CN100367042C - High voltage electric transmission line automatic survey inspection robot monobody - Google Patents

High voltage electric transmission line automatic survey inspection robot monobody Download PDF

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Publication number
CN100367042C
CN100367042C CNB2003101183020A CN200310118302A CN100367042C CN 100367042 C CN100367042 C CN 100367042C CN B2003101183020 A CNB2003101183020 A CN B2003101183020A CN 200310118302 A CN200310118302 A CN 200310118302A CN 100367042 C CN100367042 C CN 100367042C
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CN
China
Prior art keywords
lifting
motor
actuating arm
transmission line
casing
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CNB2003101183020A
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Chinese (zh)
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CN1619323A (en
Inventor
梁自泽
谭民
熊晓明
李恩
景奉水
徐德
周凤余
王吉岱
叶文波
练波
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中国科学院自动化研究所
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Priority to CNB2003101183020A priority Critical patent/CN100367042C/en
Publication of CN1619323A publication Critical patent/CN1619323A/en
Application granted granted Critical
Publication of CN100367042C publication Critical patent/CN100367042C/en

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Abstract

The present invention relates to the technical field of robots, which relates to a 110kv high-tension electric transmission line automatic patrol robot monomer. The high-tension electric transmission line automatic patrol robot monomer of the present invention is composed of a protective cover, a drive arm, a drive arm jacking motor, a small arm and a small arm jacking motor, wherein the drive arm comprises a drive wheel, a live axle, a synchronous belt, synchronous pulleys, a main motor, the output shaft of the main motor, a switching motor, a switching screw arbor, etc.; the drive wheel is driven by the main motor, which can cause the patrol robot monomer to walk on the transmission line; a switching mechanism is controlled by the switching motor, which can determine attachment or evacuation between the drive wheel and the transmission line; the small arm is provided with a supporting wheel and a joint bearing, the curvature of a supporting wheel groove is larger and contacts the transmission line in a point mode, which is favorable for the self regulation of a supporting wheel attitude by the joint bearing. The present invention can realize the functions of walking on the transmission lines steadily, crossing obstacles, braking sharply, etc., which can replace manual polling in the high-tension transmission line.

Description

The high voltage transmission line automatic polling robot monomer

Technical field

The present invention relates to the Robotics field, relate to the body part of 110kv high voltage transmission line automatic polling robot, be meant a monomer in the whole body part especially.

Background technology

Transmission line of electricity is the main artery of electric system, and its safe and stable operation directly has influence on the reliability of electric system, must drop into the work of patrolling and examining that lot of manpower and material resources removes to carry out circuit.Generally adopt the manual inspection method to patrol and examine at present, not only workload is big, dangerous high, and a lot of dangerous places detect less than, cause certain hidden danger.For this reason, be necessary to develop a kind of automatic polling robot for transmission lines that can replace manual inspection,, improve working efficiency, reach and guarantee the transmission line of electricity purpose of safe operation in the hope of reaching the workload that alleviates polling transmission line.

Summary of the invention

The body that the purpose of this invention is to provide a kind of 110kv automatic polling robot for transmission lines, replace the human work of patrolling and examining of transmission line of electricity of carrying out, not only can alleviate the workload of polling transmission line, can also improve working efficiency and precision, reach and guarantee the transmission line of electricity purpose of safe operation.

For achieving the above object, technical solution of the present invention is:

A kind of 110kv automatic polling robot for transmission lines monomer is provided, and it comprises:

One driving wheel, the center section of this driving wheel thickness direction is slotted along whole circumference;

One back protective cover, this protective cover and preceding protective cover constitute the casing of a sealing, and driving wheel, main motor and main motor transmission part and folding motor transmission part are encapsulated;

One back folding arm, this back folding arm top right-hand member and external conical sleeve are connected, and main motor and folding motor pass this back folding arm by upper and lower two positions level, and the bottom of back folding arm and actuating arm lifting supporting seat are connected; In the middle of this external conical sleeve is the concave cone face, end flat;

One inner conical drogue, the whole skew back face of this inner conical drogue is the conical surface, and its tapering and external conical sleeve are consistent, and its right-hand member is connected with live axle;

Two synchronous pulleys, the synchronous pulley of top links to each other with live axle, and the synchronous pulley of below links to each other with main motor output shaft, and two synchronous pulleys are by band is continuous synchronously;

Folding arm before one is connected with the right bearing seat of driving wheel, main motor bearing, trapezoidal nut seat from top to bottom successively, and trapezoidal nut seat and trapezoidal nut are connected, trapezoidal nut and folding screw engages;

One main motor, this main motor left end links to each other with back folding arm, and center fixed is on preceding folding arm, and right-hand member links to each other with synchronous pulley;

One folding motor, this folding motor left end links to each other with back folding arm, and right-hand member links to each other with the folding screw rod, and is fixed on the actuating arm lifting supporting seat;

One actuating arm lifting motor, this lifting motor is fixed on the base plate;

One actuating arm lifting screw, this screw rod one end links to each other with actuating arm lifting back up pad, and the other end links to each other with the motor output shaft of actuating arm lifting motor;

Two actuating arm guide poles, this guide pole one end links to each other with actuating arm lifting back up pad, and the other end links to each other with base plate;

One actuating arm lifting supporting seat, this supporting seat is a casing, upper end and folding motor and running part thereof are connected, and actuating arm lifting back up pad, actuating arm lifting screw and actuating arm guide pole are housed in the casing; Casing lower ending opening, but actuating arm lifting screw and the rise and fall of actuating arm guide pole;

One forearm lifting motor, this lifting motor is fixed on the base plate, and its motor output shaft links to each other with the forearm lifting screw;

One base plate, this base plate are fixed in the lifting motor casing;

One lifting motor casing is equipped with actuating arm lifting motor, forearm lifting motor, base plate, actuating arm lifting supporting seat, forearm lifting supporting seat in this lifting motor casing; Lifting motor casing upper end open, but actuating arm lifting supporting seat and the rise and fall of forearm lifting supporting seat;

One forearm lifting supporting seat, this supporting seat is a casing, the upper end links to each other by oscillating bearing with the support wheel supporting plate, and forearm lifting back up pad, forearm lifting screw and forearm guide pole are housed in the casing; Casing lower ending opening, but forearm lifting screw and the rise and fall of forearm guide pole;

One oscillating bearing, this oscillating bearing are fixed on the support wheel supporting plate, and the lower end links to each other with forearm lifting supporting seat;

One support wheel supporting plate is an inverted triangle frame shape, and this supporting plate supports two support wheel covers; The support wheel cover is a pair of jacket casing, and jacket casing is a hollow cylinder, and little jacket casing places in the big jacket casing, and two jacket casings are totally one central shaft, and are movable relatively; Respectively be provided with a spring in two support wheel covers, this spring is fixed on bottom in the big jacket casing, spring upper end and outside moving contact the in little jacket casing bottom;

Two support wheels put respectively a support wheel, and the center section of this support wheel thickness direction is slotted along whole circumference.

Described high voltage transmission line automatic polling robot monomer, the groove of its described driving wheel, 2 times of its degree of depth 〉=power transmission line diameter can guarantee well that like this driving wheel contacts with the face of power transmission line.

Described high voltage transmission line automatic polling robot monomer, the groove of opening on its described support wheel, 2.5 times of its diameter 〉=power transmission line diameter, support wheel contacts with the power transmission line holding point, helps the self-regulation of oscillating bearing to the support wheel attitude like this.

Described high voltage transmission line automatic polling machine is gone into monomer, and its described base plate is a T shape, and three ends and lifting motor casing are connected; The left end transverse row of T shape is shown forearm guide pole and forearm lifting screw, and the right-hand member vertical with left end vertically is arranged with actuating arm lifting screw and actuating arm guide pole.

Described high voltage transmission line automatic polling robot monomer, its described semi arch, its diameter are the diameter of power transmission line.

Automatic crusing robot monomer of the present invention can be implemented in the function of stabilized walking on the power transmission line, across obstacle, emergency brake, has replaced the manual inspection ultra-high-tension power transmission line.

Description of drawings

Fig. 1 is the front view of the structural representation of 110kv automatic polling robot for transmission lines monomer of the present invention;

Fig. 2 is the left view of Fig. 1.

Embodiment

At first see also Fig. 1, Fig. 2, a monomer of 110kv automatic polling robot for transmission lines of the present invention comprises:

One driving wheel 2, the center section of this driving wheel thickness direction is slotted along whole circumference, is used to embrace power transmission line 1.The semi arch that its section is the diameter of power transmission line by three diameters is formed by connecting.The degree of depth of groove is bigger, is about as much as 2 times of power transmission line diameter, can guarantee well that like this driving wheel 2 contacts with the face of power transmission line 1.

One back protective cover 3, this protective cover 3 and preceding protective cover 9 constitute the casing of a sealing, and the running part of driving wheel 2, main motor 12 and running part thereof and folding motor 18 is encapsulated, and playing effect dustproof and insulation.

One back folding arm 4, these back folding arm 4 top right-hand members and external conical sleeve 5 usefulness screws are connected, and main motor 12 and folding motor 18 pass this back folding arm 4 by upper and lower two positions level, and the bottom of back folding arm 4 is connected with screw and actuating arm lifting supporting seat 20.

One external conical sleeve 5, this external conical sleeve 5 is connected external conical sleeve 5 middle cones, end flat with back folding arm 4 usefulness screws.

One inner conical drogue 6, these inner conical drogue 6 whole sides are the conical surface, its tapering and external conical sleeve 5 are consistent.Its right-hand member is connected with live axle 7.

Two synchronous pulleys 8 (the synchronous pulley 8a of lower end does not mark among the figure), the synchronous pulley 8 of top links to each other with live axle 7, and the synchronous pulley 8a of below links to each other with main motor output shaft 13, and two synchronous pulleys 8,8a are by being with 10 to link to each other synchronously.

Protective cover 9 before one is as described in the protective cover 3 of back.

Folding arm 11 before one is connected with the right bearing seat (not marking among the figure) of driving wheel, main motor bearing 14, trapezoidal nut seat 15 from top to bottom successively.Trapezoidal nut seat 15 is connected with trapezoidal nut 17, trapezoidal nut 17 and 16 engagements of folding screw rod.

One main motor 12, these main motor 12 left ends link to each other with back folding arm 4, and center fixed is on preceding folding arm 11, and right-hand member links to each other with below synchronous pulley 8a.

One folding motor 18, these folding motor 18 left ends link to each other with back folding arm 4, and right-hand member links to each other with folding screw rod 16, and is fixed on the actuating arm lifting supporting seat 20.

One actuating arm lifting motor 23, this lifting motor 23 is fixed on the base plate 25, and its motor output shaft links to each other with actuating arm lifting screw 22.

One actuating arm lifting screw 22, these screw rod 22 1 ends link to each other with actuating arm lifting back up pad 19, and the other end links to each other with the motor output shaft of actuating arm lifting motor 23.

Two actuating arm guide poles 21, these guide pole 21 1 ends link to each other with actuating arm lifting back up pad 19, and the other end links to each other with base plate 25.

One actuating arm lifting supporting seat 20, this supporting seat 20 is a casing, upper end and folding motor 18 and running part thereof are connected, and in actuating arm lifting supporting seat 20 casings actuating arm lifting back up pad 19, actuating arm lifting screw 22 and actuating arm guide pole 21 are housed.Actuating arm lifting supporting seat 20 casing lower ending openings, but actuating arm lifting screw 22 and 21 rise and fall of actuating arm guide pole.

One forearm lifting motor 24, this lifting motor 24 is fixed on the base plate 25, and its motor output shaft links to each other with forearm lifting screw 26.

One base plate 25, this base plate 25 is fixed in the lifting motor casing 28, is T shape.The left end transverse row of this T shape is shown forearm guide pole 27 and forearm lifting screw 26, and the right-hand member vertical with left end vertically is arranged with actuating arm lifting screw 22 and actuating arm guide pole 21.

One lifting motor casing 28 is positioned at bottom, and actuating arm lifting motor 23, forearm lifting motor 24, base plate 25, actuating arm lifting supporting seat 20, forearm lifting supporting seat 30 are housed in this lifting motor casing 28.Lifting motor casing 28 upper end open, but actuating arm lifting supporting seat 20 and 30 rise and fall of forearm lifting supporting seat.

One forearm lifting supporting seat 30, this supporting seat 30 is a casing, the upper end links to each other by oscillating bearing 31 with support wheel supporting plate 33, in forearm lifting supporting seat 30 casings forearm lifting back up pad 29, forearm lifting screw 26 and forearm guide pole 27 is housed.Forearm lifting supporting seat 30 casing lower ending openings, but forearm lifting screw 26 and 27 rise and fall of forearm guide pole.

One oscillating bearing 31, this oscillating bearing 31 is fixed on the support wheel supporting plate 33, and the lower end links to each other with forearm lifting supporting seat 30.

One support wheel supporting plate 33 is inverted triangle frame shape, and a support wheel cover 34 is respectively supported at these supporting plate 33 two ends, and support wheel cover 34 is provided with support wheel 35.

One support wheel cover 34, this support wheel cover 34 is a pair of jacket casing, two covers are hollow cylinder.Above hollow hole diameter in cover be 16 millimeters, overall diameter is 30 millimeters.Below hollow hole diameter in cover be 30 millimeters, overall diameter is 38 millimeters.Two covers can be movable relatively.

Two springs 32, this spring 32 are separately fixed at that overall diameter is 38 millimeters putting in the support wheel cover 34.

Two support wheels 35, this support wheel 35 is similar to driving wheel 2 shapes.The diameter of the groove of support wheel is 50 millimeters, greater than the diameter of power transmission line.Support wheel 35 contacts with power transmission line 1 holding point, helps the self-regulation of support wheel 35 attitudes like this.

The course of work of the present invention is:

When main motor 12 drives, be with 10 transmissions synchronously, drive driving wheel 2 rotations, rely on the friction between driving wheel 2 and the power transmission line 1, drive monomer and on power transmission line 1, walk.

When folding motor 18 drives, 16 transmissions of folding screw rod, folding arm 11 move left and right before driving.Because preceding folding arm 11 is connected with inner conical drogue 6, driving wheel right bearing seat (not marking among the figure), main motor bearing 14 and trapezoidal nut seat 15, so they and running part thereof constitute an integral part.When current folding arm 11 moved right, drive inner conical drogue 6 moved right with the integral part on the right side, separates certain distance up to inner conical drogue 6 and external conical sleeve 5; When current folding arm 11 was moved to the left, inner conical drogue 6 was moved to the left with the integral part on the right side, held into an integral body tightly up to inner conical drogue 6 and external conical sleeve 5.Like this with regard to may command driving wheel 2 grasping power transmission line whether.

As shown in Figure 2, driving wheel 2, live axle 7, be with 10 synchronously, synchronous pulley 8 and 8a, main motor 12, main motor output shaft 13, folding motor 18, folding screw rod 16, actuating arm lifting screw 22, actuating arm guide pole 21 and actuating arm lifting supporting seat 20 constituted an interlinked mechanism, is referred to as actuating arm.When actuating arm lifting motor 23 drove, 22 transmissions of actuating arm lifting screw drove actuating arm and do elevating movement.

As shown in Figure 1, support wheel 35, support wheel supporting plate 33, forearm lifting screw 26, forearm guide pole 27 and forearm lifting supporting seat 30 have also constituted an interlinked mechanism, are referred to as forearm.When forearm lifting motor 24 drives,, drive forearm and do elevating movement by 26 transmissions of forearm lifting screw.

When running into emergency condition, when needing brake, forearm rises, thereby support wheel 35 is upwards pushed up, and produces a friction force for power transmission line 1.When friction force is enough big, just can make whole monomer stop motion, reach the purpose of braking.This moment, spring 32 was upwarded pressure, and became compressive state from state of nature.In the support wheel cover 34, the cover that the diameter that is connected with spring 32 the is big little cover of top diameter that makes progress is to guarantee that support wheel 35 can compress power transmission line 1.

Oscillating bearing 31 plays to regulate automatically support wheel 35, driving wheel 2 attitudes.When two support wheels 35 were not pushed down power transmission line for a certain reason fully, among a small circle, oscillating bearing 31 can be adjusted the position of support wheel 35 automatically under the effect of gravity, made driving wheel 2 and two support wheels 35 compress power transmission line.

Claims (4)

1. a high voltage transmission line automatic polling robot monomer is characterized in that, comprising:
One driving wheel, the center section of this driving wheel thickness direction is slotted along whole circumference;
One back protective cover, this protective cover and preceding protective cover constitute the casing of a sealing, and driving wheel, main motor and main motor transmission part and folding motor transmission part are encapsulated;
One back folding arm, this back folding arm top right-hand member and external conical sleeve are connected, and main motor and folding motor pass this back folding arm by upper and lower two positions level, and the bottom of back folding arm and actuating arm lifting supporting seat are connected; In the middle of this external conical sleeve is the concave cone face, end flat;
One inner conical drogue, the whole skew back face of this inner conical drogue is the conical surface, and its tapering and external conical sleeve are consistent, and its right-hand member is connected with live axle;
Two synchronous pulleys, the synchronous pulley of top links to each other with live axle, and the synchronous pulley of below links to each other with main motor output shaft, and two synchronous pulleys are by band is continuous synchronously;
Folding arm before one is connected with the right bearing seat of driving wheel, main motor bearing, trapezoidal nut seat from top to bottom successively, and trapezoidal nut seat and trapezoidal nut are connected, trapezoidal nut and folding screw engages;
One main motor, this main motor left end links to each other with back folding arm, and center fixed is on preceding folding arm, and right-hand member links to each other with synchronous pulley;
One folding motor, this folding motor left end links to each other with back folding arm, and right-hand member links to each other with the folding screw rod, and is fixed on the actuating arm lifting supporting seat;
One actuating arm lifting motor, this lifting motor is fixed on the base plate;
One actuating arm lifting screw, this screw rod one end links to each other with actuating arm lifting back up pad, and the other end links to each other with the motor output shaft of actuating arm lifting motor;
Two actuating arm guide poles, this guide pole one end links to each other with actuating arm lifting back up pad, and the other end links to each other with base plate;
One actuating arm lifting supporting seat, this supporting seat is a casing, upper end and folding motor and running part thereof are connected, and actuating arm lifting back up pad, actuating arm lifting screw and actuating arm guide pole are housed in the casing; Casing lower ending opening, but actuating arm lifting screw and the rise and fall of actuating arm guide pole;
One forearm lifting motor, this lifting motor is fixed on the base plate, and its motor output shaft links to each other with the forearm lifting screw;
One base plate, this base plate are fixed in the lifting motor casing;
One lifting motor casing is equipped with actuating arm lifting motor, forearm lifting motor, base plate, actuating arm lifting supporting seat, forearm lifting supporting seat in this lifting motor casing; Lifting motor casing upper end open, but actuating arm lifting supporting seat and the rise and fall of forearm lifting supporting seat;
One forearm lifting supporting seat, this supporting seat is a casing, the upper end links to each other by oscillating bearing with the support wheel supporting plate, and forearm lifting back up pad, forearm lifting screw and forearm guide pole are housed in the casing; Casing lower ending opening, but forearm lifting screw and the rise and fall of forearm guide pole;
One oscillating bearing, this oscillating bearing are fixed on the support wheel supporting plate, and the lower end links to each other with forearm lifting supporting seat;
One support wheel supporting plate is an inverted triangle frame shape, and this supporting plate supports two support wheel covers; The support wheel cover is a pair of jacket casing, and jacket casing is a hollow cylinder, and little jacket casing places in the big jacket casing, and two jacket casings are totally one central shaft, and are movable relatively; Respectively be provided with a spring in two support wheel covers, this spring is fixed on bottom in the big jacket casing, spring upper end and outside moving contact the in little jacket casing bottom;
Two support wheels put respectively a support wheel, and the center section of this support wheel thickness direction is slotted along whole circumference.
2. high voltage transmission line automatic polling robot monomer as claimed in claim 1 is characterized in that, the groove of described driving wheel, and 2 times of its degree of depth 〉=power transmission line diameter can guarantee well that like this driving wheel contacts with the face of power transmission line.
3. high voltage transmission line automatic polling robot monomer as claimed in claim 1, it is characterized in that the groove of opening on the described support wheel, 2.5 times of its diameter 〉=power transmission line diameter, support wheel contacts with the power transmission line holding point, helps the self-regulation of oscillating bearing to the support wheel attitude like this.
4. high voltage transmission line automatic polling robot monomer as claimed in claim 1 is characterized in that, described base plate is a T shape, and three ends and lifting motor casing are connected; The left end transverse row of T shape is shown forearm guide pole and forearm lifting screw, and the right-hand member vertical with left end vertically is arranged with actuating arm lifting screw and actuating arm guide pole.
CNB2003101183020A 2003-11-18 2003-11-18 High voltage electric transmission line automatic survey inspection robot monobody CN100367042C (en)

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Application Number Priority Date Filing Date Title
CNB2003101183020A CN100367042C (en) 2003-11-18 2003-11-18 High voltage electric transmission line automatic survey inspection robot monobody

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Application Number Priority Date Filing Date Title
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CN100367042C true CN100367042C (en) 2008-02-06

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CN101247030B (en) * 2007-08-01 2010-06-09 北京深浪电子技术有限公司 Overhead line obstacle detouring inspection robot and its obstacle detouring control method
CN101797888B (en) * 2010-03-26 2013-08-07 浙江大学 Composite movable reconnaissance robot device
CN102343586B (en) * 2011-04-13 2013-09-04 哈尔滨工业大学 Line grasping manipulator for remote control in measurement and check of communication network
CN103500965A (en) * 2013-10-11 2014-01-08 洛阳理工学院 Telescopic clamping obstacle overcoming mechanism used for transmission line inspection equipment
CN104345683B (en) * 2014-10-21 2017-08-18 国家电网公司 A kind of valve Room intelligent inspection robot temperature monitoring system
CN104332893B (en) * 2014-11-17 2017-02-22 武汉科技大学 Mechanical arm of high-voltage line patrol robot
CN105807088A (en) * 2015-12-17 2016-07-27 韩明 Power transmission line's wind speed and direction detecting system
CN105429050B (en) * 2015-12-22 2018-07-10 广东科凯达智能机器人有限公司 A kind of compression wheel apparatus for aerial high-voltage power transmission line inspection robot
CN105609927B (en) * 2016-03-02 2017-05-31 国网安徽省电力公司铜陵供电公司 It is provided with the high-tension cable detection robot of electric-field intensity detector
CN107086489B (en) * 2017-05-31 2019-04-30 武汉理工大学 A kind of separable obstacle detouring mechanical arm applied to aerial high voltage power line robot

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