CN101471547B - Mechanism for releasing patrolling robot fault - Google Patents

Abstract

An inspection robot fault releasing mechanism, which belongs to the technical field of mobile robot, comprises a suspension device, a hook, lifting devices, transmission devices, a lifting motor and a line releasing device, wherein the suspension device is suspended on a line, the upper end thereof is connected with a robot walking and clamping mechanism, and the other end is connected with the hook through a revolute pair; the hook is arranged opposite to two hook openings of a draw hook in the lifting device; the hook is connected with the lifting devices when a fault occurs, and one of the lifting devices is connected with the output shaft of the lifting motor through the first transmission device and then connected with the other lifting device through the second transmision device; the line releasing device is connected with the lower end of the suspension device and is provided with safety rope therein so as to release the safety rope when the fault occurs. The robot can be lifted and lowered according to the principle of fixed pulley so as to obviate the risk caused by manually taking the robot. The inspection robot fault releasing mechanism has the advantages of simple structure and wide application range, and can be arranged on inspection robot mechanisms on high-voltage and ultra-high-voltage power lines and telephone lines.

Description

A Fault Release Mechanism for a Line Patrol Robot

technical field

The invention belongs to the technical field of mobile robots, in particular to a fault release mechanism of a line patrol robot.

Background technique

The transmission line is the main artery of the power system, and its stable operation directly affects the reliability of the power system, so a lot of manpower and material resources must be invested in the inspection of the line. At present, the manual inspection method is generally used to inspect the transmission lines, but many research institutions have developed line inspection robots to replace humans to inspect the lines. These line inspection robots can walk along transmission lines or overhead ground wires, and can also cross obstacles on transmission lines. , The robot stops on the transmission line or the overhead ground line, and the ground operators cannot operate it, and the robot cannot automatically go up and down from the line to the ground. Some transmission lines or overhead ground wires do not allow people to work online, and even if a person climbs on a live transmission line, it is very dangerous and prone to safety accidents. Therefore, it should be avoided as much as possible. For the method of getting off the robot, it is necessary to design a fault release mechanism that does not require people to go online when a failure occurs, so that the mobile robot can be released to go off the line.

Contents of the invention

In order to overcome the shortcomings of the above-mentioned inspection robot without an off-line mechanism, when a fault occurs, it cannot automatically go up and down from the line to the ground, and it needs to be taken off the line by a person, which poses a great threat to personal safety. A line patrol robot failure release mechanism that can release the robot from the line without the need for people to go online in case of failure.

The technical solution of the present invention includes a suspension device, a hook, a lifting device, a transmission device, a lifting motor and an off-line device, the suspension device is hung on the line, the upper end is connected with the walking clamping mechanism of the robot, and the lower end is connected with the hook through a rotating pair , the hook and the two hook openings of the pull hook in the lifting device are set opposite to each other in the upper and lower positions. Connected with another lifting device, the offline device is connected to the lower end of the suspension device, and has a built-in releasable rescue rope, which can be released in case of failure.

The suspension device includes a spring, a side plate and a roller. The axis of the roller is installed perpendicular to the line and placed horizontally directly above the line. The two ends of the roller are respectively connected to a side plate through a rotating pair. Between the plates, the side plates are connected with the traveling clamping mechanism through springs. The lifting device includes a drag hook and a bracket, and the drag hook and the bracket are a nut screw pair structure. The first transmission device is composed of a first driven pulley, a first synchronous belt and a driving pulley. The first driven pulley is coaxial with a support in a lifting device, and is installed on the first synchronous belt and the driving pulley. Together, the driving pulley is connected with the output shaft of the lifting motor. The second transmission device is composed of a second driven pulley, a second synchronous belt and a third driven pulley, the second driven pulley is coaxial with the first driven pulley, and is connected to the first driven pulley through the second synchronous belt. Three driven pulleys are installed together, and the third driven pulley is coaxial with the support of another lifting device. The off-line device includes a pulley seat, a fixed pulley, a rescue rope, a rope drum, an open motor and a motor mounting seat, the pulley seat with the fixed pulley is connected to the lower end of the suspension device, one end of the rescue rope is fixed on the box, and the other end The fixed pulley is placed in the rope drum installed at the bottom of the box body, and the cover of the rope drum is connected with the output shaft of the open-tube motor on the motor mounting seat through a nut screw pair.

The present invention has the following advantages:

1. With fault release function. When the line patrol robot breaks down, the invention can lift the claw of the robot from the line to the top of the line, and release the robot off line after rotating at a certain angle, avoiding the danger caused by people getting on the line to take the robot.

2. Light weight. The invention utilizes the principle of fixed pulleys to raise and lower the robot, has a simple structure, and is suitable for field work and off-line requirements.

3. Easy to operate. The invention utilizes the working principle of the fixed pulley and adopts the combination of automatic and manual working methods. Only the ground workers need to pull the rescue rope on the ground to release the robot from the power transmission line without the need for people to go online, and the operation is simple and convenient.

4. Low energy consumption. The fault release mechanism of the present invention has less degrees of freedom, and the number of motors used is also less, thus saving energy.

5. Wide range of applications. The invention can be installed on the inspection robot mechanism of high-voltage and ultra-high-voltage transmission lines and telephone lines, and can make the robot go off-line when failure occurs.

Description of drawings

Fig. 1 is the front view of the present invention.

FIG. 2 is a top view of FIG. 1 .

Fig. 3 is a left side view of Fig. 1 .

Detailed ways

The present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments.

Example:

As shown in Fig. 1, Fig. 2 and Fig. 3, the present invention comprises a suspension device, a hook 4, a lifting device, a transmission device, a lifting motor 11 and an off-line device. The clamping mechanism 7 is connected, and the lower end is connected with the hook 4 through a rotating pair composed of bearings. The hook 4 and the pull hook 5 in the lifting device are arranged oppositely on the upper and lower positions. When a failure occurs, the two ends of the hook 4 are respectively connected to the lifting device connection, one of the lifting devices is connected to the output shaft of the lifting motor 11 through the first transmission device, and connected to the other lifting device through the second transmission device, the offline device is connected to the lower end of the suspension device, and the built-in releasable rescue rope 19, The rescue rope 19 is released in the event of a failure.

The suspension device of this example comprises spring 1, side plate 2 and roller 3, and roller 3 axes are installed perpendicular to circuit 8, and horizontally is placed on the top of circuit 8, and roller 3 two ends pass through the rotating pair that is made up of bearing respectively and One side plate 2 is connected, and the line 8 is sandwiched between the two side plates 2, and the side plate 2 is connected with the traveling clamping mechanism 7 through the spring 1. The lifting device includes a drag hook 5 and a bracket 6, and the drag hook 5 and the bracket 6 are nut screw pair structures, that is, the connecting end of the drag hook 5 and the bracket 6 is a nut structure, and the connecting end of the bracket 6 is a screw structure, so that the drag hook 5 and the bracket 6 can be Relative up and down motion. When a failure occurs, the two pull hooks 5 are respectively connected to the two ends of the hook 4 connected to the lower end of the side plate 2 . The first transmission device is composed of the first driven pulley 9, the first synchronous belt 13 and the driving pulley 10. The first driven pulley 9 is coaxial with the bracket 6 in a lifting device, and the first driven pulley 9 is connected with the driving pulley 13 through the first synchronous belt 13. Pulley 10 is installed together, and driving pulley 10 links to each other with lifting motor 11 output shafts. The second transmission device is composed of a second driven pulley 14, a second synchronous belt 15 and a third driven pulley 16. The second driven pulley 14 is coaxial with the first driven pulley 9, and the second driven pulley 14 is coaxial with the first driven pulley 9. The belt 15 is mounted together with a third driven pulley 16 which is coaxial with the support 6 of another lifting device. The two transmission mechanisms drive the two lifting devices to move synchronously. The off-line device includes a pulley seat 18, a fixed pulley 17, a rescue rope 19, a rope drum 20, an open motor 21 and a motor mounting seat 22. The pulley seat 18 equipped with a fixed pulley 17 is connected to the lower end of the side plate 2, and one end of the rescue rope 19 Fixed on the box body 23, the other end bypasses the fixed pulley 17 and puts it into the rope drum 20 at the bottom of the box body 23. The cover 24 of the rope drum 20 is output by the open-tube motor 21 on the motor mounting base 22 through the nut screw pair. The shaft is connected to control the opening and closing of the cylinder cover 24.

Working principle and working process of the present invention:

When the line patrol robot fault release mechanism of the present invention is working, its bracket 6 and the supporting base 12 of the lifting motor 11 are installed on the robot arm or on the box body 23 . When the line patrol robot is moving and inspecting on the overhead ground line, it suddenly breaks down and stops on the overhead ground line. At this time, the safety protection mechanism of the line patrol robot's claws is opened, and the lifting motor 11 is driven to drive the driving pulley 10 connected to it. Rotate, through the first timing belt 13, the second timing belt 15, the nut screw pair transmission between the bracket 6 and the drag hook 5, the drag hook 5 is driven to move downward, and after the drag hook 5 on both sides is hung on the hook 4, the hook 4, The side plate 2 and the roller 3 move down all the time, so that the roller 3 rides on the overhead ground wire, and the two pull hooks 5 continue to pull the hook 4 to move down, which makes the two claws of the line patrol robot detached from the ground wire, and the box body 23 and the arms are all raised to a certain height, after this, the opener motor 21 is driven, and the rope drum cover 24 is opened by the nut lead screw auxiliary transmission connected with it, so that the rescue rope 19 of storage is dropped, and the ground staff tightens it tightly. Pull it tightly, after the lifting motor 11 drives the two pull hooks 5 through the synchronous transmission belt to release the hook 4, the ground staff will rotate the robot at a certain angle, so that the claws of the line patrol robot deviate directly above the overhead ground wire, and then slowly release the rescue Rope 19 makes the robot slowly fall, and goes off the assembly line safely after falling off the spring 1.

Claims (6)

1. A fault release mechanism for a line patrol robot, characterized in that it includes a suspension device, a hook (4), a lifting device, a transmission device, a lifting motor (11) and an off-line device, and the suspension device is hung on the line (8) , the upper end is connected with the walking clamping mechanism (7) of the robot, the lower end is connected with the hook (4) through the rotating pair, the two hook openings of the hook (4) and the two hook openings of the pull hook (5) in the lifting device are respectively in the upper and lower positions Relatively set, when a failure occurs, the hook (4) is connected with the lifting device, one of the lifting devices is connected with the output shaft of the lifting motor (11) through the first transmission device, and is connected with the other lifting device through the second transmission device, and the lower The line device is connected to the lower end of the suspension device, and has a built-in releasable rescue rope (19), which releases the rescue rope (19) when a failure occurs. 2. According to the fault release mechanism of the line patrol robot according to claim 1, it is characterized in that: the suspension device includes a spring (1), a side plate (2) and a roller (3), and the axis of the roller (3) is perpendicular to the line (8) Installation, placed horizontally directly above the line (8), the two ends of the roller (3) are respectively connected to a side plate (2) through a rotating pair, and the line (8) is sandwiched between the two side plates (2) Between, the side plate (2) is connected with the traveling clamping mechanism (7) through the spring (1). 3. The fault release mechanism of the line patrol robot according to claim 1, characterized in that: the lifting device includes a drag hook (5) and a bracket (6), and the drag hook (5) and the bracket (6) are a nut screw pair structure. 4. According to the said line patrol robot failure release mechanism according to claim 1, it is characterized in that: said first transmission device consists of a first driven pulley (9), a first synchronous belt (13) and a driving pulley (10) Composition, the first driven pulley (9) is coaxial with the bracket (6) in a lifting device, is installed together with the driving pulley (10) through the first synchronous belt (13), and the driving pulley (10) and the lifting Motor (11) output shaft links to each other. 5. According to the described line patrol robot fault release mechanism of claim 1, it is characterized in that: the second transmission device is composed of a second driven pulley (14), a second synchronous belt (15) and a third driven pulley (16) constitutes that the second driven pulley (14) is coaxial with the first driven pulley (9), and is installed together with the third driven pulley (16) through the second synchronous belt (15). Three driven pulleys (16) are coaxial with the support (6) of another lifting device. 6. According to the fault release mechanism of the line patrol robot according to claim 1, it is characterized in that: the offline device includes a pulley seat (18), a fixed pulley (17), a rescue rope (19), a rope drum (20), an opening Drum motor (21) and motor mount (22), the pulley seat (18) that fixed pulley (17) is installed is connected in suspension device lower end, and one end of rescue rope (19) is fixed on the box body (23), and the other end passes through The fixed pulley (17) is placed in the rope drum (20) installed at the bottom of the box body (23), and the cylinder cover (24) of the rope drum (20) passes through the opening of the nut screw pair and the motor mounting seat (22). Motor (21) output shaft links to each other.

Images