WO2020181566A1 - 沿输电线巡检机器人越障行走装置 - Google Patents

沿输电线巡检机器人越障行走装置 Download PDF

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Publication number
WO2020181566A1
WO2020181566A1 PCT/CN2019/078446 CN2019078446W WO2020181566A1 WO 2020181566 A1 WO2020181566 A1 WO 2020181566A1 CN 2019078446 W CN2019078446 W CN 2019078446W WO 2020181566 A1 WO2020181566 A1 WO 2020181566A1
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Prior art keywords
arm assembly
lifting
walking
transmission line
obstacle
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PCT/CN2019/078446
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English (en)
French (fr)
Inventor
颜文旭
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Jiangnan University
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Jiangnan University
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Priority to US16/964,560 priority Critical patent/US11868134B2/en
Publication of WO2020181566A1 publication Critical patent/WO2020181566A1/zh
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
    • B61B3/00—Elevated railway systems with suspended vehicles
    • B61B3/02—Elevated railway systems with suspended vehicles with self-propelled vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/617—Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards

Definitions

  • the invention relates to the field of inspection along transmission lines, in particular to an obstacle-crossing walking device for inspection robots along transmission lines.
  • high-voltage transmission lines In order to ensure the safe and stable operation of high-voltage transmission lines, high-voltage transmission lines must be overhauled regularly. The inspection and inspection of high-voltage transmission lines is very necessary to protect the safety of the power grid. The high-voltage transmission lines are widely distributed, and the geographical environment in some areas is more complicated. Manual inspection methods are no longer applicable due to high labor intensity and low inspection accuracy. Can only seek new inspection methods.
  • CN106786170A-The power transmission line inspection robot can make turns and obstacles.
  • the CN106786170A-power transmission line inspection robot has large inertia and instability when the rotating mechanism rotates because the up and down movement mechanism is arranged on the rotating mechanism, and the turning range of the entire device is limited.
  • the center of gravity of the patrol robot for linear obstacle crossing is not in the geometric center of the entire robot, which causes instability and is easy to leave the power line. Therefore, it is necessary to add a counterweight balancing device, such as CN103904583A-a counterweight balancing device in a railway traction power supply line swing arm type patrol robot.
  • adding a counterweight balancing device will increase the obstacle walking along the transmission line inspection robot The weight and cost of the device.
  • the technical problem to be solved by the present invention is to provide an obstacle-crossing walking device for a patrol robot along a power transmission line, which has a large turning range and good balance.
  • the present invention provides an obstacle-crossing walking device for an inspection robot along a transmission line, which includes:
  • a first arm assembly, the first arm assembly is installed at one end of the chassis of the walking device;
  • a first linear drive device which drives the first arm assembly to move linearly on one end of the chassis of the walking device
  • a second arm assembly the second arm assembly being installed on an end of the walking device chassis away from the first arm assembly;
  • a second linear drive device drives the second arm assembly to move linearly on an end of the walking device chassis away from the first arm assembly;
  • a third arm assembly is installed on the chassis of the walking device, and the third arm assembly is located between the first arm assembly and the second arm assembly;
  • a third driving device drives the third arm assembly to make a two-dimensional linear movement on the chassis of the walking device;
  • a sensor which is used to detect whether an obstacle is encountered when the obstacle-crossing walking device of the patrol robot is walking along the transmission line;
  • the first arm assembly, the second arm assembly, and the third arm assembly all include a bottom lifting device, a rotating device driven by the lifting device up and down, and an arm rotatingly driven by the rotating device.
  • a bottom lifting device When the rotating device rotates
  • the plane is parallel to the upper end surface of the chassis of the walking device.
  • the turning range is large and the balance is good.
  • the first linear drive device and the second linear drive device both include a device base, two screw seats, a moving motor, a moving screw, a moving guide, and a moving platform;
  • the rod bases are respectively located at both ends of the device base, the two ends of the moving screw rod are respectively arranged in the screw base, the moving motor is fixed on the device base, and the moving motor drives the moving A screw rod, the moving screw rod drives the mobile platform to slide on the moving guide rail.
  • the lifting device includes a lifting device support frame, a lifting motor, a lifting driving gear, a lifting driven gear, a lifting screw, and a lifting rail; the lifting device support frame is sleeved on the lifting slide rail;
  • the lifting motor is fixed on the lifting device support frame, the lifting motor drives the driving gear, the driving gear meshes with the driven gear, and the driven gear is sleeved on the lifting wire
  • the two rods are screwed together, and the lifting rails are four cylindrical support rods.
  • the rotating device includes a rotating electric machine, a rotating driving gear, a rotating driven gear, and a rotating device support frame.
  • the rotating electric machine drives the driving gear
  • the rotating driving gear is connected to the rotating driven gear.
  • the teeth mesh, and the driven gear rotates on the supporting frame of the rotating device.
  • the arm includes:
  • a traveling wheel assembly the traveling wheel assembly is arranged at one end of the arm body, the traveling wheel assembly includes a traveling wheel and a traveling wheel motor driving the traveling wheel;
  • a clamping wheel assembly the clamping wheel assembly is arranged at an end of the arm body close to the walking wheel assembly, the clamping wheel assembly includes two clamping wheels and a clamping wheel motor driving the two clamping wheels
  • the two clamping wheels are respectively located on both sides of the traveling wheel; when the two clamping wheels and the traveling wheel contact the power line, the two clamping wheels and the traveling wheel are respectively located at the The two sides of the power line.
  • the two clamping wheels are respectively driven by a clamping wheel motor.
  • the two clamping wheels are symmetrical with respect to the traveling wheel.
  • the diameter of the traveling wheel is larger than the diameter of the clamping wheel.
  • the senor is arranged on at least one side of the walking wheel.
  • the senor is a photoelectric sensor or a contact sensor.
  • Fig. 1 is a schematic diagram of the structure of the obstacle-crossing walking device for the inspection robot along the transmission line of the present invention.
  • Fig. 2 is a schematic structural diagram of the first linear drive device in the obstacle crossing walking device of the patrol robot along the transmission line of the present invention.
  • FIG. 3 is a schematic diagram of the structure of the lifting device and the rotating device in the obstacle crossing walking device of the patrol inspection robot along the transmission line of the present invention.
  • FIG. 4 is a schematic diagram of the structure of the arm in the obstacle-crossing walking device of the patrol robot along the transmission line of the present invention.
  • an obstacle-crossing walking device for an inspection robot along a transmission line includes:
  • the first arm assembly 200, the first arm assembly is installed at one end of the chassis of the walking device;
  • a first linear drive device 210 which drives the first arm assembly to move linearly on one end of the chassis of the walking device;
  • a second arm assembly 300, the second arm assembly is installed at an end of the walking device chassis away from the first arm assembly;
  • a second linear drive device 310 which drives the second arm assembly to move linearly on an end of the chassis of the walking device away from the first arm assembly;
  • a third arm assembly 400, the third arm assembly is installed on the chassis of the walking device, and the third arm assembly is located between the first arm assembly and the second arm assembly;
  • a third driving device 500 which drives the third arm assembly to make a two-dimensional linear motion on the underframe of the walking device.
  • a sensor which is used to detect whether an obstacle is encountered when the obstacle-crossing walking device of the patrol inspection robot walks along the transmission line (not shown in the figure);
  • the first arm assembly, the second arm assembly, and the third arm assembly all include a lifting device 610 at the bottom, a rotating device 620 driven by the lifting device, and an arm 900 driven by the rotating device.
  • the plane on which the device rotates is parallel to the upper end surface of the bottom frame of the walking device.
  • the turning range is large and the balance is good.
  • the rotating device since the rotating device is arranged above the lifting device, the inertia of the rotating device is small when it rotates, so it is stable.
  • all three arm components can move linearly on the underframe of the walking device, so that the turning range is increased (compared to CN106786170A-transmission line inspection robot can perform turning and obstacle crossing, and it has Y axis plus R axis, the former only has R Axis); the gravity center of the linear obstacle crossing of this application is at the geometric center of the whole robot, and it is stable and not easy to escape from the transmission line; when turning or turning obstacles, the third driving device can make two-dimensional linear motion on the underframe of the walking device It can change the center of the overall device, that is, achieve the function of counterweight, and there is no need to install a counterweight balance device.
  • the first linear drive device and the second linear drive device both include a device base 211, two screw seats 212, a moving motor 213, a moving screw 214, a moving guide 215, and a moving Platform 216;
  • the screw bases are located at both ends of the device base respectively, the two ends of the moving screw rod are respectively arranged in the screw base, the moving motor is fixed on the device base, the The moving motor drives the moving screw, and the moving screw drives the moving platform to slide on the moving guide rail.
  • first linear drive device and the second linear drive device can have many forms, which are not limited in this application.
  • the two can be the same or different.
  • the third driving device 500 there are many forms of the third driving device 500. As it is the prior art, this application will not introduce it in detail, and the specific form is also limited, as long as the third arm assembly can be driven on the chassis of the walking device. Just do a two-dimensional linear motion.
  • the lifting device includes a lifting device support frame 611, a lifting motor 612, a lifting driving gear 613, a lifting driven gear 614, a lifting screw 615 and a lifting guide 616; the lifting device
  • the support frame is sleeved on the lifting slide rail, the lifting motor is fixed on the lifting device support frame, the lifting motor drives the driving gear, and the driving gear meshes with the driven gear.
  • the driven gear is sleeved on the lifting screw rod and the two are screwed together.
  • the lifting guide rail is four cylindrical support rods.
  • the lifting device can have many forms, which are not limited in this application.
  • the rotating device includes a rotating motor 621, a rotating driving gear 622, a rotating driven gear 623, and a rotating device support frame 624.
  • the rotating motor drives the driving gear.
  • the driving gear meshes with the rotating driven tooth, and the driven gear rotates on the rotating device support frame.
  • the form of the rotating device can be many, which is not limited in this application.
  • the arm includes:
  • the clamping wheel assembly is arranged at one end of the arm body close to the walking wheel assembly, and the clamping wheel assembly includes two clamping wheels 931 and a clamping wheel motor 932 that drives the two clamping wheels;
  • the two clamping wheels are respectively located on both sides of the traveling wheel; when the two clamping wheels and the traveling wheel contact the power transmission line, the two clamping wheels and the traveling wheel are respectively located on the transmission line Both sides of the line.
  • the friction force on the transmission line is large, and the climbing ability is strong.
  • the clamping wheels are respectively located on both sides of the traveling wheel; when the two clamping wheels and the traveling wheel contact the power line, the two clamping wheels and The walking wheels are respectively located on both sides of the transmission line, so that three-point contact is formed to form a triangle, which greatly increases the friction of the transmission line and has a strong climbing ability.
  • CN103904583A-A railway traction power supply line swing arm type patrol mobile robot CN106655006A-Power transmission line inspection robot crossing obstacle walking device, CN106786170A-Power transmission line inspection robot, etc.
  • the arms in the patents use walking wheels and pressing wheels up and down The set structure, because the walking wheel and the pinch wheel are in simple single-point contact with the ground, so the friction force of the arm against the transmission line is small, the ability is not good when walking, it is easy to fall off, and the climbing ability is not strong.
  • the two clamping wheels are simultaneously driven by a clamping wheel motor.
  • the clamping wheel assembly includes a clamping wheel support frame, a clamping wheel motor, a worm, a worm gear, a clamping arm 933, a rotating shaft and two clamping wheels; the clamping wheel support frame is fixed on the The clamping wheel motor drives the worm, the end of the worm far away from the clamping wheel motor is arranged on the clamping wheel support frame, the worm drives the worm wheel, and the rotation
  • the shaft is arranged on the clamping wheel support frame, one end of the clamping arm is connected with the worm gear through a rotating shaft, and the clamping wheel is arranged on the other end.
  • the two clamping wheels are respectively driven by a clamping wheel motor.
  • the two clamping wheels are symmetrical with respect to the traveling wheel.
  • the two clamping wheels are asymmetrical with respect to the traveling wheels.
  • the diameter of the traveling wheel is larger than the diameter of the clamping wheel.
  • the application does not limit the specific form of the sensor, as long as the sensor can be used to detect obstacles encountered by the obstacle-crossing walking device of the patrol inspection robot along the transmission line.
  • the senor is arranged on at least one side of the walking wheel. Specifically, the sensor may be arranged on one side or both sides of the walking wheel.
  • the senor is a photoelectric sensor or a contact sensor.

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  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
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  • Physics & Mathematics (AREA)
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Abstract

一种沿输电线巡检机器人越障行走装置，包括：行走装置底架（100）；第一手臂组件（200），第一手臂组件（200）安装在行走装置底架（100）的一端；第一直线驱动装置（210），第一直线驱动装置（210）驱动第一手臂组件（200）在行走装置底架（100）的一端上直线运动；第二手臂组件（300），第二手臂组件（300）安装在行走装置底架（100）远离第一手臂组件（200）的一端；第二直线驱动装置（310），第二直线驱动装置（310）驱动第二手臂组件（300）在行走装置底架（100）远离第一手臂组件（200）的一端上直线运动；第三手臂组件（400）。有益效果：转弯的范围大，且平衡性好。

Description

沿输电线巡检机器人越障行走装置 技术领域
本发明涉及沿输电线巡检领域，具体涉及一种沿输电线巡检机器人越障行走装置。
背景技术
为了保证高压输电线安全稳定的运行，必须定期对高压输电线进行检修。高压输电线的巡检检查对保护电网的安全是非常必要的，高压输电线分布广泛，部分地区地理环境较为复杂，人工巡检方式由于劳动强度大，巡检精度低，已经不再适用，因此只能寻求新的巡检方式。
传统技术存在以下技术问题：
传统技术发展了许多沿输电线巡检机器人越障行走装置，可以直线越障。CN106786170A-输电线路巡检机器人可以进行转弯越障。但是CN106786170A-输电线路巡检机器人，由于上下运动机构设置在旋转机构上，造成旋转机构旋转时惯性大，不稳定，而且整个装置转弯的范围有限。而且，该巡检机器人直线越障重心不在整个机器人的几何中心，造成不稳定，容易脱离输电线。故需要增加配重平衡装置，比如CN103904583A-一种铁路牵引供电线摆臂式巡线移动机器人中的配重平衡装置，但是，增加配重平衡装置会增大沿输电线巡检机器人越障行走装置的重量和成本。
发明内容
本发明要解决的技术问题是提供一种沿输电线巡检机器人越障行走装置， 转弯的范围大，且平衡性好。
为了解决上述技术问题，本发明提供了一种沿输电线巡检机器人越障行走装置，包括：
行走装置底架；
第一手臂组件，所述第一手臂组件安装在所述行走装置底架的一端；
第一直线驱动装置，所述第一直线驱动装置驱动所述第一手臂组件在所述行走装置底架的一端上直线运动；
第二手臂组件，所述第二手臂组件安装在所述行走装置底架远离所述第一手臂组件的一端；
第二直线驱动装置，所述第二直线驱动装置驱动所述第二手臂组件在所述行走装置底架远离所述第一手臂组件的一端上直线运动；
第三手臂组件，所述第三手臂组件安装在所述行走装置底架上，所述第三手臂组件位于所述第一手臂组件和所述第二手臂组件之间；
第三驱动装置，所述第三驱动装置驱动所述第三手臂组件在所述行走装置底架上做二维直线运动；以及
传感器，所述传感器用来检测沿输电线巡检机器人越障行走装置行走时是否遇到障碍；
所述第一手臂组件、第二手臂组件和第三手臂组件均包括底部的升降装置、被所述升降装置升降驱动的旋转装置和被所述旋转装置旋转驱动的手臂，所述旋转装置旋转时所处的平面与所述行走装置底架的上端面平行。
本发明的有益效果：
转弯的范围大，且平衡性好。
在其中一个实施例中，所述第一直线驱动装置和所述第二直线驱动装置均 包括装置底座、两个丝杆座、移动电机、移动丝杆、移动导轨和移动平台；所述丝杆座分别位于所述装置底座的两端，所述移动丝杆的两端分别设置在所述丝杆座内，所述移动电机固定在所述装置底座上，所述移动电机驱动所述移动丝杆，所述移动丝杆驱动所述移动平台在所述移动导轨滑动。
在其中一个实施例中，所述升降装置包括升降装置支撑架、升降电机、升降主动齿轮、升降从动齿轮、升降丝杆和升降导轨；所述升降装置支撑架套接在所述升降滑轨上，所述升降装置支撑架上固定所述升降电机，所述升降电机驱动所述主动齿轮，所述主动齿轮与所述从动齿轮相啮合，所述从动齿轮套接在所述升降丝杆上且两者螺纹配合，所述升降导轨为四根圆柱体支撑杆。
在其中一个实施例中，所述旋转装置包括旋转电机、旋转主动齿轮、旋转从动齿轮和旋转装置支撑架，所述旋转电机驱动所述主动齿轮，所述旋转主动齿轮与所述旋转从动齿相啮合，所述从动齿轮在所述旋转装置支撑架上旋转。
在其中一个实施例中，所述手臂，包括：
手臂本体；
行走轮组件，所述行走轮组件设置在所述手臂本体的一端，所述行走轮组件包括行走轮和驱动所述行走轮的行走轮电机；以及
夹紧轮组件，所述夹紧轮组件设置在所述手臂本体靠近行走轮组件的一端，所述夹紧轮组件包括两个夹紧轮和驱动所述两个夹紧轮的夹紧轮电机；所述两个夹紧轮分别位于所述行走轮的两侧；所述两个夹紧轮和所述行走轮接触输电线时，所述两个夹紧轮和所述行走轮分别位于所述输电线的两侧。
在其中一个实施例中，所述两个夹紧轮分别被一个夹紧轮电机驱动。
在其中一个实施例中，所述两个夹紧轮关于所述行走轮对称。
在其中一个实施例中，所述行走轮的直径大于所述夹紧轮的直径。
在其中一个实施例中，所述传感器设置在所述行走轮的至少一侧。
在其中一个实施例中，所述传感器是光电传感器或者接触传感器。
附图说明
图1是本发明沿输电线巡检机器人越障行走装置的结构示意图。
图2是本发明沿输电线巡检机器人越障行走装置中第一直线驱动装置的结构示意图。
图3是本发明沿输电线巡检机器人越障行走装置中升降装置和旋转装置的结构示意图。
图4是本发明沿输电线巡检机器人越障行走装置中手臂的结构示意图。
具体实施方式
下面结合附图和具体实施例对本发明作进一步说明，以使本领域的技术人员可以更好地理解本发明并能予以实施，但所举实施例不作为对本发明的限定。
参阅图1，一种沿输电线巡检机器人越障行走装置，包括：
行走装置底架100；
第一手臂组件200，所述第一手臂组件安装在所述行走装置底架的一端；
第一直线驱动装置210，所述第一直线驱动装置驱动所述第一手臂组件在所述行走装置底架的一端上直线运动；
第二手臂组件300，所述第二手臂组件安装在所述行走装置底架远离所述第一手臂组件的一端；
第二直线驱动装置310，所述第二直线驱动装置驱动所述第二手臂组件在所述行走装置底架远离所述第一手臂组件的一端上直线运动；
第三手臂组件400，所述第三手臂组件安装在所述行走装置底架上，所述第三手臂组件位于所述第一手臂组件和所述第二手臂组件之间；
第三驱动装置500，所述第三驱动装置驱动所述第三手臂组件在所述行走装置底架上做二维直线运动；以及
传感器，所述传感器用来检测沿输电线巡检机器人越障行走装置行走时是否遇到障碍(图中未示出)；
所述第一手臂组件、第二手臂组件和第三手臂组件均包括底部的升降装置610、被所述升降装置升降驱动的旋转装置620和被所述旋转装置旋转驱动的手臂900，所述旋转装置旋转时所处的平面与所述行走装置底架的上端面平行。
本发明的有益效果：
转弯的范围大，且平衡性好。具体地，对于三个手臂组件，由于旋转装置设置在所述升降装置的上方，旋转装置旋转时惯性小，从而稳定。同时，三个手臂组件都可以在行走装置底架做直线运动，这样转弯的范围提高(相对于CN106786170A-输电线路巡检机器人可以进行转弯越障，同时具有Y轴加R轴，前者只具有R轴)；本申请直线越障重心在整个机器人的几何中心，稳定不容易脱离输电线；在转弯或者转弯越障，第三驱动装置由于可以在在所述行走装置底架上做二维直线运动可以起到改变整体装置的中心，即达到配重的作用，不需要另外设置配重平衡装置。
参阅图2，具体地，所述第一直线驱动装置和所述第二直线驱动装置均包括装置底座211、两个丝杆座212、移动电机213、移动丝杆214、移动导轨215和移动平台216；所述丝杆座分别位于所述装置底座的两端，所述移动丝杆的两端分别设置在所述丝杆座内，所述移动电机固定在所述装置底座上，所述移动电机驱动所述移动丝杆，所述移动丝杆驱动所述移动平台在所述移动导轨滑动。
由于这边的所述第一直线驱动装置和所述第二直线驱动装置为现有技术， 故不再赘述。
可以理解，所述第一直线驱动装置和所述第二直线驱动装置的形式可以很多，本申请不做限制。两者可以相同，也可以不同。
可以理解，第三驱动装置500的形式有很多，由于为现有技术，本申请不再具体介绍，也对具体形式进行限制，只要可以驱动所述第三手臂组件在所述行走装置底架上做二维直线运动即可。
参阅图3，在其中一个实施例中，所述升降装置包括升降装置支撑架611、升降电机612、升降主动齿轮613、升降从动齿轮614、升降丝杆615和升降导轨616；所述升降装置支撑架套接在所述升降滑轨上，所述升降装置支撑架上固定所述升降电机，所述升降电机驱动所述主动齿轮，所述主动齿轮与所述从动齿轮相啮合，所述从动齿轮套接在所述升降丝杆上且两者螺纹配合，所述升降导轨为四根圆柱体支撑杆。
由于这边的所述升降装置为现有技术，故不再赘述。
可以理解，所述升降装置的形式可以很多，本申请不做限制。
参阅图3，在其中一个实施例中，所述旋转装置包括旋转电机621、旋转主动齿轮622、旋转从动齿轮623和旋转装置支撑架624，所述旋转电机驱动所述主动齿轮，所述旋转主动齿轮与所述旋转从动齿相啮合，所述从动齿轮在所述旋转装置支撑架上旋转。
由于这边的所述旋转装置为现有技术，故不再赘述。
可以理解，所述旋转装置的形式可以很多，本申请不做限制。
参阅图4，在其中一个实施例中，所述手臂，包括：
包括：手臂本体910；行走轮组件，所述行走轮组件设置在所述手臂本体 的一端，所述行走轮组件包括行走轮921和驱动所述行走轮的行走轮电机922；以及夹紧轮组件，所述夹紧轮组件设置在所述手臂本体靠近行走轮组件的一端，所述夹紧轮组件包括两个夹紧轮931和驱动所述两个夹紧轮的夹紧轮电机932；所述两个夹紧轮分别位于所述行走轮的两侧；所述两个夹紧轮和所述行走轮接触输电线时，所述两个夹紧轮和所述行走轮分别位于所述输电线的两侧。
本发明的有益效果：
对输电线的摩擦力大，爬坡能力强。具体地，由于设置两个夹紧轮，且夹紧轮分别位于所述行走轮的两侧；所述两个夹紧轮和所述行走轮接触输电线时，所述两个夹紧轮和所述行走轮分别位于所述输电线的两侧，这样就形成了三点接触，构成一个三角形，大大增加了输电线的摩擦力大，爬坡能力强。(CN103904583A-一种铁路牵引供电线摆臂式巡线移动机器人，CN106655006A-输电线路巡检机器人越障行走装置，CN106786170A-输电线路巡检机器人等专利中的手臂采用行走轮和压紧轮的上下设置的结构，由于行走轮和压紧轮对地线只是简单的单点接触，故手臂对输电线的摩擦力较小，在行走时能力不行，容易脱落，爬坡能力也不强。)
在其中一个实施例中，所述两个夹紧轮同时被一个夹紧轮电机驱动。具体地，所述夹紧轮组件包括夹紧轮支撑架、夹紧轮电机、蜗杆、蜗轮、夹紧臂933、旋转轴和两个夹紧轮；所述夹紧轮支撑架上固定所述夹紧轮电机，所述夹紧轮电机驱动所述蜗杆，所述蜗杆远离所述夹紧轮电机的一端设置在所述夹紧轮支撑架上，所述蜗杆驱动所述蜗轮，所述旋转轴设置在所述夹紧轮支撑架上，所述夹紧臂的一端通过旋转轴与所述蜗轮连接，另一端上设置所述夹紧轮。
由于这样的方式，为现有技术，故不再赘述。可以理解，也可以采用其他的方式，实现所述两个夹紧轮同时被一个夹紧轮电机驱动，本申请在此不做限制。
在其中一个实施例中，所述两个夹紧轮分别被一个夹紧轮电机驱动。
在其中一个实施例中，所述两个夹紧轮关于所述行走轮对称。
在其中一个实施例中，所述两个夹紧轮关于所述行走轮不对称。
在其中一个实施例中，所述行走轮的直径大于所述夹紧轮的直径。
可以理解，本申请不限制传感器的具体形式，所述传感器只要可以用来检测沿输电线巡检机器人越障行走装置行走时遇到的障碍即可。
具体地，所述传感器设置在所述行走轮的至少一侧。具体地，所述传感器可以设置在所述行走轮的一侧或者两侧。
具体地，所述传感器是光电传感器或者接触传感器。
以上所述实施例仅是为充分说明本发明而所举的较佳的实施例，本发明的保护范围不限于此。本技术领域的技术人员在本发明基础上所作的等同替代或变换，均在本发明的保护范围之内。本发明的保护范围以权利要求书为准。

Claims (10)

  1. 一种沿输电线巡检机器人越障行走装置，其特征在于，包括：
    行走装置底架；
    第一手臂组件，所述第一手臂组件安装在所述行走装置底架的一端；
    第一直线驱动装置，所述第一直线驱动装置驱动所述第一手臂组件在所述行走装置底架的一端上直线运动；
    第二手臂组件，所述第二手臂组件安装在所述行走装置底架远离所述第一手臂组件的一端；
    第二直线驱动装置，所述第二直线驱动装置驱动所述第二手臂组件在所述行走装置底架远离所述第一手臂组件的一端上直线运动；
    第三手臂组件，所述第三手臂组件安装在所述行走装置底架上，所述第三手臂组件位于所述第一手臂组件和所述第二手臂组件之间；
    第三驱动装置，所述第三驱动装置驱动所述第三手臂组件在所述行走装置底架上做二维直线运动；以及
    传感器，所述传感器用来检测沿输电线巡检机器人越障行走装置行走时是否遇到障碍；
    所述第一手臂组件、第二手臂组件和第三手臂组件均包括底部的升降装置、被所述升降装置升降驱动的旋转装置和被所述旋转装置旋转驱动的手臂，所述旋转装置旋转时所处的平面与所述行走装置底架的上端面平行。
  2. 如权利要求1所述的沿输电线巡检机器人越障行走装置，其特征在于，所述第一直线驱动装置和所述第二直线驱动装置均包括装置底座、两个丝杆座、移动电机、移动丝杆、移动导轨和移动平台；所述丝杆座分别位于所述装置底座的两端，所述移动丝杆的两端分别设置在所述丝杆座内，所述移动电机固定在 所述装置底座上，所述移动电机驱动所述移动丝杆，所述移动丝杆驱动所述移动平台在所述移动导轨滑动。
  3. 如权利要求1所述的沿输电线巡检机器人越障行走装置，其特征在于，所述升降装置包括升降装置支撑架、升降电机、升降主动齿轮、升降从动齿轮、升降丝杆和升降导轨；所述升降装置支撑架套接在所述升降滑轨上，所述升降装置支撑架上固定所述升降电机，所述升降电机驱动所述主动齿轮，所述主动齿轮与所述从动齿轮相啮合，所述从动齿轮套接在所述升降丝杆上且两者螺纹配合，所述升降导轨为四根圆柱体支撑杆。
  4. 如权利要求1所述的沿输电线巡检机器人越障行走装置，其特征在于，所述旋转装置包括旋转电机、旋转主动齿轮、旋转从动齿轮和旋转装置支撑架，所述旋转电机驱动所述主动齿轮，所述旋转主动齿轮与所述旋转从动齿相啮合，所述从动齿轮在所述旋转装置支撑架上旋转。
  5. 如权利要求1所述的沿输电线巡检机器人越障行走装置，其特征在于，所述手臂，包括：
    手臂本体；
    行走轮组件，所述行走轮组件设置在所述手臂本体的一端，所述行走轮组件包括行走轮和驱动所述行走轮的行走轮电机；以及
    夹紧轮组件，所述夹紧轮组件设置在所述手臂本体靠近行走轮组件的一端，所述夹紧轮组件包括两个夹紧轮和驱动所述两个夹紧轮的夹紧轮电机；所述两个夹紧轮分别位于所述行走轮的两侧；所述两个夹紧轮和所述行走轮接触输电线时，所述两个夹紧轮和所述行走轮分别位于所述输电线的两侧。
  6. 如权利要求5所述的沿输电线巡检机器人越障行走装置，其特征在于，所述两个夹紧轮分别被一个夹紧轮电机驱动。
  7. 如权利要求5所述的沿输电线巡检机器人越障行走装置，其特征在于， 所述两个夹紧轮关于所述行走轮对称。
  8. 如权利要求5所述的沿输电线巡检机器人越障行走装置，其特征在于，所述行走轮的直径大于所述夹紧轮的直径。
  9. 如权利要求5所述的沿输电线巡检机器人越障行走装置，其特征在于，所述传感器设置在所述行走轮的至少一侧。
  10. 如权利要求1所述的沿输电线巡检机器人越障行走装置，其特征在于，所述传感器是光电传感器或者接触传感器。
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CN114619486B (zh) * 2022-03-07 2023-07-25 国网浙江省电力有限公司金华供电公司 一种协助四分裂导线机器人上下线的辅助架及使用方法
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CN115173308A (zh) * 2022-07-26 2022-10-11 安徽工业大学 一种可翻转越障的高压线巡检装置
CN115173308B (zh) * 2022-07-26 2023-01-17 安徽工业大学 一种可翻转越障的高压线巡检装置
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