CN103078270B - A kind of ground wire strain rod tower Overbridge device for power transmission line inspection robot - Google Patents
A kind of ground wire strain rod tower Overbridge device for power transmission line inspection robot Download PDFInfo
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- CN103078270B CN103078270B CN201310030034.0A CN201310030034A CN103078270B CN 103078270 B CN103078270 B CN 103078270B CN 201310030034 A CN201310030034 A CN 201310030034A CN 103078270 B CN103078270 B CN 103078270B
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 32
- 238000007689 inspection Methods 0.000 title claims description 19
- 239000012211 strain insulator Substances 0.000 claims abstract description 4
- 229910000831 Steel Inorganic materials 0.000 claims description 12
- 239000010959 steel Substances 0.000 claims description 12
- 230000001105 regulatory effect Effects 0.000 claims description 6
- 230000000712 assembly Effects 0.000 claims description 3
- 238000000429 assembly Methods 0.000 claims description 3
- 239000000203 mixture Substances 0.000 claims description 2
- 230000006978 adaptation Effects 0.000 abstract description 3
- 239000004020 conductor Substances 0.000 abstract description 2
- 239000012467 final product Substances 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 6
- 230000009194 climbing Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000007665 sagging Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
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Abstract
The present invention relates to a kind of transmission line polling robot servicing unit, especially relate to a kind of Overbridge device of ground wire strain rod tower section.This device comprises a flexible gap bridge mechanism, for the connecting locating mechanism that is fixedly connected with between flexible gap bridge mechanism with two strain clamps and the connection positioning component for being fixedly connected with between gap bridge mechanism with strain insulator tower head cross-arm.When robot detects that strain insulator is passed a bridge, unclamp hammerlock joint, the shape getting final product two-wheel self adaptation gap bridge mechanism rolls across Overbridge device, arrives on shaft tower opposite side ground wire, namely passes through strain rod tower.This device owing to having two sections of flexible ball hinge components and two governor motions, thus can make this device be arranged on different model, on the strain rod tower of different corner, and can adapt to conductor galloping.The cost of this device own is low, installs simple, and robot to pass through strain rod tower efficiency by this device high, safe, reliably.
Description
Technical field
The present invention relates to a kind of transmission line polling robot servicing unit, especially relate to a kind of Overbridge device of ground wire strain rod tower section.
Background technology
Carry out line data-logging with inspection robot and can arrive the circuit being manually difficult to arrive, improve and patrol and examine efficiency, greatly reducing the potential risks of labour intensity and the artificial line walking of patrolling and examining, is the inexorable trend of Robotics and electric inspection process technical development.Especially the crusing robot travelled that rolls has very large practical space, but the obstacle detouring problem of crusing robot becomes robot is patrolling and examining a great problem that ultra-high-tension power transmission line is applied.Especially for strain rod tower section, transmission line is separated by the circuit of strain rod tower by both sides, is more not easy to robot and crosses.
On strain rod tower, the strain section of wire is generally one section of sagging catenary, and the robot travelled along wire can be interlocked by both arms the mode obstacle detouring of climbing.And the strain section of ground wire, ground wire is not the catenary of droop, in most cases irregular, and some in the middle of have parallel groove clamp, this cause both arms interlock climbing obstacle detouring mode can not be used for ground wire robot.
If change the structure of robot, make robot directly can cross over strain section.By cause increase robot overall dimension while, also can increase the weight of robot.This is not only not easy to robotic conveyance and hangs stake reach the standard grade, and also considerably increases the Design and manufacture cost of robot.
In sum, due to the complexity of ground wire strain section line construction, cause applying both arms to interlock the obstacle detouring mode obstacle detouring of climbing, and solve the problems referred to above from the configuration aspects improving robot itself, be difficult to physical dimension, weight, the cost of control and patrol and examine many-sided problems such as efficiency.This makes to use robot to patrol and examine transmission line and loses meaning.Therefore, under the prerequisite not affecting existing Transmission Line Design requirement, installing certain servicing unit additional at the strain section of ground wire, is the feasible measure solved the problem.
Summary of the invention
The present invention mainly solves the technical problem existing for prior art; Provide and a kind ofly flexibly connect with ground wire strain rod tower both sides strain clamp and self adaptation transmission line galloping, auxiliary transmission line polling robot can pass through the Overbridge device of ground wire strain rod tower.
The present invention also has an object to be solve the technical problem existing for prior art; Provide a kind of transmission line polling robot when by ground wire strain rod tower, Zhi Xu robot two-wheel rolls to travel along gap bridge and just can complete and pass through strain rod tower obstacle, obstacle detouring simply, safety, efficiency high ground wire strain rod tower Overbridge device.
The present invention has an object to be solve the technical problem existing for prior art again; Provide and a kind ofly adapt to that difference turns to, the strain rod tower of different corner, and safe and reliable, that cost the is low ground wire strain rod tower Overbridge device for power transmission line inspection robot.
Above-mentioned technical problem of the present invention is mainly solved by following technical proposals:
A kind of ground wire strain rod tower Overbridge device for power transmission line inspection robot, it is characterized in that, comprising a flexible gap bridge mechanism, for the connecting locating mechanism that is fixedly connected with between flexible gap bridge mechanism with two strain clamps and the connection positioning component for being fixedly connected with between gap bridge mechanism with strain insulator tower head cross-arm.
At above-mentioned a kind of ground wire strain rod tower Overbridge device for power transmission line inspection robot, described flexible gap bridge mechanism comprises support bar, is separately positioned on two flexible ball hinge components at support bar two ends and is separately positioned on two the guiding tube assemblies be connected with two flexible ball hinge components respectively of gap bridge mechanism end.
At above-mentioned a kind of ground wire strain rod tower Overbridge device for power transmission line inspection robot, center, described support bar two ends all has the screwed hole for being connected with one end of above-mentioned flexible ball hinge component.
At above-mentioned a kind of ground wire strain rod tower Overbridge device for power transmission line inspection robot, described flexible ball hinge component comprise one section of steel strand wire ground wire, described steel strand wire ground wire successively cross-under ball stud, ball bowl pin and the bulb adjusting rod that has a screwed hole with organize bowl hook bolt more, then block two ends with hexagonal pressure head; Described ball stud is connected with above-mentioned support bar, and the bowl hook bolt of flexible ball hinge component end is connected with above-mentioned guiding tube assembly.
At above-mentioned a kind of ground wire strain rod tower Overbridge device for power transmission line inspection robot, described guiding tube assembly comprises tube connector and is welded with the overlap joint pipe of U-shaped ring; Tube connector two ends have screwed hole, respectively with above-mentioned bowl hook bolt with overlap pipe and be connected.
At above-mentioned a kind of ground wire strain rod tower Overbridge device for power transmission line inspection robot, described connecting locating mechanism comprises yoke plate, chuck nut and regulates bearing; Described yoke plate have for placing strain clamp two trench structures, one of them trench structure is connected with the chuck nut having screwed hole, yoke plate have three oval holes and be connected with the adjustment bearing that bottom has three screwed holes, regulating the screwed hole of bearing another side to be connected with above-mentioned tube connector.
At above-mentioned a kind of ground wire strain rod tower Overbridge device for power transmission line inspection robot, described connection positioning component comprises two supporting brackets, supporting bracket one end has oval hole, and be connected with angle steel hole existing on cross arm of tower, the other end welds with support bar.
Therefore, tool of the present invention has the following advantages: 1. flexibly connect with shaft tower both sides strain clamp, can self adaptation transmission line galloping; 2. when passing through strain rod tower obstacle, inspection robot only needs along gap bridge two-wheel rolling, and obstacle detouring is simple, safety, efficiency are high.3. can adapt to the strain rod tower of different models, different corner, and safe and reliable, cost is low.
Accompanying drawing explanation
Fig. 1 is main TV structure schematic diagram of the present invention.
Fig. 2 is the plan structure schematic diagram of Fig. 1.
Fig. 3 is A-A sectional structure schematic diagram in Fig. 2.
Fig. 4 passes a bridge and the main TV structure schematic diagram of strain clamp bindiny mechanism
Fig. 5 is the plan structure schematic diagram of Fig. 4.
Fig. 6 is the bindiny mechanism of Fig. 4 and the syndeton schematic diagram of wire clamp.
Fig. 7 is overall installation structural representation of the present invention.
Fig. 8 is the structural representation that inspection robot travels on Overbridge device.
Embodiment
Below by embodiment, and by reference to the accompanying drawings, technical scheme of the present invention is described in further detail.In figure, support bar 1, steel strand wire ground wire 2, ball stud 3, ball bowl pin 4, bowl hook bolt 5, bulb adjusting rod 6, hexagonal pressure head 7, tube connector 8, U-shaped ring 9, overlap joint pipe 10, yoke plate 11, chuck nut 12, adjustment bearing 13, supporting bracket 14, strain clamp 15, power transmission line 16, strain rod tower 17, crusing robot 18.
Embodiment:
This device is as the passage of machine detector people 18 by strain rod tower 17, and its main mechanism is one section of flexible gap bridge mechanism.Flexible gap bridge mechanism is connected with strain rod tower 17 cross-arm by two supporting brackets 14, and the end of flexible gap bridge mechanism connects positioning component by two groups and is connected with strain clamp.When the crusing robot 18 travelled along high-altitude transmission line drives to strain rod tower 17 along transmission line 16, unclamp hammerlock joint, the shape getting final product two-wheel self-adapting flexible gap bridge mechanism rolls across Overbridge device, arrives shaft tower 17 opposite side, namely have passed strain rod tower 17.The described inspection robot travelled along high-altitude transmission line can select the patent No. to be: 201010195048.4, and name is called: a kind of robot for polling transmission line, and the applying date is robot described in the invention of 2010.06.02.
Flexible gap bridge mechanism is symmetrical mechanism, centre is the support bar 1 that two ends have screwed hole, according to strain rod tower 17 tower head cross-arm two angle steel hole centre-to-centre spacing, equidistant and symmetry welds two supporting brackets 14 on support bar, supporting bracket 14 is rigidly connected by bolt and cross arm of tower.
What be connected with the support bar two ends of flexible gap bridge mechanism is two sections of flexible ball hinge components, flexible ball hinge component structure is one section of steel strand wire ground wire 2 cross-under ball stud 3, ball bowl pin 4 and the right bowl hook bolt 5 of many compositions and bulb adjusting rod 6 successively, then block the two ends of steel strand wire with hexagonal pressure head 7, the two ends of flexible ball hinge component are threaded with support bar 1 and tube connector 8 respectively.The Main Function of compliant section adapts to conductor galloping and adapts to different model shaft tower.Increase or reduce bowl hook bolt 5 and adapt to the coarse adjustment of different corner strain rod tower 17 from the group number of bulb adjusting rod 6 as Overbridge device.
Flexible gap bridge mechanism end is two groups of guiding tube assemblies, comprises tube connector 8 and the overlap joint pipe 10 being welded with U-loop 9; The screwed hole at tube connector 8 two ends, respectively with above-mentioned bowl hook bolt 5 with overlap pipe 10 and be connected, middle through hole is connected with regulating bearing 13, and the effect overlapping pipe 10 makes flexible gap bridge mechanism be smoothly transitted on power transmission line 16, and power transmission line 16 is placed in the middle of U-loop.
The connecting locating mechanism of gap bridge mechanism two ends and two strain clamps comprises yoke plate 11, chuck nut 12 and regulates bearing 13.The screwed hole of bearing 13 one side and the through hole of above-mentioned tube connector 8 is regulated to be connected by screw.Three screwed holes of bearing 13 bearing another side are regulated to be connected with three oval hole screws on yoke plate 11, yoke plate 11 there are two trench structures, during installation, strain clamp 15 is placed in the middle of trench structure, and one of them trench structure is connected with chuck nut 12 bolt having screwed hole.Regulate the installation site of bearing 13 on yoke plate 11 can be regulated by oval hole, this adapts to the micro-adjusting mechanism of different corner strain rod tower 17 for gap bridge mechanism.
Specific embodiment described herein is only to the explanation for example of the present invention's spirit.Those skilled in the art can make various amendment or supplement or adopt similar mode to substitute to described specific embodiment, but can't depart from spirit of the present invention or surmount the scope that appended claims defines.
Although more employ support bar 1, steel strand wire ground wire 2, ball stud 3, ball bowl pin 4, bowl hook bolt 5, bulb adjusting rod 6, hexagonal pressure head 7, tube connector 8, U-shaped ring 9, overlap joint pipe 10, yoke plate 11, chuck nut 12 herein, regulate the terms such as bearing 13, supporting bracket 14, strain clamp 15, power transmission line 16, strain rod tower 17, crusing robot 18, do not get rid of the possibility using other term.These terms are used to be only used to describe and explain essence of the present invention more easily; The restriction that they are construed to any one additional is all contrary with spirit of the present invention.
Claims (4)
1. the ground wire strain rod tower Overbridge device for power transmission line inspection robot, it is characterized in that, comprising a flexible gap bridge mechanism, for the connecting locating mechanism that is fixedly connected with between flexible gap bridge mechanism with two strain clamps and the connection positioning component for being fixedly connected with between gap bridge mechanism with strain insulator tower head cross-arm;
Described flexible gap bridge mechanism comprises support bar (1), is separately positioned on two flexible ball hinge components at support bar two ends and is separately positioned on two the guiding tube assemblies be connected with two flexible ball hinge components respectively of gap bridge mechanism end;
Described support bar (1) center, two ends all has the screwed hole for being connected with one end of above-mentioned flexible ball hinge component;
Described flexible ball hinge component comprises one section of steel strand wire ground wire (2), described steel strand wire ground wire (2) the bowl hook bolt (5) that cross-under ball stud (3), ball bowl pin (4) and many compositions are right successively and bulb adjusting rod (6), then use hexagonal pressure head (7) to block the two ends of steel strand wire ground wire (2); Described ball stud (3) is connected with above-mentioned support bar (1), and the bowl hook bolt (5) of flexible ball hinge component end is connected with above-mentioned guiding tube assembly.
2. a kind of ground wire strain rod tower Overbridge device for power transmission line inspection robot according to claim 1, it is characterized in that, described guiding tube assembly comprises tube connector (8) and is welded with the overlap joint pipe (10) of U-shaped ring (9); Tube connector (8) two ends have screwed hole, and one end is connected with the bowl hook bolt (5) of flexible ball hinge component end, and the other end is managed (10) with overlap joint and is connected.
3. a kind of ground wire strain rod tower Overbridge device for power transmission line inspection robot according to claim 2, it is characterized in that, described connecting locating mechanism comprises yoke plate (11), chuck nut (12) and regulates bearing (13); Described yoke plate (11) have for placing strain clamp two trench structures, one of them trench structure is connected with the chuck nut (12) having screwed hole, yoke plate (11) have three oval holes and be connected with the adjustment bearing (13) that bottom has three screwed holes, regulating the screwed hole of bearing (13) another side to be connected with above-mentioned tube connector (8).
4. a kind of ground wire strain rod tower Overbridge device for power transmission line inspection robot according to claim 1, it is characterized in that, described connection positioning component comprises two supporting brackets (14), supporting bracket (14) one end has oval hole, be connected with angle steel hole existing on cross arm of tower, the other end welds with support bar (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310030034.0A CN103078270B (en) | 2013-01-25 | 2013-01-25 | A kind of ground wire strain rod tower Overbridge device for power transmission line inspection robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310030034.0A CN103078270B (en) | 2013-01-25 | 2013-01-25 | A kind of ground wire strain rod tower Overbridge device for power transmission line inspection robot |
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| CN103078270A CN103078270A (en) | 2013-05-01 |
| CN103078270B true CN103078270B (en) | 2015-10-28 |
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| CN201310030034.0A Expired - Fee Related CN103078270B (en) | 2013-01-25 | 2013-01-25 | A kind of ground wire strain rod tower Overbridge device for power transmission line inspection robot |
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Families Citing this family (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105703305A (en) * | 2016-03-29 | 2016-06-22 | 广东科凯达智能机器人有限公司 | Tower ground wire overbridge apparatus for power transmission line inspection robot |
| CN105811311A (en) * | 2016-05-18 | 2016-07-27 | 三峡大学 | Guide rail system used for inspection robot for power transmission line with functions of charging inspection robot and enabling inspection robot to pass through tower |
| CN106374408A (en) * | 2016-10-18 | 2017-02-01 | 国网山东省电力公司电力科学研究院 | Guide rail device and device for enabling inspection robot to directly pass through navigation mark ball |
| CN106374388B (en) * | 2016-10-21 | 2018-05-29 | 国网山东省电力公司电力科学研究院 | A kind of whole accessible crusing robot system of aerial earth wire and method |
| CN106329439A (en) * | 2016-10-21 | 2017-01-11 | 国网山东省电力公司电力科学研究院 | Barrier-free path of assisted overhead ground wire inspection robot spanning straight pole |
| CN106329438B (en) * | 2016-10-21 | 2018-09-07 | 国网山东省电力公司电力科学研究院 | A kind of line robot crosses the Wheelchair Accessible of stockbridge damper |
| CN106655037A (en) * | 2016-10-21 | 2017-05-10 | 国网山东省电力公司电力科学研究院 | A barrier-free way for allowing an overhead ground wire patrol robot to pass across straight line poles and stockbridge dampers |
| CN106374411A (en) * | 2016-11-11 | 2017-02-01 | 广东电网有限责任公司电力科学研究院 | OPGW ground wire assembly for robot walking |
| CN106329451A (en) * | 2016-11-11 | 2017-01-11 | 广东电网有限责任公司电力科学研究院 | Common ground wire element for robot walking |
| CN107492858A (en) * | 2017-09-08 | 2017-12-19 | 国网山东省电力公司电力科学研究院 | The modified attachment structure of overhead transmission line line grounding wire and strain insulator tower head |
| CN107591729B (en) * | 2017-09-08 | 2019-11-19 | 国网山东省电力公司电力科学研究院 | The crusing robot and method of anchor support are crossed over along the autonomous deflecting of overhead transmission line ground wire |
| CN109038371B (en) * | 2018-10-08 | 2024-02-02 | 国网江苏省电力有限公司检修分公司 | Tower obstacle crossing bridge for overhead transmission line wheel type inspection robot |
| CN109659859A (en) * | 2019-01-28 | 2019-04-19 | 广东科凯达智能机器人有限公司 | Power transmission line intelligent cruising inspection system |
| CN111181067B (en) * | 2020-02-07 | 2021-06-18 | 云南电网有限责任公司电力科学研究院 | Track system of line inspection robot for overhead transmission line |
| CN111546383B (en) * | 2020-05-12 | 2022-01-21 | 中科开创（广州）智能科技发展有限公司 | Elbow for tower-crossing bridging equipment of tower-standing robot |
| CN111716320A (en) * | 2020-06-01 | 2020-09-29 | 国电南瑞科技股份有限公司 | Automatic line loading and unloading device for inspection robot with flexible track |
| CN113889903B (en) * | 2021-09-29 | 2023-08-25 | 国电南瑞科技股份有限公司 | Auxiliary hardware fitting device for robot crossing high-voltage iron tower |
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