CN106655006A - Transmission line inspection robot obstacle-crossing device - Google Patents
Transmission line inspection robot obstacle-crossing device Download PDFInfo
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- CN106655006A CN106655006A CN201710139438.1A CN201710139438A CN106655006A CN 106655006 A CN106655006 A CN 106655006A CN 201710139438 A CN201710139438 A CN 201710139438A CN 106655006 A CN106655006 A CN 106655006A
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- transmission line
- palm
- mechanical arm
- ear
- travelling gear
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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
The invention discloses a transmission line inspection robot obstacle-crossing device. The transmission line inspection robot obstacle-crossing device comprises three mechanical arms and a movable frame used for supporting the mechanical arms. Every mechanical arm comprises a mechanical arm support fixedly arranged on the movable frame, a traveling driving mechanism for driving traveling, a braking mechanism for controlling stopping, inverted-lug slider mechanisms for preventing shedding and a palm opening-closing mechanism for crossing obstacles are arranged on the mechanical arm support, the bottom end of the palm opening-closing mechanism is fixedly arranged on the mechanical arm support, the traveling driving mechanism is arranged at the top end of the palm opening-closing mechanism, the braking mechanism is arranged in the middle of the palm opening-closing mechanism below the traveling driving mechanism, and the inverted-lug slider mechanisms are arranged on two sides of the palm opening-closing mechanism. The transmission line inspection robot obstacle-crossing device is capable of achieving routine inspection as well as obstacle-crossing inspection of power transmission lines, so that power transmission line inspection precision and accuracy are improved, and a guarantee is provided for safety operation of the power transmission lines.
Description
Technical field
The present invention relates to patrol and examine technical field, particularly one kind of transmission line of electricity can be along transmission line of electricity rows in power system
Walk and complete the device patrolled and examined.
Background technology
It is the major way of long range transmission ＆ distribution electric power using high pressure and supertension overhead power transmission line in power system.But
Because electric lines of force and shaft tower adnexa are chronically exposed to field, for a long time by lasting mechanical tension, electric flashover, material aging
Affect and produce stranded, abrasion, corrosion equivalent damage, such as repair not in time and change, originally small breakage and defect may expand
Greatly, major accident is ultimately resulted in, causes large-area power failure and huge economic loss.Therefore, Utilities Electric Co. needs periodically right
Line equipment inspection, to find earlier damage and defect in time and be assessed, then according to the order of importance and emergency of defect, with reasonable
Expense and correct priority, arrange necessary maintenance and reparation.Therefore, HV Transmission Line Routing Inspection is to ensureing power transmission line
Road safe and stable operation tool is of great significance.
At present, mainly there are following three kinds of modes to polling transmission line：1）Artificial ocular estimate：Using naked eyes or telescope pair
Local electric lines of force is observed, and manual inspection is still at present domestic topmost method for inspecting；Although with stronger spirit
The advantages of activity and adaptability, but because transmission line of electricity is distributed, multi-point and wide-ranging, geographical conditions are complicated, and patrolling and examining workman needs to cross over a hill
More ridge, wade across a river and patrol and examine.This method high labor intensive, work efficiency and detection accuracy it is low, poor reliability.2）Aerophotographic method：
It is that control helicopter flies along transmission line of electricity, staff is with the naked eye or airborne picture pick-up device is observed and records along the line abnormal
The situation of point；This method improves detection efficient and precision, but electric lines of force from observer or camera-shooting and recording device although distance is close to
The visual field in quickly through, increased technical difficulty, operating cost is higher.
The content of the invention
The technical problem to be solved in the invention is to provide a kind of obstacle detouring walking dress for transmission line polling robot
Put, the Daily Round Check of transmission line of electricity can not only be realized, but also obstacle detouring inspection can be realized, improve the essence of polling transmission line
Degree and accuracy, so as to the safe operation for transmission line of electricity provides safeguard.
To solve above-mentioned technical problem, the technical solution used in the present invention is as follows.
Transmission line polling robot obstacle-surmounting travelling gear, is successively set on transmission line of electricity and can be along defeated including before and after
Electric line is walked and crosses three mechanical arms and the movable machine frame for supporting machinery arm of barrier on transmission line of electricity；Institute
The mechanical arm support that mechanical arm includes being fixedly installed on movable machine frame is stated, realization walking is provided with mechanical arm support
Skidding mechanism that the driving walking mechanism of driving, control are stopped, prevent the slide block mechanism of falling ear for coming off and realize obstacle detouring
Palm open-and-close mechanism；The bottom of palm open-and-close mechanism is fixedly installed on mechanical arm support, drives walking mechanism to be arranged on
Palm open-and-close mechanism top, skidding mechanism is arranged on the palm open-and-close mechanism middle part driven below walking mechanism, the cunning of falling ear
Block branch construction is in palm open-and-close mechanism both sides.
Above-mentioned transmission line polling robot obstacle-surmounting travelling gear, the palm open-and-close mechanism includes the first servomotor, B
Yielding coupling, slide block, drive lead screw, left side palm and right side palm, first servomotor is vertically set on mechanical hand
On arm support, the bottom of drive lead screw is connected by B yielding couplings with the output shaft of the first servomotor, and slide block is arranged on biography
On dynamic screw mandrel, left side palm and right side palm are symmetricly set on the left and right two ends of slide block upper backup pad.
Above-mentioned transmission line polling robot obstacle-surmounting travelling gear, the slide block mechanism of falling ear includes guide rod and slides to arrange
Ear on guide rod；The guide rod includes being symmetricly set on palm open-and-close mechanism structure on two sides identical left side guide rod and right side
Guide rod, guide rod includes the main part being vertically fixed on mechanical arm support and main part top, outward bending and and main part
The kink of arc transition connection, the outer end of kink is perpendicular with main part；The ear includes the left ear of structure identical
With right ear, one end of ear is equipped with guide rod slip, and the other end of ear is fixedly connected with left side palm and right side palm.
Above-mentioned transmission line polling robot obstacle-surmounting travelling gear, the driving walking mechanism includes direct-drive motor, A
Yielding coupling, power transmission shaft and the left driving half being oppositely arranged take turns and right driving is partly taken turns, direct-drive motor Jing A elasticity shaft couplings
Device is fixedly connected with one end of power transmission shaft, and partly wheel is arranged on power transmission shaft for the wheel of left driving half and right driving；The left side handss
The top of the palm and right side palm be arranged on it is left drive on half wheel and the right power transmission shaft for driving half wheel, left side palm and right side palm with
Power transmission shaft is connected by bearing.
Above-mentioned transmission line polling robot obstacle-surmounting travelling gear, the skidding mechanism includes electromagnetic brake, pressure
Bearing up pulley and spring mechanism, electromagnetic brake is arranged on transmission shaft end, and contact roller is located at left driving, and partly wheel drives what is partly taken turns with right
Lower section, spring mechanism is arranged on contact roller lower section by support, and contact roller compresses transmission line of electricity in the presence of spring mechanism
Between the wheel of left driving half and the wheel of right driving half.
Above-mentioned transmission line polling robot obstacle-surmounting travelling gear, the movable machine frame include frame, rotating mechanism and on
Lower travel mechanism, rotating mechanism is arranged in frame, and reciprocating mechanism is arranged on rotating mechanism, and mechanical arm is fixedly installed
On the top of reciprocating mechanism.
Above-mentioned transmission line polling robot obstacle-surmounting travelling gear, the frame includes two symmetrically arranged L-type connections
Plate, the top of two L-type connecting plates is provided with the support for installing reciprocating mechanism, and the L-type connecting plate top of support both sides sets
It is equipped with wing plate.
Above-mentioned transmission line polling robot obstacle-surmounting travelling gear, the rotating mechanism is provided with altogether two sets, often set rotation
Mechanism includes the second servomotor, D yielding couplings and swing arm；Cut with scissors with one end of frame upper fin plate one end of the swing arm
Connect, the end of swing arm is fixedly connected the support of an installation reciprocating mechanism；Second servomotor is fixedly installed on L-type
On the horizontal plate of connecting plate, the outfan of the second servomotor connects the middle part of swing arm by D yielding couplings.
Above-mentioned transmission line polling robot obstacle-surmounting travelling gear, the reciprocating mechanism is provided with altogether three sets, respectively
It is arranged on the support of the support of frame and rotating mechanism, often covering reciprocating mechanism includes lead screw motor, C elasticity shaft couplings
Device, elevating screw and connecting seat；The lead screw motor is fixedly installed on support, and lead screw motor is by C yielding couplings and liter
The bottom of drop screw mandrel is fixedly connected, and connecting seat is arranged on elevating screw；The mechanical arm is fixedly installed on connecting seat.
As a result of above technical scheme, the invention technological progress is as follows.
The present invention, can be with Close approach transmission line of electricity, with patrolling and examining for carrying out Daily Round Check to ultra-high-tension power transmission line
Low cost, high precision and it is safe and reliable the advantages of, the Daily Round Check of transmission line of electricity can not only be realized, but also can realize
Obstacle detouring inspection, improves the precision and accuracy of polling transmission line, so as to the safe operation for transmission line of electricity provides safeguard.
The present invention adopts three arm sling hanging structures, with enough detecting instrument installing space and barrier getting over mechanism and other things
The safe spacing of body, safe operation；When patrolling and examining, at least two mechanical arms are can guarantee that all the time on overhead transmission line, climb
It is strong with wind loading rating.Wherein, packaging driving walking mechanism, the slide block mechanism of falling ear, palm open-and-close mechanism and stop on mechanical arm
Car arrestment mechanism, had both met obstacle detouring walking, skidding Functional Requirement, in turn ensure that the compact of equipment, facilitated obstacle detouring machine
Tool arm is lifted and rotary motion；When breaking down or running into vile weather, the slide block mechanism of falling ear ensure that robot can
By self-locking, in order to avoid drop from transmission line of electricity；Palm open-and-close mechanism is realized based on the slide block mechanism of falling ear, and the slide block mechanism of falling ear
Track for ensureing palm open and close movement is accurate, and stable movement, centering is good, and the margin of safety of mechanical arm is larger；Brake
Arrestment mechanism ensure robot power-off rear drive sprocket will not autorotation, two drive half wheel centering good, and skidding machine
Structure greatly strengthen the climbing capacity of robot.The reciprocating mechanism arranged between obstacle detouring mechanical arm and rotating mechanism, adopts
The relation being directly proportional to vertical direction displacement with conduction time is controlled, extremely convenient, and mechanism's rigidity is larger, receives
Size little save space during contracting, it is ensured that the volume compact of robot.
Follow-up function exploitation transformed space of the present invention is very big, and if carrying crack detector on arm transmission line of electricity can be realized
Stranded flaw detection, transforms the palm structure of three arms, it is possible to achieve the function such as deicing, online fault restoration.
Description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the front view of the present invention；
Fig. 3 is the top view of the present invention；
Fig. 4 is the left view of the present invention；
Fig. 5 is the front view of mechanical arm of the present invention；
Fig. 6 is the side view of Fig. 5；
Fig. 7 is the axonometric chart of mechanical arm of the present invention.
Wherein：1. mechanical arm, 11. drive walking mechanisms, 111. direct-drive motors, 112.A yielding couplings, and 113.
Power transmission shaft, 114. right drivings are partly taken turns, and 115. left drivings are partly taken turns；12. skidding mechanisms, 121. electromagnetic brakes, 122. compress
Wheel, 123. travel switches, 124. range sensors, 125. spring mechanisms, 126. pressure transducers；13. slide block mechanisms of falling ear,
131. left side guide rods, 132. left ears, 133. right side guide rods, 134. right ears；14. palm open-and-close mechanisms, 141. first servos
Motor, 142.B yielding couplings, 143. slide blocks, 144. drive lead screws, 145. left side palms, 146. right side palms；15. is mechanical
Arm support,
2. reciprocating mechanism, 21. lead screw motors, 22.C yielding couplings, 23. elevating screws, 24. connecting seats；
3. rotating mechanism, 31. second servomotors, 32. D yielding couplings, 33. swing arms；
4. frame.
Specific embodiment
Below in conjunction with specific embodiment, the present invention will be described in further detail.
A kind of transmission line polling robot obstacle-surmounting travelling gear, its structure as shown in Figures 1 to 4, including movable machine frame and
Three mechanical arms 1, movable machine frame is used for supporting machinery arm, is successively set on transmission line of electricity before and after three mechanical arms 1,
And along transmission line of electricity walking and barrier on transmission line of electricity can be crossed；Detection means, mechanical arm can be set on mechanical arm
The obstacle detouring inspection work of transmission line of electricity is completed under the cooperation of detection means.By three obstacle detouring mechanical arms according to position in the present invention
Front and back position on transmission line of electricity is named as successively forearm, middle arm and postbrachium.
Movable machine frame includes frame 4, rotating mechanism 3 and reciprocating mechanism 2, and rotating mechanism 3 is arranged in frame 4, on
Lower travel mechanism 2 is arranged on rotating mechanism 3, and mechanical arm 1 is fixedly installed on the top of reciprocating mechanism 2.
Frame 4 is used to fixedly mount mechanical arm 1, rotating mechanism 3 and reciprocating mechanism 2, realizes overall obstacle detouring row
Walk function.Its structure as depicted in figs. 1 and 2, including two symmetrically arranged L-type connecting plates, the top of two L-type connecting plates sets
The support for installing reciprocating mechanism 2 is equipped with, the L-type connecting plate top of support both sides is provided with wing plate.
Rotating mechanism 3 is provided with altogether two sets, does revolve in the horizontal plane for driving mechanical arm 1 and reciprocating mechanism 2
Transhipment is dynamic.Often covering rotating mechanism includes the second servomotor 31, D yielding couplings 32 and swing arm 33；Wherein, swing arm 33
One end is hinged with one end of frame upper fin plate, and the end of swing arm 33 is fixedly connected the support of an installation reciprocating mechanism 2；The
Two servomotors 31 are fixedly installed on the horizontal plate of L-type connecting plate, and the outfan of the second servomotor 31 is by D elasticity shaft couplings
Device 32 connects the middle part of swing arm 33.When rotating mechanism works, the second servomotor drives swing arm to enter by D yielding couplings
Row rotation, realizes the rotary motion of mechanical arm and reciprocating mechanism.
Reciprocating mechanism 2 is provided with altogether three sets, three sets of reciprocating mechanisms 2 be separately positioned on the support of frame 4 and
On the support of rotating mechanism 3, move up and down in vertical direction for driving mechanical arm 1.Often covering reciprocating mechanism 2 includes
Lead screw motor 21, C yielding couplings 22, elevating screw 23 and connecting seat 24；Wherein, lead screw motor 21 is fixedly installed on support
On, lead screw motor 21 is fixedly connected by C yielding couplings 22 with the bottom of elevating screw 23, and connecting seat 24 is arranged on lifting silk
On bar 23；Mechanical arm 1 is fixedly installed on connecting seat 24.When reciprocating mechanism works, lead screw motor is by C elasticity shaft couplings
Device drives elevating screw to rotate, and connecting seat moves linearly on screw mandrel, overall special upper and lower into single control variable
Travel mechanism, elongation or shrink length only have relation with conduction time, speed is 24mm/s, functionally realize handss speed with
The organic unity of elongation.
Mechanical arm 1 is used to completing walking and obstacle detouring operation, its structure as shown in Figures 5 to 7, including mechanical arm support
15, driving walking mechanism 11, skidding mechanism 12, the slide block mechanism of falling ear 13 and palm are provided with mechanical arm support 15
Open-and-close mechanism 14.
Mechanical arm support 15 is used for fixed installation and drives walking mechanism 11, the skidding mechanism 12, slide block mechanism of falling ear
13 and palm open-and-close mechanism 14；Wherein, the bottom of palm open-and-close mechanism 14 is fixedly installed on mechanical arm support 15, is driven
Walking mechanism 11 is arranged on the top of palm open-and-close mechanism 14, and skidding mechanism 12 is arranged on the handss for driving the lower section of walking mechanism 11
The middle part of palm open-and-close mechanism 14, the slide block mechanism of falling ear 13 sets up separately in the both sides of palm open-and-close mechanism 14.The structure realizes whole device
Be accurately positioned, and meet the design concept of compact conformation.
Palm open-and-close mechanism 14 provides the motion opened and close up of mechanical arm based on the slide block mechanism of falling ear, realizes obstacle detouring
Function.Palm open-and-close mechanism 14 includes the first servomotor 141, B yielding couplings 142, slide block 143, drive lead screw 144, a left side
Side palm 145 and right side palm 146；Wherein, the first servomotor 141 is vertically set on mechanical arm support 15, driving wire
The bottom of bar 144 is connected by B yielding couplings 142 with the output shaft of the first servomotor 141, and slide block 143 is arranged on transmission
On screw mandrel 144, left side palm 145 and right side palm 146 are symmetricly set on the left and right two ends of the upper backup pad of slide block 143.Palm is opened
When closing mechanism's work, the first servomotor drives drive lead screw rotation, drive lead screw to promote two palm edges by B yielding couplings
The both sides slide block mechanism of falling ear motion, realizes the opening and closing movement of palm.
The slide block mechanism of falling ear 13 provides accurate movement locus for palm open-and-close mechanism, it is ensured that the accuracy of closure, prevents
Obstacle-surmounting travelling gear along polling transmission line when fall off phenomenon.The slide block mechanism of falling ear 13 includes guide rod and is slidably arranged in lead
Ear on bar；Wherein, guide rod includes being symmetricly set on the structure on two sides identical of palm open-and-close mechanism 14 left side guide rod 131 and the right side
Side guide rod 133, guide rod include being vertically fixed on main part on mechanical arm support 15 and main part top, outward bending and with
The kink of main part arc transition connection, the outer end of kink is perpendicular with main part；Ear falls including a structure identical left side
Ear 132 and right ear 134, one end of ear is equipped with guide rod slip, the other end of ear and left side palm 145 and right side palm
146 are fixedly connected.Both sides are fallen ear and are slided along both sides guide rod respectively, and when palm open-and-close mechanism is opened, the slide block mechanism of falling ear ensures
Its movement locus is accurately and reliably；After palm open-and-close mechanism closes up, the slide block mechanism of falling ear can ensure that obstacle-surmounting travelling gear is not sent out
Raw falling accident.
Walking mechanism 11 is driven to be used to realize the walking function on transmission line of electricity.Walking mechanism 11 is driven to include DC driven
115 and the wheel 114 of right driving half are taken turns in motor 111, A yielding couplings 112, power transmission shaft 113 and the left driving half being oppositely arranged, directly
Stream motor Jing A yielding couplings are fixedly connected with one end of power transmission shaft, and the wheel of left driving half drives partly wheel to arrange with right
On power transmission shaft；The top of the left side palm 145 and right side palm 146 is arranged on the wheel 115 of left driving half and the wheel of right driving half
On 114 power transmission shaft, left side palm 145 and right side palm 146 are connected with power transmission shaft by bearing.Drive walking mechanism work
When, power is provided by direct-drive motor, drive the left driving half on power transmission shaft to take turns and right drive by A yielding couplings
Dynamic half wheel is realized driving walking.
Skidding mechanism 12 provides braking friction, it is ensured that robot being capable of timely, accurate Brake stop.Brake system
Motivation structure 12 includes electromagnetic brake 121, contact roller 122 and spring mechanism 125, and electromagnetic brake 121 is arranged on power transmission shaft end
Hold, contact roller 122 is located at the left lower section for driving and partly taking turns 115 and the wheel 114 of right driving half, spring mechanism 125 is arranged on by support
Transmission line of electricity is pressed on left driving and partly take turns 115 and right drive by contact roller lower section, contact roller 122 in the presence of spring mechanism 125
Between dynamic half wheel 114.In the present invention, travel switch 123 is additionally provided with the mechanical arm support for assembling contact roller, spring is installed
The cantilever tip of mechanism is provided with range sensor 124, for detecting the position of travel switch；The support bottom of spring mechanism is installed
Pressure transducer 126 is provided with end face.Wherein, spring mechanism function has two：When the first drives walking mechanism working condition,
Spring mechanism pressure is combined into driving wheel and is provided with enough driving frictional force with the matching of crusing robot self gravitation；Its two be drive
During dynamic walking mechanism stopped status, spring mechanism is that driving wheel produces braking friction, ensures obstacle-surmounting travelling gear in time, accurately
Stop.
When skidding mechanism works, control realization electromagnetic brake obtains electric and dead electricity simultaneously with direct-drive motor.Directly
When stream motor obtains electric work, electromagnetic brake does not produce braking friction in relaxation state, once direct-drive motor
Power-off shut down, electromagnetic brake can at once in holding state produce braking friction, along with spring mechanism thrust with
The self-locking performance of direct-drive motor coordinates, can be promptly and accurately realize skidding；Secondly, shape is opened in palm open-and-close mechanism
Under state, electromagnetic brake ensures that two drive half wheel not occur voluntarily to rotate with motor self-locking property, and two halves wheel centering is accurate
Really；The braking friction that last spring mechanism is acted on contact roller is also the key for ensureing accurately brake.
Three mechanical arms in the present invention can realize palm open and close movement, vertical direction move up and down, along level
Face rotary motion operation；Rotating mechanism can provide conplane rotary motion, so crusing robot is along transmission line of electricity side
Still keep upwards being rigidly connected, so when one of mechanical arm palm open-and-close mechanism open after could stable position, reality
Existing inspection function along the line.When crusing robot obstacle-surmounting travelling gear runs into barrier needs obstacle detouring, three arms on request according to
It is secondary to clear the jumps, it is always ensured that at least two mechanical arms on transmission line of electricity, treat three arm wholes during obstacle detouring
Cross same barrier and be an obstacle detouring cycle.
The detection means mentioned in the present invention, mainly including multiple travel switches, range sensor, pressure transducer and angle
Degree sensor.Because the obstacle identity on ultra-high-tension power transmission line is various, distribution regularity is changeable, the obstacle such as gold utensil, stockbridge damper
Thing size difference is larger, needs range sensor to carry out on-line measurement, to drive walking mechanism to provide accurately control；Stroke is opened
Close and provide location positioning for skidding mechanism, it is ensured that the slide block mechanism of falling ear is acted on the accurate fit of palm open-and-close mechanism；Pressure
The pressure value of force transducer detection spring mechanism, it is ensured that reciprocating mechanism being accurately positioned in vertical direction；Inspection machine
When people's obstacle detouring walking village needs turning obstacle detouring, angular transducer is used for detecting the anglec of rotation for choosing to install mechanism, is further utilized to
The angle of turn of control machinery arm.
It is an object of the invention to realize carrying out obstacle detouring walking along transmission line of electricity, and then progressively replace manually patrolling along circuit
Inspection.The obstacle-surmounting travelling gear not only can on transmission line of electricity with certain speed even running, and can flexibly it is stable across
Barrier more on transmission line of electricity（Including stockbridge damper, suspension clamp, jumper clamp shaft tower etc.）, and then completed using airborne equipment
Polling transmission line；Contrast manual inspection mode, the efficiency of the present invention is greatly improved, and reduces labour cost, and is entirely set
Standby simple structure, easily operated, convenient processing and manufacture, low cost of manufacture.
The present invention is for when carrying out obstacle detouring on transmission line of electricity, its course of work to be as described below.
First, climb to aerial lift device with insulated arm or manually and obstacle-surmounting travelling gear is installed to into transmission of electricity by way of lifting in transmission tower
On circuit；Then, ground monitoring computer sends start control command, and device body drives row after operation order is received
Mechanism's start-up operation is walked, drives whole device to walk along transmission line of electricity；In walking process, detection means constantly detects preceding object
The situation of thing.
When No. 1 barrier is detected, obstacle-surmounting travelling gear stops walking, is adjusted, and set-up procedure is as follows.
1）All direct-drive motor power-off, skidding mechanism starts at once, and crusing robot obstacle-surmounting travelling gear stops
Car action is completed.
2）Forearm reciprocating mechanism obtains power-off after electric 1s（Forearm is set integrally to move slightly upwards）, connect forearm palm and open
The first servomotor of mechanism is closed, two palms are opened, the slide block mechanism of falling ear is synchronized with the movement with palm open-and-close mechanism, it is ensured that palm
The accuracy of open-and-close mechanism motion, power-off when its folding width is more than spread.
3）The lead screw motor of forearm reciprocating mechanism obtains electric, drives elevating screw to rotate, and connecting seat is in lifting
Move straight up on screw mandrel, built-in travel switch can power themselves down.
4）Middle arm obtains electric with the direct-drive motor of postbrachium, and forearm starts to pass through barrier, treats that range sensor is issued to
After the signal of position（It is different that different barriers send length signals）, middle arm and postbrachium direct-drive motor power-off are also turned on forearm
Reciprocating mechanism, reaches assigned position power-off.
5）Obstacle-surmounting travelling gear judges rotating mechanism direction of rotation and angle, to adapt to the situation of transmission line of electricity turning.
6）First servomotor of forearm palm open-and-close mechanism obtains electric, and left side palm is with right side palm respectively along left side guide rod
Right side guide rod closes up, the power-off after it fully comes together, and now the slide block mechanism of falling ear is by the anti-locking apparatus of squeezing action of two guide rods
Come off, so far complete the obstacle detouring work of forearm；
7）Three direct-drive motors of obstacle-surmounting travelling gear obtain electric, and in walking process, detection means constantly detects preceding object
The situation of thing, after finding No. 1 barrier, middle arm is identical with forearm with the obstacle detouring process of postbrachium.
8）When three arms of obstacle-surmounting travelling gear fully pass over No. 1 barrier, show a complete obstacle detouring cycle
Terminate, three, robot drives walking mechanism motor to obtain electric, proceeds to patrol and examine work.
When running into No. 2, No. 3 ... during barrier, the obstacle detouring process of robot obstacle-surmounting travelling gear and No. 1 barrier obstacle detouring
Process is identical.
Claims (9)
1. transmission line polling robot obstacle-surmounting travelling gear, it is characterised in that：It is successively set on transmission line of electricity including before and after
And can walk along transmission line of electricity and cross three mechanical arms of barrier on transmission line of electricity（1）With for supporting machinery arm
Movable machine frame；The mechanical arm（1）Including the mechanical arm support being fixedly installed on movable machine frame（15）, mechanical arm
Support（15）On be provided with the driving walking mechanism for realizing hoofing part（11）, control stop skidding mechanism（12）, it is anti-
The slide block mechanism of falling ear that anti-avulsion falls（13）And realize the palm open-and-close mechanism of obstacle detouring（14）；Palm open-and-close mechanism（14）Bottom
It is fixedly installed on mechanical arm support（15）On, drive walking mechanism（11）It is arranged on palm open-and-close mechanism（14）Top, brake
Arrestment mechanism（12）It is arranged on driving walking mechanism（11）The palm open-and-close mechanism of lower section（14）Middle part, the slide block mechanism of falling ear（13）
Set up separately in palm open-and-close mechanism（14）Both sides.
2. transmission line polling robot obstacle-surmounting travelling gear according to claim 1, it is characterised in that：The palm is opened
Close mechanism（14）Including the first servomotor（141）, B yielding couplings（142）, slide block（143）, drive lead screw（144）, left side
Palm（145）With right side palm（146）, first servomotor（141）It is vertically set on mechanical arm support（15）On, pass
Dynamic screw mandrel（144）Bottom pass through B yielding couplings（142）With the first servomotor（141）Output shaft connection, slide block
（143）It is arranged on drive lead screw（144）On, left side palm（145）With right side palm（146）It is symmetricly set on slide block（143）On
The left and right two ends of gripper shoe.
3. transmission line polling robot obstacle-surmounting travelling gear according to claim 2, it is characterised in that：The cunning of falling ear
Block mechanism（13）Including guide rod and the ear that falls being slidably arranged on guide rod；The guide rod includes being symmetricly set on palm open-and-close mechanism
（14）Structure on two sides identical left side guide rod（131）With right side guide rod（133）, guide rod include be vertically fixed on mechanical arm support
（15）On main part and main part top, outward bending and the kink that is connected with main part arc transition, kink it is outer
End is perpendicular with main part；The ear includes the left ear of structure identical（132）With right ear（134）, one end of ear with
Guide rod slides and is equipped with, the other end of ear and left side palm（145）With right side palm（146）It is fixedly connected.
4. transmission line polling robot obstacle-surmounting travelling gear according to claim 2, it is characterised in that：It is described to drive row
Walk mechanism（11）Including direct-drive motor（111）, A yielding couplings（112）, power transmission shaft（113）And the left side being oppositely arranged
Half is driven to take turns（115）Half is driven to take turns with right（114）, one end of direct-drive motor Jing A yielding couplings and power transmission shaft is fixed and is connected
Connect, partly wheel is arranged on power transmission shaft for the wheel of left driving half and right driving；The left side palm（145）With right side palm（146）
Top be arranged on and left drive half to take turns（115）Half is driven to take turns with right（114）Power transmission shaft on, left side palm（145）With right side handss
The palm（146）It is connected by bearing with power transmission shaft.
5. transmission line polling robot obstacle-surmounting travelling gear according to claim 4, it is characterised in that：The brake system
Motivation structure（12）Including electromagnetic brake（121）, contact roller（122）And spring mechanism（125）, electromagnetic brake（121）Arrange
In transmission shaft end, contact roller（122）Half is driven to take turns positioned at left（115）Half is driven to take turns with right（114）Lower section, spring mechanism
（125）Contact roller lower section, contact roller are arranged on by support（122）In spring mechanism（125）In the presence of by transmission line of electricity pressure
It is tight to drive half to take turns left（115）Half is driven to take turns with right（114）Between.
6. transmission line polling robot obstacle-surmounting travelling gear according to claim 1, it is characterised in that：The moving machine
Frame includes frame（4）, rotating mechanism（3）And reciprocating mechanism（2）, rotating mechanism（3）It is arranged on frame（4）On, above move down
Motivation structure（2）It is arranged on rotating mechanism（3）On, mechanical arm（1）It is fixedly installed on reciprocating mechanism（2）Top.
7. transmission line polling robot obstacle-surmounting travelling gear according to claim 6, it is characterised in that：The frame
（4）Including two symmetrically arranged L-type connecting plates, the top of two L-type connecting plates is provided with installation reciprocating mechanism（2）'s
Support, the L-type connecting plate top of support both sides is provided with wing plate.
8. transmission line polling robot obstacle-surmounting travelling gear according to claim 7, it is characterised in that：The whirler
Structure（3）Two sets are provided with altogether, and often covering rotating mechanism includes the second servomotor（31）, D yielding couplings（32）And swing arm
（33）；The swing arm（33）One end be hinged with one end of frame upper fin plate, swing arm（33）End be fixedly connected a peace
Dress reciprocating mechanism（2）Support；Second servomotor（31）It is fixedly installed on the horizontal plate of L-type connecting plate, the
Two servomotors（31）Outfan pass through D yielding couplings（32）Connection swing arm（33）Middle part.
9. the transmission line polling robot obstacle-surmounting travelling gear according to claim 7 or 8, it is characterised in that：On described
Lower travel mechanism（2）Three sets are provided with altogether, are separately positioned on frame（4）Support and rotating mechanism（3）Support on, often cover
Reciprocating mechanism（2）Including lead screw motor（21）, C yielding couplings（22）, elevating screw（23）And connecting seat（24）；It is described
Lead screw motor（21）It is fixedly installed on support, lead screw motor（21）By C yielding couplings（22）With elevating screw（23）'s
Bottom is fixedly connected, connecting seat（24）It is arranged on elevating screw（23）On；The mechanical arm（1）It is fixedly installed on connecting seat
（24）On.
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| CN201710139438.1A CN106655006B (en) | 2017-03-10 | 2017-03-10 | Transmission line polling robot obstacle-surmounting travelling gear |
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|---|---|---|---|
| CN201710139438.1A CN106655006B (en) | 2017-03-10 | 2017-03-10 | Transmission line polling robot obstacle-surmounting travelling gear |
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| Publication Number | Publication Date |
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| CN106655006A true CN106655006A (en) | 2017-05-10 |
| CN106655006B CN106655006B (en) | 2018-05-18 |
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| CN107302192A (en) * | 2017-05-11 | 2017-10-27 | 国网江苏省电力公司苏州供电公司 | The transmission line of electricity failure eliminating device of remote control cutting |
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| CN108493832A (en) * | 2018-03-19 | 2018-09-04 | 洛阳理工学院 | A kind of cable car type line inspection device for high-tension bus-bar detection |
| CN109244934B (en) * | 2018-09-18 | 2020-10-16 | 国电南瑞科技股份有限公司 | Ground wire suspension inspection robot |
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| CN109742685A (en) * | 2019-03-19 | 2019-05-10 | 江南大学 | It is snakelike along power transmission line crusing robot obstacle-surmounting travelling gear |
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| CN114029925A (en) * | 2021-11-21 | 2022-02-11 | 北京华能新锐控制技术有限公司 | Explosion-proof type track inspection robot |
| CN114228991A (en) * | 2021-12-24 | 2022-03-25 | 杭州申昊科技股份有限公司 | Transmission line inspection robot based on unmanned aerial vehicle |
| CN114228991B (en) * | 2021-12-24 | 2023-07-04 | 杭州申昊科技股份有限公司 | Unmanned aerial vehicle-based transmission line detection robot |
| CN114362046A (en) * | 2022-01-17 | 2022-04-15 | 广东科凯达智能机器人有限公司 | Obstacle-crossing inspection robot |
| CN114583616A (en) * | 2022-04-18 | 2022-06-03 | 贵州电网有限责任公司 | Walking obstacle crossing mechanism walking obstacle crossing mechanism of ice observation robot for power transmission line |
| CN115366123A (en) * | 2022-08-26 | 2022-11-22 | 国网江苏省电力有限公司苏州供电分公司 | High-voltage transmission line inspection robot and working method thereof |
| CN115366123B (en) * | 2022-08-26 | 2024-02-23 | 国网江苏省电力有限公司苏州供电分公司 | Line inspection robot for high-voltage transmission line and working method thereof |
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