CN102931615A - Implementation device for realizing electric transmission line repairing and maintaining robot - Google Patents
Implementation device for realizing electric transmission line repairing and maintaining robot Download PDFInfo
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- CN102931615A CN102931615A CN2012105058921A CN201210505892A CN102931615A CN 102931615 A CN102931615 A CN 102931615A CN 2012105058921 A CN2012105058921 A CN 2012105058921A CN 201210505892 A CN201210505892 A CN 201210505892A CN 102931615 A CN102931615 A CN 102931615A
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- walking
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Abstract
The invention relates to an electric transmission line repairing and maintaining robot, and particularly relates to an electric transmission line repairing and maintaining robot capable of walking on an electric transmission line by combining mechanical arms with wheels. The electric transmission line repairing and maintaining robot comprises a remote control component (101), a high-definition image monitoring device (102), a robot (103), a remote wireless wideband transmission channel (104) and an online electric component (105), wherein the online electric component (105) is connected with the remote control component (101) and supplies power to the remote control component (101). The electric transmission line repairing and maintaining robot can cross a pole to normally walk on the electric transmission line without transformation by combining the mechanical arms with the wheels.
Description
One, technical field
The present invention relates to a kind of power transmission lines overhauling, maintaining robot, particularly a kind of utilization utilizes power transmission lines overhauling, the maintaining robot that can walk at transmission line of manipulator and wheel combination.
Two, background technology
Patent 200720149079.X the utility model discloses a kind of ground wire patrol checking robot of high voltage power line, and it swashes car partly by line and line hypograph reception control two parts form.Line swashes that car comprises partly that two-wheel both arms hang, walking vehicle body on the synchronously driven line of single motor, be installed in left and right two cameras on the car body, two picture transmitters, wireless duplex communication control circuit, remote control transceiver, battery.The line hypograph receives control section and is made of two-way image receiver, two-way image pick-up card, industrial computer, remote control transceiver.The line car that swashes partly is suspended on the ultra-high-tension power transmission line ground wire, by the two-way camera of installing on it ground wire surface is taken in real time, and the image of taking is transmitted to the line hypograph by the wireless image transmitter receives control section, carry out image demonstration and processing, by wireless mode to the line car part sending controling instruction that swashes, the swash operation of car part of control line.
Three, summary of the invention
The problem that solves:
Replace the staff with robot, hot line job, cleaning, maintenance transmission line, the walking of tower bar can not be crossed by existing robot.
Technical scheme:
Remote parts (101), high-definition image monitors (102), robot (103), long distance wireless wideband transmit passage (104), online power taking parts (105);
Online power taking parts (105) connect Remote parts (101), and online power taking parts (105) provide power supply for Remote parts (101);
Online power taking parts (105) connect high-definition image and monitor (102), and online power taking parts (105) provide power supply for high-definition image monitors (102);
Online power taking parts (105) connect robot (103) charge power supply, and online power taking parts (105) are robot (103) charging;
Online power taking parts (105) connect long distance wireless wideband transmit passage (104), and online power taking parts (105) provide power supply for long distance wireless wideband transmit passage (104).
Long distance wireless wideband transmit passage (104) comprising: 3G, 4G communication module, WiFi communication module, power line communication module;
The 3G module is supported CDMA2000, TD-SCDMA, three kinds of forms of WCDMA;
The 4G module is supported FDD, tdd mode;
As shown in Figure 2, robot interface (201), WiFi module (202), 3G module (203), 4G module (204);
Robot interface (201) connects WiFi module (202); Robot interface (201) connects 3G module (203); Robot interface (201) connects 4G module (204).
Transmission line walking and cross shaft tower and process: the power transmission lines overhauling robot adopts wheel in the transmission line walking, changes the wheel walking into manipulator and cross the tower bar when crossing shaft tower.
Be illustrated in figure 3 as the structure chart of power transmission lines overhauling robot ambulation, 301 are walking wheel 1,302 walking wheels 2,303 are walking wheel 1 and robot connector, and 304 are walking wheel 2 and robot connector, 305 is the transmission line on tower bar the right, 306 is robot, and 307 is shaft tower, and 308 is manipulator 1,309 is that manipulator 2,310 is the transmission line on the tower bar left side;
Walking wheel 1 (301), walking wheel 2 (302), walking wheel 1 and robot connector (303), walking wheel 2 and robot connector (304), the transmission line (305) on tower bar the right, robot (306), shaft tower (307), manipulator 1 (308), manipulator 2 (309), the transmission line (310) on the tower bar left side;
Walking process:
(1) on transmission line, power transmission lines overhauling robot utilization walking wheel 1 (301), walking wheel 2 (302) roll at transmission line and are with mobile robot mobile at transmission line; Different its directions that move of direction of rotation are also different;
When (2) the tower bar is crossed left by the power transmission lines overhauling robot, utilize walking wheel 1 (301), 2 (302) walkings of walking wheel are to close tower bar (307), utilize manipulator 1 (308) to cross the transmission line (310) that the tower bar is caught the tower bar left side, utilize manipulator 1 (308), the power of manipulator 2 (309) allows road wheel 1 (301), walking wheel 2 (302) is higher than the binding post of shaft tower (307), the wheel 1 (301) of will walking, walking wheel 2 (302) moves on the transmission line (310) on the tower bar left side;
(3) decontrol manipulator 1 (308), manipulator 2 (309), holding capacity is re-moved walking wheel 1 (301), walking wheel 2 (302); Manipulator 2 (309) also moves on the transmission line (310) on the tower bar left side, thereby finishes the epicycle walking.
Beneficial effect: utilize manipulator and wheel can need not transformation in conjunction with the solution robot and cross the normally walking on transmission line of tower bar.
Four, description of drawings
Fig. 1 robot system theory of constitution figure;
Fig. 2 wireless communication interface schematic diagram;
Fig. 3 tower bar is crossed over schematic diagram.
Five, embodiment
Below in conjunction with accompanying drawing embodiments of the present invention are described in detail:
Preferred embodiment 1:
System forms: robot, long distance wireless wideband transmit passage, high-definition image monitor, the Remote parts, online power taking parts;
As shown in Figure 1, Remote parts (101), high-definition image monitors (102), robot (103), long distance wireless wideband transmit passage (104), online power taking parts (105);
Online power taking parts (105) connect Remote parts (101), and online power taking parts (105) provide power supply for Remote parts (101);
Online power taking parts (105) connect high-definition image and monitor (102), and online power taking parts (105) provide power supply for high-definition image monitors (102);
Online power taking parts (105) connect robot (103) charge power supply, and online power taking parts (105) are robot (103) charging;
Online power taking parts (105) connect long distance wireless wideband transmit passage (104), and online power taking parts (105) provide power supply for long distance wireless wideband transmit passage (104).Preferred embodiment 2:
Long distance wireless wideband transmit passage (104) comprising: 3G, 4G communication module, WiFi communication module, power line communication module;
The 3G module is supported CDMA2000, TD-SCDMA, three kinds of forms of WCDMA;
The 4G module is supported FDD, tdd mode;
As shown in Figure 2, robot interface (201), WiFi module (202), 3G module (203), 4G module (204);
Robot interface (201) connects WiFi module (202); Robot interface (201) connects 3G module (203); Robot interface (201) connects 4G module (204).Preferred embodiment 3:
Transmission line walking and cross shaft tower and process: the power transmission lines overhauling robot adopts wheel in the transmission line walking, changes the wheel walking into manipulator and cross the tower bar when crossing shaft tower.
Be illustrated in figure 3 as the structure chart of power transmission lines overhauling robot ambulation, 301 are walking wheel 1,302 walking wheels 2,303 are walking wheel 1 and robot connector, and 304 are walking wheel 2 and robot connector, 305 is the transmission line on tower bar the right, 306 is robot, and 307 is shaft tower, and 308 is manipulator 1,309 is that manipulator 2,310 is the transmission line on the tower bar left side;
Walking wheel 1 (301), walking wheel 2 (302), walking wheel 1 and robot connector (303), walking wheel 2 and robot connector (304), the transmission line (305) on tower bar the right, robot (306), shaft tower (307), manipulator 1 (308), manipulator 2 (309), the transmission line (310) on the tower bar left side;
Walking process:
(4) on transmission line, power transmission lines overhauling robot utilization walking wheel 1 (301), walking wheel 2 (302) roll at transmission line and are with mobile robot mobile at transmission line; Different its directions that move of direction of rotation are also different;
When (5) the tower bar is crossed left by the power transmission lines overhauling robot, utilize walking wheel 1 (301), 2 (302) walkings of walking wheel are to close tower bar (307), utilize manipulator 1 (308) to cross the transmission line (310) that the tower bar is caught the tower bar left side, utilize manipulator 1 (308), the power of manipulator 2 (309) allows road wheel 1 (301), walking wheel 2 (302) is higher than the binding post of shaft tower (307), the wheel 1 (301) of will walking, walking wheel 2 (302) moves on the transmission line (310) on the tower bar left side;
(6) decontrol manipulator 1 (308), manipulator 2 (309), holding capacity is re-moved walking wheel 1 (301), walking wheel 2 (302); Manipulator 2 (309) also moves on the transmission line (310) on the tower bar left side, thereby finishes the epicycle walking.
Although by reference to the accompanying drawings embodiments of the present invention are described, those of ordinary skills can make various distortion or modification within the scope of the appended claims, the part in also can the design.
Claims (3)
1. power transmission lines overhauling, maintaining robot implement device is characterized in that:
Remote parts (101), high-definition image monitors (102), robot (103), long distance wireless wideband transmit passage (104), online power taking parts (105);
Online power taking parts (105) connect Remote parts (101), and online power taking parts (105) provide power supply for Remote parts (101);
Online power taking parts (105) connect high-definition image and monitor (102), and online power taking parts (105) provide power supply for high-definition image monitors (102);
Online power taking parts (105) connect robot (103) charge power supply, and online power taking parts (105) are robot (103) charging;
Online power taking parts (105) connect long distance wireless wideband transmit passage (104), and online power taking parts (105) provide power supply for long distance wireless wideband transmit passage (104).
2. power transmission lines overhauling according to claim 1, maintaining robot implement device is characterized in that:
Robot interface (201), WiFi module (202), 3G module (203), 4G module (204);
Robot interface (201) connects WiFi module (202); Robot interface (201) connects 3G module (203); Robot interface (201) connects 4G module (204).
3. power transmission lines overhauling, maintaining robot implement device, comprise: walking wheel 1 (301), walking wheel 2 (302), walking wheel 1 and robot connector (303), walking wheel 2 and robot connector (304), the transmission line (305) on tower bar the right, robot (306), shaft tower (307), manipulator 1 (308), manipulator 2 (309), the transmission line (310) on the tower bar left side; It is characterized in that:
On transmission line, power transmission lines overhauling robot utilization walking wheel 1 (301), walking wheel 2 (302) roll at transmission line and are with mobile robot mobile at transmission line; Different its directions that move of direction of rotation are also different;
When the tower bar is crossed left by the power transmission lines overhauling robot, utilize walking wheel 1 (301), 2 (302) walkings of walking wheel are to close tower bar (307), utilize manipulator 1 (308) to cross the transmission line (310) that the tower bar is caught the tower bar left side, utilize manipulator 1 (308), the power of manipulator 2 (309) allows road wheel 1 (301), walking wheel 2 (302) is higher than the binding post of shaft tower (307), the wheel 1 (301) of will walking, walking wheel 2 (302) moves on the transmission line (310) on the tower bar left side;
Decontrol manipulator 1 (308), manipulator 2 (309), holding capacity is re-moved walking wheel 1 (301), walking wheel 2 (302); Manipulator 2 (309) also moves on the transmission line (310) on the tower bar left side, thereby finishes the epicycle walking.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2012105058921A CN102931615A (en) | 2012-12-03 | 2012-12-03 | Implementation device for realizing electric transmission line repairing and maintaining robot |
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| CN2012105058921A CN102931615A (en) | 2012-12-03 | 2012-12-03 | Implementation device for realizing electric transmission line repairing and maintaining robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105811300A (en) * | 2016-03-18 | 2016-07-27 | 国网山东省电力公司日照供电公司 | Wireless communication-type multifunctional large transmission line maintenance device |
| CN105967115A (en) * | 2016-05-31 | 2016-09-28 | 国网山东省电力公司蓬莱市供电公司 | Automatic remote-control type electric equipment installation and overhaul supporting frame |
| CN109319607A (en) * | 2018-11-29 | 2019-02-12 | 国网上海市电力公司 | A kind of extra-high voltage alternating current-direct current transmission line of electricity Novel maintenance steps on tower power lift |
| CN111037574A (en) * | 2019-12-07 | 2020-04-21 | 国网山东省电力公司日照供电公司 | Interactive robot system for communication station inspection and control method thereof |
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| CN202997421U (en) * | 2012-12-03 | 2013-06-12 | 苏州金纳信息技术有限公司 | A robot tower passing implementing device based on high-definition image monitoring and broadband communication |
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| CN1689769A (en) * | 2004-04-30 | 2005-11-02 | 中国科学院沈阳自动化研究所 | Super-voltage transmission line monitoring and detecting robot mechanism |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105811300A (en) * | 2016-03-18 | 2016-07-27 | 国网山东省电力公司日照供电公司 | Wireless communication-type multifunctional large transmission line maintenance device |
| CN105811300B (en) * | 2016-03-18 | 2018-03-30 | 国网山东省电力公司日照供电公司 | A kind of radio communication type multifunctional large-scale transmission line overhauling device |
| CN105967115A (en) * | 2016-05-31 | 2016-09-28 | 国网山东省电力公司蓬莱市供电公司 | Automatic remote-control type electric equipment installation and overhaul supporting frame |
| CN109319607A (en) * | 2018-11-29 | 2019-02-12 | 国网上海市电力公司 | A kind of extra-high voltage alternating current-direct current transmission line of electricity Novel maintenance steps on tower power lift |
| CN111037574A (en) * | 2019-12-07 | 2020-04-21 | 国网山东省电力公司日照供电公司 | Interactive robot system for communication station inspection and control method thereof |
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Application publication date: 20130213 |