CN106025922B - A kind of robot for aerial high-voltage power transmission line inspection - Google Patents
A kind of robot for aerial high-voltage power transmission line inspection Download PDFInfo
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- CN106025922B CN106025922B CN201610528461.5A CN201610528461A CN106025922B CN 106025922 B CN106025922 B CN 106025922B CN 201610528461 A CN201610528461 A CN 201610528461A CN 106025922 B CN106025922 B CN 106025922B
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- lifting
- forearm
- motor
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- postbrachium
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- 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
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Abstract
A kind of robot for aerial high-voltage power transmission line inspection, by installing mini-roundabout and traffic cycle on telescoping mechanism, forearm is arranged on mini-roundabout, and support board mount is provided with traffic cycle, is supported and is provided with arm and postbrachium in structure identical on board mount；Forearm and middle arm, postbrachium in yi word pattern be used for into line it is up walk, drive postbrachium and middle arm to move ahead by forearm, forearm is used for alternately forward into obstacle detouring on line, forearm, middle arm and postbrachium with middle arm, postbrachium in tee T；Forearm includes fore-stock, lifting chunk, the lifting platform being connected with lifting chunk, the driving wheel chunk being arranged on lifting platform and the contact roller chunk under driving wheel chunk, on electric wire, and the space of clamping electric wire is formed between contact roller chunk and driving wheel module；Middle arm includes being arranged on the braking mechanism in front of supporting roller and supporting roller on middle arm support；The inventive structure is compact, in light weight, and energy consumption is low, and interchangeability is strong, can be walked in single strand wire and obstacle detouring.
Description
Technical field
The present invention relates to robotic technology field, more particularly to a kind of machine for aerial high-voltage power transmission line inspection
People.
Background technology
Ultra-high-tension power transmission line is one of critical facility of power system, while is also that national basis Facilities Construction and society are sent out
" artery " of exhibition, its safe operation directly affect the economic development in China and the foundation of infrastructure.Yet with long-term
Expose to the weather and the influence of natural calamity, the external influence for also having the factor such as bird pest, artificial destruction, so as to cause high-voltage line
By different degrees of damage, if finding and eliminating not in time, immeasurable consequence will be caused.Therefore, in order to ensure to transmit electricity
Line security, stably operation to transmission line of electricity, it is necessary to carry out regularly inspection.
It is time-consuming that common routine inspection mode includes manual inspection, aerophotographic method and crusing robot at the early-stage, manual inspection
Arduously, potential safety hazard also be present；Aerophotographic method can not be closely checked transmission tower, while is influenceed by weather, and operation procedure is numerous
It is trivial, it is difficult to be promoted so as to cause operating cost high；Crusing robot is up in wire or ground wire by robot
Walk, closely ultra-high-tension power transmission line is maked an inspection tour by adding a series of equipment etc. on robot body, inspection machine
People's live line work, creeped with certain speed along defeated high-voltage line, and may span across stockbridge damper, strain clamp, suspension clamp, shaft tower etc.
Obstacle, low coverage is implemented to shaft tower, wire and lightning conducter, insulator, line hardware, line channel etc. using the sensor apparatus of carrying
From detection, and then replace worker to carry out power circuit polling work, effectively increase inspection operating efficiency and inspection precision, ensure
Line upkeep quality, operation and maintenance cost is reduced, economic and social benefit is taken into account, adapts to the demand in market, the prospect of industrialization
It is wide, it is the focus of the technical research of high-voltage line inspection in recent years.But up to the present, due to requiring high to robot body,
Design difficulty is big, and also without commercialization production is really carried out, the crusing robot designed has the following disadvantages：
Complicated, weight is big, and multi-joint big energy-consuming, obstacle detouring is difficult to control, it is impossible to angle tower obstacle-overpass is realized, to high pressure
The infringement of line is big, and rests on laboratory stage, does not carry out large-scale production.
The content of the invention
Technical problem solved by the invention is to provide a kind of robot for aerial high-voltage power transmission line inspection, with
Solves the shortcomings that in above-mentioned background technology.
Technical problem solved by the invention is realized using following technical scheme：
A kind of robot for aerial high-voltage power transmission line inspection, including forearm, middle arm, postbrachium, support board mount, small
Rotating disk, traffic cycle and telescoping mechanism；Wherein, mini-roundabout and traffic cycle are arranged on telescoping mechanism, and forearm is arranged on mini-roundabout,
Support board mount is installed on traffic cycle, supports and arm and postbrachium in structure identical is installed on board mount；Forearm and middle arm, after
Arm in yi word pattern be used for into line it is up walk, drive postbrachium and middle arm to move ahead by forearm, forearm is with middle arm, postbrachium in tee T use
In entering obstacle detouring on line, forearm, middle arm and postbrachium alternately move ahead；Each mechanism concrete structure is as follows：
Forearm includes fore-stock, by be arranged on lifting chunk and liter of the lifting mobile jib as guide rail of fore-stock both sides
The lifting platform of block of coming down to a lower group connection, the driving wheel chunk that is arranged on lifting platform and under driving wheel chunk, on electric wire
Contact roller chunk, the space of clamping electric wire is formed between contact roller chunk and driving wheel chunk；Lifting chunk includes upper lifting together
Belt wheel, lifting timing belt, lower lifting synchronous pulley, lifting motor and fixture are walked, upper lifting synchronous pulley is located under fore-stock
Fang Bingyu fore-stocks connect, upper lifting synchronous pulley with being wound with lifting timing belt on lower lifting synchronous pulley, lifting timing belt with
Lifting platform connects, so as to drive lifting platform to be lifted；The fixture being connected with contact roller chunk is provided with lifting platform, is lifted
Motor is connected with lower lifting synchronous pulley, lifting mobile jib respectively, and lifting chunk is fixed on mini-roundabout；Lifting mobile jib was both taken as
Support bar is played a supportive role, and guide groove used in lifting can be taken as to use again, when lifting motor is driven by lifting synchronous pulley
Lifting timing belt is when being driven, by underdrive on the whole chunk on lifting platform, so as to complete driving wheel chunk
Elevating function, reached the standard grade and the auxiliary movement during offline and obstacle detouring with realizing；
Middle arm includes supporting roller, braking mechanism, the middle arm support on support board mount and is fixed on middle arm support
On servo-actuated wheel support, servo-actuated wheel support is close to middle arm support upper end and is connected with middle arm support, and supporting roller is V-groove knot
Structure, it is made up of r c aluminium alloy, while rigidity is ensured, adds the frictional force with electric wire again, braking mechanism is set
Put in front of supporting roller；Braking mechanism includes clamping motor, gripper, gripper band, brake block, leading screw and screw mandrel and slided
Block, clamping motor is arranged on above servo-actuated wheel support, and is fixed by motor fixing frame and servo-actuated wheel support, clamping motor it is defeated
Shaft coordinates with gripper to be fixed, and is wound with gear band on gripper, gear band is connected with leading screw, passes through gripper band band
Dynamic leading screw rotates；Slide bar is separately fixed on servo-actuated wheel support with leading screw, and screw mandrel cunning is cased with for playing the guiding role, on leading screw
Block, brake block is fixed with screw mandrel sliding block, and slide bar is located at the both sides of brake block with leading screw, and fastening teeth is driven by clamping motor
Wheel transmission, leading screw is reached by powered rotation, and when forearm is carrying out obstacle detouring on having acclive electric wire, middle arm and postbrachium are on line
Clamping electric wire by brake block prevents robot from sliding；
Telescoping mechanism include the telescopic fixed bracket that elastic fixed mount and left and right telescopic fixed bracket form, flexible bearing pin,
Flexible gear, flexible timing belt, set of rails, mini-roundabout link, traffic cycle link, traffic cycle motor and mini-roundabout motor；
Telescopic fixed bracket not only acts as support effect, also serves as flexible chute use；Elastic fixed mount both ends, which are respectively arranged with, stretches
Contracting gear, the flexible timing belt for playing telescopic action is fixed by flexible gear, and traffic cycle passes through traffic cycle link, mini-roundabout
By mini-roundabout link and synchronous band connection of stretching, traffic cycle and mini-roundabout is driven to move by flexible timing belt；Set of rails
Including guide rail and sliding block, guide rail is arranged on the telescopic fixed bracket of left and right, and is affixed on the inside of the telescopic fixed bracket of left and right, in proof strength
While, it can prevent from coming off, sliding block is connected with mini-roundabout link, traffic cycle link；Mini-roundabout motor is fixed by motor
Frame is connected with mini-roundabout link, and mini-roundabout motor driven mini-roundabout gear and mini-roundabout engagement rotation, support board mount are located at
It is connected on traffic cycle and with traffic cycle, traffic cycle motor is connected by motor fixing frame with support board mount, traffic cycle motor
Drive traffic cycle gear and traffic cycle engagement rotation；Mini-roundabout, traffic cycle and flexible timing belt form a closed loop, to promote
Make the synchronized opposite or relative motion of two rotating disks, the flexible timing belt being wound on flexible gear drives traffic cycle and mini-roundabout synchronous
It is mobile；
Driving wheel chunk includes driving wheel, live axle, drive wheel bracket, movable motor, the walking tooth of walking on line
Wheel and walking gear band；Driving wheel is fixed in drive wheel bracket by live axle, and movable motor drives driving wheel walking, and
It is fixed on by motor fixing frame in drive wheel bracket, while movable motor connects a pair of walking gears, is set with walking gear
There is walking gear band, drive live axle to rotate by walking gear band, so as to realize walking；
Contact roller chunk include providing compress the clamping motor of power, contact roller, the revolute pair for adjusting the electric wire gradient,
Ball-screw and ball nut；Revolute pair includes compressing wheel support, cradle head, compresses wheel seat, compresses bearing pin and light spring,
Clamping motor is connected by shaft coupling with ball-screw, and ball nut and the fixture positioned at ball-screw one end are fixed, ball
The leading screw other end is connected with compressing wheel seat, and is strung cradle head and compression wheel support by compressing bearing pin；Positioned at contact roller
Contact roller on support is under electric wire the space that clamping electric wire is formed with driving wheel, compresses wheel seat and passes through with compressing wheel support
Two light spring connections, coordinate, to realize the clamping to gradient difference electric wire, the position of contact roller can be with electricity with cradle head
The change of the line gradient and change；Structure that revolute pair is unpowered, the vertical angle of electric wire is can adapt to, clamping motor is using lockable
Worm and gear motor driven big speed ratio ball-screw-transmission.
In the present invention, support board mount is made up of light materials such as carbon fiber or aluminium alloys.
In the present invention, it is trench structure to lift mobile jib.
In the present invention, upper lifting synchronous pulley is connected by lifting synchronous pulley fixed mount with fore-stock.
In the present invention, the lifting motor being connected with lower lifting synchronous pulley is connected by motor fixture and lifting mobile jib
Connect.
In the present invention, lifting chunk is fixed on mini-roundabout by forearm base.
In the present invention, lifting platform includes lifting platform support, cantilevered axle and lifting pulley component, wherein, lifting platform support
On cantilevered axle for connecting lifting pulley component is installed, and lifting pulley assembly set enters line slip loaded in lifting mobile jib,
Lifting pulley component includes four groups of pulleys.
In the present invention, middle arm support is made of aluminium alloy light material.
In the present invention, supporting roller is fixed on servo-actuated wheel support by servo-actuated bearing pin.
In the present invention, gripper carries keyway.
In the present invention, slide bar is fixed on servo-actuated wheel support by snap ring respectively with leading screw.
In the present invention, the gear that stretches is arranged on elastic fixed mount both ends by flexible bearing pin.
In the present invention, mini-roundabout and traffic cycle are crossed roller bearing rotating disk, and face of gear passes through Quenching Treatment.
In the present invention, driving wheel is made up of r c aluminium alloy, while rigidity is ensured, can increase and electric wire
Frictional force.
In the present invention, movable motor uses the motor of high pulling torque, can realize heavy grade moving obstacle-crossing.
Based on the robot for aerial high-voltage power transmission line described above, robot carries out inspection carrying out practically step
It is as follows：
1) when detecting that there is obstacle in front, the brake block of middle arm and postbrachium carries out locking to electric wire, and the contact roller of forearm is released
Put, while the progress of traffic cycle rotational angle is offline；
2) after forearm completes offline action, while the flexible rotation with cradle head of forearm is carried out, promotes forearm to complete
Elliptical-type exercise track, robot surmount obstacles；
3) when preceding object is aluminium hydraulic pressed connecting pipe or stockbridge damper, without rotating traffic cycle, by the ball for driving contact roller
Leading screw, promote to make somebody a mere figurehead between the contact roller of forearm and driving wheel, then drive forearm to surmount obstacles by telescoping mechanism；
4) after forearm surmounts obstacles, while traffic cycle and the flexible cradle head of driving are rotated, promotes electric wire positioned at compression
Between wheel and driving wheel, then adjust the lifting of the lifting platform and contact roller of forearm and reached the standard grade with completing forearm；
5) after forearm is reached the standard grade, the brake block of arm and postbrachium in release, by the lift adjustment of forearm, arm is with after in realization
The offline action of arm, then rotates traffic cycle, and forearm and middle arm, postbrachium are adjusted to tee T, then by three arm telescopic adjustments
To most short, after robot stabilized, driving driving wheel moves ahead, with arm in completion and the obstacle detouring of postbrachium；
6) after arm and postbrachium surmount obstacles among, the lifting of forearm and the rotation of traffic cycle are adjusted, promotes middle arm and postbrachium
Supporting roller be located at the top of electric wire after, then adjust the lifting of forearm reaching the standard grade with arm in completing and postbrachium, now, that is, complete whole
Individual obstacle detouring action.
Beneficial effect：
1st, the present invention uses V-type rubber tire, is suitable for the electric wire of different line footpaths, has very strong adaptability, application
Extensively；
2nd, arm is identical with rear arm structure in the present invention, and interchangeability is strong；
3rd, compact-sized, in light weight, small volume of the invention, changed by the intersection of the free degree and fast obstacle can be achieved, had
Electric wire is damaged beneficial to reducing.
Brief description of the drawings
Fig. 1 is the structural representation of presently preferred embodiments of the present invention.
Fig. 2 is mini-roundabout link, traffic cycle connecting frame structure schematic diagram in presently preferred embodiments of the present invention.
Fig. 3 is the telescoping mechanism structural representation in presently preferred embodiments of the present invention.
Fig. 4 is the middle arm configuration schematic diagram in presently preferred embodiments of the present invention.
Fig. 5 is the contact roller chunk structural representation in presently preferred embodiments of the present invention.
Fig. 6 is the forearm structure schematic diagram in presently preferred embodiments of the present invention.
Fig. 7 is the lifting platform structural representation in presently preferred embodiments of the present invention.
Fig. 8 is the drive wheel group block structure schematic diagram in presently preferred embodiments of the present invention.
Fig. 9 is the inspection timing diagram of presently preferred embodiments of the present invention.
Embodiment
In order that the technical means, the inventive features, the objects and the advantages of the present invention are easy to understand, tie below
Conjunction is specifically illustrating, and the present invention is expanded on further.
Referring to a kind of robot for aerial high-voltage power transmission line inspection of Fig. 1~9, including forearm 1, fore-stock 11,
Lift mobile jib 111, lifting chunk 12, upper lifting synchronous pulley 121, lifting synchronous pulley fixed mount 122, lifting timing belt 123,
It is lower lifting synchronous pulley 124, lifting motor 125, fixture 126, forearm base 127, lifting platform 13, lifting platform support 131, outstanding
Arm axle 132, lifting pulley component 133, driving wheel chunk 14, groove profile driving wheel 141, live axle 142, drive wheel bracket 143,
Walking camera 144, walking gear 145, walking gear band 146, contact roller chunk 15, clamping motor 150, contact roller 151, compression
Bearing pin 152 is taken turns, wheel support 153, cradle head 154 is compressed, compresses wheel seat 155, bearing pin 156, ball-screw 158, ball nut
159th, middle arm 2, supporting roller 21, servo-actuated bearing pin 211, braking mechanism 22, clamping motor 221, gripper 222, gripper band
223rd, brake block 224, leading screw 226, screw mandrel sliding block 227, middle arm support 23, servo-actuated wheel support 24, postbrachium 3, support board mount 4,
Mini-roundabout 5, mini-roundabout gear 51, traffic cycle 6, traffic cycle gear 61, traffic cycle motor 69, telescoping mechanism 7, left and right are Telescopic Fixed
Frame 71, elastic fixed mount 72, telescope motor 73, flexible bearing pin 74, flexible gear 75, flexible timing belt 76, set of rails 77,
Mini-roundabout link 781, traffic cycle link 782 and mini-roundabout motor 79.
In the present embodiment, mini-roundabout 5 and traffic cycle 6 are installed on telescoping mechanism 7, forearm 1 is installed on mini-roundabout 5,
Support board mount 4 is installed, support board mount 4 is made up of light materials such as carbon fiber or aluminium alloys, supporting plate branch on traffic cycle 6
Arm 2 and postbrachium 3 in structure identical be installed on frame 4, three arms in yi word pattern enter line it is up walk, postbrachium 3 is driven by forearm 1
Moved ahead with middle arm 2, three arms are in tee T, and now, during obstacle detouring, forearm 1, middle arm 2 and postbrachium 3 alternately move ahead and got over
Barrier, each mechanism concrete structure are as follows：
As shown in Fig. 1,6,7, forearm 1 includes fore-stock 11, lifts mobile jib 111 by being arranged on the both sides of fore-stock 11 to lead
The lifting chunk 12 of rail, the lifting platform 13 being connected with lifting chunk 12, the driving wheel chunk 14 being arranged on lifting platform 13 and position
Contact roller chunk 15 under driving wheel chunk 14, on electric wire, lifting mobile jib 111 are trench structure, contact roller chunk 15
The space of clamping electric wire is formed between driving wheel chunk 14；Lifting chunk 12 includes upper lifting synchronous pulley 121, lifting synchronously
Belt wheel fixed mount 122, lifting timing belt 123, lower lifting synchronous pulley 124, lifting motor 125, fixture 126, forearm base
127, upper lifting synchronous pulley 121 is located at the lower section of fore-stock 11, and is connected by lifting synchronous pulley fixed mount 122 with fore-stock 11
Connect, and be around in lifting synchronous pulley 121 and be connected with the lifting timing belt 123 on lower lifting synchronous pulley 124 with lifting platform 13,
So as to drive lifting platform 13 to be lifted；It is the fixture 126 being connected with contact roller chunk 15 to be arranged on lifting platform 13, with
The lifting motor 125 that lower lifting synchronous pulley 124 connects is connected by motor fixture with lifting mobile jib 111, entirely lifting group
Block 12 is fixed by the forearm base 127 of lower section with mini-roundabout 5；Lifting mobile jib 111 was both taken as support bar to play a supportive role, again
Guide groove used in lifting can be taken as to use, when lifting motor 125 drives lifting timing belt 123 by lifting synchronous pulley 124
, can be by underdrive on the whole chunk on lifting platform 13, so as to complete the lifting of driving wheel chunk 14 when being driven
Function, reached the standard grade and the auxiliary movement during offline and obstacle detouring with realizing；
Lifting platform 13 includes lifting platform support 131, cantilevered axle 132 and lifting pulley component 133, wherein, lifting platform support
Cantilevered axle 132 for connecting lifting pulley component 133 is installed, and lifting pulley component 133 is set in lifting mobile jib on 131
In 111, enter line slip, lifting pulley component 133 includes four groups of pulleys；
As shown in figure 4, postbrachium 3 is identical with the middle structure of arm 2, middle arm 2 includes supporting roller 21, braking mechanism 22, is located at
The middle arm support 23 on board mount 4 and the servo-actuated wheel support 24 being fixed on middle arm support 23, middle arm support 23 is supported to use
Aluminium alloy light material is made, and servo-actuated wheel support 24 is close to the middle upper end of arm support 23 and is connected admittedly with middle arm support 23 by bolt
Fixed, supporting roller 21 is fixed on servo-actuated wheel support 24 by servo-actuated bearing pin 211, and supporting roller 21 uses V-groove structure, by rubber bag
The aluminium alloy wrapped up in is made, and while rigidity is ensured, adds the frictional force with electric wire again, braking mechanism 22 is arranged on supporting roller
21 fronts；Braking mechanism 22 includes clamping motor 221, gripper 222, gripper band 223, brake block 224, leading screw 226
And screw mandrel sliding block 227, the clamping motor 221 on servo-actuated wheel support 24 are solid by motor fixing frame and servo-actuated wheel support 24
Fixed, the output shaft of clamping motor 221 directly coordinates through a reduction box with the gripper 222 with keyway to be fixed, gripper
Gear band 223 is wound with 222, gear band 223 is connected with leading screw 226, drives leading screw 226 to rotate by gripper band 223；It is sliding
Bar 225 is fixed on servo-actuated wheel support 24 by snap ring respectively with leading screw 226, and for playing the guiding role, silk is cased with leading screw 226
Bar sliding block 227, brake block 224 is bolted on screw mandrel sliding block 227, and slide bar 225 is located at brake block with leading screw 226
224 both sides, drive gripper 222 to be driven by clamping motor 221, powered rotation is reached into leading screw 226, when forearm 1 exists
When having progress obstacle detouring on acclive electric wire, middle arm 2 and postbrachium 3 clamp electric wire by brake block 224 on line prevents robot
Slide；
As shown in Fig. 2,3,9, telescoping mechanism 7 is stretched including what elastic fixed mount 72 and left and right telescopic fixed bracket 71 formed
Contracting fixed mount, telescope motor 73, flexible bearing pin 74, flexible gear 75, flexible timing belt 76, set of rails 77, mini-roundabout link
781st, traffic cycle link 782 and mini-roundabout motor 79；Telescopic fixed bracket not only acts as support effect, and also serving as flexible chute makes
With；A pair of flexible gears 75 are placed on the elastic both ends of fixed mount 72 by flexible bearing pin 74, play the flexible same of telescopic action
Step band 76 is fixed by flexible gear 75, and traffic cycle 6 passes through mini-roundabout link by traffic cycle link 782, mini-roundabout 5
781 are connected with flexible timing belt 76, drive traffic cycle 6 and mini-roundabout 5 to move by flexible timing belt 76；Set of rails 77 includes leading
Rail and sliding block, guide rail are arranged on left and right telescopic fixed bracket 71, and are affixed on the inner side of left and right telescopic fixed bracket 71, in proof strength
Meanwhile can prevent from coming off, sliding block is connected with mini-roundabout link 781, traffic cycle link 782, for being carried for telescopic fixed bracket
Left and right telescopic fixed bracket one end bottom is arranged on for the telescope motor 73 of power；Mini-roundabout motor 79 by motor fixing frame with it is small
Rotating disk link 781 connects, and mini-roundabout motor 79 drives mini-roundabout gear 51 and the engagement rotation of mini-roundabout 5, supports board mount 4
It is connected on traffic cycle 6 and with traffic cycle 6, traffic cycle motor 69 is connected by motor fixing frame with support board mount 4, big to turn
Coil motor 69 drives traffic cycle gear 61 and the engagement rotation of traffic cycle 6；Mini-roundabout 5, traffic cycle 6 and flexible timing belt 76 form one
Individual closed loop, two rotating disks opposite or relative motion, the flexible timing belt 76 being wound on flexible gear 75 can drive greatly at the same speed
Rotating disk 6 and the synchronizing moving of mini-roundabout 5, mini-roundabout 5, traffic cycle 6 are using the larger crossed roller bearing rotating disk of rigidity, face of gear
Pass through Quenching Treatment；
As shown in figure 8, driving wheel chunk 14 includes walking groove profile driving wheel 141 on line, live axle 142, driving
Wheel support 143, movable motor 144, walking gear 145 and walking gear band 146；Driving wheel 141 is by r c aluminium alloy
It is made, while rigidity is ensured, the frictional force with electric wire can be increased；Driving wheel 141 passes through live axle 142 and driving wheel branch
Frame 143 is fixed, and the movable motor 144 for driving driving wheel 141 to walk is fixed by motor fixing frame and drive wheel bracket 143, OK
Motor of the motor 144 using high pulling torque is walked, heavy grade moving obstacle-crossing can be realized, while movable motor 144 connects a pair of walkings
Gear 145, live axle 142 is driven to rotate by walking gear band 146, so as to realize walking；
As shown in figure 5, contact roller chunk 15 includes providing clamping motor 150, contact roller 151, the contact roller for compressing power
Bearing pin 152, the revolute pair for adjusting the electric wire gradient, ball-screw 158 and ball nut 159；Revolute pair includes contact roller branch
Frame 153, cradle head 154, compression wheel seat 155, compression bearing pin 156 and light spring 157, clamping motor 150 pass through shaft coupling
It is connected with ball-screw 158, ball nut 159 and the fixture 126 positioned at the one end of ball-screw 158 are fixed, ball-screw 158
The other end is connected with compressing wheel seat 155, and is strung cradle head 154 and compression wheel support 153 by compressing bearing pin 156；Position
The space under electric wire with the formation clamping electric wire of driving wheel 141 is in compressing the contact roller 151 on wheel support 153, and is compressed
Wheel 151 is anchored on by contact roller bearing pin 152 and compressed on wheel support 153；Compress wheel seat 155 and pass through two with compressing wheel support 153
Individual light spring 157 connects, and coordinates with cradle head 154, and the clamping of gradient difference electric wire, the position of contact roller 151 can be achieved
It can change with the change of the electric wire gradient；Structure that revolute pair is unpowered, it can adapt to the vertical angle of electric wire, clamping motor 150
It is driven using the ball-screw 158 of lockable worm and gear motor driven big speed ratio.
As shown in figure 9, based on the robot for aerial high-voltage power transmission line described above, robot carries out inspection tool
Running body step is as follows：
1) when detecting that there is obstacle in front, the brake block 224 of middle arm 2 and rear 3 arm carries out locking, the pressure of forearm 1 to electric wire
Bearing up pulley 151 discharges, while the rotation proper angle progress of traffic cycle 6 is offline；
2) after forearm 1 completes offline action, while the flexible rotation with cradle head 154 of forearm 1 is carried out, promotes forearm
1 completes elliptical-type exercise track, and robot surmounts obstacles；
3) when preceding object is aluminium hydraulic pressed connecting pipe or stockbridge damper, without rotating traffic cycle 6, by driving contact roller 151
Ball-screw 158, promote to make somebody a mere figurehead between the contact roller 151 of forearm 1 and driving wheel 141, forearm is then driven by telescoping mechanism 7
1 surmounts obstacles；
4) after forearm 1 surmounts obstacles, while traffic cycle 6 and the flexible cradle head 154 of driving are rotated, promotes electric wire to be located at
Between contact roller 151 and driving wheel 141, then adjust forearm 1 lifting platform 13 and contact roller 151 lifting to complete on forearm 1
Line；
5) after forearm 1 is reached the standard grade, the brake block 224 of arm 2 and postbrachium 3 in release, by the lift adjustment of forearm 1, realize
The offline action of middle arm 2 and postbrachium 3, traffic cycle 6 is then rotated, forearm 1 and middle arm 2, postbrachium 3 are adjusted to tee T, then will
Three arm telescopic adjustments are to most short, and after robot stabilized, driving driving wheel 141 moves ahead, with arm in completion 2 and postbrachium 3 more
Barrier；
6) after arm 2 and postbrachium 3 surmount obstacles among, the lifting of forearm 1 and the rotation of traffic cycle 6 is adjusted, promotes the middle He of arm 2
After the supporting roller 21 of postbrachium 3 is located at the top of electric wire, then the lifting of forearm 1 reaching the standard grade with arm 2 in completing and postbrachium 3 is adjusted, this
When, that is, complete whole obstacle detouring action.
The general principle and principal character and advantages of the present invention of the present invention has been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the simply explanation described in above-described embodiment and specification is originally
The principle of invention, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (10)
1. a kind of robot for aerial high-voltage power transmission line inspection, including forearm, middle arm, postbrachium, support board mount, small turn
Disk, traffic cycle and telescoping mechanism；Characterized in that, mini-roundabout and traffic cycle are arranged on telescoping mechanism, forearm is arranged on small turn
Support board mount is installed on disk, on traffic cycle, supports and arm and postbrachium in structure identical is installed on board mount；Forearm is with
Arm, postbrachium in yi word pattern be used for into line it is up walk, drive postbrachium and middle arm to move ahead by forearm, forearm and middle arm, postbrachium are in fourth
Font is used to alternately move ahead into obstacle detouring on line, forearm, middle arm and postbrachium；Each mechanism concrete structure is as follows：
Forearm includes fore-stock, by be arranged on lifting chunk and lifting group of the lifting mobile jib as guide rail of fore-stock both sides
The lifting platform of block connection, the driving wheel chunk that is arranged on lifting platform and under driving wheel chunk, the compression on electric wire
Chunk is taken turns, the space of clamping electric wire is formed between contact roller chunk and driving wheel chunk；Lifting chunk includes upper lifting timing belt
Wheel, lifting timing belt, lower lifting synchronous pulley, lifting motor and fixture, upper lifting synchronous pulley are located at below fore-stock simultaneously
It is connected with fore-stock, upper lifting synchronous pulley is with being wound with lifting timing belt, lifting timing belt and lifting on lower lifting synchronous pulley
Platform connects, so as to drive lifting platform to be lifted；The fixture being connected with contact roller chunk, lifting motor are provided with lifting platform
It is connected respectively with lower lifting synchronous pulley, lifting mobile jib, lifting chunk is fixed on mini-roundabout；When lifting motor is same by lifting
Step belt wheel drives lifting timing belt when being driven, by underdrive on the whole chunk on lifting platform, so as to complete to drive
The elevating function of driving wheel chunk, reached the standard grade and the auxiliary movement during offline and obstacle detouring with realizing；
Middle arm includes supporting roller, braking mechanism, the middle arm support on support board mount and is fixed on middle arm support
Servo-actuated wheel support, servo-actuated wheel support are close to middle arm support upper end and are connected with middle arm support, and supporting roller is V-groove structure,
It is made up of r c aluminium alloy, braking mechanism is arranged in front of supporting roller；Braking mechanism includes clamping motor, fastening teeth
Wheel, gripper band, brake block, leading screw and screw mandrel sliding block, clamping motor is arranged on above servo-actuated wheel support, and is consolidated by motor
To determine frame to fix with servo-actuated wheel support, the output shaft of clamping motor coordinates with gripper to be fixed, and gear band is wound with gripper,
Gear band is connected with leading screw, drives leading screw to rotate by gripper band；Slide bar is separately fixed on servo-actuated wheel support with leading screw,
Screw mandrel sliding block is cased with leading screw, brake block is fixed with screw mandrel sliding block, and slide bar is located at the both sides of brake block with leading screw, passes through folder
Tight motor driven gripper transmission, leading screw is reached by powered rotation, when forearm is carrying out obstacle detouring on having acclive electric wire,
Middle arm and postbrachium clamp electric wire by brake block on line prevents robot from sliding；
Telescoping mechanism includes elastic fixed mount and left and right the telescopic fixed bracket telescopic fixed bracket formed, the bearing pin that stretches, stretched
Gear, flexible timing belt, set of rails, mini-roundabout link, traffic cycle link, traffic cycle motor and mini-roundabout motor；It is front and rear
Telescopic fixed bracket both ends are respectively arranged with flexible gear, and the flexible timing belt for playing telescopic action is fixed by flexible gear, and big
Rotating disk, by mini-roundabout link and synchronous band connection of stretching, passes through the timing belt band that stretches by traffic cycle link, mini-roundabout
Dynamic traffic cycle and mini-roundabout movement；Set of rails includes guide rail and sliding block, and guide rail is arranged on the telescopic fixed bracket of left and right, and is affixed on a left side
On the inside of right telescopic fixed bracket, sliding block is connected with mini-roundabout link, traffic cycle link；Mini-roundabout motor passes through motor fixing frame
It is connected with mini-roundabout link, mini-roundabout motor driven mini-roundabout gear and mini-roundabout engagement rotation, support board mount is positioned at big
It is connected on rotating disk and with traffic cycle, traffic cycle motor is connected by motor fixing frame with support board mount, traffic cycle motor belt motor
Dynamic traffic cycle gear and traffic cycle engagement rotation；Mini-roundabout, traffic cycle and flexible timing belt are fixed to form a closed loop, with
Promote the synchronized opposite or relative motion of two rotating disks, the flexible timing belt being wound on flexible gear drives traffic cycle and mini-roundabout same
Moved further；
Driving wheel chunk include walking driving wheel on line, live axle, drive wheel bracket, movable motor, walking gear and
Walking gear band；Driving wheel is fixed in drive wheel bracket by live axle, and movable motor drives driving wheel walking, and passes through
Motor fixing frame is fixed in drive wheel bracket, while movable motor connects a pair of walking gears, and row is set with walking gear
Gear band is walked, drives live axle to rotate by walking gear band, so as to realize walking；
Contact roller chunk includes providing clamping motor, contact roller, the revolute pair for adjusting the electric wire gradient, the ball for compressing power
Leading screw and ball nut；Revolute pair includes compressing wheel support, cradle head, compresses wheel seat, compresses bearing pin and light spring, compresses
Motor is connected by shaft coupling with ball-screw, and ball nut and the fixture positioned at ball-screw one end are fixed, ball-screw
The other end is connected with compressing wheel seat, and is strung cradle head and compression wheel support by compressing bearing pin；Positioned at compression wheel support
On contact roller be under electric wire with driving wheel formed clamping electric wire space, compress wheel seat with compress wheel support pass through two
Light spring connects, and coordinates with cradle head, and to realize the clamping to gradient difference electric wire, the position of contact roller can be with electric wire slope
The change of degree and change.
A kind of 2. robot for aerial high-voltage power transmission line inspection according to claim 1, it is characterised in that lifting
Mobile jib is trench structure.
3. a kind of robot for aerial high-voltage power transmission line inspection according to claim 1, it is characterised in that rise
Drop synchronous pulley is connected by lifting synchronous pulley fixed mount with fore-stock.
4. a kind of robot for aerial high-voltage power transmission line inspection according to claim 1, it is characterised in that with
The lifting motor of lifting synchronous pulley connection is connected by motor fixture with lifting mobile jib.
A kind of 5. robot for aerial high-voltage power transmission line inspection according to claim 1, it is characterised in that lifting
Chunk is fixed on mini-roundabout by forearm base.
A kind of 6. robot for aerial high-voltage power transmission line inspection according to claim 1, it is characterised in that lifting
Platform includes lifting platform support, cantilevered axle and lifting pulley component, wherein, it is provided with lifting platform support for connecting lifting pulley
The cantilevered axle of component, and lifting pulley assembly set, loaded on line slip is entered in lifting mobile jib, lifting pulley component includes four groups of pulleys.
7. a kind of robot for aerial high-voltage power transmission line inspection according to claim 1, it is characterised in that servo-actuated
Wheel is fixed on servo-actuated wheel support by servo-actuated bearing pin.
8. a kind of robot for aerial high-voltage power transmission line inspection according to claim 1, it is characterised in that flexible
Gear is arranged on elastic fixed mount both ends by flexible bearing pin.
9. a kind of robot for aerial high-voltage power transmission line inspection according to claim 1, it is characterised in that small turn
Disk and traffic cycle are crossed roller bearing rotating disk, and face of gear passes through Quenching Treatment.
10. a kind of robot for aerial high-voltage power transmission line inspection according to any one of claim 1~9, it is special
Sign is that it is as follows that robot carries out inspection carrying out practically step：
1) when robot detects that there is obstacle in front, the brake block of middle arm and postbrachium carries out locking, the compression of forearm to electric wire
Wheel release, while the progress of traffic cycle rotational angle is offline；
2) after forearm completes offline action, while the flexible rotation with cradle head of forearm is carried out, promotes forearm to complete oval
Formula movement locus, robot surmount obstacles；
3) when preceding object is aluminium hydraulic pressed connecting pipe or stockbridge damper, without rotating traffic cycle, by driving the ball-screw of contact roller,
Promote to make somebody a mere figurehead between the contact roller of forearm and driving wheel, then drive forearm to surmount obstacles by telescoping mechanism；
4) after forearm surmounts obstacles, while traffic cycle and the flexible cradle head of driving are rotated, promote electric wire be located at contact roller with
Between driving wheel, then adjust the lifting of the lifting platform and contact roller of forearm and reached the standard grade with completing forearm；
5) after forearm is reached the standard grade, the brake block of arm and postbrachium in release, by the lift adjustment of forearm, arm and postbrachium in realization
Offline action, then rotates traffic cycle, and forearm and middle arm, postbrachium are adjusted to tee T, then by three arm telescopic adjustments to most
Short, after robot stabilized, driving driving wheel moves ahead, with arm in completion and the obstacle detouring of postbrachium；
6) after arm and postbrachium surmount obstacles among, the lifting of forearm and the rotation of traffic cycle are adjusted, promote middle arm and postbrachium with
After driving wheel is located at the top of electric wire, then adjust the lifting of forearm reaching the standard grade with arm in completing and postbrachium, now, that is, complete it is whole more
Barrier acts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610528461.5A CN106025922B (en) | 2016-07-07 | 2016-07-07 | A kind of robot for aerial high-voltage power transmission line inspection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610528461.5A CN106025922B (en) | 2016-07-07 | 2016-07-07 | A kind of robot for aerial high-voltage power transmission line inspection |
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| Publication Number | Publication Date |
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| CN106025922A CN106025922A (en) | 2016-10-12 |
| CN106025922B true CN106025922B (en) | 2018-02-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610528461.5A Expired - Fee Related CN106025922B (en) | 2016-07-07 | 2016-07-07 | A kind of robot for aerial high-voltage power transmission line inspection |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| IT202000009271A1 (en) * | 2020-04-28 | 2021-10-28 | Giuseppe Carbone | Device for automated monitoring of power lines |
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| CN106025922A (en) | 2016-10-12 |
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