CN109659862A - A kind of armful line running gear of ultra-high-tension power transmission line inspection robot - Google Patents
A kind of armful line running gear of ultra-high-tension power transmission line inspection robot Download PDFInfo
- Publication number
- CN109659862A CN109659862A CN201910149296.6A CN201910149296A CN109659862A CN 109659862 A CN109659862 A CN 109659862A CN 201910149296 A CN201910149296 A CN 201910149296A CN 109659862 A CN109659862 A CN 109659862A
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- Prior art keywords
- fixed frame
- ultra
- power transmission
- running gear
- inspection robot
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- 238000007689 inspection Methods 0.000 title claims abstract description 25
- 230000005540 biological transmission Effects 0.000 title claims abstract description 20
- 210000000078 claw Anatomy 0.000 claims abstract description 59
- 230000005611 electricity Effects 0.000 claims abstract description 15
- 210000000707 wrist Anatomy 0.000 claims description 15
- 238000010586 diagram Methods 0.000 description 5
- 239000012211 strain insulator Substances 0.000 description 2
- 208000025274 Lightning injury Diseases 0.000 description 1
- 241000607479 Yersinia pestis Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000000245 forearm Anatomy 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
Classifications
-
- 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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- Manipulator (AREA)
Abstract
Line running gear is embraced the invention discloses a kind of ultra-high-tension power transmission line inspection robot, it includes gondola seat, gondola seat includes the fore-stock and after-poppet being hinged, it is respectively arranged with longitudinal motor on fore-stock and after-poppet, it is contrary on the output shaft of two longitudinal motors and connect respectively with a mechanical arm；The end of mechanical arm is connect with claw device respectively；Claw device includes fixed frame, and driving wheel, position-limited wheel and position-limited claw are respectively arranged on fixed frame, is provided with electric current electricity getting device on the outside of fixed frame.The present invention is able to solve the problem that robot obstacle detouring difficulty is big in the prior art, and structure is simple, high-efficient, highly reliable.
Description
Technical field
The present invention relates to a kind of electric power correlation machine people's technical fields, and in particular to a kind of ultra-high-tension power transmission line line walking machine
People's embraces line running gear.
Background technique
Currently, being the major way of long range transmission & distribution electric power, power circuit using high pressure and super-pressure overhead power line
It is the important component of electric system.Route will not only bear normal mechanical load due to being chronically exposed in natural environment
With the internal pressure of electric load, the extraneous infringement such as filth, lightning stroke, high wind, landslide, depression and bird pest is also suffered.It is above-mentioned because
Element can cause bigger damage to power line, so power line needs often to carry out inspection, have to if any power line damage
It is replaced in time.In order to realize that the autonomous inspection of power line, the research about inspection robot are now increasing；But
Existing inspection robot advances along can only guaranteeing mostly, when encountering obstacle and needing to cross over, it is difficult to required for complete obstacle detouring
Operation.
Summary of the invention
The present invention is directed to above-mentioned deficiency in the prior art, provides one kind and is able to solve inspection robot in the prior art
The ultra-high-tension power transmission line inspection robot of the big problem of obstacle detouring difficulty embraces line running gear.
In order to solve the above technical problems, present invention employs following technical proposals:
Provide a kind of armful line running gear of ultra-high-tension power transmission line inspection robot comprising gondola seat, gondola seat packet
The fore-stock and after-poppet being hinged are included, is respectively arranged with longitudinal motor on fore-stock and after-poppet, two longitudinal motors
It is contrary and connect respectively with a mechanical arm on output shaft；The end of mechanical arm is connect with claw device respectively；Claw dress
It sets including fixed frame, driving wheel, position-limited wheel and position-limited claw is respectively arranged on fixed frame, electric current is provided on the outside of fixed frame and takes electricity
Device.
In above-mentioned technical proposal, it is preferred that be provided with horizontal motor between fore-stock and after-poppet.
In above-mentioned technical proposal, it is preferred that driving wheel is movably set in the middle part of fixed frame.
In above-mentioned technical proposal, it is preferred that mechanical arm top is provided with wrist motor, and wrist motor is connect with fixed frame.
In above-mentioned technical proposal, it is preferred that there are two support wheels for the lower parallel setting of fixed frame.
In above-mentioned technical proposal, it is preferred that be hinged with limit spindle motor on fixed frame side wall, limit the defeated of spindle motor
Shaft is hinged with the end of position-limited claw and position-limited wheel respectively.
In above-mentioned technical proposal, it is preferred that the lower hinge at the middle part of position-limited claw and position-limited wheel and fixed frame side wall.
In above-mentioned technical proposal, it is preferred that it is hinged with a limit spindle motor respectively on the side wall of fixed frame two sides, two
Limit spindle motor is located at the two sides of driving wheel and connect respectively with position-limited claw and position-limited wheel.
In above-mentioned technical proposal, it is preferred that electric current electricity getting device is set on the side for deviateing gondola seat.
In above-mentioned technical proposal, it is preferred that claw device is located at mechanical arm adjacent to the side of gondola seat.
The main beneficial effect for embracing line running gear of above-mentioned ultra-high-tension power transmission line inspection robot provided by the invention exists
In:
The present invention is lighter compared to existing crusing robot by the way that two mechanical arms are arranged on gondola seat, obstacle detouring
Distance is bigger, and it is simple and reliable to cross movement；By the way that driving wheel is arranged on claw device, so as to directly grind most of electricity
Line obstacle simultaneously improves obstacle detouring efficiency；Cooperated by setting position-limited claw, position-limited wheel and driving wheel, when making to grab and clamp electric wire more
It is efficient.
The thickness of practical electric wire changes significantly under line walking state, by the way that support wheel is arranged on fixed frame, with outstanding
Hanging hang structure allows to preferably cooperate with electric wire, provides clamping force, so that big-elevation electric wire is climbed by robot.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention.
Fig. 2 is the structural schematic diagram of claw device.
Fig. 3 is the structural schematic diagram of another angle of claw device.
Fig. 4 is the structural schematic diagram of gondola seat.
Wherein, 1, claw device, 11, fixed frame, 12, driving wheel, 13, wrist motor, 14, support wheel, 15, electric current take electricity
Device, 16, position-limited claw, 161, limit spindle motor, 162, position-limited wheel, 2, mechanical arm, 3, gondola seat, 31, horizontal motor, 32,
Fore-stock, 321, after-poppet, 33, longitudinal motor, 4, electric wire.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings:
As shown in Figure 1, its structural schematic diagram for embracing line running gear for ultra-high-tension power transmission line inspection robot.
The line running gear of embracing of ultra-high-tension power transmission line inspection robot of the invention includes gondola seat 3, as shown in figure 4, hanging
Cabin seat 3 includes the fore-stock 32 and after-poppet 321 being hinged, and is respectively arranged with longitudinal electricity on fore-stock 32 and after-poppet 321
Machine 33, it is contrary on the output shaft of two longitudinal motors 33 and connect respectively with a mechanical arm 2；The end of mechanical arm 2 point
It is not connect with claw device 1, claw device 1 is located at mechanical arm 2 adjacent to the side of gondola seat 3.
It, can be with the heavier gondola of carry to place power supply, computer, the substantially product module such as sensor by the way that gondola seat 3 is arranged
Block is convenient for changing the module gondola of different function, to improve the working efficiency for embracing line apparatus.
As shown in Figures 2 and 3, claw device 1 includes fixed frame 11, and driving wheel 12, limit are respectively arranged on fixed frame 11
162 and position-limited claw 16 are taken turns, the hub motor with the wheel axis connection of driving wheel 12 are provided on fixed frame 11, to drive driving wheel 12
Rotation；The outside of fixed frame 11 is provided with electric current electricity getting device 15；Electric current electricity getting device 15 is set to the side for deviateing gondola seat 3
On face, the steering engine of motor 15 is set to 11 inside of fixed frame.
Preferably, horizontal motor 31 is provided between fore-stock 32 and after-poppet 321.There is wire jumper etc. can not to roll when encountering
It when obstacle, can be worked by horizontal motor 31, deflect fore-stock 32 and after-poppet 321 mutually, to make two mechanical arms 2
Deviate at an angle each other, to facilitate obstacle detouring.
Specifically, the horizontal motor 31 may be disposed on fore-stock 32, and be connect by output shaft with after-poppet 321；
Or horizontal motor 31 is set on after-poppet 321, and is connect by output shaft with fore-stock 32.
Further, driving wheel 12 is movably set in 11 middle part of fixed frame.2 top of mechanical arm is provided with wrist motor 13,
Wrist motor 13 is connect with 11 side wall of fixed frame.The relative angle of mechanical arm 2 and fixed frame 11 is adjusted by wrist motor 13.
Preferably, wrist motor 13 is worm and gear motor, makes robot so as to maximally utilize the torque of motor
Load it is bigger, better conform to the severe operating condition of high-tension bus-bar.
Preferably, wrist motor 13 is identical as the structure of longitudinal motor 33, to provide integrally-built versatility, and mentions
The load of high robot.
There are two support wheels 14 for the lower parallel setting of fixed frame 11；By the way that support wheel 14, benefit are arranged on fixed frame 11
Allow to preferably cooperate with electric wire 4 with suspended structure, clamping force is provided, so that big-elevation electric wire 4 is climbed by robot.
It is hinged with limit spindle motor 161 on 11 side wall of fixed frame, limits the output shaft and position-limited claw 16 of spindle motor 161
It is hinged with the end of position-limited wheel 162；The lower hinge at the middle part of position-limited claw 16 and position-limited wheel 162 and 11 side wall of fixed frame；It is fixed
Hinged with a limit spindle motor 161 respectively on 11 two sides side wall of frame, two limit spindle motors 161 are located at driving wheel
It 12 two sides and is connect respectively with position-limited claw 16 and position-limited wheel 162.
It is worked by limit spindle motor 161, under lever principle effect, makes position-limited claw 16 and position-limited wheel 162 around fixation
The interconnecting piece of frame 11 and position-limited claw 16 and position-limited wheel 162 relatively rotates, to realize the movement for embracing line and release.
Here is the working principle of provided by the present invention armful of line running gear:
In actual operation, it embraces line running gear and is likely encountered three kinds of operating conditions: first is that accessible normal walking；Second is that front
There is obstacle, such as when stockbridge damper, strain insulator folder the small-scale obstacle, does not roll obstacle detouring offline；Third is that there is obstacle in front, such as wire jumper can not
When rolling obstacle, the offline obstacle detouring in obstacle detouring end.
For accessible normal walking: 13 actuation of wrist motor of claw device 1 drives entire mechanism to advance, claw device
1 rotation of limit spindle motor 161 clamps position-limited wheel 162 by electric wire 4 with driving wheel 12, and 1 underhung of claw device is hung
The gravity of cabin seat 3 makes support wheel 14, position-limited wheel 162 and driving wheel 12 tightly be adjacent to electric wire 4 and provide frictional force, at this time position-limited claw
16 are in releasing orientation, and wrist motor 13 and longitudinal motor 33 are locked, keep two mechanical arms 2 angled, In-wheel motor driving
Driving wheel 12 makes inspection robot normal walking.
There is obstacle for front, such as when stockbridge damper, strain insulator folder the small-scale obstacle, is not rolled obstacle detouring offline: being first
1 obstacle detouring of front side claw device.Limit lead screw electricity when inspection robot identification front, which has, to roll obstacle, on claw device 1
The rotation of machine 161 unclamps position-limited wheel 162 and position-limited claw 16, and the steering engine rotation of electric current electricity getting device 15 drives two valve magnetic cores to open,
The In-wheel motor driving driving wheel 12 of claw device 1 drives front side claw device 1 to grind obstacle.
When operating condition is more severe, two limit spindle motors 161 rotation of rear side claw device 1 makes 162 He of position-limited wheel simultaneously
Position-limited claw 16 clamps electric wire 4 to maintain mechanism stable.It is rotatably assorted 1 horizontal movement pressure of front side claw device by wrist motor 13
Cross electric wire.
When work condition environment is preferable, the rotation of limit spindle motor 161 of rear side claw device 1 makes position-limited wheel 162 clamp electricity
Line 4, position-limited claw 16 unclamp, and wrist motor 13 and longitudinal motor 33 are locked, and the hub motor of rear side claw device 1 works make together
Entire robot presses through forward obstacle together.
There is obstacle for front, such as when wire jumper can not roll obstacle, the offline obstacle detouring in obstacle detouring end: being front side claw dress first
Set 1 obstacle detouring.When front, which has, to roll obstacle, the limit spindle motor 161 of front side claw device 1 drives 162 He of position-limited wheel
Position-limited claw 16 is opened, and the steering engine rotation of electric current electricity getting device 15 drives two valve magnetic cores to open, while the limit of rear side claw device 1
Spindle motor 161 rotates, and so that position-limited wheel 162 and position-limited claw 16 is clamped electric wire 4, to maintain mechanism stable.
The rotation of longitudinal motor 33 drives and lifts on two mechanical arms 2, and front side claw device 1 is made to leave electric wire 4, then horizontal electricity
Machine 31 rotates, and makes to leave electric wire 4, wrist motor 13 and longitudinal motor 33 and horizontal motor in 1 horizontal direction of front side claw device
31 continue to link, and after so that front side claw device 1 is surmounted obstacles, then the driving wheel 12 of front side claw device 1 are made to hook electric wire 4, preceding
The limit spindle motor 161 of side claw device 1 drives position-limited wheel 162 and position-limited claw 16 inwardly rotation locking electric wire 4, to complete
Obstacle detouring；The more line mode of rear side claw device 1 is identical with 1 forearm cross-line of front side claw device.
A specific embodiment of the invention is described above, in order to facilitate understanding by those skilled in the art this hair
It is bright, it should be apparent that the present invention is not limited to the ranges of specific embodiment, for those skilled in the art,
As long as various change is in the spirit and scope of the present invention that the attached claims limit and determine, these variations are aobvious and easy
See, all are using the innovation and creation of present inventive concept in the column of protection.
Claims (10)
1. a kind of ultra-high-tension power transmission line inspection robot embraces line running gear, which is characterized in that described including gondola seat (3)
Gondola seat (3) includes the fore-stock (32) and after-poppet (321) being hinged, on the fore-stock (32) and after-poppet (321)
Be respectively arranged with longitudinal motor (33), it is contrary on the output shaft of two longitudinal motors (33) and respectively with a mechanical arm
(2) it connects；The end of mechanical arm (2) is connect with claw device (1) respectively；The claw device (1) includes fixed frame (11), institute
It states and is respectively arranged with driving wheel (12), position-limited wheel (162) and position-limited claw (16) on fixed frame (11), fixed frame is set on the outside of (11)
It is equipped with electric current electricity getting device (15).
2. ultra-high-tension power transmission line inspection robot according to claim 1 embraces line running gear, which is characterized in that described
Horizontal motor (31) are provided between fore-stock (32) and after-poppet (321).
3. ultra-high-tension power transmission line inspection robot according to claim 1 embraces line running gear, which is characterized in that described
Driving wheel (12) is movably set in the middle part of fixed frame (11).
4. ultra-high-tension power transmission line inspection robot according to claim 3 embraces line running gear, which is characterized in that described
Mechanical arm (2) top is provided with wrist motor (13), and wrist motor (13) is connect with fixed frame (11).
5. ultra-high-tension power transmission line inspection robot according to claim 3 embraces line running gear, which is characterized in that described
There are two support wheel (14) for the lower parallel setting of fixed frame (11).
6. ultra-high-tension power transmission line inspection robot according to claim 5 embraces line running gear, which is characterized in that described
Be hinged on fixed frame (11) side wall limit spindle motor (161), it is described limit spindle motor (161) output shaft respectively with limit
The end of position pawl (16) and position-limited wheel (162) is hinged.
7. ultra-high-tension power transmission line inspection robot according to claim 3 embraces line running gear, which is characterized in that described
The lower hinge at the middle part of position-limited claw (16) and position-limited wheel (162) and fixed frame (11) side wall.
8. ultra-high-tension power transmission line inspection robot according to claim 7 embraces line running gear, which is characterized in that described
On the side wall of fixed frame (11) two sides respectively with a limit spindle motor (161) hingedly, two limit spindle motors (161) are respectively
Positioned at driving wheel (12) two sides and connect respectively with position-limited claw (16) and position-limited wheel (162).
9. ultra-high-tension power transmission line inspection robot according to claim 1 embraces line running gear, which is characterized in that described
Electric current electricity getting device (15) is set on the side for deviateing gondola seat (3).
10. ultra-high-tension power transmission line inspection robot according to claim 1 embraces line running gear, which is characterized in that institute
State the side that claw device (1) is located at mechanical arm (2) neighbouring gondola seat (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910149296.6A CN109659862B (en) | 2019-02-28 | 2019-02-28 | Line holding walking device of high-voltage transmission line inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910149296.6A CN109659862B (en) | 2019-02-28 | 2019-02-28 | Line holding walking device of high-voltage transmission line inspection robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109659862A true CN109659862A (en) | 2019-04-19 |
| CN109659862B CN109659862B (en) | 2023-12-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910149296.6A Active CN109659862B (en) | 2019-02-28 | 2019-02-28 | Line holding walking device of high-voltage transmission line inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109659862B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110253592A (en) * | 2019-06-03 | 2019-09-20 | 关辉 | A kind of Intelligent patrol robot of ultra-high-tension power transmission line |
| CN113889910A (en) * | 2021-11-08 | 2022-01-04 | 国网山东省电力公司寿光市供电公司 | Lead driving capable of rapidly crossing obstacles |
| CN114346638A (en) * | 2022-02-16 | 2022-04-15 | 广西腾智投资有限公司 | Automatic installation equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| EP1873535A1 (en) * | 2006-06-29 | 2008-01-02 | ABB Research Ltd | A self-propelled inspection apparatus |
| CN103862456A (en) * | 2012-12-10 | 2014-06-18 | 中国科学院沈阳自动化研究所 | Walking clamping combined structure for inspection robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110253592A (en) * | 2019-06-03 | 2019-09-20 | 关辉 | A kind of Intelligent patrol robot of ultra-high-tension power transmission line |
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| CN114346638A (en) * | 2022-02-16 | 2022-04-15 | 广西腾智投资有限公司 | Automatic installation equipment |
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| Publication number | Publication date |
|---|---|
| CN109659862B (en) | 2023-12-01 |
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