CN208190122U - A kind of mobile climbing crusing robot used for transmission line - Google Patents

A kind of mobile climbing crusing robot used for transmission line Download PDF

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Publication number
CN208190122U
CN208190122U CN201820585745.2U CN201820585745U CN208190122U CN 208190122 U CN208190122 U CN 208190122U CN 201820585745 U CN201820585745 U CN 201820585745U CN 208190122 U CN208190122 U CN 208190122U
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China
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arm
clamping
horizontal sliding
motor
transmission line
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CN201820585745.2U
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Chinese (zh)
Inventor
王吉岱
吴英涛
高文强
毕志明
杨世强
付恩鹏
辛加旭
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Shandong Ruang Intelligent Technology Co Ltd
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Shandong Ruang Intelligent Technology Co Ltd
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Abstract

The utility model relates to a kind of mobile climbing crusing robots used for transmission line, belong to electric inspection process equipment technical field.It includes cabinet, control system is equipped in cabinet, outside is equipped with testing equipment on cabinet, the top of cabinet is equipped with horizontal sliding mechanism, the top of horizontal sliding mechanism is equipped with forearm, middle arm and postbrachium, forearm and postbrachium are symmetrically disposed on the both ends of cabinet, structure is identical, middle arm is between forearm and postbrachium, forearm and postbrachium include driving mechanism, the lower section of driving mechanism connects open-and-close mechanism, the lower section of open-and-close mechanism connects the first elevating mechanism, first elevating mechanism bottom connects luffing mechanism, luffing mechanism connects horizontal sliding mechanism, middle arm includes clamping device and the second elevating mechanism, second elevating mechanism bottom connects horizontal sliding mechanism.Obstacle climbing ability of the present invention is strong, and ramp angle is big, and stabilized structure is small in size, and safety is good when walking, and control precision is high, and easy to operate, real-time is good.

Description

A kind of mobile climbing crusing robot used for transmission line
Technical field
The present invention relates to a kind of mobile climbing crusing robots used for transmission line, belong to electric inspection process equipment technical field.
Background technique
In order to guarantee that high voltage transmission line is safely and steadily run, it is necessary to periodically be overhauled to high voltage transmission line.High pressure is defeated The inspection inspection of electric wire is very important to the safety of protection power grid, and high voltage transmission line is widely distributed, some areas geography ring Border is complex, and for manual inspection mode due to large labor intensity, inspection precision is low, is no longer applicable in, therefore can only seek new Routine inspection mode.
The development of mobile robot technology provides new technology platform for the inspection of aerial high voltage power line line.In recent years Come, the research of crusing robot has become one of research hotspot of robot research field.But it is based on realistic situation, it is most of Crusing robot obstacle climbing ability is limited, cannot especially be across drainage thread or partial robotic is able to achieve obstacle crossing function, but by In such robot, structure is complicated, therefore controls hardly possible, and volume is big, brings inconvenience for the inspection and transport of robot.
Summary of the invention
In view of the above defects of the prior art, the present invention provides a kind of mobile climbing survey monitors used for transmission line Device people, obstacle climbing ability is strong, and ramp angle is big, and stabilized structure is small in size, and safety is good when walking, and control precision is high, operation letter Single, real-time is good.
The present invention is achieved by the following technical solution: a kind of mobile climbing crusing robot used for transmission line, packet Cabinet is included, control system is equipped in the cabinet, outside is equipped with testing equipment on the cabinet, and the top of the cabinet is equipped with cross To slipping mechanism, the top of the horizontal sliding mechanism is equipped with forearm, middle arm and postbrachium, wherein the forearm and postbrachium are symmetrical Be set to the both ends of cabinet, structure is identical, the middle arm between the forearm and the postbrachium, the forearm and it is described after Arm includes the driving mechanism positioned at top, and the lower section of the driving mechanism connects open-and-close mechanism, the lower section of the open-and-close mechanism The first elevating mechanism is connected, first elevating mechanism bottom connects luffing mechanism, and the luffing mechanism connects horizontal sliding machine Structure, the middle arm include clamping device and the second elevating mechanism, and second elevating mechanism bottom connects horizontal sliding mechanism, institute That states control system electricly connects driving mechanism, open-and-close mechanism, clamping device, the first elevating mechanism, the second elevating mechanism, pitching Mechanism and horizontal sliding mechanism.
Further, the driving mechanism includes driving motor, and the driving motor is connected by driving bevel gear and driven Wheel, the driving motor are connected to motor square tube shell by motor cabinet, and the driving motor is connected with control system by circuit. It is aluminium core inside driving wheel, outside uses polyurethane material, has the characteristics that wearability is good, shock absorption is good, and is conducive to extend work Make the service life.
Further, the open-and-close mechanism includes folding bottom plate, and installation folding motor, described to open in the middle part of the folding bottom plate It closing motor and is connect by folding bevel gear with folding lead screw, the folding lead screw is connect by feed screw nut with feed screw nut seat, The feed screw nut seat is fixedly connected with motor square tube shell, and the folding lead screw uses the trapezoidal silk of left-right rotary variable-pitch and variable stroke Thick stick, the folding motor are connected with control system by circuit.
Further, first elevating mechanism includes arm outer tube, and the arm outer tube passes through in guide pad and arm Pipe connection, the arm inner tube are connect with telescopic putter, and the telescopic putter is connect by push rod pedestal with arm outer tube, described Telescopic putter is connected with control system by circuit.
Further, the luffing mechanism includes pitching push rod, and the pitching push rod passes through outside pitching connector and arm Pipe is connected, and the pitching push rod is connected by pitching ram seat with sliding rail, and the pitching ram seat passes through pitching connector It is connect with arm outer tube, the pitching push rod is connected with control system by circuit.
Further, the clamping device includes clamping bottom plate, is equipped with clamping motor among the clamping bottom plate, described Clamping motor is connect by clamping bevel gear with clamping lead screw, and the clamping lead screw passes through clamping lead screw base and clamping bottom plate phase Even, clamp rail is installed on the clamping bottom plate, the clamp rail is connect by clamping slider with left clamp hand, right clamp hand, Rubber block is installed on the left clamp hand and right clamp hand, the clamping motor is connected with control system by circuit.
Further, the horizontal sliding mechanism includes horizontal sliding motor, and the horizontal sliding motor passes through middle arm bottom Plate is connected with middle arm, and the horizontal sliding motor is connect by horizontal sliding gear with horizontal sliding rack gear, described laterally sliding Rack gear is moved to be fixedly linked with horizontal sliding platform;The sliding rail is fixedly connected with horizontal sliding platform, the horizontal sliding platform It is fixedly connected with cabinet, the middle arm is connect by sliding block with sliding rail, and the horizontal sliding mechanism and control system pass through circuit It is connected.
Further, the testing equipment includes camera and infrared detecting set, and the camera and infrared detecting set are logical Oversampling circuit is connected with signal transceiver, and the signal transceiver is connected in the control of the base station resting on the ground by wireless signal The heart.Determine the transmission of electricity line position of damage, convenient for surface personnel to repair.
The mobile climbing crusing robot of transmission line of electricity described herein is applicable to the high voltage power transmission route of 500KV, This three arms of forearm, middle arm and postbrachium realize the walking on power transmission line by driving mechanism;Machine is realized by telescoping mechanism Body is stretched out, contraction state in the expanding-contracting action of vertical direction;Driving mechanism opening and closing movement is realized by open-and-close mechanism, that is, is beaten The state that open and close closes;Pass through arm translation motion in the horizontal direction in the realization of horizontal sliding mechanism, i.e., left cunning, right sliding state;It is logical The opening and closing movement for crossing arm in clamping device realization, that is, open, closed state;The swing of front and back arm is realized by luffing mechanism, It shows, withdraw.Thus when encountering barrier, three arms match carry out it is orderly stretch out, shrink, open, be closed with And the opening for showing withdrawal and middle arm, the closure of arm before and after, left and right sliding movement is to realize the leap function to barrier.
Compared with prior art, the advantages of technical solution of the present invention and good effect are as follows:
1, security protection is good: two driving wheels hanging wire simultaneously when walking, when obstacle detouring in arm clamping device hanging wire, three arms are extremely Rare two-arm hanging wire, fall down robot will not because of shaking and from power transmission line, ensure that the stabilization of robot operation.
2, obstacle climbing ability of creeping is strong: the driving wheel of robot arm before and after has the driving of high-power driving motor control, Gu Qihang It is strong to walk ability, is fixed using arm before and after, middle arm or so sliding can be across suspension clamp, the stockbridge damper, drainage thread on power transmission line Equal obstacles, and ramp angle is big.
3, control is simple, and precision is high: realizing automatic control when walking, obstacle detouring, it is short to get over Downtime, high-efficient.
4, inspection quality is high, is widely used: being mounted with camera and infrared detecting set, the line information that can will be walked The quality that ensure that polling transmission line work to ground base station is clearly transmitted by wireless bridge;It is also remote controlled, it can It is widely used in the inspection work of transmission line of electricity.
Detailed description of the invention
Fig. 1 is the schematic perspective view of crusing robot described in the embodiment of the present invention;
Fig. 2 is the diagrammatic cross-section of forearm described in the embodiment of the present invention or postbrachium;
Fig. 3 is the stereoscopic schematic diagram of middle arm clamping device described in the embodiment of the present invention;
In figure, 1, forearm;2, pitching connector;3, pitching bottom plate;4, horizontal sliding platform;5, horizontal sliding rack gear;6, Sliding rail;7, cabinet;8, horizontal sliding gear;9, middle arm bottom plate;10, horizontal sliding motor;11, sliding block;12, testing equipment;13, Postbrachium;14, middle arm;15, pitching push rod;16, driving wheel;17, motor square tube shell;18, motor cabinet;19, driving bevel gear;20, Driving motor;21, feed screw nut seat;22, feed screw nut;23, lead screw is opened and closed;24, bottom plate is opened and closed;25, bevel gear is opened and closed;26, Guide pad;27, motor is opened and closed;28, arm outer tube;29, arm inner tube;30, telescopic putter;31, push rod bottom plate;32, silk is clamped Thick stick seat;33, clamp rail;34, bottom plate is clamped;35, left clamp hand;36, rubber block;37, lead screw is clamped;38, bevel gear is clamped; 39, motor is clamped;40, clamping slider;41, right clamp hand.
Specific embodiment
Below by non-limiting embodiment and in conjunction with attached drawing, the present invention is further illustrated:
The embodiment of the invention provides a kind of mobile climbing crusing robot used for transmission line, including cabinet 7, the cabinets Control system is equipped in 7, outside is equipped with testing equipment 12 on the cabinet 7, and the top of the cabinet 7 is equipped with horizontal sliding machine The top of structure, the horizontal sliding mechanism is equipped with forearm 1, middle arm 14 and postbrachium 13, wherein the forearm 1 and postbrachium 13 are symmetrical The both ends of cabinet 7 are set to, structure is identical, and the middle arm 14 is between the forearm 1 and the postbrachium 13, the forearm 1 It include the driving mechanism positioned at top with the postbrachium 13, the lower section of the driving mechanism connects open-and-close mechanism, the folding The lower section of mechanism connects the first elevating mechanism, and first elevating mechanism bottom connects luffing mechanism, the luffing mechanism connection Horizontal sliding mechanism, the middle arm 14 include clamping device and the second elevating mechanism, and the connection of second elevating mechanism bottom is horizontal To slipping mechanism, the control system electricly connects driving mechanism, open-and-close mechanism, clamping device, the first elevating mechanism, second Elevating mechanism, luffing mechanism and horizontal sliding mechanism.
The driving mechanism includes driving motor 20, and the driving motor 20 connects driving wheel by driving bevel gear 19 16, the driving motor 20 is connected to motor square tube shell 17 by motor cabinet 18, and the driving motor 20 passes through with control system Circuit is connected.It is aluminium core inside driving wheel 16, outside uses polyurethane material, has the characteristics that wearability is good, shock absorption is good, and Conducive to extension working life.
The open-and-close mechanism includes folding bottom plate 24, installation folding motor 27, the folding in the middle part of the folding bottom plate 24 Motor 27 is connect by folding bevel gear 25 with folding lead screw 23, and the folding lead screw 23 passes through feed screw nut 22 and feed screw nut Seat 21 connects, and the feed screw nut seat 21 is fixedly connected with motor square tube shell 17, and the folding lead screw 23 becomes spiral shell using left-right rotary Away from stroke trapezoidal screw is become, the folding motor 27 is connected with control system by circuit.
The elevating mechanism includes arm outer tube 28, and the arm outer tube 28 is connected by guide pad 26 and arm inner tube 29 It connecing, the arm inner tube 29 is connect with telescopic putter 30, and the telescopic putter 30 is connect by push rod pedestal with arm outer tube 28, The telescopic putter 30 is connected with control system by circuit.
The luffing mechanism includes pitching push rod 15, and the pitching push rod 15 passes through pitching connector 2 and arm outer tube 28 It is connected, the pitching push rod 15 is connected by pitching push rod 15 with sliding rail 6, and the pitching push rod 15 are connected by pitching Fitting 2 is connect with arm outer tube 28, and the pitching push rod 15 is connected with control system by circuit.
The clamping device includes clamping bottom plate 34, and clamping motor 39, the folder are equipped among the clamping bottom plate 34 It holds motor 39 and is connect by clamping bevel gear 38 with clamping lead screw 37, the clamping lead screw 37 passes through clamping lead screw base 32 and clamping Bottom plate 34 is connected, and clamp rail 33 is equipped on the clamping bottom plate 34, and the clamp rail 33 passes through clamping slider 40 and a left side Clamp hand 35, right clamp hand 41 connect, and rubber block 36, the clamping motor 39 and control are equipped on the left clamp hand 35 and right clamp hand 41 System processed is connected by circuit.
The horizontal sliding mechanism includes horizontal sliding motor 10, the horizontal sliding motor 10 by middle arm bottom plate 9 with Middle arm 14 is connected, and the horizontal sliding motor 10 is connect by horizontal sliding gear 8 with horizontal sliding rack gear 5, the transverse direction Sliding rack gear 5 is fixedly linked with horizontal sliding platform 4;The sliding rail 6 is fixedly connected with horizontal sliding platform 4, described laterally sliding It moves platform 4 to be fixedly connected with cabinet 7, the middle arm 14 is connect by sliding block 11 with sliding rail 6, the horizontal sliding mechanism and control System is connected by circuit.
The testing equipment 12 includes camera and infrared detecting set, the camera and infrared detecting set by circuit with Signal transceiver is connected, and the signal transceiver connects the base station control center resting on the ground by wireless signal.Convenient for ground Face staff determines the transmission of electricity line position of damage, to repair.
The specific working principle is as follows:
When walking on power transmission line, forearm 1, postbrachium 13 pass through 16 hanging wire of driving wheel, and the telescopic machine of forearm 1, postbrachium 13 Structure is in contraction state, and open-and-close mechanism is in closed state;The telescoping mechanism of middle arm 14 is in contraction state, at open-and-close mechanism In opening state.When encountering barrier such as drainage thread, robot stops walking, and middle arm 14 passes through horizontal sliding mechanism forward arm 1 close to until close to forearm 1, then middle arm 14 passes through the carry out extending action of telescoping mechanism, until line position is grabbed in the arrival of middle arm 14 It sets, middle 14 open-and-close mechanism of arm carries out closed action, and arm 14 grabs line in completion;Then it is straight to carry out extending action for 1 telescoping mechanism of forearm It is detached from power transmission line to 1 driving wheel 16 of forearm, 1 open-and-close mechanism of forearm carries out opening action, and 1 telescoping mechanism of forearm shrink dynamic Make, forearm 1 has been detached from power transmission line straightway at this time;Then 1 luffing mechanism of forearm carries out showing movement, then horizontal sliding machine Structure movement, middle arm 14 is grabbed line and is fixed at this time, and robot forearm 1, postbrachium 13 and cabinet 7 can integrally slide forward, until forearm 1 leans on Nearly drainage line segment, then 1 telescoping mechanism of forearm carries out extending action, until 1 driving wheel 16 of forearm is more than drainage thread, then forearm 1 open-and-close mechanism carries out closed action, and 1 telescoping mechanism of forearm carries out contractive action until 1 driving wheel 16 of forearm carries out crimping, at this time Forearm 1 has been suspended on drainage line segment;Middle 14 open-and-close mechanism of arm carries out opening action, and middle 14 telescoping mechanism of arm shrink dynamic Make, middle arm 14 is detached from power transmission line straightway at this time;Then the driving mechanism of forearm 1 and postbrachium 13 moves at the same time, make robot to Preceding walking, until 13 driving wheel 16 of postbrachium is close to power transmission line straightway and drainage line segment junction;Middle 14 telescoping mechanism of arm carries out Extending action, until middle arm 14 reaches and grabs line position, middle 14 open-and-close mechanism of arm carries out closed action, and middle arm 14 has been firmly grasped at this time Drain line segment;Then middle 14 telescoping mechanism of arm carries out contractive action, and 13 telescoping mechanism of postbrachium carries out extending action at the same time, directly It is higher by power transmission line straightway to 13 driving wheel 16 of postbrachium, then 13 open-and-close mechanism of postbrachium carries out opening action, 13 telescopic machine of postbrachium Structure carries out contractive action, and middle 14 telescoping mechanism of arm carries out extending action, until postbrachium 13 is lower than power transmission line straightway, then laterally Slipping mechanism movement, middle arm 14 is grabbed line and is fixed at this time, and robot forearm 1, postbrachium 13 and cabinet 7 can be moved forward integrally, Until postbrachium 13 is close to drainage line segment, then 13 telescoping mechanism of postbrachium carries out extending action, until 13 driving wheel 16 of postbrachium is more than Line segment is drained, 13 open-and-close mechanism of postbrachium carries out closed action, and then 13 telescoping mechanism of postbrachium carries out contractive action, until postbrachium 13 16 crimping of driving wheel;Middle 14 open-and-close mechanism of arm carries out opening action, and then middle 14 telescoping mechanism of arm carries out contractive action, is down to most Lower position;Then horizontal sliding mechanism action, 13 hanging wire of arm before and after at this time, middle arm 14 is offline, only in arm 14 slid, adjust Arm 14 arrives robot middle position in section;Robot completes the leap from power transmission line straightway to drainage line segment at this time.Equally Principle can also complete from drainage line segment to transmission line of electricity straightway leap.
The foregoing is merely a specific embodiment of the invention, are not intended to restrict the invention, for this field For technical staff, the invention may be variously modified and varied.It is done within the spirit and principles of the present invention any Modification, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.

Claims (8)

1. a kind of mobile climbing crusing robot used for transmission line, including cabinet, the cabinet is interior to be equipped with control system, the case Outside is equipped with testing equipment on body, which is characterized in that the top of the cabinet is equipped with horizontal sliding mechanism, the horizontal sliding machine The top of structure is equipped with forearm, middle arm and postbrachium, wherein and the forearm and postbrachium are symmetrically disposed on the both ends of cabinet, and structure is identical, For the middle arm between the forearm and the postbrachium, the forearm and the postbrachium include the driving machine for being located at top Structure, the lower section connection open-and-close mechanism of the driving mechanism, the first elevating mechanism of lower section connection of the open-and-close mechanism, described first Elevating mechanism bottom connects luffing mechanism, and the luffing mechanism connects horizontal sliding mechanism, the middle arm include clamping device with Second elevating mechanism, second elevating mechanism bottom connect horizontal sliding mechanism, and the control system electricly connects driving Mechanism, open-and-close mechanism, clamping device, the first elevating mechanism, the second elevating mechanism, luffing mechanism and horizontal sliding mechanism.
2. mobile climbing crusing robot used for transmission line according to claim 1, which is characterized in that the driving mechanism Including driving motor, the driving motor connects driving wheel by driving bevel gear, and the driving motor is connected by motor cabinet In motor square tube shell, the driving motor is connected with control system by circuit.
3. mobile climbing crusing robot used for transmission line according to claim 1, which is characterized in that the open-and-close mechanism Including opening and closing bottom plate, installation folding motor in the middle part of the folding bottom plate, the folding motor passes through folding bevel gear and folding silk Thick stick connection, the folding lead screw are connect by feed screw nut with feed screw nut seat, and the feed screw nut seat and motor square tube shell are solid Fixed connection, the folding lead screw use left-right rotary variable-pitch and variable stroke trapezoidal screw, and the folding motor passes through with control system Circuit is connected.
4. mobile climbing crusing robot used for transmission line according to claim 1, which is characterized in that first lifting Mechanism includes arm outer tube, and the arm outer tube is connect by guide pad with arm inner tube, the arm inner tube and telescopic putter Connection, the telescopic putter are connect by push rod pedestal with arm outer tube, and the telescopic putter passes through circuit phase with control system Even.
5. mobile climbing crusing robot used for transmission line according to claim 4, which is characterized in that the luffing mechanism Including pitching push rod, the pitching push rod is connected by pitching connector with arm outer tube, and the pitching push rod passes through pitching Ram seat is connected with sliding rail, and the pitching ram seat is connect by pitching connector with arm outer tube, the pitching push rod and Control system is connected by circuit.
6. mobile climbing crusing robot used for transmission line according to claim 1, which is characterized in that the clamping device Including clamping bottom plate, clamping motor is installed, the clamping motor passes through clamping bevel gear and clamping among the clamping bottom plate Lead screw connection, the clamping lead screw are connected with clamping bottom plate by clamping lead screw base, are equipped with clamping on the clamping bottom plate and lead Rail, the clamp rail are connect by clamping slider with left clamp hand, right clamp hand, are equipped with rubber on the left clamp hand and right clamp hand Block, the clamping motor are connected with control system by circuit.
7. mobile climbing crusing robot used for transmission line according to claim 1, which is characterized in that the horizontal sliding Mechanism includes horizontal sliding motor, and the horizontal sliding motor is connected by middle arm bottom plate with middle arm, the horizontal sliding electricity Machine is connect by horizontal sliding gear with horizontal sliding rack gear, and the horizontal sliding rack gear is fixedly linked with horizontal sliding platform; The sliding rail is fixedly connected with horizontal sliding platform, and the horizontal sliding platform is fixedly connected with cabinet, and the middle arm passes through cunning Block is connect with sliding rail, and the horizontal sliding mechanism is connected with control system by circuit.
8. mobile climbing crusing robot used for transmission line according to claim 1, which is characterized in that the testing equipment includes Camera and infrared detecting set, the camera and infrared detecting set are connected by circuit with signal transceiver, and the signal is received Hair device connects the base station control center resting on the ground by wireless signal.
CN201820585745.2U 2018-04-24 2018-04-24 A kind of mobile climbing crusing robot used for transmission line Active CN208190122U (en)

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CN201820585745.2U CN208190122U (en) 2018-04-24 2018-04-24 A kind of mobile climbing crusing robot used for transmission line

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Application Number Priority Date Filing Date Title
CN201820585745.2U CN208190122U (en) 2018-04-24 2018-04-24 A kind of mobile climbing crusing robot used for transmission line

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111224346A (en) * 2020-03-11 2020-06-02 山东科技大学 High tension transmission line inspection robot with multiple motion modes
CN111463713A (en) * 2020-05-26 2020-07-28 江西电力职业技术学院 Palm device and patrol car that opens and shuts

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111224346A (en) * 2020-03-11 2020-06-02 山东科技大学 High tension transmission line inspection robot with multiple motion modes
CN111463713A (en) * 2020-05-26 2020-07-28 江西电力职业技术学院 Palm device and patrol car that opens and shuts

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