CN212445222U - Bionic flying-away-based snakelike high-voltage transmission line variable-configuration-state maintenance robot - Google Patents
Bionic flying-away-based snakelike high-voltage transmission line variable-configuration-state maintenance robot Download PDFInfo
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- CN212445222U CN212445222U CN202022078013.4U CN202022078013U CN212445222U CN 212445222 U CN212445222 U CN 212445222U CN 202022078013 U CN202022078013 U CN 202022078013U CN 212445222 U CN212445222 U CN 212445222U
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Abstract
The utility model provides a snakelike high tension transmission line allosteric attitude maintenance robot flies away based on bionics, equip lift-launch platform and front and back camera including walking module, flight module, maintenance, the imitative reptile class snake of robot and birds of flying have flight and two kinds of mode of walking, can fly fast and hang line back edge high tension transmission line walking. The robot has more redundant degrees of freedom, has variable configuration in the air and on line, and can change the flight attitude of the Chinese character 'Zhi' to pass through a narrow space and change the flight attitude of the 'O' type to stably fly; the line can also cross various obstacles in winding, stretching, bending and other postures; in addition, the front end of the robot is provided with the camera, the tail end of the robot is also provided with the camera, a maintenance equipment carrying platform is reserved, different maintenance equipment can be carried, the robot is assisted with the variable configuration characteristic, and therefore the inspection work can be completed, and the on-line maintenance work can also be completed. The utility model discloses a high tension transmission line intellectuality is patrolled and examined and is provided certain reference.
Description
Technical Field
The utility model relates to a fly away snakelike high tension transmission line and become structure attitude maintenance robot based on bionics belongs to high tension transmission line and overhauls technical field.
Background
The high-voltage transmission line is an intermediate medium for power transmission, and the stability of the high-voltage transmission line is related to the national civilization. The high-voltage transmission line is often erected in severe outdoor environments such as mountains, rivers, forests and the like, and is exposed outdoors for a long time and is influenced by severe environments such as wind, rain and the like, so that the high-voltage transmission line needs to be regularly patrolled and examined, and the patrolled objects mainly comprise line hardware fittings, towers and wires. The inspection means mostly adopts manual inspection or uses unmanned flying equipment for inspection. With the intensive research of the robot technology, the high-voltage transmission line robot plays an important role in the inspection operation.
High-voltage transmission line environment is complicated and changeable, the development of hardware on the line is different day by day, and the shaft tower structure is also diversified, and the robot that should accomplish as patrolling and examining moves between the shaft tower, therefore needs it to possess the ability of crossing the obstacle. The high-voltage transmission line has complex environment, a large number of types of hardware fittings exist, manual maintenance and replacement are added, and corresponding later maintenance documents are lacked sometimes, so that the obstacle crossing work of the high-voltage transmission line has great difficulty. Most of the conventional line patrol robots adopt a 2-arm or 3-arm rigid structure, and the type of robot is suitable for hardware fittings and pole tower environments working in specific structures. The snake-shaped robot has the characteristic of redundant multiple degrees of freedom, so that the robot can adapt to various line environments. In addition, the research of the snake-shaped robot is mostly concentrated on the working environments such as the ground, the underwater, the pipeline and the like, the application of the snake-shaped robot to a high-voltage power transmission line provides a new development space for the research field of the inspection robot, and the application of the snake-shaped robot is a brand new exploration in the application field of the snake-shaped robot.
The redundant degree of freedom of snake robot is many, and the flexibility is strong, and is high in the aspect of crossing the obstacle, especially has multiple barrier on the high tension transmission line, like stockbridge damper, suspension clamp, splicing sleeve etc. snake robot crosses the obstacle on high tension transmission line and has very big advantage, but present research on high tension transmission line of snake robot is less relatively, and most of inspection robots exist simultaneously: (1) the system can be used for loading and unloading the cable only by manual assistance, is inconvenient and quick, and has accident risk; (2) the device has no overhauling capability, namely only patrols without overhauling. (3) The robot has no three-dimensional deformation capability, particularly, at a suspension clamp, a cable forms a certain angle on a vertical horizontal plane, and the robot has a risk of obstacle crossing; (4) when the device works on the line, the device is greatly influenced by working conditions such as wind load, sag and the like.
In order to solve the bottleneck problem at the same time, the utility model provides a bionic flying-away snake-shaped high-voltage transmission line variable configuration state maintenance robot, which simulates reptile-type snakes and birds, has two working modes of flying and walking, can be spiraled and shuttled in the air, can also walk on a cable, can fly and hang a line to carry out inspection work by itself, and thus, the robot is free from the limit of manual auxiliary line feeding; the robot has the variable configuration in the air and on line, which can not only change the flight attitude of the Chinese character 'Zhi' to pass through narrow space, but also change the flight attitude of the 'O' type to stably fly; the line can also cross various obstacles in winding, stretching, bending and other postures; in addition, the front end of the robot is provided with the camera, the tail end of the robot is also provided with the camera, a maintenance equipment carrying platform is reserved, different maintenance equipment can be carried, the robot is assisted with the variable configuration characteristic, and therefore the inspection work can be completed, and the on-line maintenance work can also be completed. The utility model discloses a high tension transmission line's intellectuality is patrolled and examined, and the automation is patrolled and examined and is provided certain reference.
Disclosure of Invention
The to-be-solved technical problem of the utility model is: aiming at severe inspection situations and inspection technical bottlenecks of the power transmission line, a bionic flying walking snake-shaped high-voltage power transmission line variable configuration state maintenance robot is provided, and functions of quick online and offline, quick online walking, online obstacle crossing, maintenance and the like are achieved.
In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides a flying away snakelike high tension transmission line transformation configuration based on bionics overhauls robot, includes leading camera (1), flight module (2), walking module (3), rearmounted camera (51) and maintenance equipment lift-launch platform (5), its characterized in that: the aircraft is characterized in that the flight modules (2) are arranged and combined with the walking modules (3), a rudder disc connector (231) of the previous module is connected with a machine body (235) of the next module, the front camera (1) is positioned at the front end of the robot, the rear camera (51) and a maintenance equipment carrying platform (5) are positioned at the rear end of the robot, an end cover supporting disc (234) is connected with the machine body (235) and can rotate, a stepping motor (233) and a steering engine (232) are both fixed on the end cover supporting disc (234), the rudder disc connector (231) is connected with the steering engine (232) and can deflect, the ducted fan (21) is installed inside the machine body (235) of the flight modules (2), a cover plate (33) is fixed on the machine body (235) of the walking modules (3), a walking wheel (31) of the walking modules (3) is in gear transmission with a walking motor (32), and the walking wheels (31) of the walking module (3) are mutually matched and clamped on the cable (4).
Optionally, the flight module (2) is similar to the walking module (3) in structure, and is provided with a rudder disk connector (231), a steering engine (232), a stepping motor (233), an end cover supporting disk (234) and a machine body (235), and can deflect and rotate.
Optionally, the arrangement of flight modules (2) and walking modules (3) can be freely combined, for example 233223322332 (flight module (2) -walking module (3) -flight module (2) -walking module (3) -flight module (2)), 23232323232 (flight module (2) -walking module (3) -flight module (3) -walking module (2) -flight module (3)).
Optionally, the walking wheel (31) is a concave wheel, wherein two ends of the periphery of the walking wheel (31) are annular concave platforms (311).
Optionally, the robot bionic reptile snakes and birds combine the characteristics of the two, and have two working modes of flying and walking on line.
Optionally, the robot has a hollow configuration, and can fly in an 'O' shape or a 'zigzag' shape in the air in an end-to-end manner, and the rotational motion of the fuselage (235) can adjust the ducted fan (21) to fly in an auxiliary manner.
Optionally, the robot has an on-line configuration on the cable (4) and can perform on-line zigzag winding walking, and the on-line equal spiral advancing crosses the shockproof hammer (6) and the on-line half breaks away from the telescopic suspension clamp (7).
Optionally, the cameras are respectively arranged in front of and behind the robot.
Optionally, the last rudder disc connector (231) of the robot is used as a maintenance equipment carrying platform (5), various types of maintenance equipment are carried, meanwhile, a rear camera (51) is also installed at the position, and the rear section of the robot can be partially separated from the cable (4) to assist in maintenance of the maintenance equipment.
The utility model has the advantages that:
1. the bionic flying snake-shaped high-voltage transmission line transformation configuration overhauling robot has the advantages of being redundant in multiple degrees of freedom and high in flexibility, different postures are used for flying and crossing obstacles through mutual matching of modules, the robot can flexibly reach a specified working position to carry out on-line and off-line, and the on-line obstacle crossing can be completed.
2. A based on bionics flies to walk snakelike high tension transmission line allosteric maintenance robot combines unmanned aerial vehicle and bionic snake robot's characteristics, both can fly fast and get on and off the line, also solves the problem that the work continuation of the journey that the machine patrolled and examined is short.
3. The reconfigurable mechanical equipment is carried at the tail end of the bionic flying snake-shaped high-voltage transmission line transformation configuration-based overhaul robot, and simple maintenance and obstacle clearing work can be carried out.
4. The bionic flying walking-based snake-shaped high-voltage transmission line allosteric state maintenance robot integrates two allosteric state movement modes of flying and walking.
Drawings
The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic view of the whole structure of the present invention.
Fig. 2 is a schematic view of the flight module of the present invention.
Fig. 3 is a schematic view of the walking module of the present invention.
Fig. 4 is a schematic view of the anti-vibration hammer of the present invention.
Fig. 5 is a schematic view of the over hanging wire clamp of the present invention.
Fig. 6 is a schematic view of the traveling wheel of the present invention
Shown in the figure: 1. a front camera; 2. a flight module; 3. a walking module; 4. a cable; 5. a maintenance equipment carrying platform; 51. a rear camera; 6. a vibration damper; 7. a suspension clamp; 21. a ducted fan; 31. a traveling wheel; 32. a traveling motor; 33. a cover plate; 231. a rudder disk connector; 232. a steering engine; 233. a stepping motor; 234. the end cover is used for supporting the disc; 235. a body; 311. an annular recessed land; 312. a concave surface.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1-3, the present embodiment provides the following technical solutions: a bionic flying walking-based snake-shaped high-voltage transmission line transformation configuration overhaul robot comprises a front camera (1), a flying module (2), a walking module (3), a rear camera (51) and a maintenance equipment carrying platform (5), wherein the flying module (2) and the walking module (3) are arranged and combined, a steering wheel connector (231) of the front module is connected with a machine body (235) of the rear module, the front camera (1) is positioned at the front end of the robot, the rear camera (51) and the maintenance equipment carrying platform (5) are positioned at the rear end of the robot, an end cover supporting plate (234) is connected with the machine body (235) and can rotate, a stepping motor (233) and a steering engine (232) are both fixed on the end cover supporting plate (234), the steering wheel connector (231) is connected with the steering engine (232), a ducted fan (21) is installed inside the machine body (235) of the flying module (2), the cover plate (33) is fixed on the machine body (235) of the walking module (3), the walking wheels (31) of the walking module (3) and the walking motor (32) are in gear transmission and fixed between the cover plates (33), and the walking wheels (31) of the walking module (3) are matched with each other and clamped on the cable (4).
Specifically, flight module (2) and walking module (3) structure are similar, all have rudder disc connector (231), steering wheel (232), step motor (233), end cover supporting disk (234), fuselage (235), and can both deflect, rotary motion to fig. 1 is the example, the robot totally 30 degrees of freedom, wherein rotatory 12, deflect 12, the walking wheel is 6, head and the tail is rotatory, each 1 that deflects is used for adjusting the camera, the robot is rotatory in the middle of, deflect totally 20 and be used for adjusting the robot gesture.
Specifically, the arrangement of the flight module (2) and the walking module (3) can be freely combined, for example, 233223322332 type (flight module (2) -walking module (3) -flight module (2) -walking module (3) -flight module (2)), for example, 23232323232 type (flight module (2) -walking module (3) -flight module (2) -walking module (3) -flight module (3) -flying module (2)), and the arrangement of the robot module is free, and is not limited to the number and the arrangement combination of the two modes.
Specifically, as shown in fig. 6, the traveling wheels (31) are concave wheels, two ends of the periphery of each traveling wheel are annular concave platforms (311), when the robot travels, the concave surfaces (312) of the traveling wheels (31) are matched with the cable (4), the traveling wheels (31) clamp the cable (4) mutually and fix the robot on the cable (4), as further described by taking 233223322332-type combination of fig. 1 as an example, every two of the six traveling modules (3) are sequentially divided into a first group, a second group and a third group, each group is distributed on two sides of the cable and clamped, the three groups provide three groups of supports for the robot on the cable (4), and when the robot stops traveling on the cable, the posture is immediately adjusted, so that the annular concave platforms (311) of the traveling wheels (31) are in contact with the cable.
Specifically, the robot bionic reptile snakes and birds combine the characteristics of the two and have two working modes of flying and walking on line. The robot is based on the characteristics of bionic redundant multiple degrees of freedom and high flexibility, and in the flying and cable (4) walking process, the attitude transformation and adjustment are extremely flexible and changeable.
Specifically, the robot has an empty and medium configuration, can carry out three-dimensional transformation in the air, can meet different flight working condition requirements, such as strong wind, air obstacles and the like, flies end to end in an O shape to increase the flight stability or flies in a zigzag shape to pass through the obstacles, and simultaneously the orientation of the ducted fan (21) can be adjusted by the rotation of the machine body (235), thereby completing the flight control in the air.
Specifically, as shown in fig. 4-5, the robot has an on-line configuration on the cable (4), and can perform three-dimensional transformation on the cable (4), such as zigzag winding and walking on the cable; when the robot twists on the line to go over the shockproof hammer (6) and turns over the obstacle shockproof hammer (6), the robot twists the body (235) to deflect the rudder disc connector (231) and bypasses above the shockproof hammer to cross the obstacle in a spiral advancing mode; on-line half breaks away from flexible passing through suspension clamp (7), when overturning suspension clamp (7), the robot opens one tight two, opens two walking modules (3) that first group forefront pressed from both sides tight cable (4) earlier, and two sets of walking modules (3) of back keep pressing from both sides tightly, and first group walking module (3) are aimed at and are pressed from both sides tight cable (4) through leading camera (1) after passing through from the obstacle below, and the second is organized, and the third group overturns in proper order with the same mode.
Specifically, the cameras are respectively arranged in front of and behind the robot. The front camera (1) is complementary with the rear camera (51), and can be used for positioning and assisting in threading in the aspect of converting flight attitude into walking attitude; the robot is used for on-line inspection in the walking process, such as identification of the type of an obstacle, identification of the damaged condition and position of an object to be repaired and the like.
Specifically, the last rudder disc connector (231) of the robot is used as a maintenance equipment carrying platform (5), various maintenance equipment such as scissors, a wrench, a flame thrower and a fire extinguisher can be carried on the last rudder disc connector, the rear section of the robot can be partially separated from a cable (4), the characteristic of high flexibility and the characteristic of metamorphic characteristic and a rear camera (51) of the robot are utilized to transfer the maintenance equipment to the vicinity of a maintenance object for maintenance by utilizing the redundant multiple degrees of freedom of the bionic snake of the robot, for example, an universal wrench tightening bolt is carried, and the on-line suspension object is removed by carrying the flame thrower or the scissors. Specifically, the robot working process is as follows:
1) the flying head and the tail are connected end to end and take the shape of an 'O' or a snake body takes the shape of a 'zigzag';
2) the camera identifies the cable position, the zigzag body is changed, the alignment is accurately carried out, and the line-up walking mode is converted;
3) walking on the line, recognizing obstacles through a camera, and changing the postures of the snake body to cross obstacles or overhaul;
4) and starting the flight module, stopping the walking module, and converting the on-line walking mode into the flight mode and the off-line return.
The present invention has been described above in connection with preferred embodiments, which are merely exemplary and illustrative. On this basis, can be right the utility model discloses carry out multiple replacement and improvement, these all fall into the utility model discloses a protection scope.
Claims (9)
1. The utility model provides a flying away snakelike high tension transmission line transformation configuration based on bionics overhauls robot, includes leading camera (1), flight module (2), walking module (3), rearmounted camera (51) and maintenance equipment lift-launch platform (5), its characterized in that: the flight modules (2) and the walking modules (3) are arranged and combined, a rudder disc connector (231) of the former module is connected with a machine body (235) of the latter module, the front camera (1) is positioned at the foremost end of the robot, the rear camera (51) and the maintenance equipment carrying platform (5) are positioned at the rearmost end of the robot, the end cover supporting disc (234) is connected with the machine body (235), the stepping motor (233) and the steering engine (232) are both fixed on the end cover supporting plate (234) in a rotatable manner, the steering wheel connector (231) is connected with the steering engine (232), can deflect, the ducted fan (21) is arranged inside the machine body (235) of the flight module (2), the cover plate (33) is fixed on the machine body (235) of the walking module (3), the walking module (3) is characterized in that the walking wheels (31) and the walking motor (32) are in gear transmission and are fixed between the cover plates (33).
2. The bionic flying snake-shaped high-voltage transmission line metamorphic state overhauling robot based on the claim 1 is characterized in that: flight module (2) and walking module (3) structure are similar, all have rudder disk connector (231), steering wheel (232), step motor (233), end cover supporting disk (234), fuselage (235), and can both deflect, rotary motion.
3. The bionic flying snake-shaped high-voltage transmission line metamorphic state overhauling robot based on the claim 1 is characterized in that: the flying module (2) and the walking module (3) can be arranged and freely combined.
4. The bionic flying snake-shaped high-voltage transmission line metamorphic state overhauling robot based on the claim 1 is characterized in that: the walking wheels (31) are concave wheels, wherein the upper end and the lower end of the periphery of the walking wheels (31) are annular concave platforms (311).
5. The bionic flying snake-shaped high-voltage transmission line metamorphic state overhauling robot based on the claim 1 is characterized in that: the robot bionic reptile snake and bird combine the characteristics of the two, and has two working modes of flying and walking on line.
6. The bionic flying snake-shaped high-voltage transmission line metamorphic state overhauling robot based on the claim 5 is characterized in that: the robot has an airborne configuration, wherein the airborne configuration refers to different flight attitudes of the robot.
7. The bionic flying snake-shaped high-voltage transmission line metamorphic state overhauling robot based on the claim 5 is characterized in that: the robot has an online metamorphic state on the cable (4), wherein the online metamorphic state refers to different obstacle surmounting and working postures of the robot on the line.
8. The bionic flying snake-shaped high-voltage transmission line metamorphic state overhauling robot based on the claim 1 is characterized in that: the cameras are arranged in the front and at the back of the robot.
9. The bionic flying snake-shaped high-voltage transmission line metamorphic state overhauling robot based on the claim 1 is characterized in that: the last rudder disc connector (231) of the robot is used as a maintenance equipment carrying platform (5), various maintenance equipment are carried, meanwhile, a rear camera (51) is also arranged at the position, and the rear section of the robot can be partially separated from a cable (4) to assist the maintenance equipment in maintenance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022078013.4U CN212445222U (en) | 2020-09-21 | 2020-09-21 | Bionic flying-away-based snakelike high-voltage transmission line variable-configuration-state maintenance robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022078013.4U CN212445222U (en) | 2020-09-21 | 2020-09-21 | Bionic flying-away-based snakelike high-voltage transmission line variable-configuration-state maintenance robot |
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| Publication Number | Publication Date |
|---|---|
| CN212445222U true CN212445222U (en) | 2021-02-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202022078013.4U Withdrawn - After Issue CN212445222U (en) | 2020-09-21 | 2020-09-21 | Bionic flying-away-based snakelike high-voltage transmission line variable-configuration-state maintenance robot |
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| CN (1) | CN212445222U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112060068A (en) * | 2020-09-21 | 2020-12-11 | 石河子大学 | Bionic flying-away-based snakelike high-voltage transmission line variable-configuration-state maintenance robot |
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2020
- 2020-09-21 CN CN202022078013.4U patent/CN212445222U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112060068A (en) * | 2020-09-21 | 2020-12-11 | 石河子大学 | Bionic flying-away-based snakelike high-voltage transmission line variable-configuration-state maintenance robot |
| CN112060068B (en) * | 2020-09-21 | 2022-11-04 | 石河子大学 | Bionic flying-away-based snakelike high-voltage transmission line variable-configuration-state maintenance robot |
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Granted publication date: 20210202 Effective date of abandoning: 20220601 |