CN218802253U - Inspection robot balancing device considering wind load - Google Patents
Inspection robot balancing device considering wind load Download PDFInfo
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- CN218802253U CN218802253U CN202223114994.9U CN202223114994U CN218802253U CN 218802253 U CN218802253 U CN 218802253U CN 202223114994 U CN202223114994 U CN 202223114994U CN 218802253 U CN218802253 U CN 218802253U
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Abstract
The utility model relates to a balance device of a patrol robot considering wind load, which is a mass center adjusting device connected with the body of the patrol robot; the inspection robot comprises a robot body and a walking mechanical arm, wherein a mass center adjusting device consists of a mass center box, a mass center box position adjusting mechanism, a mass center box angle adjusting mechanism, a wind direction and wind speed sensor and a control system; the center of mass box is arranged below the machine body and is connected with a center of mass box position adjusting mechanism arranged on the machine body through a center of mass box angle adjusting mechanism; position sensors are respectively arranged on the walking mechanical arm and the mass center box; the utility model can effectively solve the balance problem of the inspection robot under the condition of wind load, effectively reduce the influence of the wind load on the work of the inspection robot, and improve the working stability of the inspection robot under the condition of wind load; the device has simple structure and reliable operation.
Description
Technical Field
The utility model relates to a balance control technical field of robot patrols and examines especially relates to a take into account wind load's inspection robot balancing unit.
Background
The inspection robot replaces manual work to inspect the ultrahigh voltage transmission line regularly, is one of the development trends of the maintenance technology of the ultrahigh voltage transmission line, and can reduce the cost and improve the inspection accuracy by adopting the inspection robot. The ultrahigh voltage transmission line is generally erected at an altitude of more than 60m from the ground, and the working state of the ultrahigh voltage transmission line is mainly influenced by environmental factors such as wind, ice coating, air temperature and the like, wherein the influence of wind power is the most frequent. When the inspection robot runs on an overhead line, wind acts on a machine body of the robot to form wind pressure, load in the horizontal direction is generated, the higher the wind speed is, the larger the wind pressure is, the larger the wind load is, and the running safety and the inspection reliability of the inspection robot are extremely unfavorable. Therefore, how to ensure that the inspection robot can work stably and balancedly under the action of the wind load is very important.
Chinese patent application publication No. CN104765365A discloses "a gravity center balance mechanism and balance method of electric power inspection robot", the gravity center balance mechanism of electric power inspection robot includes fuselage, balancing weight slide rail and balancing weight, the arm of electric power inspection robot passes through arm slider and fuselage sliding connection, the balancing weight slide rail passes through balancing weight slide rail support frame and fuselage sliding connection, the balancing weight passes through balancing weight support frame and balancing weight slide rail sliding connection. The power line inspection robot can achieve a better gravity center balance function in power line inspection, and the obstacle crossing capability of the power line inspection robot is improved. But it does not consider the influence of horizontal wind load to patrolling and examining the robot, can not solve the smooth work problem of patrolling and examining the robot under the wind load effect.
The thesis of posture detection and operation optimization of the inspection robot under wind load (Hongshu et al, 2016 (12): 197-200) discloses mechanical design and manufacture), which aims at the influence of wind load during obstacle crossing of the inspection robot and solves the problem that the inspection robot cannot stably work due to the influence of the wind load when running along an overhead line.
Disclosure of Invention
The utility model provides a balance device of inspection robot considering wind load, which can effectively solve the balance problem of inspection robot under wind load, effectively reduce the influence of wind load on the work of inspection robot, and improve the working stability of inspection robot under wind load condition; the device has simple structure and reliable operation.
In order to achieve the purpose, the utility model adopts the following technical scheme:
a balance device of an inspection robot considering wind load comprises a body and a walking mechanical arm, wherein the body is suspended below a power line through the walking mechanical arm and can walk along the power line; the balance device of the inspection robot is a mass center adjusting device connected with the machine body; the mass center adjusting device consists of a mass center box, a mass center box position adjusting mechanism, a mass center box angle adjusting mechanism, a wind direction and wind speed sensor and a control system; the center of mass box is arranged below the machine body and is connected with a center of mass box position adjusting mechanism arranged on the machine body through a center of mass box angle adjusting mechanism; position sensors are respectively arranged on the walking mechanical arm and the mass center box; the driving end of the centroid box angle adjusting mechanism and the driving end of the centroid box position adjusting mechanism are respectively connected with a control system, and the control system is additionally connected with a signal output end of a wind direction and wind speed sensor arranged on the machine body and a signal output end of a position sensor arranged on the walking mechanical arm and the centroid box.
Furthermore, the walking mechanical arm is 2 groups, sets up in the both ends of fuselage relatively.
Further, the mass center box position adjusting mechanism consists of a translation motor, a lead screw and an adjusting slide block; a slideway is arranged on the machine body along the longitudinal direction, and a screw rod is arranged in the slideway and is rotationally connected with the machine body; the translation motor is arranged at the outer end of the machine body, and a motor shaft of the translation motor is connected with one end of the lead screw; the adjusting slide block is arranged on the screw rod and is in transmission connection with the screw rod, and when the screw rod rotates under the driving of the translation motor, the adjusting slide block moves along the screw rod in a reciprocating mode.
Furthermore, the number of the mass center boxes is 2, and each mass center box is connected with the corresponding mass center box position adjusting mechanism through the corresponding mass center box angle adjusting mechanism; the barycenter box position adjustment mechanism is 2 groups, the slide ways in the 2 groups of barycenter box position adjustment mechanisms are arranged in the two sides of the machine body in parallel and symmetrically, and the translation motors in the 2 groups of barycenter box position adjustment mechanisms are arranged at the two ends of the machine body respectively.
Furthermore, the angle adjusting mechanism of the centroid box consists of a rotating motor, a large gear and a small gear; in the centroid box position adjusting mechanism, a mounting plate is arranged at the top of an adjusting slide block, and a large gear shaft is arranged at the top of a centroid box; the rotating motor is arranged at the bottom of the mounting plate, a motor shaft of the rotating motor extends upwards out of the mounting plate, and a small gear is arranged at the extending end of the motor shaft; the large gear shaft extends upwards out of the mounting plate, the extending end is provided with a large gear, the small gear is in meshing transmission with the large gear, and the motor shaft and the mounting plate and the large gear shaft and the mounting plate are in rotating connection; under the drive of the rotating motor, the pinion gear and the gearwheel drive and drive the mass center box to rotate horizontally.
Furthermore, the mass center box consists of a box body and a box cover, a large gear shaft is fixedly connected with the box cover, and the box cover is detachably and fixedly connected with the box body; and the storage battery and the control system for supplying power to all the electric parts are fixedly arranged in the box body.
Furthermore, the box body of the centroid box is formed by combining an upper rectangular box body and a lower triangular prism-shaped box body.
Further, the control system is a single chip microcomputer or a PLC controller.
Compared with the prior art, the beneficial effects of the utility model are that:
1) The balance problem of the inspection robot under the condition of wind load is effectively solved, and especially under the condition that the inspection robot is influenced by the wind load in the same direction for a long time, the effect is more obvious;
2) The influence of wind load on the normal work of the inspection robot is effectively reduced, and the working stability of the inspection robot under the condition of the wind load is improved;
3) The device has simple structure, reliable operation and good real-time mass center balance function; the windward side of the centroid box is adjusted through the centroid box angle adjusting mechanism, the influence of wind load on the inspection robot is reduced, and the self-balance of the inspection robot in the Y-axis direction is kept; the horizontal position (relative to the horizontal position of the power line) of the centroid box is adjusted through the centroid box position adjusting mechanism, and the self-balance of the X-axis direction of the inspection robot is kept.
Drawings
Fig. 1 is a schematic view of a three-dimensional structure of an inspection robot and an inspection robot balancing device.
Fig. 2 is the utility model discloses a patrol and examine robot balancing unit's three-dimensional explosion view.
Fig. 3 is the utility model discloses a patrolling and examining robot balancing unit's spatial structure schematic diagram.
Fig. 4 is the three-dimensional structure schematic diagram of the inspection robot and the inspection robot balancing device.
In the figure: 1. machine body 2, mass center adjusting device 3, walking mechanical arm 4, adjusting slide block 5, pinion 6, gear wheel 7, rotating motor 8, lead screw 9, translation motor 10, box cover 11 and box body
Detailed Description
The following description of the embodiments of the present invention will be made with reference to the accompanying drawings:
as shown in fig. 1, the inspection robot balancing device considering wind load of the present invention comprises a body 1 and a walking mechanical arm 3, wherein the body 1 is suspended below a power line through the walking mechanical arm 3 and can move along the power line; the balance device of the inspection robot is a mass center adjusting device 2 connected with the machine body 1; the mass center adjusting device 2 consists of a mass center box, a mass center box position adjusting mechanism, a mass center box angle adjusting mechanism, a wind direction and wind speed sensor and a control system; the mass center box is arranged below the machine body 1 and is connected with a mass center box position adjusting mechanism arranged on the machine body 1 through a mass center box angle adjusting mechanism; the walking mechanical arm 3 and the centroid box are respectively provided with a position sensor; the driving end of the centroid box angle adjusting mechanism and the driving end of the centroid box position adjusting mechanism are respectively connected with a control system, and the control system is additionally connected with a signal output end of a wind direction and wind speed sensor arranged on the machine body 1 and a signal output end of a position sensor arranged on the walking mechanical arm 3 and the centroid box.
Furthermore, the walking mechanical arms 3 are 2 groups and are oppositely arranged at two ends of the machine body 1.
Further, as shown in fig. 1-3, the centroid box position adjusting mechanism is composed of a translation motor 9, a lead screw 8 and an adjusting slider 4; a slideway is arranged on the machine body 1 along the longitudinal direction, and a screw rod 8 is arranged in the slideway and is rotationally connected with the machine body 1; the translation motor 9 is arranged at the outer end of the machine body 1, and a motor shaft of the translation motor 9 is connected with one end of the screw rod 8; adjusting block 4 is located on lead screw 8 and is connected with the transmission of lead screw 8, and when lead screw 8 rotated under the drive of translation motor 9, adjusting block 4 followed lead screw 8 reciprocating motion.
Furthermore, the number of the mass center boxes is 2, and each mass center box is connected with the corresponding mass center box position adjusting mechanism through the corresponding mass center box angle adjusting mechanism; the barycenter box position adjusting mechanisms are 2 groups, the slide ways in the 2 groups of barycenter box position adjusting mechanisms are arranged on two sides of the machine body 1 in parallel and symmetrically, and the translation motors 9 in the 2 groups of barycenter box position adjusting mechanisms are arranged at two ends of the machine body 1 respectively.
Further, as shown in fig. 1-3, the angle adjusting mechanism of the centroid box is composed of a rotating motor 7, a gearwheel 6 and a pinion 5; in the position adjusting mechanism of the mass center box, the top of an adjusting slide block 4 is provided with an installation plate, and the top of the mass center box is provided with a large gear shaft; the rotating motor 7 is arranged at the bottom of the mounting plate, a motor shaft of the rotating motor 7 extends upwards out of the mounting plate, and a small gear 5 is arranged at the extending end; the large gear shaft extends upwards out of the mounting plate, the extending end is provided with a large gear 6, a small gear 5 is in meshing transmission with the large gear 6, and a motor shaft and the mounting plate and the large gear shaft and the mounting plate are in rotating connection; under the drive of the rotating motor 7, the small gear 5 and the large gear 6 are in transmission and drive the mass center box to horizontally rotate.
Furthermore, the mass center box consists of a box body 11 and a box cover 10, the large gear shaft is fixedly connected with the box cover 10, and the box cover 10 is detachably and fixedly connected with the box body 11; the storage battery and the control system for supplying power to all the electric components are fixedly arranged in the box body 11.
Further, the box body 11 of the centroid box is formed by combining a rectangular box body at the upper part and a triangular prism-shaped box body at the lower part.
Further, the control system is a single chip microcomputer or a PLC controller.
Consider inspection robot balancing unit's of wind load working method as follows:
step 1), taking the middle point of a connecting line between 2 groups of walking mechanical arms 3 on the inspection robot and a power line contact point as an original point, taking the vertical upward direction as the Z-axis direction, taking the forward direction of the inspection robot as the X-axis direction, and establishing a right-hand coordinate system as a world coordinate system;
step 2), the control system reads real-time detection values of position sensors on each walking mechanical arm 3 and each mass center box of the inspection robot, and calculates the mass center position of the inspection robot by combining the inherent parameters of the inspection robot;
step 3), whether the control system detects the centroid of the inspection robot is located under the origin of the world coordinate system, if the detection result is 'no', the position of the centroid box is adjusted through the centroid box position adjusting mechanism, and the method specifically comprises the following steps: starting a translation motor 9, driving a mass center box to translate through transmission of a lead screw 8 and an adjusting slide block 4 until the center of the inspection robot is positioned right below the origin of a world coordinate system; therefore, the mass center balance of the inspection robot in the X-axis direction is realized;
step 4), under the influence of no wind load, the inspection robot walks along the power line, and self-balancing of the inspection robot can be realized only by keeping the center of the inspection robot to be positioned right below the origin of the world coordinate system;
step 5), when the inspection robot is influenced by wind load when walking along the power line, detect the direction of the biggest wind load through a wind direction and a wind speed sensor, adjust the angle of the centroid box through the centroid box angle adjusting mechanism, and specifically are: the rotating motor 7 is started, the small gear 5 and the large gear 6 are in meshing transmission to drive the mass center box to horizontally rotate, and the side face with the smallest area of the mass center box faces to the direction of the largest wind load, so that the mass center balance of the inspection robot in the Y-axis direction is realized (as shown in figure 4).
The following examples are carried out on the premise of the technical solution of the present invention, and detailed embodiments and specific operation processes are given, but the scope of the present invention is not limited to the following examples.
[ examples ] A method for producing a compound
As shown in fig. 1, in this embodiment, the inspection robot balancing apparatus considering wind load includes a centroid adjusting apparatus 2 disposed on the inspection robot body, the inspection robot body is composed of a machine body 1 and 2 groups of traveling mechanical arms 3, two ends of the machine body 1 are respectively provided with 1 group of traveling mechanical arms 3,2 groups of traveling mechanical arms 3 are symmetrically disposed along a central axis of the machine body 1, and the machine body 1 is a flat frame structure.
As shown in fig. 2, the centroid adjusting device 2 is composed of 2 centroid boxes, 2 groups of centroid box position adjusting mechanisms, 2 groups of centroid box angle adjusting mechanisms, a wind direction and wind speed sensor (not shown in the figure) and a control system (not shown in the figure). The centroid box, the centroid box position adjusting mechanism and the centroid box angle adjusting mechanism are arranged in a one-to-one correspondence mode.
The centroid box is composed of a box cover 10 and a box body 11, and a control system (a single chip microcomputer is adopted in the embodiment), a storage battery for supplying power to each electric component and electronic elements (such as fuses and the like) matched with the power supply circuit are placed in the box body 11. Through changing the position and the angle of the centroid box, the accurate adjustment of the centroid position of the inspection robot can be realized under wind load conditions and no wind load conditions.
The box body 11 of the centroid box changes the traditional square box body design, and the lower part of the box body is a triangular prism box body, so that the centroid of the centroid box is controlled in a smaller controllable range, and convenience is provided for balanced modeling. In this embodiment, the area of the side surface of the box body 11 of the centroid box is smaller than the area of the front surface, that is, the side surface is less affected by wind load. Because the paths of wind passing through the upper part and the lower part of the mass center box are different, the wind load can be decomposed into an upward component force, the principle of the wind load is similar to that of an airplane wing, the influence of the wind load on the inspection robot is reduced, and meanwhile, the pressure of the inspection robot on a power line can be reduced to a certain extent. The box body 11 of the centroid box is connected with the box cover 10 through screws, a large gear shaft is arranged on the box cover 10, a through hole is formed in the large gear shaft, and therefore wires and cables can conveniently penetrate through the through hole to be connected with a control circuit and a power circuit inside the box body 11.
As shown in fig. 3, the adjusting slide block 4 is in transmission connection with a lead screw arranged in an upper slideway of the machine body 1, and two ends of the lead screw are rotatably connected with the machine body 1 through bearings; 2 slideways are longitudinally arranged on the machine body 1, and 2 adjusting slide blocks 4 reciprocate in the slideways. The machine body 1 is provided with a reinforcing rib for structural reinforcement. When the translation motor 9 drives the corresponding lead screw 8 to rotate, the adjusting slide block 4 moves along the lead screw 8, and the position of the mass center box is changed. When the center of mass of the inspection robot deviates in the X-axis direction, the position sensors at all parts output signals to the single chip microcomputer, the single chip microcomputer outputs high and low levels after receiving the signals, and the translation motor 9 is controlled to operate, so that the balance of the center of mass of the inspection robot relative to the X-axis direction is ensured by adjusting the position of the center of mass box.
The box cover 10 of the mass center box is connected with the large gear 6 through a large gear shaft, and the large gear shaft is in transmission connection with the large gear through a key; the bull gear 6 is connected with the mounting plate on the adjusting slide block 4 through a bearing, so that the bull gear 6 and a bull gear shaft can flexibly rotate relative to the adjusting slide block 4. The large gear 6 is in meshed transmission with the small gear 5, the small gear 5 is connected with the mounting plate on the adjusting slide block 4 through a bearing, and the small gear is mounted on a motor shaft of a rotating motor 7 fixed at the bottom of the mounting plate. The rotating motor 7 drives the pinion to rotate, then the rotating angle of the mass center box is adjusted through rotation of the large gear 6, and the side face, which is less affected by the wind load, of the box body 11 faces the direction of the maximum wind load, so that the influence of the wind load on the inspection robot is reduced. When the inspection robot is influenced by wind load, the wind direction and wind speed sensor outputs signals to the single chip microcomputer, the single chip microcomputer outputs high and low levels after receiving the signals, and the rotating motor 7 is controlled to rotate, so that the box body 11 rotates by a certain angle, and the side face faces the direction with the largest wind load.
In this embodiment, the translation motor and the rotation motor both adopt a stepping motor having forward and reverse rotation functions.
As shown in fig. 4, the schematic diagram of the inspection robot balancing device adjusting the angle of the center of mass box when the inspection robot is subjected to a wind load in a certain direction. As can be seen in comparison with fig. 1, the box body 11 of the centroid box is horizontally rotated by an angle, so that the side surface of the box body 11 faces the direction of the maximum wind load; meanwhile, the position of the box body 11 corresponding to the longitudinal direction of the machine body is also changed.
The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.
Claims (8)
1. A balance device of an inspection robot considering wind load comprises a body and a walking mechanical arm, wherein the body is suspended below a power line through the walking mechanical arm and can walk along the power line; the inspection robot balancing device is characterized in that the inspection robot balancing device is a mass center adjusting device connected with a robot body; the centroid adjusting device consists of a centroid box, a centroid box position adjusting mechanism, a centroid box angle adjusting mechanism, a wind direction and wind speed sensor and a control system; the center of mass box is arranged below the machine body and is connected with a center of mass box position adjusting mechanism arranged on the machine body through a center of mass box angle adjusting mechanism; position sensors are respectively arranged on the walking mechanical arm and the mass center box; the driving end of the centroid box angle adjusting mechanism and the driving end of the centroid box position adjusting mechanism are respectively connected with the control system, and the control system is additionally connected with the signal output end of a wind direction and wind speed sensor arranged on the machine body and the signal output end of a position sensor arranged on the walking mechanical arm and the centroid box.
2. The inspection robot balancing device considering wind load as claimed in claim 1, wherein the walking robot arms are 2 groups and are oppositely disposed at both ends of the body.
3. The inspection robot balancing device considering wind loads according to claim 1, wherein the barycenter box position adjusting mechanism is composed of a translation motor, a lead screw and an adjusting slider; a slideway is arranged on the machine body along the longitudinal direction, and a screw rod is arranged in the slideway and is rotationally connected with the machine body; the translation motor is arranged at the outer end of the machine body, and a motor shaft of the translation motor is connected with one end of the screw rod; the adjusting slide block is arranged on the screw rod and is in transmission connection with the screw rod, and when the screw rod rotates under the driving of the translation motor, the adjusting slide block moves along the screw rod in a reciprocating mode.
4. The inspection robot balancing device considering wind loads according to claim 1, wherein the number of the centroid boxes is 2, and each centroid box is connected with a corresponding centroid box position adjusting mechanism through a corresponding centroid box angle adjusting mechanism; the barycenter box position adjustment mechanism is 2 groups, the slide ways in the 2 groups of barycenter box position adjustment mechanisms are arranged in the two sides of the machine body in parallel and symmetrically, and the translation motors in the 2 groups of barycenter box position adjustment mechanisms are arranged at the two ends of the machine body respectively.
5. The inspection robot balancing device considering wind loads according to claim 1, wherein the barycenter box angle adjusting mechanism is composed of a rotating motor, a large gear and a small gear; in the centroid box position adjusting mechanism, a mounting plate is arranged at the top of an adjusting slide block, and a large gear shaft is arranged at the top of a centroid box; the rotating motor is arranged at the bottom of the mounting plate, a motor shaft of the rotating motor upwards extends out of the mounting plate, and a small gear is arranged at the extending end of the motor shaft; the large gear shaft extends upwards out of the mounting plate, the extending end is provided with a large gear, the small gear is in meshing transmission with the large gear, and the motor shaft and the mounting plate and the large gear shaft and the mounting plate are in rotating connection; under the drive of the rotating motor, the pinion gear and the gearwheel drive and drive the mass center box to rotate horizontally.
6. The inspection robot balancing device considering wind loads according to claim 1 or 4, wherein the centroid box is composed of a box body and a box cover, the large gear shaft is fixedly connected with the box cover, and the box cover is detachably fixedly connected with the box body; the storage battery and the control system for supplying power to all the electric components are fixedly arranged in the box body.
7. The inspection robot balancing apparatus considering wind loads according to claim 6, wherein the body of the centroid box is composed of an upper rectangular body and a lower triangular prism body.
8. The inspection robot balancing device considering wind loads according to claim 1, wherein the control system is a single chip microcomputer or a PLC controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223114994.9U CN218802253U (en) | 2022-11-23 | 2022-11-23 | Inspection robot balancing device considering wind load |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223114994.9U CN218802253U (en) | 2022-11-23 | 2022-11-23 | Inspection robot balancing device considering wind load |
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| Publication Number | Publication Date |
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| CN218802253U true CN218802253U (en) | 2023-04-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202223114994.9U Active CN218802253U (en) | 2022-11-23 | 2022-11-23 | Inspection robot balancing device considering wind load |
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| CN (1) | CN218802253U (en) |
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- 2022-11-23 CN CN202223114994.9U patent/CN218802253U/en active Active
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