CN105226564B - High tension transmission line on-line operation motion arm - Google Patents
High tension transmission line on-line operation motion arm Download PDFInfo
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- CN105226564B CN105226564B CN201510734288.XA CN201510734288A CN105226564B CN 105226564 B CN105226564 B CN 105226564B CN 201510734288 A CN201510734288 A CN 201510734288A CN 105226564 B CN105226564 B CN 105226564B
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- transmission shaft
- elbow
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 75
- 210000002310 elbow joint Anatomy 0.000 claims abstract description 55
- 230000007246 mechanism Effects 0.000 claims abstract description 55
- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 37
- 230000001360 synchronised effect Effects 0.000 claims description 10
- 210000001503 joint Anatomy 0.000 claims description 3
- 230000008450 motivation Effects 0.000 claims 2
- 239000004020 conductor Substances 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 241000237858 Gastropoda Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000004995 multiple fission Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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Abstract
The invention discloses a high tension transmission line on-line operation motion arm, comprising a shoulder joint, an elbow joint and a mobile joint. The shoulder joint comprises a first driving mechanism; the elbow joint comprises a second driving mechanism and a first actuator; the mobile joint comprises a third driving mechanism and a second actuator; the shoulder joint drives the elbow joint and the mobile joint to rotate; the elbow joint drives the mobile joint to rotate; the mobile moves left and right with the elbow joint as a center. The high tension transmission line on-line operation motion arm has the characteristics of simple structure, convenient operation and independence, and is easy to connect with different line patrol operation robots.
Description
Technical field
The present invention relates to ultra-high-tension power transmission line online assignment technical field, and in particular to a kind of ultra-high-tension power transmission line is made online
Industry motion arm.
Background technology
At present, robot is in the research in high voltage power transmission field and using more and more, as ultra-high-tension power transmission line Jing often sends out
Raw wire strand breakage, the situation that harm line security runs such as nut is released, foreign body wind, generally carry out reparation work by personnel Deng Ta
Make, due to needing work high above the ground, increased the danger of staff, this be accomplished by ultra-high-tension power transmission line inspection robot while
Possess the ability of online assignment.
More extensive industrial machinery arm is applied at present, although in the comparison of the aspect such as mechanical mechanism and structure design development
It is perfect, but the general volume of industrial machinery arm is big, quality weight, the problems such as control is complicated, be mainly used in industrial production line, harbour,
The fields such as storage.For the line robot needed in work high above the ground, due to load-bearing and the limited space of robot platform, it is desirable to
The motion arm volume carried by robot is little, lightweight, and in the case where job requirements are met, degree of freedom is few as far as possible, machinery
Mechanism is simple as far as possible.
The content of the invention
For solving the deficiency that prior art is present, the invention discloses a kind of ultra-high-tension power transmission line online assignment motion arm,
With 3 degree of freedom, which is simple and compact for structure, can adapt to the online assignment of ultra-high-tension power transmission line multiple fission conductor, motion arm
Multipurpose schoolwork instrument can be carried in end, can complete various ultra-high-tension power transmission line online assignments.
For achieving the above object, concrete scheme of the invention is as follows：
A kind of ultra-high-tension power transmission line online assignment motion arm, including shoulder joint, elbow joint and linear joint, shoulder joint includes
First drive mechanism, elbow joint include the second drive mechanism and the first actuator, linear joint include the 3rd drive mechanism and
Second actuator；
First drive mechanism of shoulder joint is engaged with the second drive mechanism of elbow joint, the second drive mechanism of elbow joint
The first actuator of the first actuator campaign of elbow joint, elbow joint is driven to drive the 3rd drive mechanism fortune of linear joint
It is dynamic, the second actuator campaign of the 3rd drive mechanism of linear joint and the second drive mechanism of elbow joint drive linear joint.
Further, the first drive mechanism of the shoulder joint is arranged at shoulder joint with the second drive mechanism of elbow joint
Position.The drive mechanism of shoulder joint and elbow joint is all located in the shoulder joint of motion arm bottom, reduces the end weight of motion arm,
Mitigate the load of shoulder joint.
Further, the first drive mechanism of the shoulder joint includes the first motor, the first worm screw, the first worm gear and first
Power transmission shaft, the second drive mechanism of the elbow joint include the second motor, second driving shaft, the second worm screw and the second worm gear；
Wherein, the first worm screw and the second worm screw are articulated with base, electric with corresponding first by gear drive respectively
Machine and the second motor are connected, and the first worm screw is engaged with the first worm gear；Second worm screw is engaged with the second worm gear, the first worm gear and second
Worm gear is separately fixed on each self-corresponding first power transmission shaft and second driving shaft.
First the first worm screw of Motor drive, the first worm gear drive shoulder joint rotation, the second motor by the second worm screw, second
The rotation of worm gear, the first sprocket wheel, the second sprocket wheel and chain-driving elbow joint.
Further, first power transmission shaft is for hollow, the first power transmission shaft by bearing respectively with second driving shaft and lining
Set is hinged, and second driving shaft is hinged with bushing by bearing.
Further, first power transmission shaft and second driving shaft can rotate alone.
Further, the second drive mechanism of elbow joint and the first actuator are attached by the first housing, and described
One shell one end is fixed on the second driving shaft of the second drive mechanism of shoulder joint, and second driving shaft is simultaneously connected with the first sprocket wheel；
First actuator is located at the end of the first housing, and including the 3rd power transmission shaft and the second sprocket wheel, the second sprocket wheel is fixed on the
On three power transmission shafts, the 3rd power transmission shaft is hinged with the first shell end by bearing；First sprocket wheel and the second sprocket wheel pass through chain
Bar is connected.
Further, the linear joint includes that the 3rd drive mechanism includes motor, support, worm and wormwheel, the 4th transmission
Axle and synchronous pulley；The worm and wormwheel is hinged on support, is connected with motor, and the worm gear is fixed on the 4th power transmission shaft,
4th transmission shaft end is fixed with synchronous pulley.
Further, the 3rd power transmission shaft is hollow；Linear joint is hinged by the 4th power transmission shaft and the 3rd power transmission shaft,
Centre bore of 4th power transmission shaft through the 3rd power transmission shaft.
Further, the second actuator of the linear joint includes the second housing, Timing Belt, line slideway, contact roller
And slide block；The slide block and contact roller are fixed on the second driving shaft of elbow joint, and the guide rail is fixed on the second housing, with
It is secondary that slide block forms linear motion；The Timing Belt is meshed with the synchronous pulley of the 3rd drive mechanism, drives guide rail to move along slide block
It is dynamic.
Further, the second motor of the second drive mechanism of the elbow joint by the second worm screw, the second worm gear, first
The rotation of sprocket wheel, the second sprocket wheel and chain-driving elbow joint.
Further, shoulder joint drives elbow joint and linear joint rotation, and elbow joint drives linear joint rotation, mobile to close
Section is moved left and right centered on elbow joint.
Beneficial effects of the present invention：
1. simple structure, easy to operate, with independence, it is easy to connect from different walking operation robots.
2. functional expansionary is strong, in the interchangeable different operation instrument in the end of motion arm, you can realize different functions,
The tasks such as such as High Voltage Electricity Transfer Circuit is repaired, the dismounting of navigation mark ball.
3. adaptability is strong, and motion arm adopts 3DOF, through data analysiss and simulation experiment, can meet split conductor
Job requirements.
4. simple and compact for structure, rationally effective layout overall structure, elbow joint is driven the bottom for being arranged on motion arm,
The weight of motion arm front end is effectively reduced, the load of shoulder joint is reduced.
5. motion arm body is less, lightweight, can effectively reduce the burden of line robot.
Description of the drawings
Fig. 1 is motion arm general assembly drawing；
Fig. 2 is shoulder joint general assembly drawing；
Fig. 3 is elbow joint explosive view；
Fig. 4 is the general assembly drawing of linear joint；
Fig. 5 is the figure of linear joint drive mechanism；
Fig. 6 is the installation diagram of linear joint actuator；
In figure, 1 shoulder joint, 2 elbow joinies, 3 linear joints, 4 bases, 5 first motors, 6 second motors, 7 first worm screws, 8
First worm gear, 9 second worm gears, 10 first power transmission shafts, 11 second driving shafts, 12 bushings, 13 second worm screws, 14 first housings, 15
First sprocket wheel, 16 chains, 17 the 3rd power transmission shafts, 18 second sprocket wheels, 19 drive mechanisms, 20 actuators, 21 motors, 22 supports,
23 worm screws, 24 worm gears, 25 the 4th power transmission shafts, 26 synchronous pulleys, 27 second housings, 28 Timing Belts, 29 line slideways, 30 compress
Wheel, 31 slide blocks.
Specific embodiment：
The present invention is described in detail below in conjunction with the accompanying drawings：
The present invention can be mounted on circuit line walking and Work robot, as shown in figure 1, including shoulder joint 1,2 and of elbow joint
Linear joint 3, shoulder joint 1 can drive elbow joint 2 and linear joint 3 to rotate, and elbow joint 2 drives linear joint 3 to rotate, mobile to close
Section 3 is moved left and right centered on elbow joint 2.
As shown in Fig. 2 the drive mechanism of shoulder joint 1 and elbow joint 2 is respectively positioned on 1 position of shoulder joint, be conducive to mitigating operation
The weight of arm leading portion, reduces the load of shoulder joint 1, and shoulder joint 1 includes base 4, the first motor 5, the first worm screw 7, the first worm gear
8th, the second worm gear 9, the first power transmission shaft 10, the second motor 6, second driving shaft 11, bushing 12, the second worm screw 13；Wherein, first is electric
Machine 5, the first worm screw 7, the first worm gear 8, the first power transmission shaft 10 constitute the drive mechanism of shoulder joint 1；Second motor 6, second is driven
Axle 11, the second worm screw 13, the second worm gear 9 constitute the drive mechanism of elbow joint 2；First worm screw 7 and the second worm screw 13 are articulated with
On base 4, it is connected with the first motor 5 and the second motor 6 by gear drive respectively；First worm gear 8 and the second worm gear 9 are solid respectively
It is scheduled on the first power transmission shaft 10 and second driving shaft 11；First power transmission shaft 10 is hollow, and the first power transmission shaft 10 passes through bearing
It is hinged with second driving shaft 11 and bushing 12 respectively, second driving shaft 11 is hinged with bushing 12 by bearing；First worm screw 7 and
One worm gear 8 is engaged；Second worm screw 13 is engaged with the second worm gear 9；First motor 5 and the second motor 6 can pass through gear, worm and gear
Mechanism drives the first power transmission shaft 10 and second driving shaft 11 to rotate alone respectively, is not affected one another.
As shown in figure 3, elbow joint 2 includes drive mechanism and actuator, including the first housing 14, the first sprocket wheel 15, chain
Article the 16, the 3rd power transmission shaft 17 and the second sprocket wheel 18；Drive mechanism and actuator are attached by the first housing 14；First housing
14 one end are fixed on the second driving shaft 11 of shoulder joint 1, and are connected with the first sprocket wheel 15；Actuator is located at the first housing 14
End, including the 3rd power transmission shaft 17 and the second sprocket wheel 18, the second sprocket wheel 18 is fixed on 17 on the 3rd power transmission shaft, the 3rd power transmission shaft
17 are hinged with 14 end of the first housing by bearing；Second motor 6 of elbow joint 2 passes through the second worm screw 13, worm gear 9, the first chain
The 15, second sprocket wheel 18 of wheel and chain 16 drive elbow joint 2 to rotate.
As shown in figure 4, linear joint 3 includes drive mechanism 19 and actuator 20, as shown in figure 5, the mobile shutdown
Drive mechanism 19 include motor 21, support 22, worm screw 23, the transmission of worm gear the 24, the 4th 25 and synchronous pulley 26；Worm screw 23, snail
Wheel 24 is hinged on support 22, is connected with motor 21, and the worm gear 24 is fixed on the 4th power transmission shaft 25, and 25 end of power transmission shaft is solid
Surely there is synchronous pulley 26.
As shown in fig. 6, the actuator 20 of linear joint includes the second housing 27, Timing Belt 28, line slideway 29, compression
Wheel 30 and slide block 31；Slide block 31 and contact roller 30 are fixed on the 3rd power transmission shaft 17 of elbow joint 2, and the guide rail 29 is fixed on
On two housings 27, linear motion is formed with slide block 31 secondary；Timing Belt 28 is meshed with the synchronous pulley 26 of drive mechanism, and drive is led
Rail 29 is moved along slide block 31.
3rd power transmission shaft 17 is hollow；Linear joint 3 passes through the centre bore of the 3rd power transmission shaft 17 by the 4th power transmission shaft 25
It is hinged with the 3rd power transmission shaft 17 and therewith, the drive mechanism 19 of linear joint 3 drives actuator 20 to carry out by drive mechanism
Move horizontally.There are port, expansible several work instrument and video camera etc. in the two ends of linear joint 3.
Shoulder joint drives elbow joint and linear joint rotation, elbow joint to drive linear joint rotation, linear joint to close with elbow
Move left and right centered on section.
Operation principle uses process：First the first worm screw of Motor drive, the first worm gear drive shoulder joint rotation, and second is electric
Machine is by the rotation of the second worm screw, the second worm gear, the first sprocket wheel, the second sprocket wheel and chain-driving elbow joint.
The first worm gear of shoulder joint drives the first drive axis, the second worm gear of elbow joint to drive second driving shaft to rotate, the
Two power transmission shafts are fixed with the first housing with one end, and elbow joint drives elbow joint actuator campaign, elbow joint by drive mechanism
Actuator drive the drive mechanism motion of linear joint, the drive mechanism of linear joint to drive the actuator of linear joint
Motion.
Although the above-mentioned accompanying drawing that combines is described to the specific embodiment of the present invention, not to present invention protection model
The restriction enclosed, one of ordinary skill in the art should be understood that on the basis of technical scheme those skilled in the art are not
The various modifications made by needing to pay creative work or deformation are still within protection scope of the present invention.
Claims (9)
1. a kind of ultra-high-tension power transmission line online assignment motion arm, is characterized in that, including shoulder joint, elbow joint and linear joint, shoulder
Joint includes the first drive mechanism, and elbow joint includes the second drive mechanism and the first actuator, and linear joint includes the 3rd drive
Motivation structure and the second actuator；
First drive mechanism of shoulder joint is engaged with the second drive mechanism of elbow joint, and the second drive mechanism of elbow joint drives
First actuator campaign of elbow joint, the first actuator of elbow joint drive the 3rd drive mechanism motion of linear joint,
3rd drive mechanism of linear joint and the second drive mechanism of elbow joint drive the second actuator campaign of linear joint；
First drive mechanism of the shoulder joint includes the first motor, the first worm screw, the first worm gear and the first power transmission shaft, the elbow
Second drive mechanism in joint includes the second motor, second driving shaft, the second worm screw and the second worm gear；
Wherein, the first worm screw and the second worm screw are articulated with base, respectively by gear drive and corresponding first motor and
Second motor is connected, and the first worm screw is engaged with the first worm gear；Second worm screw is engaged with the second worm gear, the first worm gear and the second worm gear
It is separately fixed on each self-corresponding first power transmission shaft and second driving shaft.
2. a kind of ultra-high-tension power transmission line online assignment motion arm as claimed in claim 1, is characterized in that, the of the shoulder joint
One drive mechanism is arranged at shoulder joint position with the second drive mechanism of elbow joint.
3. a kind of ultra-high-tension power transmission line online assignment motion arm as claimed in claim 1, is characterized in that, first power transmission shaft
For hollow, the first power transmission shaft is hinged with second driving shaft and bushing respectively by bearing, and second driving shaft passes through bearing and bushing
It is hinged.
4. a kind of ultra-high-tension power transmission line online assignment motion arm as claimed in claim 1, is characterized in that, the second drive of elbow joint
Motivation structure and the first actuator are attached by the first housing, and first shell one end is fixed on the second driving machine of shoulder joint
On the second driving shaft of structure, second driving shaft is simultaneously connected with the first sprocket wheel；First actuator is located at the end of the first housing
End, including the 3rd power transmission shaft and the second sprocket wheel, the second sprocket wheel is fixed on the 3rd power transmission shaft, and the 3rd power transmission shaft passes through bearing and the
One shell end is hinged；First sprocket wheel and the second sprocket wheel are connected by chain.
5. a kind of ultra-high-tension power transmission line online assignment motion arm as claimed in claim 1, is characterized in that, the linear joint bag
Including the 3rd drive mechanism includes motor, support, worm and wormwheel, the 4th power transmission shaft and synchronous pulley；The worm and wormwheel is hinged on
On support, it is connected with motor, the worm gear is fixed on the 4th power transmission shaft, the 4th transmission shaft end is fixed with synchronous pulley.
6. a kind of ultra-high-tension power transmission line online assignment motion arm as claimed in claim 4, is characterized in that, the 3rd power transmission shaft
For hollow；Linear joint is hinged by the 4th power transmission shaft and the 3rd power transmission shaft, center of the 4th power transmission shaft through the 3rd power transmission shaft
Hole.
7. a kind of ultra-high-tension power transmission line online assignment motion arm as claimed in claim 5, is characterized in that, the linear joint the
Two actuators include the second housing, Timing Belt, line slideway, contact roller and slide block；The slide block and contact roller are fixed on elbow
On the second driving shaft in joint, the guide rail is fixed on the second housing, forms linear motion with slide block secondary；The Timing Belt with
The synchronous pulley of the 3rd drive mechanism is meshed, and drives guide rail to move along slide block.
8. a kind of ultra-high-tension power transmission line online assignment motion arm as claimed in claim 1, is characterized in that, the of the elbow joint
Second motor of two drive mechanisms is by the rotation of the second worm screw, the second worm gear, the first sprocket wheel, the second sprocket wheel and chain-driving elbow joint
Turn.
9. a kind of ultra-high-tension power transmission line online assignment motion arm as claimed in claim 1, is characterized in that, shoulder joint drives elbow to close
Section and linear joint rotation, elbow joint drive linear joint rotation, linear joint to move left and right centered on elbow joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510734288.XA CN105226564B (en) | 2015-11-02 | 2015-11-02 | High tension transmission line on-line operation motion arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510734288.XA CN105226564B (en) | 2015-11-02 | 2015-11-02 | High tension transmission line on-line operation motion arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105226564A CN105226564A (en) | 2016-01-06 |
| CN105226564B true CN105226564B (en) | 2017-03-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510734288.XA Active CN105226564B (en) | 2015-11-02 | 2015-11-02 | High tension transmission line on-line operation motion arm |
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| CN (1) | CN105226564B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102017202195A1 (en) * | 2016-03-09 | 2017-09-14 | Heidelberger Druckmaschinen Ag | Multi-axis robot with drives, a tool head and a drag chain for guiding flexible cables |
| CN108045532B (en) * | 2017-12-04 | 2020-05-12 | 国网山东省电力公司电力科学研究院 | Underwater electric mechanical arm operation nacelle and use method thereof |
| CN112993851B (en) * | 2019-12-12 | 2021-09-21 | 中国科学院沈阳自动化研究所 | Power transmission line electricity testing and grounding wire erecting operation arm |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012120356A (en) * | 2010-12-02 | 2012-06-21 | Chugoku Electric Power Co Inc:The | Method of preventing misconception during operation in power transmission and transformation work |
| CN104682260A (en) * | 2013-12-02 | 2015-06-03 | 国家电网公司 | Mechanical arm for cable operation |
| CN204622048U (en) * | 2015-04-17 | 2015-09-09 | 安徽工程大学 | A kind of mechanical arm for assembling securing member |
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2015
- 2015-11-02 CN CN201510734288.XA patent/CN105226564B/en active Active
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| CN105226564A (en) | 2016-01-06 |
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Address after: Wang Yue Central Road Ji'nan City, Shandong province 250002 City No. 2000 Co-patentee after: National Network Intelligent Technology Co., Ltd. Patentee after: Electric Power Research Institute of State Grid Shandong Electric Power Company Co-patentee after: State Grid Corporation of China Address before: Wang Yue Central Road Ji'nan City, Shandong province 250002 City No. 2000 Co-patentee before: Shandong Luneng Intelligent Technology Co., Ltd. Patentee before: Electric Power Research Institute of State Grid Shandong Electric Power Company Co-patentee before: State Grid Corporation of China |
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Effective date of registration: 20201028 Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee after: National Network Intelligent Technology Co.,Ltd. Address before: Wang Yue Central Road Ji'nan City, Shandong province 250002 City No. 2000 Patentee before: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Patentee before: National Network Intelligent Technology Co.,Ltd. Patentee before: STATE GRID CORPORATION OF CHINA |