A crawling mechanism for insulator string inspection tasks under multiple working conditions

Abstract

The present invention relates to the technical field of mobile robots, and in particular to a crawling mechanism used for multi-operating-condition insulator string detection tasks. It comprises a main body frame and an upper and lower string opening and closing mechanism, a compliant mechanism and a moving mechanism arranged on the main body frame; wherein the upper and lower string opening and closing mechanism is used to hold the insulator string tightly to realize the upper string and the lower string of the crawling mechanism; the compliant mechanism is located on the inner side of the upper and lower string opening and closing mechanism, and is used to flexibly contact with the edge of the insulator shed; the moving mechanism realizes the movement of the crawling mechanism by clamping the insulator iron cap and resisting the cross section of the insulator shed. The present invention has stable crawling and strong reliability, and can move along the suspended, horizontal and insulator strings with large inclination angles, and at the same time shows strong adaptability to insulator strings with different axes.

Description

Technical Field

[0001] The invention relates to the technical field of mobile robots, and in particular to a crawling mechanism applied to insulator string detection tasks under multiple working conditions. Background Art

[0002] In high-voltage or ultra-high-voltage transmission lines and substations, insulators, as important insulating components, are mainly arranged in strings between transmission lines and transmission towers in a suspended or horizontal state, and some are in a state with a certain tilt angle.

[0003] At present, many research institutions at home and abroad are engaged in the research of insulator string detection robots, and have proposed robots based on crawler-type, wheel-legged and creeping mobile mechanisms, but only a few robots are actually applied in engineering. Based on the crawler-type mobile mechanism, the crawler is in flexible contact with the edge of the insulator string, and has the characteristics of fast movement speed and strong environmental adaptability. However, it is easy to slide, which makes it difficult to walk stably. The resistance or voltage distribution of the insulator can only be detected when the robot body is stable, and there is a problem of low detection efficiency. Based on the wheel-legged mobile mechanism, the robot moves along the insulator string by contacting the insulator shed with the wheel legs. This type of robot has a compact structure, light weight, and a small number of short-circuited insulators. However, it has obvious deficiencies in adaptability and load capacity to the insulator string and poor movement stability, making it difficult to be used for live detection of the insulator string. The creeping mobile mechanism that has been developed relies too much on the gripper to embrace the iron cap of the insulator or to resist the shed of the insulator. Although it can move smoothly along the horizontal and suspended insulator string, if the embrace is loose or the resistance fails, the robot will drop the string. Summary of the invention

[0004] In view of the above problems, the object of the present invention is to provide a crawling mechanism for multi-operating condition insulator string detection tasks. The crawling mechanism has smooth crawling and strong reliability. It can move along suspended, horizontal and insulator strings with a large inclination angle, and at the same time shows strong adaptability to insulator strings with catenary distribution.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A crawling mechanism used for multi-operating-condition insulator string detection tasks comprises a main body frame and an upper and lower string opening and closing mechanism, a compliant mechanism and a moving mechanism arranged on the main body frame; wherein the upper and lower string opening and closing mechanism is used for holding the insulator string tightly, the compliant mechanism is located on the inner side of the upper and lower string opening and closing mechanism, and is used for flexibly contacting with the edge of the insulator string shed; and the moving mechanism is used for crawling along the insulator string.

[0007] The upper and lower string opening and closing mechanism comprises a first embracing arm mechanism, a second embracing arm mechanism, a first embracing rotation joint, an embracing rotation shaft and a second embracing rotation joint, wherein the embracing rotation shaft is arranged on the main body frame; the first embracing arm mechanism and the second embracing arm mechanism are connected to the embracing rotation shaft through the first embracing rotation joint and the second embracing rotation joint respectively, and the first embracing arm mechanism and the second embracing arm mechanism are connected to each other;

[0008] The first embracing arm mechanism and the second embracing arm mechanism are synchronously opened or closed by driving the first embracing rotating joint and the second embracing rotating joint.

[0009] The first embracing arm mechanism includes a first embracing arm and a fourth embracing arm; the second embracing arm mechanism includes a second embracing arm and a third embracing arm;

[0010] The tops of the third embracing arm and the fourth embracing arm are connected as one through a top guide rod assembly I;

[0011] The tops of the first embracing arm and the second embracing arm are connected as a whole through a top guide rod assembly II.

[0012] The top guide rod assembly I comprises a top guide rod I and a top guide rod II arranged in parallel, one end of the top guide rod I and the top guide rod II is fixedly connected to the third embracing arm, and the other end is fixedly connected to the fourth embracing arm;

[0013] The top guide rod assembly II includes a top guide rod III and a top guide rod IV arranged in parallel, one end of the top guide rod III and the top guide rod IV is fixedly connected to the second encircling arm, and the other end is fixedly connected to the first encircling arm.

[0014] The compliant mechanism includes a guide frame, a first movable joint and a second movable joint, wherein two ends of the guide frame are connected to the main body frame through the first movable joint and the second movable joint respectively; the first movable joint and the second movable joint can move in the vertical direction.

[0015] Shock-absorbing springs are provided at the bottoms of the first movable joint and the second movable joint.

[0016] The guide frame includes a connecting rod I, a bottom guide rod I, a connecting rod II and a bottom guide rod II, wherein the bottom guide rod I is arranged in parallel with the bottom guide rod II, and the two ends are fixedly connected by the connecting rod I and the connecting rod II respectively; the connecting rod I and the connecting rod II are respectively connected to the first movable joint and the second movable joint.

[0017] The moving mechanism includes a moving joint, a moving jaw and a fixed jaw, wherein the moving joint and the fixed jaw are arranged on the main body frame; the moving jaw is fixedly connected to the moving joint, and the moving jaw moves with the moving joint, and the movement along the insulator string is achieved by the moving jaw moving alternately close to or away from the fixed jaw.

[0018] The advantages and positive effects of the present invention are:

[0019] 1. The present invention has strong adaptability to insulator strings under different working conditions. The present invention can move along an insulator string that is suspended or horizontal and has a certain tilt angle.

[0020] 2. The present invention has stable movement. The crawling mechanism reduces the structural impact caused by the different circumferences of the insulator string axis during movement through the upper and lower string opening and closing mechanisms, the flexible mechanism embracing the edges of the insulator string sheds, and the buffering effect of the flexible mechanism, and at the same time shows strong adaptability to the insulator string with catenary distribution.

[0021] 3. The invention has high reliability and strong load capacity. The crawling mechanism is different from the traditional creeping crawling structure. The upper and lower series opening and closing mechanism is designed to carry a larger body mass. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 One of the structural schematic diagrams of a crawling mechanism applied to the multi-operating-condition insulator string detection task provided by an embodiment of the present invention;

[0023] Figure 2 A second structural schematic diagram of a crawling mechanism applied to insulator string detection tasks under multiple working conditions provided by an embodiment of the present invention;

[0024] Figure 3 It is a schematic diagram of the initial state of the insulator string crawling and detection operation in one embodiment of the present invention;

[0025] Figure 4 It is a schematic diagram of a first state of an insulator string crawling and detection operation in one embodiment of the present invention;

[0026] Figure 5 It is a schematic diagram of the second state of the insulator string crawling and detection operation in one embodiment of the present invention;

[0027] Figure 6 A schematic structural diagram of a crawling mechanism for detecting insulator strings under multiple operating conditions provided by another embodiment of the present invention.

[0028] In the figure: 1 is an upper and lower string opening and closing mechanism, 1-1 is a first encircling arm, 1-2 is a first encircling rotating joint, 1-3 is an encircling rotating shaft, 1-4 is a second encircling rotating joint, 1-5 is a second encircling arm, 1-6 is a third encircling arm, 1-7 is a top guide rod 1, 1-8 is a top guide rod 2, 1-9 is a top guide rod 3, 1-10 is a top guide rod 4, 1-11 is a fourth encircling arm, 2 is a flexible mechanism, 2-1 is a connecting rod 1, 2-2 is a bottom Guide rod one, 2-3 is connecting rod two, 2-4 is bottom guide rod two, 2-5 is the first moving joint, 2-6 is the second moving joint, 3 is the moving mechanism, 3-1 is the moving joint, 3-2 is the moving detection clamp, 3-2-1 is the right-handed worm, 3-2-2 is the left-handed worm, 3-2-3 is the right-handed worm wheel, 3-2-4 is the left-handed worm wheel, 3-2-5 is the right-handed clamp, 3-2-6 is the left-handed clamp, 3-3 is the fixed detection clamp, and 4 is the main body frame. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0030] like Figure 1 As shown, the present invention provides a crawling mechanism for detecting insulator strings in multiple working conditions, including a main body frame 4 and an upper and lower string opening and closing mechanism 1, a flexible mechanism 2 and a moving mechanism 3 arranged on the main body frame 4; wherein the upper and lower string opening and closing mechanism 1 is used to hold the insulator string tightly to realize the upper and lower strings of the crawling mechanism; the flexible mechanism 2 is located on the inner side of the upper and lower string opening and closing mechanism 1, and is used to flexibly contact with the edge of the insulator shed to improve the adaptability of the crawling mechanism; the moving mechanism 3 realizes the movement of the crawling mechanism and the measurement of the resistance or voltage of the insulator by clamping the insulator iron cap and resisting the cross section of the insulator shed. The present invention has stable crawling and strong reliability, and can move along the suspended, horizontal and insulator strings with large inclination angles, and at the same time shows strong adaptability to insulator strings with different axes.

[0031] like Figure 2 As shown, in the embodiment of the present invention, the upper and lower string opening and closing mechanism 1 includes a first embracing arm mechanism, a second embracing arm mechanism, a first embracing rotating joint 1-2, an embracing rotating shaft 1-3 and a second embracing rotating joint 1-4, wherein the embracing rotating shaft 1-3 is arranged on the main body frame 4; the first embracing arm mechanism and the second embracing arm mechanism are respectively connected to the embracing rotating shaft 1-3 through the first embracing rotating joint 1-2 and the second embracing rotating joint 1-4, and the first embracing arm mechanism and the second embracing arm mechanism are connected to each other; the first embracing arm mechanism and the second embracing arm mechanism are synchronously opened or closed by the driving of the first embracing rotating joint 1-2 and the second embracing rotating joint 1-4, so as to realize the upper and lower strings of the crawling mechanism.

[0032] Specifically, the first encircling arm mechanism includes a first encircling arm 1-1 and a fourth encircling arm 1-11; the second encircling arm mechanism includes a second encircling arm 1-5 and a third encircling arm 1-6; the tops of the third encircling arm 1-6 and the fourth encircling arm 1-11 are connected as a whole through a top guide rod assembly I, and the third encircling arm 1-6 and the fourth encircling arm 1-11 rotate in the same direction; the tops of the first encircling arm 1-1 and the second encircling arm 1-5 are connected as a whole through a top guide rod assembly II, and the first encircling arm 1-1 and the second encircling arm 1-5 rotate synchronously in opposite directions, thereby realizing the opening and closing movement of the upper and lower string opening and closing mechanism 1.

[0033] In this embodiment, the top guide rod assembly I includes top guide rods I1-7 and II1-8 arranged in parallel, one end of the top guide rods I1-7 and II1-8 is fixedly connected to the third embracing arm 1-6, and the other end is fixedly connected to the fourth embracing arm 1-11; the top guide rod assembly II includes top guide rods III1-9 and IV1-10 arranged in parallel, one end of the top guide rods III1-9 and IV1-10 is fixedly connected to the second embracing arm 1-5, and the other end is fixedly connected to the first embracing arm 1-1. When the first embracing arm mechanism and the second embracing arm mechanism hold the insulator string tightly, the top guide rods I1-7, II1-8, III1-9 and IV1-10 are all in contact with the edge of the shed of the insulator string.

[0034] like Figure 2 As shown, in an embodiment of the present invention, the compliance mechanism 2 includes a guide frame, a first movable joint 2-5 and a second movable joint 2-6, wherein both ends of the guide frame are respectively connected to the main body frame 4 through the first movable joint 2-5 and the second movable joint 2-6; the first movable joint 2-5 and the second movable joint 2-6 can move in the vertical direction.

[0035] In an embodiment of the present invention, the guide frame includes a connecting rod Ⅰ2-1, a bottom guide rod Ⅰ2-2, a connecting rod Ⅱ2-3 and a bottom guide rod Ⅱ2-4, wherein the bottom guide rod Ⅰ2-2 is arranged in parallel with the bottom guide rod Ⅱ2-4, and the two ends are fixedly connected by the connecting rod Ⅰ2-1 and the connecting rod Ⅱ2-3 respectively; the connecting rod Ⅰ2-1 and the connecting rod Ⅱ2-3 are respectively connected to the first movable joint 2-5 and the second movable joint 2-6.

[0036] Furthermore, shock-absorbing springs are provided at the bottom of the first movable joint 2-5 and the second movable joint 2-6 for buffering and vibration reduction; when the crawling mechanism moves along the insulator string, after the bottom guide rod I2-2 and the bottom guide rod II2-4 contact the edge of the insulator umbrella skirt, the first movable joint 2-5 and the second movable joint 2-6 conform to the size changes of the umbrella skirt edge.

[0037] like Figure 2As shown, in an embodiment of the present invention, the moving mechanism 3 includes a moving joint 3-1, a moving jaw 3-2 and a fixed jaw 3-3, wherein the moving joint 3-1 and the fixed jaw 3-3 are arranged on the main body frame 4; the moving jaw 3-2 is fixedly connected to the moving joint 3-1, and the moving jaw 3-2 moves with the moving joint 3-1, and the movement along the insulator string is achieved by the moving jaw 3-2 moving towards or away from the fixed jaw 3-3 alternately.

[0038] In this embodiment, the movable clamping jaw 3-2 and the fixed clamping jaw 3-3 can be a single-arm structure, and the opening and closing of the clamping jaws are controlled by the forward and reverse rotation of the motor to achieve contact or separation with the cross section of the insulator shed.

[0039] like Figure 6 As shown, in another embodiment of the present invention, the movable jaw 3-2 and the fixed jaw 3-3 are double-arm structures, and the opening and closing of the two jaws are controlled by the forward and reverse rotation of the motor, and the clamping or release of the insulator iron cap is achieved by the closing or opening of the double-arm structure.

[0040] The present invention can realize the crawling of an insulator string under multiple working conditions, such as suspended, horizontal and with a large tilt angle, and is used for performing insulator detection tasks.

[0041] The working principle of a crawling mechanism applied to the detection task of insulator strings under multiple working conditions provided by an embodiment of the present invention is as follows:

[0042] like Figure 3 As shown, in the initial state of movement, the initial state of the upper string operation of the crawling mechanism, the upper and lower string opening and closing mechanism 1 is closed, and together with the flexible mechanism 2, it embraces the insulator string. The moving jaw 3-2 and the fixed jaw 3-3 in the moving mechanism 3 are both open, and the two are the farthest apart at this time.

[0043] like Figure 4 As shown, in the first movement state, after the moving jaw 3-2 and the fixed jaw 3-3 in the moving mechanism 3 are closed, they are still farthest apart, and the two jaws hold the insulator iron cap tightly.

[0044] like Figure 5 As shown, in the first movement state, the fixed clamp 3-3 is opened and driven by the movable joint 3-1, the fixed clamp 3-3 moves forward to the adjacent insulator iron cap and then closes, at which time the two clamps are closest to each other.

[0045] Next, the moving jaw 3-2 is released and driven in the reverse direction by the moving joint 3-1. The moving jaw 3-2 moves forward to the adjacent insulator cap and then closes. At this time, the crawling mechanism is the same as motion state 1.

[0046] The crawling mechanism of the present invention cyclically transforms between the first motion state and the second motion state to realize the movement of the mechanism along the insulator string. The crawling mechanism embraces the edges of the insulator string sheds through the upper and lower string opening and closing mechanisms and the flexible mechanism, and the buffering effect of the flexible mechanism, thereby reducing the structural impact caused by the misalignment of the insulator string axis during the movement, and at the same time, it has a strong adaptability to the insulator string distributed in the catenary.

[0047] The invention has stable crawling, high reliability and strong load capacity, and can move along suspended, horizontal and insulator strings with large inclination angles, while showing strong adaptability to insulator strings with different axes.

[0048] The above description is only an embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A crawling mechanism applied to insulator string detection tasks under multiple working conditions, characterized in that: It comprises a main body frame (4) and an upper and lower string opening and closing mechanism (1), a flexible mechanism (2) and a moving mechanism (3) arranged on the main body frame (4); wherein the upper and lower string opening and closing mechanism (1) is used to hold the insulator string tightly, and the flexible mechanism (2) is located on the inner side of the upper and lower string opening and closing mechanism (1) and is used to flexibly contact the edge of the insulator string shed; and the moving mechanism (3) is used to crawl along the insulator string; The compliant mechanism (2) comprises a guide frame, a first movable joint (2-5) and a second movable joint (2-6), wherein two ends of the guide frame are respectively connected to the main body frame (4) via the first movable joint (2-5) and the second movable joint (2-6); the first movable joint (2-5) and the second movable joint (2-6) can move in a vertical direction; Shock-absorbing springs are provided at the bottoms of the first movable joint (2-5) and the second movable joint (2-6); The guide frame comprises a connecting rod I (2-1), a bottom guide rod I (2-2), a connecting rod II (2-3) and a bottom guide rod II (2-4), wherein the bottom guide rod I (2-2) and the bottom guide rod II (2-4) are arranged in parallel, and the two ends are fixedly connected by the connecting rod I (2-1) and the connecting rod II (2-3) respectively; the connecting rod I (2-1) and the connecting rod II (2-3) are respectively connected to the first movable joint (2-5) and the second movable joint (2-6).

2. The crawling mechanism applied to the detection task of insulator strings under multiple working conditions according to claim 1 is characterized in that: The upper and lower string opening and closing mechanism (1) comprises a first embracing arm mechanism, a second embracing arm mechanism, a first embracing rotation joint (1-2), an embracing rotation shaft (1-3) and a second embracing rotation joint (1-4), wherein the embracing rotation shaft (1-3) is arranged on the main body frame (4); the first embracing arm mechanism and the second embracing arm mechanism are respectively connected to the embracing rotation shaft (1-3) via the first embracing rotation joint (1-2) and the second embracing rotation joint (1-4), and the first embracing arm mechanism and the second embracing arm mechanism are connected to each other; The first embracing arm mechanism and the second embracing arm mechanism are synchronously opened or closed through the driving of the first embracing rotation joint (1-2) and the second embracing rotation joint (1-4).

3. The crawling mechanism applied to the detection task of insulator strings under multiple working conditions according to claim 2 is characterized in that: The first embracing arm mechanism comprises a first embracing arm (1-1) and a fourth embracing arm (1-11); the second embracing arm mechanism comprises a second embracing arm (1-5) and a third embracing arm (1-6); The tops of the third embracing arm (1-6) and the fourth embracing arm (1-11) are connected as one body via a top guide rod assembly I; The tops of the first embracing arm (1-1) and the second embracing arm (1-5) are connected as a whole via a top guide rod assembly II.

4. The crawling mechanism applied to the detection task of insulator strings under multiple working conditions according to claim 3 is characterized in that: The top guide rod assembly I comprises a top guide rod I (1-7) and a top guide rod II (1-8) arranged in parallel, one end of the top guide rod I (1-7) and the top guide rod II (1-8) being fixedly connected to the third embracing arm (1-6), and the other end of the top guide rod I (1-7) and the top guide rod II (1-8) being fixedly connected to the fourth embracing arm (1-11); The top guide rod assembly II comprises a top guide rod III (1-9) and a top guide rod IV (1-10) which are arranged in parallel, one end of the top guide rod III (1-9) and the top guide rod IV (1-10) being fixedly connected to the second embracing arm (1-5), and the other end of the top guide rod III (1-9) and the top guide rod IV (1-10) being fixedly connected to the first embracing arm (1-1).

5. The crawling mechanism applied to the detection task of insulator strings under multiple working conditions according to claim 1 is characterized in that: The moving mechanism (3) comprises a moving joint (3-1), a moving clamp (3-2) and a fixed clamp (3-3), wherein the moving joint (3-1) and the fixed clamp (3-3) are arranged on a main body frame (4); the moving clamp (3-2) is fixedly connected to the moving joint (3-1), and the moving clamp (3-2) moves following the moving joint (3-1), and the moving clamp (3-2) moves alternately by approaching or moving away from the fixed clamp (3-3), thereby achieving movement along the insulator string.

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