WO2014086086A1 - 500kv分裂导线巡检作业机器人平台 - Google Patents

500kv分裂导线巡检作业机器人平台 Download PDF

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Publication number
WO2014086086A1
WO2014086086A1 PCT/CN2013/000975 CN2013000975W WO2014086086A1 WO 2014086086 A1 WO2014086086 A1 WO 2014086086A1 CN 2013000975 W CN2013000975 W CN 2013000975W WO 2014086086 A1 WO2014086086 A1 WO 2014086086A1
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WIPO (PCT)
Prior art keywords
drive
fixed
joint
wheel mechanism
guide
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2013/000975
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English (en)
French (fr)
Inventor
曹雷
郭锐
张峰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Electric Power Research Institute of State Grid Shandong Electric Power Co Ltd
State Grid Corp of China SGCC
Original Assignee
Electric Power Research Institute of State Grid Shandong Electric Power Co Ltd
State Grid Corp of China SGCC
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Priority claimed from CN 201220660490 external-priority patent/CN202964660U/zh
Priority claimed from CN201210513785.3A external-priority patent/CN102922530B/zh
Application filed by Electric Power Research Institute of State Grid Shandong Electric Power Co Ltd, State Grid Corp of China SGCC filed Critical Electric Power Research Institute of State Grid Shandong Electric Power Co Ltd
Publication of WO2014086086A1 publication Critical patent/WO2014086086A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
    • H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
    • H02G1/04—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables for mounting or stretching

Definitions

  • the present invention relates to an overhead transmission line inspection operation robot platform, in particular, a 500KV split conductor inspection operation robot platform.
  • the ultra-high voltage transmission line is an important part of the high-voltage power grid. In order to ensure its safety and stability during operation, it is necessary to carry out regular inspection work. Because the transmission line has many distribution points, far away from the town, the terrain is complex. And the wire leaks in the wild, long-term wind and rain, and is subject to continuous mechanical tension, electrical flashing, material aging, easy to cause wear, broken strands, corrosion and other damage, if not repaired and replaced in time, easy to cause serious The accident caused a large-scale blackout and loss of economic property. Therefore, regular inspections of transmission lines must be carried out to keep abreast of and understand the safe operation of transmission lines so as to detect and eliminate hidden dangers in time to prevent accidents;
  • Chinese Patent ZL200410061316.8 discloses a robot traveling along an overhead high-voltage transmission line, comprising a pair of arm robot mechanisms moving along a power line, and the lower ends of the two arm robots are respectively coupled to one that can change two small In the transmission mechanism of the arm with the relative distance of the arm, each arm has 4 degrees of freedom, and the upper arm is an end actuator.
  • the end actuator has a driving wheel and its first driving mechanism suspended on the power line.
  • a driven wheel and a clamping mechanism that grips the power line.
  • Chinese Patent ZL200410020490.8 discloses an ultra-high voltage transmission line inspection robot mechanism, which is composed of a moving vehicle body, a rear arm and a front arm, wherein: the moving vehicle body is composed of a body and a walking wheel, and the walking wheel passes the level. The rotating pair and the moving pair are mounted on the body and are gripped by the line.
  • the body is connected to the front and rear arms respectively through the rotating pair, and the end of the arm is a claw; the front arm and the rear arm are identical in structure, wherein each arm is composed of The upper arm and the lower arm are composed of two parts, and the upper arm is a connecting rod and a ball screw
  • the slider combination structure is connected to the lower arm through the horizontal rotation pair, and the lower arm is a large stroke expansion mechanism.
  • the object of the present invention is to provide a 500KV split wire inspection and inspection machine platform for overcoming the above-mentioned deficiencies of the prior art.
  • the 500KV split wire inspection operation robot platform includes six structurally identical drive arms, a plate frame and a battery control box.
  • Each of the drive arms includes a drive wheel mechanism of the same structure, a lifting joint, a rotary joint, and a guide wheel. a mechanism and a guide groove; each of the driving arms is suspended on the split wire by a driving wheel mechanism, the lower end of the driving wheel mechanism is connected to the lifting joint through a rotating joint, and the lifting joint is fixed on the connecting plate frame;
  • a guide wheel mechanism is installed, and the guide wheel structure can slide along a guide groove fixed on the frame frame;
  • the battery control box supplies power to the drive arm;
  • the six drive arms are arranged in front, rear, and left-right symmetrically.
  • the frame frame is divided into a forearm, a middle arm and a rear arm, and the effective distances of the forearm and the middle arm, and the effective distances of the middle arm and the rear arm are all between 30-40 cm.
  • the driving wheel mechanism comprises a driving motor, a driving wheel, a driving shaft, a transmission device and a fixing plate; one end of the driving shaft is connected with the driving wheel, and the other end is connected to the driving motor, and the driving motor is driven and driven by the transmission device
  • the shaft is connected, the transmission device is a gear transmission or a synchronous belt drive or a worm gear transmission; the transmission device is disposed in a casing, and the casing is hinged with the fixed plate.
  • the lifting joint includes a bottom plate, a lead screw, a screw nut, a linear guide, a slider, a DC motor, a connecting plate, a limit switch and a bearing seat; the screw end is connected to the DC motor at one end, and the other end is fixed to the other end
  • the DC motor is fixed on the bearing housing, and the bearing housing is connected to the bottom plate;
  • the screw rod is provided with a screw nut;
  • the linear guide rail is fixed on the bottom plate, and the linear guide rail is provided with a freely sliding
  • the slider, the connecting plate holds the screw nut and the slider together.
  • the rotating joint is connected with a connecting plate of the lifting joint, the rotating joint comprises a rotating bearing seat, a rotating shaft and a u-shaped connecting member; the rotating shaft is fixed with a u-shaped connecting member at one end, and the rotating shaft passes through the bearing and
  • the swivel bearing housing is hinged.
  • the fixing plate of the driving wheel mechanism is connected to the u-shaped connecting member on the rotary joint.
  • the guide wheel mechanism is disposed below the driving wheel mechanism and is fixed to the fixing plate, and includes a guiding wheel bearing seat, a guiding wheel and a bearing; the guiding wheel is hinged with the guiding wheel bearing seat through the bearing.
  • Each of the guide wheels is provided with a guide groove, and the guide groove is fixed on the frame of the plate.
  • the battery control box is fixed in the frame of the plate, and supplies power to the lifting joint, the rotating joint and the driving wheel mechanism through the wires, and controls the movements of the joints of the entire robot system.
  • the present invention is mainly composed of six driving arms symmetrically distributed, each driving arm can provide driving force for the robot, and each driving arm includes the same driving wheel mechanism, lifting joint, rotating joint, guiding The wheel mechanism and the guide groove; the driving wheel mechanism is connected to the lifting joint through the rotating joint; the guiding wheel mechanism is fixed under the driving wheel mechanism, and the driving wheel mechanism is freely moved up and down along the guiding groove by the lifting joint.
  • the invention can be operated on two split wires adjacent to any horizontal level, and each of the driving arms can provide a driving force for the robot, and the robot can be pressed without encountering a barrier action when encountering the anti-vibration hammer;
  • the two driving arms of the front end are commanded to perform the obstacle movement, and the driving wheel mechanism is moved upward by the lifting joint, and the driving wheel mechanism can be rotated left and right along the rotating joint fixed at the lower end thereof. Moved upward along the fixed trajectory of the guide groove by the guide wheel fixed on the drive wheel mechanism.
  • the guide wheel moves to the corner of the guide groove, the drive wheel has been lifted and completely disengaged from the wire. It starts to shift the driving wheel to the outside, so that the driving wheel swings the wires and obstacles.
  • the two driving arms of the middle and the rear of the robot drive the robot to advance. After the two driving arms of the front end pass over the obstacle, the robot stops moving forward, and the two lifting joints at the front end begin to descend, driving the driving wheel to do the opposite. Action, so that the drive wheel is re-riding on the wire.
  • the invention has the beneficial effects that the present invention adopts six structurally identical and bilaterally symmetrical driving arms, and has a simple and compact structure, and can be operated on two horizontally adjacent split conductors, crossing various obstacles on the transmission line. (shock-proof hammer, spacer bar, suspended insulator string, etc.).
  • the robot runs across two split wires. Even if the center of gravity is offset, the robot's running attitude can be ensured. It is safe and stable, which facilitates the integration of inspection tools on the robot, and can expand the working robot arm and special tools to clear the obstacle. , line repair and other work.
  • FIG. 1 is a schematic perspective view of the present invention
  • FIG. 2 is a schematic structural view of a driving arm of the present invention
  • FIG. 3 is a schematic structural view of a drive wheel mechanism of the present invention.
  • Figure 4 is a schematic view showing the structure of the lifting joint of the present invention.
  • Figure 5 is a schematic view showing the structure of the rotary joint of the present invention.
  • Figure 6 is a schematic structural view of the guide wheel mechanism of the present invention.
  • 1 drive arm 1 plate frame, 3 battery control box, 4 drive wheel mechanism, 5 lift joints, 6 rotary joints, 7 guide wheel mechanism, 8 guide slots, 9 drive shafts, 10 drive wheels, 11 transmission , 12 drive motor, 13 fixing plate, 14 bottom plate, 15 lead screw, 16 linear guide, 17 connecting plate, 18 screw nut, 19 slider, 20 limit switch, 21 bearing Seat, 22 DC motor, 23 U-connector, 24 rotating shaft, 25 bearing, 26 swivel bearing, 27 guide wheel housing, 28 guide wheel.
  • the present invention operates on two horizontally adjacent split conductors, as shown in FIGS. 1 and 2, including a drive arm 1, a link frame 2, and a battery control box 3 of the same structure, wherein each drive arm 1
  • the driving wheel mechanism 4, the lifting joint 5, the rotating joint 6, the guiding wheel mechanism 7 and the guiding groove 8 are all of the same structure; the driving arm 1 is suspended on the split wire by the driving wheel 10, and the lower end of the driving wheel mechanism 4 passes through the rotating joint 6
  • the lifting joint 5 is connected, and the lifting joint 5 is fixed to the frame 2; the driving arm 1 is mounted with a guiding wheel mechanism 7, and the guiding wheel 28 is slidable along the guiding groove 8 fixed to the plate frame 2.
  • the driving wheel mechanism 4 includes a driving shaft 9, a driving wheel 10, a transmission device 11, a driving motor 12, and a fixing plate 13; wherein the driving shaft 9 is respectively provided with a driving wheel 10 and a transmission device 11, and is hinged on the fixed plate 13, the transmission 11 is disposed on the fixed plate 13, the drive motor 12 is disposed on the outer casing of the transmission 11, and the lower end of the drive wheel mechanism 4 is provided with a guide wheel mechanism 7.
  • the lifting joint 5 includes a bottom plate 14, a lead screw 15, a linear guide 16, a connecting plate 17, a screw nut 18, a slider 19, a limit switch 20, a bearing housing 21 and a DC motor 22;
  • the two ends of the lead screw 15 are fixed on the bottom plate 14 through the bearing seat 21, and the lead screw 15 is connected to the DC motor 22 through the bearing seat 21;
  • the linear guide 16 is arranged in parallel on the side of the lead screw 15, and the linear guide 16 is provided thereon.
  • a slider 19 that can slide up and down freely, the slider 19 and the screw nut 18 disposed on the lead screw 15 are connected and fixed by a connecting plate 17, and a rotating joint 6 is fixed on the connecting plate 17; a limit switch is fixed at the bottom of the lead screw 15 20, used to control the extreme position of the lower end of the lifting joint 5.
  • the rotary joint 6 includes a U-shaped connecting member 23, a rotating shaft 24, a bearing 25, and a rotary bearing housing 26; wherein, the rotating shaft 24 is hinged to the rotary bearing housing 26 via a bearing 25, and the U-shaped connecting member 23 fixed to the rotating shaft 24
  • the guide wheel mechanism includes a bearing 25, a guide wheel bearing housing 27, and a guide wheel 28; wherein the guide wheel 28 is hinged to the guide wheel bearing housing 27 via a bearing 25.
  • the invention can be operated on two split wires adjacent to any horizontal level, and each of the driving arms 1 can provide driving force for the robot, and can be pressed without the obstacle action when the robot encounters the anti-vibration hammer;
  • the two driving arms 1 of the front end are commanded to perform the obstacle action, and the driving wheel mechanism 4 is moved upward by the lifting joint 5, and the driving wheel mechanism 4 can be fixed along the same.
  • Lower rotary joint 6 Rotating left and right, at the same time, moving upward along the fixed trajectory of the guide groove 8 by the guide wheel 28 fixed to the drive wheel mechanism 4, when the guide wheel 28 is moved to the corner of the guide groove 8, the drive wheel 10 has been lifted Starting and completely disengaging the wire, the guide wheel 28 starts to drive the drive wheel 10 to shift outward, so that the drive wheel 10 swings the wire and the obstacle; under the automatic control, the two driving arms 1 of the middle and the rear of the robot drive the robot to advance After the two driving arms 1 of the front end cross the obstacle, the robot stops moving forward, and the two lifting joints 5 at the front end start to descend, and the driving wheel 10 is driven to perform the opposite action to the front, so that the driving wheel 10 rides on the wire again.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

本发明具体公开了一种500KV分裂导线巡检作业机器人平台，包括6个结构相同的驱动臂、联板框架及电池控制箱，所述的每个驱动臂都包括结构相同的驱动轮机构、升降关节、旋转关节、导向轮机构及导槽；每个驱动臂通过驱动轮机构悬挂在分裂导线上，所述驱动轮机构下端通过旋转关节与升降关节连接，升降关节固定在联板框架上；所述每个驱动臂上都安装有导向轮机构，导向轮结构能沿固定在联板框架上的导槽滑动。本发明的有益效果是：该机器人运行时横跨在两根分裂导线上，即使重心发生偏移也能保证机器人的运行姿态，安全平稳，有利于在机器人上集成检测工具，并且可以扩展作业机械臂及专用工具进行清障、线路修补等工作。

Description

500KV分裂导线巡检作业机器人平台 技术领域
[0002] 本发明涉及一种架空输电线路巡检作业机器人平台， 尤其是 500KV 分裂导线巡检作 业机器人平台。
背景技术
[0003] 超高压输电线路是高压电网的重要组成部分， 为保证其在运行过程中的安全性和稳 定性， 需要定期的开展巡检工作； 由于输电线路分布点多， 远离城镇， 地形复杂， 并且导线 暴漏在野外， 长期风吹雨淋， 且受到持续的机械张力， 电气闪烙， 材料老化的影响， 容易引 起磨损， 断股， 腐蚀等损伤， 若不及时修复更换， 易引起严重的事故， 造成大面积停电及经 济财产损失。 所以， 必须对输电线路进行定期的巡视检查， 随时掌握和了解输电线路的安全 运行情况， 以便及时发现和消除隐患， 预防事故的发生；
长期以来， 我国对输电线路的巡检主要依靠人工， 或望远镜， 或红外热成像仪， 边走边看， 一些特殊的巡检还需要电力工人攀上高压线路进行检査， 费时费力， 危险性极大， 有些原始 森林、 山崖线路人工根本无法巡检。 利用机器人带电巡检和维护超高压输电网络， 不但可以 减轻工人千里巡线和带电作业的劳动强度， 而且可提高检测精度和检测效率， 取代人直接工 作在高危险的场合， 同时大大减少人力资源， 对提高电网自动化作业水平、 保障电网安全运 行具有重要意义。
[0004] 中国专利 ZL200410061316.8 公开了一种沿架空高压输电线路行驶的机器人， 包括一 对沿输电线运动的小臂机械手机构， 二个小臂机械手的下端分别联接在一个能改变二个小臂 相对距离的大臂的传动机构上， 各小臂分别具有 4个自由度， 小臂上方为末端执行机构， 该 末端执行机构具有一个挂在输电线上的主动轮及其第一驱动机构、 一个从动轮和一个可抓握 输电线的夹紧机构。 综合分析， 此专利主要有如下缺点： 该专利机器人只能沿着单股导线行 走， 只具备检测功能， 由于机器人只能沿单股导线运行， 再扩展线上作业功能 （清除熟料布 异物、 拆卸防震锤、 修补导线等） 时， 机器人本体重心容易发生偏移， 导致机器姿态不稳， 无法保证安全作业。
[0005] 中国专利 ZL200410020490.8 公开了一种超高压输电线巡检机器人机构， 它由移动车 体、 后手臂、 前手臂组成，其中:移动车体由本体和行走轮组成,行走轮通过水平转动副和移动 副安装在本体上,并与线相抓持,本体通过转动副分别与前、 后手臂相连,手臂末端为手爪;所述 前手臂、 后手臂结构相同，其中每一手臂由上臂、 下臂两部分组成，上臂为连杆及滚珠丝杠与 滑块组合结构，通过水平转动副与下臂相连接，下臂为大行程伸缩机构。 综合分析， 此专利主 要有如下缺点： 能在单股分裂导线上运行， 跨越防震锤和绝缘子串等障碍物， 但越障效率较 低， 其狭长的移动平台不利于集成多种检测和作业工具。
发明内容
[0006] 本发明的目的是为克服上述现有技术的不足， 提供一种 500KV 分裂导线巡检作业机 器人平台。
[0007] 为实现上述目的， 本发明采用下述技术方案：
500KV 分裂导线巡检作业机器人平台， 包括六个结构相同的驱动臂、 联板框架及电池控制 箱， 所述的每个驱动臂都包括结构相同的驱动轮机构、 升降关节、 旋转关节、 导向轮机构及 导槽； 每个驱动臂通过驱动轮机构悬挂在分裂导线上， 所述驱动轮机构下端通过旋转关节与 升降关节连接， 升降关节固定在联板框架上； 所述每个驱动臂上都安装有导向轮机构， 导向 轮结构能沿固定在联板框架上的导槽滑动； 所述的电池控制箱给驱动臂供电； 所述的六个驱 动臂成前中后排列且左右对称分布在联板框架上， 分为前臂、 中臂、 后臂， 其前臂和中臂有 效距离、 中臂和后臂的有效距离都在 30— 40cm之间。
[0008] 所述驱动轮机构包括驱动电机、 驱动轮、 驱动轴、 传动装置和固定板； 所述驱动轴 一端与驱动轮连接， 另一端连接驱动电机， 所述的驱动电机通过传动装置与驱动轴连接， 所 述的传动装置是齿轮传动或同步带传动或涡轮蜗杆传动； 所述的传动装置设于一个壳体内， 壳体与固定板铰接在一起。
[0009] 所述升降关节包括底板、 丝杠、 丝杠螺母、 直线导轨、 滑块、 直流电机、 连接板、 限位开关及轴承座； 所述丝杠一端与直流电机相连， 另一端固定于底板上； 所述的直流电机 固定在轴承座上， 轴承座与底板相连； 所述的丝杠上设置有丝杠螺母； 所述直线导轨固定在 底板上， 直线导轨上设置有可自由滑动的滑块， 连接板将丝杠螺母和滑块固定在一起。
[0010] 所述旋转关节与升降关节的连接板相连， 所述的旋转关节包括旋转轴承座、 旋转轴 及 u型连接件； 所述旋转轴一端固定有 u型连接件， 旋转轴通过轴承与旋转轴承座铰接。
[0011] 所述驱动轮机构的固定板与旋转关节上的 u型连接件相连。
[0012] 所述导向轮机构设于驱动轮机构的下方， 且固定于固定板上， 其包括导向轮轴承 座、 导向轮及轴承； 所述导向轮通过轴承与导向轮轴承座铰接。
[0013] 所述每个导向轮上都设有导槽， 导槽固定在联板框架上。
[0014] 所述电池控制箱固定在联板框架内， 其通过导线为升降关节、 旋转关节及驱动轮机 构等设备供电， 并控制整个机器人系统各关节的动作。 [0015] 本发明主要由左右对称分布的 6 个驱动臂构成， 每个驱动臂都可以为机器人提供驱 动力， 并且每个驱动臂都包括结构相同的驱动轮机构、 升降关节、 旋转关节、 导向轮机构及 导槽； 驱动轮机构都通过旋转关节与升降关节相连； 驱动轮机构下方都固定有导向轮机构， 驱动轮机构在升降关节的带动下沿导槽上下自由移动。
[0016] 本发明的工作原理：
本发明可在任意水平相邻的两条分裂导线上运行， 每个驱动臂都能为机器人提供驱动力， 在 机器人遇到防震锤时无需做越障动作即可压过； 在接近间隔棒、 悬垂绝缘子串时， 首先前端 的两个驱动臂开始接到指令进行越障动作， 在升降关节的带动下驱动轮机构向上移动， 驱动 轮机构可沿固定在其下端的旋转关节左右转动， 同时， 由固定在驱动轮机构上的导向轮作用 下沿着导槽的固定轨迹向上移动， 当导向轮移动到导槽的弯角处时， 主动轮己经抬起并完全 脱离导线， 此时导向轮开始带动主动轮向外侧偏移， 从而使主动轮摆开导线及障碍物。
[0017] 在自动控制下机器人中间和后端两个驱动臂带动机器人前进， 待前端两个驱动臂越 过障碍物后机器人停止前进， 前端两个升降关节开始下降， 带动主动轮做与之前相反的动 作， 使主动轮重新骑在导线上。
[0018] 然后， 机器人中间及后端的驱动臂都以前端驱动臂相同的方式越过障碍物。
[0019] 本发明的有益效果是， 本发明由于采用六个结构相同且左右对称的驱动臂， 结构简 单紧凑， 可在任意水平相邻的两条分裂导线上运行， 跨越输电导线上各种障碍物 （防震锤、 间隔棒、 悬垂绝缘子串等）。 该机器人运行时横跨在两根分裂导线上， 即使重心发生偏移也 能保证机器人的运行姿态， 安全平稳， 有利于在机器人上集成检测工具， 并且可以扩展作业 机械臂及专用工具进行清障、 线路修补等工作。
附图说明
[0020] 图 1为本发明的立体结构示意图；
图 2为本发明驱动臂结构示意图；
图 3为本发明驱动轮机构结构示意图；
图 4本发明升降关节结构示意图；
图 5本发明旋转关节结构示意图；
图 6本发明导向轮机构结构示意图；
图中： 1 驱动臂， 2联板框架， 3 电池控制箱， 4驱动轮机构， 5升降关节， 6旋转关节， 7 导向轮机构， 8 导槽， 9驱动轴， 10驱动轮， 11 传动装置， 12驱动电机， 13 固定板， 14 底板， 15 丝杠， 16直线导轨， 17连接板， 18 丝杠螺母， 19滑块， 20 限位开关， 21 轴承 座, 22直流电机， 23 U型连接件， 24旋转轴，25轴承， 26旋转轴承座， 27导向轮轴承座， 28 导向轮。
具体实施方式
[0021] 下面结合附图和实施例对本发明进一步说明。
[0022] 本发明在任意水平相邻的两条分裂导线上运行， 如图 1、 2所示， 包括结构相同的驱 动臂 1、 联板框架 2及电池控制箱 3， 其中每个驱动臂 1都包括结构相同的驱动轮机构 4、 升降关节 5、 旋转关节 6、 导向轮机构 7及导槽 8; 驱动臂 1通过驱动轮 10悬挂在分裂导线 上， 驱动轮机构 4下端通过旋转关节 6与升降关节 5连接， 升降关节 5 固定在联板框架 2 上； 驱动臂 1 上都安装有导向轮机构 7， 导向轮 28可沿固定在联板框架 2上的导槽 8滑 动。
[0023】 如图 3所示， 驱动轮机构 4包括驱动轴 9、 驱动轮 10、 传动装置 11、 驱动电机 12及 固定板 13 ; 其中， 驱动轴 9 两端分别设有驱动轮 10 及传动装置 11， 并铰接在固定板 13 上， 传动装置 11设置在固定板 13上， 驱动电机 12设置在传动装置 11外壳上； 驱动轮机构 4下端设有导向轮机构 7。
[0024] 如图 4所示， 升降关节 5包括底板 14、 丝杠 15、 直线导轨 16、 连接板 17、 丝杠螺 母 18、 滑块 19、 限位开关 20、 轴承座 21及直流电机 22; 其中， 丝杠 15两端通过轴承座 21固定在底板 14上， 丝杠 15—端通过轴承座 21与直流电机 22相连； 在丝杠 15—侧平行 设置有直线导轨 16， 直线导轨 16上有可上下自由滑动的滑块 19， 滑块 19与设置在丝杠 15 上的丝杠螺母 18通过连接板 17连接固定， 在连接板 17上固定有旋转关节 6; 丝杠 15底部 固定有限位开关 20， 用于控制升降关节 5下端的极限位置。
[0025] 如图 5所示， 旋转关节 6包括 U型连接件 23， 旋转轴 24,轴承 25， 旋转轴承座 26; 其中， 旋转轴 24通过轴承 25与旋转轴承座 26铰接， U型连接件 23固定在旋转轴 24的一
Ϊ而。
[0026] 如图 6所示， 导向轮机构包括轴承 25， 导向轮轴承座 27， 导向轮 28; 其中， 导向轮 28通过轴承 25与导向轮轴承座 27铰接。
[0027] 本发明的工作原理：
本发明可在任意水平相邻的两条分裂导线上运行， 每个驱动臂 1都能为机器人提供驱动力， 在机器人遇到防震锤时无需做越障动作即可压过；
在接近间隔棒、 悬垂绝缘子串时， 首先前端的两个驱动臂 1开始接到指令进行越障动作， 在 升降关节 5的带动下驱动轮机构 4向上移动， 驱动轮机构 4可沿固定在其下端的旋转关节 6 左右转动， 同时， 由固定在驱动轮机构 4上的导向轮 28作用下沿着导槽 8的固定轨迹向上 移动， 当导向轮 28移动到导槽 8的弯角处时， 驱动轮 10已经抬起并完全脱离导线， 此时导 向轮 28开始带动驱动轮 10向外侧偏移， 从而使驱动轮 10摆开导线及障碍物； 在自动控制 下机器人中间和后端两个驱动臂 1带动机器人前进， 待前端两个驱动臂 1越过障碍物后机器 人停止前进， 前端两个升降关节 5开始下降， 带动驱动轮 10做与之前相反的动作， 使驱动 轮 10重新骑在导线上。
[0028] 然后， 机器人中间及后端的驱动臂 1都以前端驱动臂 1相同的方式越过障碍物。
[0029] 上述虽然结合附图对本发明的具体实施方式进行了描述， 但并非对本发明保护范围 的限制， 所属领域技术人员应该明白， 在本发明的技术方案的基础上， 本领域技术人员不需 要付出创造性劳动即可做出的各种修改或变形仍在本发明的保护范围以内。
[0030]

Claims

权 利 要 求 书
1. 500KV分裂导线巡检作业机器人平台， 其特征在于： 包括六个结构相同的驱动臂、 联板 框架及电池控制箱， 所述的每个驱动臂都包括结构相同的驱动轮机构、 升降关节、 旋转关 节、 导向轮机构及导槽； 每个驱动臂通过驱动轮机构悬挂在分裂导线上， 所述驱动轮机构下 端通过旋转关节与升降关节连接， 升降关节固定在联板框架上； 所述每个驱动臂上都安装有 导向轮机构， 导向轮结构能沿固定在联板框架上的导槽滑动； 所述的电池控制箱给驱动臂供 电； 所述的六个驱动臂成前中后排列且左右对称分布在联板框架上， 分为前臂、 中臂、 后 臂， 其前臂和中臂有效距离、 中臂和后臂的有效距离都在 30— 40cm之间。
2. 如权利要求 1所述的 500KV分裂导线巡检作业机器人平台， 其特征在于： 所述驱动轮机 构包括驱动电机、 驱动轮、 驱动轴、 传动装置和固定板； 所述驱动轴一端与驱动轮连接， 另 一端连接驱动电机， 所述的驱动电机通过传动装置与驱动轴连接， 所述的传动装置是齿轮传 动或同步带传动或涡轮蜗杆传动； 所述的传动装置设于一个壳体内， 壳体与固定板铰接在一 起。
3. 如权利要求 1所述的 500KV分裂导线巡检作业机器人平台， 其特征在于： 所述升降关节 包括底板、 丝杠、 丝杠螺母、 直线导轨、 滑块、 直流电机、 连接板、 限位开关及轴承座； 所 述丝杠一端与直流电机相连， 另一端固定于底板上； 所述的直流电机固定在轴承座上， 轴承 座与底板相连； 所述的丝杠上设置有丝杠螺母； 所述直线导轨固定在底板上， 直线导轨上设 置有可自由滑动的滑块， 连接板将丝杠螺母和滑块固定在一起。
4. 如权利要求 2所述的 500KV分裂导线巡检作业机器人平台， 其特征在于： 所述旋转关节 与升降关节的连接板相连， 所述的旋转关节包括旋转轴承座、 旋转轴及 U型连接件； 所述 旋转轴一端固定有 u型连接件， 旋转轴通过轴承与旋转轴承座铰接。
5. 如权利要求 4所述的 500KV分裂导线巡检作业机器人平台， 其特征在于： 所述驱动轮机 构的固定板与旋转关节上的 U型连接件相连。
6. 如权利要求 2所述的 500KV分裂导线巡检作业机器人平台， 其特征在于： 所述导向轮机 构设于驱动轮机构的下方， 且固定于固定板上， 其包括导向轮轴承座、 导向轮及轴承； 所述 导向轮通过轴承与导向轮轴承座铰接。
7. 如权利要求 6所述的 500KV分裂导线巡检作业机器人平台， 其特征在于： 所述每个导向 轮上都设有导槽， 导槽固定在联板框架上。
8. 如权利要求 1所述的 500KV分裂导线巡检作业机器人平台， 其特征在于： 所述电池控制 箱固定在联板框架内。
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