CN211790426U - Power transmission line robot with automatically adjusted posture - Google Patents
Power transmission line robot with automatically adjusted posture Download PDFInfo
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- CN211790426U CN211790426U CN202020428263.3U CN202020428263U CN211790426U CN 211790426 U CN211790426 U CN 211790426U CN 202020428263 U CN202020428263 U CN 202020428263U CN 211790426 U CN211790426 U CN 211790426U
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Abstract
The utility model discloses a transmission line robot of gesture automatic adjustment, belong to electric power and overhaul appurtenance field, including electric cabinet and two walking wheels, the walking wheel is connected with the walking motor, be equipped with walking wheel support on every walking wheel, on two walking wheel supports, at least one installs angle sensor, two walking wheel supports, the below that has at least one is equipped with slewing mechanism, the line is the walking axis between two walking wheels, slewing mechanism's rotation axis is perpendicular with the walking axis, and rotate the horizontal side that the axis is located transmission line, the electric cabinet is connected on slewing mechanism, slewing mechanism includes the rotation motor, the levelness of angle sensor response walking wheel support, the motor rotation is rotated in the control, the focus of rotating the motor drive electric cabinet is close to or keeps away from the power transmission line on the horizontal direction. The utility model has the advantages of can real-time supervision and adjust the balance of transmission line robot to ensure the stability of transmission line robot gesture.
Description
[ technical field ] A method for producing a semiconductor device
The utility model relates to a transmission line robot of automatic adjustment of gesture belongs to electric power and overhauls appurtenance field.
[ background of the invention ]
The power transmission line robot is a special robot which replaces manual work to work on a high-voltage wire and a ground wire, and needs to keep posture balance in the working process, so that the problems of difficult alignment of a working head, deviation, wire disconnection and the like caused by inclination are avoided. The prior art mainly maintains the center of gravity balance by adopting a static adjusting device, namely, the center of gravity of the device is fixed, and the device can maintain the balance only in a standby static state. And the center of gravity of the power transmission line robot can change in real time during walking and obstacle crossing and working processes, so that the posture is influenced. Therefore, a device system is needed to detect the horizontal inclination angle of the robot in real time, adjust the gravity center in time, keep the posture of the whole robot horizontal, and avoid the problems that the robot topples and falls due to unstable gravity center, the working head is misaligned to cause that the bolt cannot be effectively tightened to carry out maintenance work and the like.
The existing power transmission line robot mainly depends on adjusting a structural counterweight to ensure the posture balance of the robot. The gravity center is ensured to be close to the vertical surface of the wire as much as possible through reasonable distribution of a working arm, an executing component, an electric cabinet and the like and a balancing weight, and the gravity center change range is controlled within an allowable range. According to the principle of angular momentum conservation, a built-in gyroscope is added to keep the attitude balance of the robot.
When the robot works on a power transmission line, in the processes of obstacle crossing, foreign matter removal, hardware fitting disassembly and assembly and the like, the positions of the corresponding obstacle avoidance linkage mechanism and the working head can be changed, so that the gravity center of the whole robot is changed in real time. In extreme cases, the position of the center of gravity may shift to a position where the balance of the robot cannot be maintained, which affects the working angle and walking safety of the whole robot. The built-in gyroscope can keep the balance of the robot to a certain extent, but the volume and the weight of the whole system are large, so that the battery endurance of the whole machine and the portability of field work when people go out are influenced.
[ Utility model ] content
The utility model aims to solve the technical problem that overcome prior art not enough and provide a transmission line robot of gesture automatic adjustment, can real-time supervision and adjust transmission line robot's balance to ensure the stability of transmission line robot gesture.
Solve the technical problem, the utility model discloses a following technical scheme:
an electric transmission line robot with automatic posture adjustment comprises an electric cabinet and two traveling wheels, wherein the traveling wheels are used for being hung on an electric transmission line, the walking wheels are connected with walking motors, each walking wheel is provided with a walking wheel bracket, at least one of the two walking wheel brackets is provided with an angle sensor, the lower part of at least one of the two walking wheel brackets is provided with a rotating mechanism, the connecting line between the two walking wheels is a walking axis, the rotating mechanism comprises a rotating central axis, the rotating central axis is vertical to the walking axis, the rotating central axis is positioned at the transverse side of the power transmission line, the electric cabinet is connected on the rotating mechanism, the rotating mechanism comprises a rotating motor, the angle sensor senses the levelness of the travelling wheel bracket, the rotating motor is controlled to rotate, and the center of gravity of the electric cabinet is driven by the rotating motor to be close to or far away from the power transmission line in the horizontal direction.
Adopt the beneficial effects of the utility model:
the utility model provides a transmission line robot, on the execution structure, slewing mechanism's rotation axis and walking axis are not in a vertical plane, and slewing mechanism is an offset for transmission line in other words, because not in a vertical plane, when slewing mechanism drives the electric cabinet and rotates, whole transmission line robot's whole focus can be along with the horizontal rotation of electric cabinet and produce the change to realize the purpose of adjustment transmission line robot gesture.
Meanwhile, the angle sensor used for detecting the balance in real time is arranged on the walking wheel support, and the angle sensor for detecting the balance in real time is matched with the execution structure, so that the aim of adjusting the posture of the power transmission line robot in real time can be fulfilled, and the stability of the power transmission line robot on the power transmission line is better.
Additionally, the utility model discloses in need not additionally dispose the balancing weight, with the electric cabinet on the transmission line robot originally as the counterweight, let slewing mechanism drive the electric cabinet and rotate to realize the focus adjustment, this kind utilizes self indispensable accessory as the counterweight, can avoid additionally increasing the unnecessary load at the transmission line robot, can increase the online duration of transmission line robot like this, this is very important to the transmission line robot.
Preferably, the rotating mechanism comprises a mounting seat, a rotating rod and a base, the mounting seat is mounted on the walking wheel support, the upper end of the rotating rod is rotatably mounted in the mounting seat, the base is arranged at the lower end of the rotating rod, and the electric cabinet is connected to the base.
Preferably, the rotating motor is mounted on the base.
Preferably, a reduction gear set is arranged between the rotating motor and the rotating rod and comprises a driving gear and a transmission gear, the driving gear is connected with the rotating motor, and the transmission gear and the rotating rod rotate synchronously.
Preferably, the base comprises a bottom plate, a horizontally arranged waist-shaped hole is formed in the bottom plate, the length direction of the waist-shaped hole is perpendicular to the walking axis, and the electric cabinet is installed on the bottom plate.
Preferably, the power transmission line robot further comprises a battery pack and an electric control board, and the battery pack and the electric control board are both located in the electric control box.
Preferably, the angle sensor is connected with a wireless communication module, and the angle sensor transmits a trigger signal into the electric cabinet through the wireless communication module.
Preferably, the angle sensor is divided into a first sensor and a second sensor, the first sensor is used for detecting a horizontal angle, the second sensor is used for detecting a horizontal angle of the advancing direction, the first sensor and the second sensor are respectively arranged on the two walking wheel supports, and a connecting rod is connected between the two walking wheel supports.
Preferably, the rotating mechanism is divided into a first rotating mechanism and a second rotating mechanism, the first rotating mechanism and the second rotating mechanism are respectively arranged below the two walking wheel brackets, the first rotating mechanism is used for adjusting transverse balance, and the second rotating mechanism is used for adjusting longitudinal balance.
Preferably, the connecting rod is a columnar rod, and the walking wheel support is provided with an insertion hole for inserting the columnar rod.
These features and advantages of the present invention will be disclosed in more detail in the following detailed description and the accompanying drawings.
[ description of the drawings ]
The invention will be further explained with reference to the drawings:
fig. 1 is a schematic view of a power transmission line hung according to an embodiment of the present invention;
fig. 2 is a schematic view of an embodiment of the present invention in a forward direction;
fig. 3 is a schematic view of the connection between the electric cabinet and the base according to an embodiment of the present invention;
fig. 4 is a block diagram of a working principle of the embodiment of the present invention.
[ detailed description ] embodiments
The technical solutions of the embodiments of the present invention are explained and explained below with reference to the drawings of the embodiments of the present invention, but the embodiments described below are only preferred embodiments of the present invention, and not all embodiments. The embodiments described in the embodiments and other embodiments obtained by those skilled in the art without any inventive work belong to the scope of the present invention.
In the following description, the terms such as "inner", "outer", "upper", "lower", "left", "right", etc., which indicate orientations or positional relationships, are used for convenience in describing embodiments and simplifying description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.
Example one
As shown in fig. 1 to 3, the present embodiment is a power transmission line robot with an automatic posture adjustment function, including an electric control box 4 and two traveling wheels 1, where the traveling wheels 1 are generally V-shaped wheels, the traveling wheels 1 are used to be hung on a power transmission line 10, the traveling wheels 1 are connected to traveling motors 11, the traveling motors 11 drive the traveling wheels 1 to rotate, so as to drive the entire power transmission line robot to travel on the power transmission line 10, each traveling wheel 1 is provided with a traveling wheel support 2, the traveling wheels 1 are rotatably installed on the traveling wheel supports 2, at least one of the two traveling wheel supports 2 is provided with an angle sensor, at least one of the two traveling wheel supports 2 is provided with a rotating mechanism below, a connecting line between the two traveling wheels 1 is a traveling axis X, the rotating mechanism includes a rotating central axis Y, and the rotating central axis, and the rotation central axis Y is positioned at the transverse side of the power transmission line, the electric cabinet 4 is connected to a rotating mechanism, the rotating mechanism comprises a rotating motor 31, the angle sensor senses the levelness of the travelling wheel support 2 and indirectly controls the rotating motor 31 to rotate, and the rotating motor 31 drives the gravity center of the electric cabinet 4 to be close to or far away from the power transmission line in the horizontal direction.
The utility model provides a transmission line robot, structurally at the execution, slewing mechanism's rotation axis Y and walking axis X are not in a vertical plane, as in fig. 2, the vertical plane at rotation axis Y place is A, and the vertical plane at walking axis X place is B, and A and B have the interval on the horizontal direction, and slewing mechanism is an offset for transmission line 10 in other words, because not in a vertical plane, when slewing mechanism drives electric cabinet 4 and rotates, whole transmission line robot's whole focus can be along with electric cabinet 4's horizontal rotation and produce the change to realize the purpose of adjustment transmission line robot gesture.
Meanwhile, an angle sensor for detecting the balance in real time is arranged on the travelling wheel support 2, and the angle sensor for detecting the balance in real time is matched with the execution structure, so that the aim of adjusting the posture of the power transmission line robot in real time can be fulfilled, and the stability of the power transmission line robot on the power transmission line 10 is better.
For the rotating mechanism, the rotating mechanism in this embodiment includes a mounting seat 32, a rotating rod 33 and a base 34, the mounting seat 32 is installed on the walking wheel support 2, the walking wheel support 2 in this embodiment is similar to a U-shaped frame, the walking wheel 1 is rotatably installed in the U-shaped frame, the mounting seat 32 is fixedly installed on the side portion of the U-shaped frame, meanwhile, the top portion of the U-shaped frame is provided with a receiving groove 21, and the angle sensor is located in the receiving groove 21. The upper end of the rotating rod 33 is rotatably installed in the installation seat 32, the base 34 is arranged at the lower end of the rotating rod 33, and the electric cabinet 4 is connected to the base 34.
The rotating motor 31 is installed on the base 34, and meanwhile, in order to slow down the rotating speed of the electric cabinet 4, a reduction gear set is arranged between the rotating motor 31 and the rotating rod 33, the reduction gear set comprises a driving gear 35 and a transmission gear 36, the driving gear 35 is connected with the rotating motor 31, the transmission gear 36 and the rotating rod 33 rotate synchronously, and the transmission gear 36 is fixedly sleeved on the rotating rod 33 in the embodiment.
In other embodiments, the speed reduction mechanism between the rotating motor 31 and the rotating lever 33 is not limited to the speed reduction gear set described above, and may be a belt drive.
As shown in fig. 3, in order to make the adjustment range of the power transmission line robot larger, in this embodiment, the base 34 includes a bottom plate 341, a horizontally disposed slotted hole 3411 is disposed on the bottom plate 341, a length direction of the slotted hole 3411 is perpendicular to the walking axis X, and the electric cabinet 4 is mounted on the bottom plate 341. The waist-shaped hole 3411 is provided to adjust an initial position of the electric cabinet 4 on the bottom plate 341, which substantially adjusts a horizontal initial distance between the center of gravity of the electric cabinet 4 and the vertical plane B on which the walking axis X is located, so as to adjust a maximum limit adjustment range of the center of gravity of the whole electric cabinet 4.
The power transmission line robot in this embodiment further includes a battery pack and an electric control board, and the battery pack and the electric control board are both located in the electric control box 4, so that the accessories are concentrated in the electric control box 4 as much as possible, and the weight proportion of the weight of the electric control box 4 in the whole power transmission line robot is higher, so that the influence on the power transmission line robot when the electric control box 4 is rotated is larger, and the purpose of quick adjustment can be realized.
Because the balance of the power transmission line robot on the power transmission line 10 needs to be considered, not only the horizontal and transverse balance, but also the balance degree in the horizontal and longitudinal directions, where the horizontal and longitudinal directions refer to the horizontal balance degree along the direction of the walking axis X, in order to improve the overall balance degree, in this embodiment, the angle sensor is divided into a first sensor 51 and a second sensor 52, the first sensor 51 is used for detecting the horizontal and horizontal angle, the second sensor 52 is used for detecting the horizontal angle in the advancing direction, the first sensor 51 and the second sensor 52 are respectively arranged on the two walking wheel brackets 2, the connecting rod 22 is connected between the two walking wheel brackets 2, and the data on the two walking wheels 1 are ensured to be relatively kept consistent by using the connecting rod 22.
To the structure of connecting rod 22, connecting rod 22 is the column pole, be equipped with the plug-in mounting hole that supplies column pole plug-in mounting to use on the walking wheel support 2. The connecting rod 22 is set to be a columnar rod, and has good bending resistance in both the horizontal direction and the vertical direction, so that the consistency of angle data on each walking wheel 1 is higher.
Based on two angle sensors, in this embodiment, it is preferable that the rotating mechanism is divided into a first rotating mechanism and a second rotating mechanism, the first rotating mechanism and the second rotating mechanism are respectively arranged below the two walking wheel brackets 2, the first rotating mechanism is used for adjusting the transverse balance, and the second rotating mechanism is used for adjusting the longitudinal balance.
After the design, when the first sensor 51 senses that the horizontal angle generates the deviation, the first signal is triggered to be sent to the control circuit board in the first electric cabinet, the control circuit board drives the first rotating mechanism to rotate, and when the second sensor 52 senses that the vertical horizontal angle generates the deviation, the second signal is triggered to be sent to the control circuit board in the corresponding second electric cabinet, so that the second rotating mechanism is driven to rotate.
Referring to fig. 4, the automatic posture adjustment device of the present embodiment performs the following steps:
s1: after the whole machine is hung on the power transmission line 10, starting up the machine;
s2: the angle sensor is started to work and is used for detecting the horizontal angle of the travelling wheel bracket 2;
s3: if the detected horizontal angle is in the normal range, the execution signal is not triggered, the step of S2 is returned, and if the detected horizontal angle is in the abnormal range, the execution signal is triggered and sent to the electric cabinet 4;
s4: the electric cabinet receives the execution signal and then drives the rotating mechanism to operate, and drives the electric cabinet to rotate so as to adjust the gravity center until the angle sensor detects that the angle is within the normal range.
For the detection time interval of the angle sensor, preferably, the interval of 0.5S or 1S is selected for timing detection, the angle sensor is preferably connected with a wireless communication module, such as a Bluetooth module or a GPS module, and the trigger signal of the angle sensor is transmitted into the electric cabinet through the wireless communication module.
Example two:
the present embodiment is different from the first embodiment in that the angle sensor only detects the horizontal angle in the transverse direction in the present embodiment, because the balance degree in the transverse direction has a relatively large influence on the power transmission line robot, and the balance degree in the longitudinal direction has a relatively small influence on the power transmission line robot.
In this embodiment, the first rotating mechanism and the second rotating mechanism rotate in opposite directions at the same time.
In the present embodiment, there may be only one angle sensor, but there may be two angle sensors, but both angle sensors are used to detect the lateral horizontal angle.
The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and those skilled in the art should understand that the present invention includes but is not limited to the contents described in the drawings and the above specific embodiments. Any modification which does not depart from the functional and structural principles of the present invention is intended to be included within the scope of the claims.
Claims (10)
1. An electric transmission line robot with automatic posture adjustment comprises an electric cabinet and two traveling wheels, the traveling wheels are hung on the electric transmission line and connected with a traveling motor, it is characterized in that each walking wheel is provided with a walking wheel bracket, at least one of the two walking wheel brackets is provided with an angle sensor, the lower part of at least one of the two walking wheel brackets is provided with a rotating mechanism, the connecting line between the two walking wheels is a walking axis, the rotating mechanism comprises a rotating central axis, the rotating central axis is vertical to the walking axis, the rotating central axis is positioned at the transverse side of the power transmission line, the electric cabinet is connected with the rotating mechanism, the rotating mechanism comprises a rotating motor, the angle sensor senses the levelness of the travelling wheel bracket, the rotating motor is controlled to rotate, and the center of gravity of the electric cabinet is driven by the rotating motor to be close to or far away from the power transmission line in the horizontal direction.
2. The power transmission line robot with the automatically adjusted posture according to claim 1, wherein the rotating mechanism comprises a mounting seat, a rotating rod and a base, the mounting seat is mounted on the traveling wheel support, the upper end of the rotating rod is rotatably mounted in the mounting seat, the base is arranged at the lower end of the rotating rod, and the electric cabinet is connected to the base.
3. The automatically attitude-adjusting power transmission line robot according to claim 2, wherein the rotating motor is mounted on a base.
4. The power transmission line robot with the automatically adjusted posture as claimed in claim 3, wherein a reduction gear set is arranged between the rotating motor and the rotating rod, the reduction gear set comprises a driving gear and a transmission gear, the driving gear is connected with the rotating motor, and the transmission gear and the rotating rod rotate synchronously.
5. The power transmission line robot with the automatically adjusted posture according to claim 2, wherein the base comprises a bottom plate, a horizontally arranged waist-shaped hole is formed in the bottom plate, the length direction of the waist-shaped hole is perpendicular to the walking axis, and the electric cabinet is installed on the bottom plate.
6. The power transmission line robot with the automatically adjusted posture according to claim 1, further comprising a battery pack and an electric control board, wherein the battery pack and the electric control board are both located in the electric control box.
7. The power transmission line robot capable of automatically adjusting the posture of claim 6, wherein the angle sensor is connected with a wireless communication module, and the angle sensor transmits a trigger signal into the electric cabinet through the wireless communication module.
8. The power transmission line robot with the automatically adjusted posture according to claim 1, wherein the angle sensor is divided into a first sensor and a second sensor, the first sensor is used for detecting a horizontal angle, the second sensor is used for detecting a horizontal angle of a forward direction, the first sensor and the second sensor are respectively arranged on two walking wheel brackets, and a connecting rod is connected between the two walking wheel brackets.
9. The power transmission line robot with the automatically adjusted posture according to claim 8, wherein the rotating mechanism is divided into a first rotating mechanism and a second rotating mechanism, the electric control boxes respectively comprise a first electric control box and a second electric control box, the first rotating mechanism and the second rotating mechanism are respectively arranged below the two walking wheel brackets, the first rotating mechanism is used for adjusting the transverse balance, and the second rotating mechanism is used for adjusting the longitudinal balance.
10. The power transmission line robot with the automatically adjusted posture of claim 8, wherein the connecting rod is a columnar rod, and the traveling wheel support is provided with an insertion hole for inserting the columnar rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202020428263.3U CN211790426U (en) | 2020-03-27 | 2020-03-27 | Power transmission line robot with automatically adjusted posture |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020428263.3U CN211790426U (en) | 2020-03-27 | 2020-03-27 | Power transmission line robot with automatically adjusted posture |
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| CN211790426U true CN211790426U (en) | 2020-10-27 |
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| CN202020428263.3U Active CN211790426U (en) | 2020-03-27 | 2020-03-27 | Power transmission line robot with automatically adjusted posture |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115946789A (en) * | 2022-12-12 | 2023-04-11 | 安徽工业大学 | Wheeled magnetic adsorption wall-climbing robot |
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2020
- 2020-03-27 CN CN202020428263.3U patent/CN211790426U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115946789A (en) * | 2022-12-12 | 2023-04-11 | 安徽工业大学 | Wheeled magnetic adsorption wall-climbing robot |
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