CN206643936U - A kind of rotary overhead line operation robot architecture of fuselage and robot - Google Patents
A kind of rotary overhead line operation robot architecture of fuselage and robot Download PDFInfo
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- CN206643936U CN206643936U CN201720122538.9U CN201720122538U CN206643936U CN 206643936 U CN206643936 U CN 206643936U CN 201720122538 U CN201720122538 U CN 201720122538U CN 206643936 U CN206643936 U CN 206643936U
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- overhead line
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Abstract
The utility model discloses a kind of rotary overhead line operation robot architecture of fuselage and robot, including independent chassis and robot body, it is flexibly connected between the robot body and chassis, overhead line operation road wheel is arranged on the chassis, manipulator is provided with robot body, drive mechanism is provided with the chassis, drives and is rotated between robot body and chassis, realizes that manipulator is located in Different Plane with overhead line operation road wheel.Angle change can be occurred between road wheel for the manipulator (or mechanical arm) of robot, especially overhead line operation robot by the utility model, adjust the form generation of overhead line operation robot, to adapt to corresponding Detection task；The utility model provides a kind of crusing robot simultaneously, can enable overhead line operation robot form it is easier from it is longitudinally adjusted for laterally, be rapidly completed corresponding work.
Description
Technical field
It the utility model is related to a kind of rotary overhead line operation robot architecture of fuselage and robot.
Background technology
In power domain, overhead line operation robot has obtained increasing application.Generally, overhead line operation machine
Device people includes following mechanism：Main body mechanism, walking mechanism, Working mechanism, battery and controlling organization.Each mechanism work compound, make
Industry robot such as can complete to make an inspection tour, overhaul at the work.
Generally, overhead line operation robot keeps specific form on transmission line of electricity, therefore each mechanism is on body
Installation site be fixed.For example, what position of the walking mechanism on body was usually fixed.
Due to the particularity of working environment, each mechanism of overhead line operation robot generally arranges along circuit dimension linear,
Overhead line operation robot architecture as shown in Fig. 1, Working mechanism (manipulator) are located at the both ends of robot direction of advance,
Walking mechanism is located at the middle part of body, this distribution form be advantageous to make overhead line operation robot avoid with nearby lines
Component collide, meanwhile, the center of gravity of robot can be also better controled in the bottom of suspension circuit, avoid robot
Roll.
Said mechanism distribution form meets the needs of most of working condition, but also have some special situations, it is necessary to
Overhead line operation robot adjusts the form of itself.When a certain two manipulator work compounds of need of work, robot needs
Make two manipulators towards the same side.
And existing crusing robot on the line and is walked by the suspension of two groups of road wheels, two groups of walking wheel arm and two groups
Camera is directly installed on body, and so they are fixed with respect to the position of frame.When needing, progress above-mentioned two is mechanical
Hand such as winds preformed armor rods towards the same side on the line, and now overhead line operation robot will hold one end of preformed armor rods,
When the work such as operation are wound in front of preformed armor rods, because preformed armor rods has many reasons such as certain tension, only by one
Manipulator is difficult to complete this kind of work.
Utility model content
The utility model is in order to solve the above problems, it is proposed that a kind of fuselage rotary people structure and application, this reality
With the new form for enabling overhead line operation robot it is easier from longitudinally adjusted laterally, to be rapidly completed corresponding work
Make.
To achieve these goals, the utility model adopts the following technical scheme that：
A kind of fuselage rotary people's structure, including independent chassis and robot body, the robot body with
It is flexibly connected between chassis, road wheel is arranged on the chassis, and manipulator is provided with robot body, is set on the chassis
Drive mechanism is equipped with, drives and is rotated between robot body and chassis, realize manipulator and overhead line operation road wheel
In Different Plane.
Preferably, it is provided with image capture module on the chassis.
According to the effect of robot, described image acquisition module includes but is not limited to camera, infrared hot remote sensing video camera
Etc. a variety of acquisition modules.
Preferably, hinge connection is used between the chassis and robot body.
Further, flange coupling is installed, the rotating shaft of drive mechanism is protruding, passes through on the robot body
Axis hole on flange coupling is connected with flange coupling so that drive mechanism can drive robot body to turn relative to chassis
It is dynamic.
Preferably, the drive mechanism is reducing motor.
Preferably, the angle that the robot body rotates relative to chassis is any angle.Often worked in robot
Angle, set ratchet neck, to carry out fast positioning.
Preferably, according to the specific effect of robot, detection device is additionally provided with the chassis or robot body, such as
Imaging sensor, sound transducer or temperature-humidity sensor etc..
Controller is additionally provided with robot body of the present utility model or chassis, controller control drive mechanism enters action
Make.
Preferably, the manipulator is Multi-freedom-degreemanipulator manipulator.
Preferably, the robot body both sides are each provided with a manipulator.
A kind of crusing robot, there is above-mentioned fuselage rotary people's structure.
A kind of robot for laying preformed armor rods, has above-mentioned fuselage rotary people's structure.
Compared with prior art, the beneficial effects of the utility model are：
(1) the utility model can be by the manipulator (or mechanical arm) of robot, especially overhead line operation robot
Angle change occurs between road wheel, adjusts the form generation of overhead line operation robot, to adapt to detect accordingly
Task；
(2) the utility model provides a kind of crusing robot simultaneously, can enable the form of overhead line operation robot
It is easier from it is longitudinally adjusted for laterally, be rapidly completed corresponding work；
(3) the utility model provides a kind of robot that can lay preformed armor rods simultaneously, ensures that two manipulator collaborations are made
Industry；
(4) the utility model is flexibly connected using independent chassis and robot body, and the center of gravity of robot also can be more preferable
The bottom of circuit is being hung in ground control, avoids robot from rolling.
Brief description of the drawings
The Figure of description for forming the part of the application is used for providing further understanding of the present application, and the application's shows
Meaning property embodiment and its illustrate be used for explain the application, do not form the improper restriction to the application.
Fig. 1 is the common form schematic diagram of overhead line operation robot in the prior art；
Fig. 2 is the view of overhead line operation robot laying preformed armor rods of the present utility model；
Fig. 3 is the overhead line operation robot schematic diagram under normal condition of the present utility model；
Fig. 4 is the postrotational overhead line operation robot schematic diagram of the utility model body；
Fig. 5 is the postrotational overhead line operation robot enlarged drawing of the utility model body；
Fig. 6 is the hinge connection schematic diagram between the utility model chassis and body.
Embodiment：
The utility model is described in further detail with embodiment below in conjunction with the accompanying drawings.
It is noted that described further below is all exemplary, it is intended to provides further instruction to the application.It is unless another
Indicate, all technologies used herein and scientific terminology are with usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative
It is also intended to include plural form, additionally, it should be understood that, when in this manual using term "comprising" and/or " bag
Include " when, it indicates existing characteristics, step, operation, device, component and/or combinations thereof.
As background technology is introduced, current robot present in prior art road wheel and mechanical arm at work
At grade, flexible rotating can not be realized, many highly difficult work can not be more carried out, such as carry out preformed armor rods operation, now with
It is described in detail exemplified by preformed armor rods operation crusing robot.
As shown in figure 1, robot on the line and walks by two groups of road wheel suspensions.Two machineries positioned at both ends are portable
For functions such as maintenance, aiding overpass obstacles.In the structure, two groups of walking wheel arm and two groups of cameras are directly installed on body, so
They are fixed with respect to the position of frame.To perform some more complicated operations, such as preformed armor rods is wound on the line, such as
Shown in Fig. 2, now robot will hold one end of preformed armor rods, and operation is wound in front of preformed armor rods.Due to preformed armor rods
There is certain tension, be difficult to complete this work only by a manipulator.
In a kind of typical embodiment of the application, two groups of walking mechanisms and two groups of cameras are arranged on an independence
Chassis on, the chassis can opposed robots' body rotation.During actual use, overhead line operation robot leans on two groups of road wheels
On the line, at this moment, the form of road wheel can not change for suspension.If overhead line operation robot runs into a manipulator
Be difficult to the work of complete independently, the drive mechanism work being now placed on the chassis, due to road wheel and chassis be all it is fixed,
Now robot body just rotates in the presence of reaction force relative to walking mechanism, and now two manipulators are just from along circuit
State be changed into state perpendicular to circuit, then adjust the angle of two manipulators, you can while to circuit homework, such as scheme
Shown in 4.
Original overhead line operation robot is that road wheel base and camera base are directly installed on into robot sheet
On body, so their installation site is fixed.In this patent, road wheel base and camera base are installed in
On one independent chassis, hinge connection is used between the chassis and body, being provided with drive mechanism on chassis (is illustrated as slowing down
Motor).When road wheel is stably hung on the line, walking wheel arm is fixed, then the separate chassis is also fixed, this
When drive mechanism work, body just turns over certain angle with respect to the chassis, and the mechanical arm on body is just located at circuit both sides, most
Afterwards, two mechanical arms adjust the posture of itself, and so, two manipulators just can be in the same side to same target cooperative operation, such as
Shown in Fig. 5.
In the present embodiment, as shown in fig. 6, being hinge connection between separate chassis and body.One is installed on body
Flange coupling, the deceleration motor shaft on walking wheel arm base extend downwardly from, and pass through the axis hole and method on flange coupling
Blue shaft coupling is connected.So, reducing motor just can drive robot body relative to walking wheel arm base rotation.
Wherein, the type of drive of fuselage rotation：It is most directly effective that motor directly drives fuselage rotation by shaft coupling
Mode.Certainly, those skilled in the art, can be to the specific reality of drive mechanism under the enlightenment of operation principle of the present utility model
The mode of applying is improved, and it belongs to the simple replacement that need not pay creative work, ought to belong to protection of the present utility model
Scope.
Controller is additionally provided with robot body of the present utility model or chassis, controller control reducing motor enters action
Make.
Meanwhile potentiometer or rotary encoder can be added to feed back the angle that robot body turns over.
The preferred embodiment of the application is the foregoing is only, is not limited to the application, for the skill of this area
For art personnel, the application can have various modifications and variations.It is all within spirit herein and principle, made any repair
Change, equivalent substitution, improvement etc., should be included within the protection domain of the application.
It is not new to this practicality although above-mentioned specific embodiment of the present utility model is described with reference to accompanying drawing
The limitation of type protection domain, one of ordinary skill in the art should be understood that on the basis of the technical solution of the utility model, ability
Field technique personnel need not pay the various modifications that creative work can make or deformation still in protection model of the present utility model
Within enclosing.
Claims (8)
1. a kind of rotary overhead line operation robot architecture of fuselage, it is characterized in that：Including independent chassis and robot sheet
Body, it is flexibly connected between the robot body and chassis, overhead line operation road wheel is arranged on the chassis, robot
Manipulator is provided with body, drive mechanism is provided with the chassis, drives and is rotated between robot body and chassis,
Realize that manipulator is located in Different Plane with overhead line operation road wheel；
Hinge connection is used between the chassis and robot body；
Flange coupling is installed, the rotating shaft of drive mechanism is protruding, by flange coupling on the robot body
Axis hole be connected with flange coupling so that drive mechanism can drive robot body to be rotated relative to chassis.
2. a kind of rotary overhead line operation robot architecture of fuselage as claimed in claim 1, it is characterized in that：The driving
Mechanism is reducing motor.
3. a kind of rotary overhead line operation robot architecture of fuselage as claimed in claim 1 or 2, it is characterized in that：It is described
The angle that robot body rotates relative to chassis is any angle.
4. a kind of rotary overhead line operation robot architecture of fuselage as claimed in claim 3, it is characterized in that：In robot
The angle often to work, ratchet neck is set, to be positioned.
5. a kind of rotary overhead line operation robot architecture of fuselage as claimed in claim 1 or 2, it is characterized in that：It is described
Detection device is additionally provided with chassis or robot body；
Or controller is additionally provided with robot body or chassis, controller control drive mechanism is acted.
6. a kind of rotary overhead line operation robot architecture of fuselage as claimed in claim 1 or 2, it is characterized in that：It is described
Robot body both sides are each provided with a manipulator, and the manipulator is Multi-freedom-degreemanipulator manipulator.
7. a kind of crusing robot, it is characterized in that：With the rotary overhead line operation machine of fuselage as claimed in claim 1
People's structure.
8. a kind of robot for laying preformed armor rods, it is characterized in that：With the rotary overhead transmission line of fuselage as claimed in claim 6
Work robot structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720122538.9U CN206643936U (en) | 2017-02-10 | 2017-02-10 | A kind of rotary overhead line operation robot architecture of fuselage and robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720122538.9U CN206643936U (en) | 2017-02-10 | 2017-02-10 | A kind of rotary overhead line operation robot architecture of fuselage and robot |
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| CN206643936U true CN206643936U (en) | 2017-11-17 |
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| CN201720122538.9U Active CN206643936U (en) | 2017-02-10 | 2017-02-10 | A kind of rotary overhead line operation robot architecture of fuselage and robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106584484A (en) * | 2017-02-10 | 2017-04-26 | 济南舜风科技有限公司 | Machine body rotating overhead line operation robot structure and application |
| CN109659857A (en) * | 2018-12-26 | 2019-04-19 | 福建（泉州）哈工大工程技术研究院 | Wrapping wire method based on robot at preformed armor rods repairing broken strand of power transmission line |
| CN110137846A (en) * | 2019-05-14 | 2019-08-16 | 国网江苏省电力有限公司电力科学研究院 | Aerial carbon-fibre wire detection robot and multi-angle method of detection |
| CN110371291A (en) * | 2019-06-13 | 2019-10-25 | 西安交通大学 | A kind of steady upper lower thread mechanism of high voltage transmission line flight crusing robot |
| CN110480597A (en) * | 2019-09-06 | 2019-11-22 | 克诺机器人(深圳)有限公司 | Ultra-high-tension power transmission line robot |
| CN111446661A (en) * | 2020-03-27 | 2020-07-24 | 国网浙江省电力有限公司金华供电公司 | Power transmission line robot with automatic posture adjustment function and automatic posture adjustment method |
| CN115026853A (en) * | 2022-07-15 | 2022-09-09 | 苏州星盛吉科技有限公司 | Line patrol robot for electric power system |
-
2017
- 2017-02-10 CN CN201720122538.9U patent/CN206643936U/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106584484A (en) * | 2017-02-10 | 2017-04-26 | 济南舜风科技有限公司 | Machine body rotating overhead line operation robot structure and application |
| CN106584484B (en) * | 2017-02-10 | 2023-07-25 | 济南舜风科技有限公司 | Fuselage rotary overhead line operation robot structure and application |
| CN109659857A (en) * | 2018-12-26 | 2019-04-19 | 福建（泉州）哈工大工程技术研究院 | Wrapping wire method based on robot at preformed armor rods repairing broken strand of power transmission line |
| CN110137846A (en) * | 2019-05-14 | 2019-08-16 | 国网江苏省电力有限公司电力科学研究院 | Aerial carbon-fibre wire detection robot and multi-angle method of detection |
| CN110371291A (en) * | 2019-06-13 | 2019-10-25 | 西安交通大学 | A kind of steady upper lower thread mechanism of high voltage transmission line flight crusing robot |
| CN110480597A (en) * | 2019-09-06 | 2019-11-22 | 克诺机器人(深圳)有限公司 | Ultra-high-tension power transmission line robot |
| CN110480597B (en) * | 2019-09-06 | 2024-03-15 | 克诺机器人(深圳)有限公司 | High-voltage transmission line robot |
| CN111446661A (en) * | 2020-03-27 | 2020-07-24 | 国网浙江省电力有限公司金华供电公司 | Power transmission line robot with automatic posture adjustment function and automatic posture adjustment method |
| CN115026853A (en) * | 2022-07-15 | 2022-09-09 | 苏州星盛吉科技有限公司 | Line patrol robot for electric power system |
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