2016-05-12 | 2016-08-03 | 山东大学 | Insect wriggle imitating type power transmission line inspection robot mechanical structure and obstacle surmounting method thereof |
| CN107069537A (en) * | 2017-02-20 | 2017-08-18 | 北京赤帝鸿鹄科技有限责任公司 | The servicing unit of tower is got over based on robot in steel tower transmission line of electricity |
-
2016
- 2016-05-12 CN CN201620440429.7U patent/CN205734920U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105818140A (en) * | 2016-05-12 | 2016-08-03 | 山东大学 | Insect wriggle imitating type power transmission line inspection robot mechanical structure and obstacle surmounting method thereof |
| CN105818140B (en) * | 2016-05-12 | 2018-04-03 | 山东大学 | Imitative insect creeping motion type inspection robot mechanical structure and its obstacle-detouring method |
| CN107069537A (en) * | 2017-02-20 | 2017-08-18 | 北京赤帝鸿鹄科技有限责任公司 | The servicing unit of tower is got over based on robot in steel tower transmission line of electricity |
| CN107069537B (en) * | 2017-02-20 | 2019-01-29 | 北京赤帝鸿鹄科技有限责任公司 | The auxiliary device of tower is got over based on robot in steel tower transmission line of electricity |
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