CN105720543A - Intelligent power supply line maintenance platform - Google Patents
Intelligent power supply line maintenance platform Download PDFInfo
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- CN105720543A CN105720543A CN201610121856.3A CN201610121856A CN105720543A CN 105720543 A CN105720543 A CN 105720543A CN 201610121856 A CN201610121856 A CN 201610121856A CN 105720543 A CN105720543 A CN 105720543A
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- supply line
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G7/00—Overhead installations of electric lines or cables
- H02G7/16—Devices for removing snow or ice from lines or cables
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/02—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness
- G01B7/06—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness for measuring thickness
- G01B7/08—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness for measuring thickness using capacitive means
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Abstract
The invention relates to an intelligent power supply line maintenance platform which comprises an ultrasonic detection sensor, ice layer processing equipment and a robot main body structure. The robot main body structure travels on a power supply line, the ultrasonic detection sensor is positioned on the robot main body structure, and is used for detecting and outputting a barrier distance at the position of the power supply line in the front; and the robot main body structure is connected with the ice layer processing equipment, and is used for controlling the ice layer processing equipment to carry out an ice layer processing operation on the power supply line. By the intelligent power supply line maintenance platform, the power supply line can be subjected to winter maintenance by adopting a robot instead of labor, so that labor cost is reduced.
Description
The present invention is application number to be 201510955621X, the applying date be December in 2015 17 days, denomination of invention are the divisional application of the patent of " intelligent supply line maintenance platform ".
Technical field
The present invention relates to power grid maintenance field, particularly relate to a kind of intelligent supply line maintenance platform.
Background technology
The icing harm of supply line is very big, it is desirable to find out the icing of circuit in advance it is necessary to grasp above relevant information, particularly changeable meteorological data.Solve line ice coating harm problem, mainly still put prevention first, set about from design.Pass through, at circuit, the area that icing is serious, properly increase the design standard of circuit；Reduce span and exhale title height to reduce shaft tower, increase strain section quantity to reduce strain section length；Path selection is avoided high mountain air port etc., the speed of ability and accident maintenance to improve circuit anti-ice cover as far as possible.
At present, to the circuit forming serious icing, currently without good sweep-out method.Once there is article introduction heating deicing, in the wire of icing circuit, namely passed to big electric current, made conductor overheating fusing icing.But this method uses equipment complicated, and wire is had infringement.Manually open ice the very micro-and murther of effect.There is also some robot deicing schemes at present, but design is still immature, structure is not reasonable, does not still adapt to work on the spot environment complicated and changeable, it is impossible to promote the use of.Meanwhile, lack effective on-the-spot ice layer thickness detection equipment and ice sheet abatement apparatus, reduce the automaticity of mechanical deicing, add deicing cost on the contrary.
Therefore, a kind of new supply line's ice sheet is needed to cut down system, the main framework that can improve robot can be suitable for electric line site environment, ice layer thickness detection equipment and the ice sheet abatement apparatus of high-precision on-the-spot electronic type can also be designed, to improve the intelligent level of system, reduce deicing cost.
Summary of the invention
In order to solve the problems referred to above, the invention provides a kind of intelligent supply line maintenance platform, introduce the steam-cylinder piston mechanism including solenoid, rotary ammunition storage barrel, wireless communication interface, combustor and piston rod and the collaborative operation of trigger, realize on-the-spot impact type electronics deicing, introduce 2 sensor wires, temperature compensation means and capacitance measurement circuit, realize the electronic surveying of on-the-spot ice layer thickness, and be mounted in by the said equipment in the robot body's structure after improvement, thus improve the work efficiency of unmanned formula supply line deicing.
According to an aspect of the present invention, provide a kind of intelligent supply line maintenance platform, described platform includes ultrasonic listening sensor, ice sheet processes equipment and robot body's structure, robot body's structure is walked in supply line, ultrasonic listening sensor is positioned in robot body's structure, for detecting and export the obstacle distance at place of front supply line, robot body's structure processes equipment with ice sheet and is connected, and processes the equipment ice sheet process operation to supply line for controlling ice sheet.
More specifically, in described intelligent supply line maintenance platform, including: 2 sensor wires, parallel and symmetry is erected at the both sides of supply line；Insulation triangular supports, between supply line and 2 sensor wires, is used for supporting fixing supply line and 2 sensor wires；Temperature compensation means, including 3 temperature sensors and 2 temperature compensatoies, 3 temperature sensors are separately positioned on supply line and the inside of 2 sensor wires, 2 temperature compensatoies are separately positioned on the inside of 2 sensor wires, the temperature of each temperature compensator temperature with supply line by comparing its corresponding sensor wire, the temperature of its corresponding sensor wire is compensated, and the temperature to ensure its corresponding sensor wire is identical with the temperature of supply line；Capacitance measurement circuit, is arranged in insulation triangular supports, for detecting supply line as a pole plate, 2 sensor wires as the capacitance of the capacitor of another pole plate；Microprocessor, is arranged in insulation triangular supports, is connected with capacitance measurement circuit, determines that the ice layer thickness of supply line is to export as real-time ice layer thickness based on capacitance；First frequency duplex communications interface, it is arranged on the position of supply line's place steel tower, is electrically connected with microcontroller, for the real-time ice layer thickness of wireless transmission, being additionally operable to receive deicing instruction by the second frequency duplex communications interface wireless, deicing instruction includes trigger and promotes number of times；Steam-cylinder piston mechanism, is mounted in robot body's structure, including solenoid, rotary ammunition storage barrel, wireless communication interface, combustor and piston rod；Piston rod top is furnished with beginning clamp, for clamping the ground wire of supply line, is connected with combustor bottom piston rod；Bottom of combustion chamber connects rotary ammunition storage barrel；Solenoid and trigger is connected bottom rotary ammunition storage barrel；Trigger, for being pushed in combustor by ammunition in rotary ammunition storage barrel and triggering ammunition at burning detonation inside, produces the shock loading of moment, it is achieved deicing effect with the ground wire to supply line；Solenoid is used for promoting trigger, it is possible to repeatedly perform the promotion to trigger to realize repeatedly triggering ammunition at burning detonation inside；3rd frequency duplex communications interface, is positioned on combustor, is electrically connected with solenoid, is connected with the first frequency duplex communications interface wireless, for wireless receiving deicing instruction, and deicing instruction is electrically sent to solenoid；Robot body's structure, including front wheel structure, middle wheel structure, rear wheel structure, brake minor structure, front Pneumatic extension minor structure, the pneumatic dilaton structure in rear, middle part Pneumatic extension minor structure, base plate, gravity's center control minor structure and control chamber；Front wheel structure is in above base plate, including front drive motor and front road wheel, front road wheel adopts plastic material, there is the circular groove adapted with supply line, front drive motor is connected respectively with front cutting tip and front road wheel, while providing cutting power for front cutting tip, provide walking power for front road wheel；Middle wheel structure is arranged in the middle of front wheel structure and wheel structure, it is in above base plate, including middle part drive motor and middle row travelling wheel composition, middle row travelling wheel adopts plastic material, there is the circular groove adapted with supply line, middle part drive motor is connected with middle row travelling wheel, for providing walking power for middle row travelling wheel；Rear wheel structure is in above base plate, including rear drive motor and rear road wheel, rear road wheel adopts plastic material, there is the circular groove adapted with supply line, rear drive motor is connected respectively with rear cutting tip and rear road wheel, while providing cutting power for rear cutting tip, provide walking power for rear road wheel；Front Pneumatic extension minor structure is between front wheel structure and base plate, for front wheel structure is connected to base plate, including front carpal joint, front vertical telescopic arm, front elbow joint, front horizontal telescopic arm and front shoulder joint, front wheel structure and front vertical telescopic arm are connected by front carpal joint, front vertical telescopic arm is connected with front elbow joint, front elbow joint is connected by front horizontal telescopic arm with front shoulder joint, front shoulder joint is connected with base plate, front vertical telescopic arm is also electrically connected with Freescale IMX6 processor to receive front vertical extension and contraction control signal, front horizontal telescopic arm is also electrically connected with Freescale IMX6 processor to receive front horizontal extension and contraction control signal；Middle part Pneumatic extension minor structure is between middle wheel structure and base plate, for middle wheel structure is connected to base plate, including middle part carpal joint, middle part vertical telescopic arm, middle part elbow joint, middle part horizontal extension arm and middle part shoulder joint, middle wheel structure and middle part vertical telescopic arm are connected by middle part carpal joint, middle part vertical telescopic arm is connected with middle part elbow joint, middle part elbow joint is connected by middle part horizontal extension arm with middle part shoulder joint, middle part shoulder joint is connected with base plate, middle part vertical telescopic arm also is electrically connected with Freescale IMX6 processor to receive middle part vertical telescopic control signal, middle part horizontal extension arm also is electrically connected with Freescale IMX6 processor to receive middle part horizontal extension control signal；Rear pneumatic dilaton structure is between rear wheel structure and base plate, for rear wheel structure is connected to base plate, including rear carpal joint, rear vertical telescopic arm, rear elbow joint, rear horizontal extension arm and rear shoulder joint, rear wheel structure and rear vertical telescopic arm are connected by rear carpal joint, rear vertical telescopic arm is connected with rear elbow joint, rear elbow joint is connected by rear horizontal extension arm with rear shoulder joint, rear shoulder joint is connected with base plate, rear vertical telescopic arm is also electrically connected with Freescale IMX6 processor to receive rear vertical extension and contraction control signal, rear horizontal extension arm is also electrically connected with Freescale IMX6 processor to receive rear horizontal extension control signal；Brake minor structure includes brake shoes, brake guide frame and brake cylinder, and brake shoes is located behind supply line position, and brake guide frame is connected respectively with brake shoes and brake cylinder, provides power for operating for the skidding of brake shoes；Gravity's center control minor structure is positioned at below base plate, adopting control chamber is the weighing device that center of gravity regulates, cylinder and three-position electromagnetic valve is regulated including center of gravity, center of gravity regulates cylinder and regulates offer power for center of gravity, and three-position electromagnetic valve controls the position of centre of gravity of robot body's structure by the relative distance between regulable control case and base plate；Control chamber is positioned at below base plate, including shell and panel, described panel is integrated with Freescale IMX6 processor and the second frequency duplex communications interface, second frequency duplex communications interface is connected with the power supply management server of far-end, for receiving the wireless control directives of power supply management server wireless transmission, Freescale IMX6 processor and the second frequency duplex communications interface, front drive motor, middle part drive motor and rear drive motor connect respectively, for resolving wireless control directives to determine and to export front vertical extension and contraction control signal, front horizontal extension and contraction control signal, middle part vertical telescopic control signal, middle part horizontal extension control signal, rear vertical extension and contraction control signal or rear horizontal extension control signal, it is additionally operable to resolve wireless control directives to determine front drive motor, the drive control signal of middle part drive motor or rear drive motor；Freescale IMX6 processor connects also by the second frequency duplex communications interface and the first frequency duplex communications interface, to receive real-time ice layer thickness, determine that trigger promotes number of times according to real-time ice layer thickness, trigger promotes number of times be packaged in deicing instruction and is sent to the first frequency duplex communications interface by the second frequency duplex communications interface；Ultrasonic listening sensor, is positioned on front wheel structure, is electrically connected with Freescale IMX6 processor, for detecting and export the obstacle distance at place of front supply line；Wherein, deicing instruction is sent to solenoid by the 3rd frequency duplex communications interface by the first frequency duplex communications interface, to control solenoid parsing deicing instruction, it is thus achieved that trigger promotes number of times, and promotes number of times repeatedly to perform the promotion to trigger according to the trigger being resolved to.
More specifically, in described intelligent supply line maintenance platform, described platform also includes: flexible limit switch combination, including six flexible limit switches, for the distance of stretch out and draw back of restriction front vertical telescopic arm, front horizontal telescopic arm, middle part vertical telescopic arm, middle part horizontal extension arm, rear vertical telescopic arm and rear horizontal extension arm respectively.
More specifically, in described intelligent supply line maintenance platform, described platform also includes: brake limit switch, for limiting the braking distance of brake shoes.
More specifically, in described intelligent supply line maintenance platform, described platform also includes: control chamber moves limit switch, for limiting the displacement of control chamber.
More specifically, in described intelligent supply line maintenance platform, described platform also includes: microprocessor is AT89C51 single-chip microcomputer.
Accompanying drawing explanation
Below with reference to accompanying drawing, embodiment of the present invention are described, wherein:
Fig. 1 is the block diagram of the intelligent supply line maintenance platform illustrated according to an embodiment of the present invention.
Accompanying drawing labelling: 1 ultrasonic listening sensor；2 ice sheets process equipment；3 robot body's structures
Detailed description of the invention
Below with reference to accompanying drawings the embodiment of the intelligent supply line maintenance platform of the present invention is described in detail.
In prior art.
In order to overcome above-mentioned deficiency, the present invention has built a kind of intelligent supply line maintenance platform, car overlying photoelectric switch, car underlying photoelectric switch, gate condition detecting device and multiple floor plate are for whether joint-detection elevator there is to run enabling dangerous situation, and carry out onsite alarming and remote alarms in time when there is dangerous situation.
Fig. 1 is the block diagram of the intelligent supply line maintenance platform illustrated according to an embodiment of the present invention, described platform includes ultrasonic listening sensor, ice sheet processes equipment and robot body's structure, robot body's structure is walked in supply line, ultrasonic listening sensor is positioned in robot body's structure, for detecting and export the obstacle distance at place of front supply line, robot body's structure processes equipment with ice sheet and is connected, and processes the equipment ice sheet process operation to supply line for controlling ice sheet.
Then, continue the concrete structure of the intelligent supply line maintenance platform of the present invention is further detailed.
Described platform includes: 2 sensor wires, parallel and symmetry is erected at the both sides of supply line；Insulation triangular supports, between supply line and 2 sensor wires, is used for supporting fixing supply line and 2 sensor wires.
Described platform includes: temperature compensation means, including 3 temperature sensors and 2 temperature compensatoies, 3 temperature sensors are separately positioned on supply line and the inside of 2 sensor wires, 2 temperature compensatoies are separately positioned on the inside of 2 sensor wires, the temperature of each temperature compensator temperature with supply line by comparing its corresponding sensor wire, the temperature of its corresponding sensor wire is compensated, and the temperature to ensure its corresponding sensor wire is identical with the temperature of supply line.
Described platform includes: capacitance measurement circuit, is arranged in insulation triangular supports, for detecting supply line as a pole plate, 2 sensor wires as the capacitance of the capacitor of another pole plate；Microprocessor, is arranged in insulation triangular supports, is connected with capacitance measurement circuit, determines that the ice layer thickness of supply line is to export as real-time ice layer thickness based on capacitance.
Described platform includes: the first frequency duplex communications interface, it is arranged on the position of supply line's place steel tower, it is electrically connected with microcontroller, for the real-time ice layer thickness of wireless transmission, being additionally operable to receive deicing instruction by the second frequency duplex communications interface wireless, deicing instruction includes trigger and promotes number of times.
Described platform includes: steam-cylinder piston mechanism, is mounted in robot body's structure, including solenoid, rotary ammunition storage barrel, wireless communication interface, combustor and piston rod；Piston rod top is furnished with beginning clamp, for clamping the ground wire of supply line, is connected with combustor bottom piston rod；Bottom of combustion chamber connects rotary ammunition storage barrel；Solenoid and trigger is connected bottom rotary ammunition storage barrel.
Described platform includes: trigger, for being pushed in combustor by ammunition in rotary ammunition storage barrel and triggering ammunition at burning detonation inside, produces the shock loading of moment with the ground wire to supply line, it is achieved deicing effect；Solenoid is used for promoting trigger, it is possible to repeatedly perform the promotion to trigger to realize repeatedly triggering ammunition at burning detonation inside.
Described platform includes: the 3rd frequency duplex communications interface, is positioned on combustor, is electrically connected with solenoid, is connected with the first frequency duplex communications interface wireless, for wireless receiving deicing instruction, and deicing instruction is electrically sent to solenoid.
Described platform includes: robot body's structure, including front wheel structure, middle wheel structure, rear wheel structure, brake minor structure, front Pneumatic extension minor structure, the pneumatic dilaton structure in rear, middle part Pneumatic extension minor structure, base plate, gravity's center control minor structure and control chamber.
Front wheel structure is in above base plate, including front drive motor and front road wheel, front road wheel adopts plastic material, there is the circular groove adapted with supply line, front drive motor is connected respectively with front cutting tip and front road wheel, while providing cutting power for front cutting tip, provide walking power for front road wheel.
Middle wheel structure is arranged in the middle of front wheel structure and wheel structure, it is in above base plate, including middle part drive motor and middle row travelling wheel composition, middle row travelling wheel adopts plastic material, there is the circular groove adapted with supply line, middle part drive motor is connected with middle row travelling wheel, for providing walking power for middle row travelling wheel.
Rear wheel structure is in above base plate, including rear drive motor and rear road wheel, rear road wheel adopts plastic material, there is the circular groove adapted with supply line, rear drive motor is connected respectively with rear cutting tip and rear road wheel, while providing cutting power for rear cutting tip, provide walking power for rear road wheel.
Front Pneumatic extension minor structure is between front wheel structure and base plate, for front wheel structure is connected to base plate, including front carpal joint, front vertical telescopic arm, front elbow joint, front horizontal telescopic arm and front shoulder joint, front wheel structure and front vertical telescopic arm are connected by front carpal joint, front vertical telescopic arm is connected with front elbow joint, front elbow joint is connected by front horizontal telescopic arm with front shoulder joint, front shoulder joint is connected with base plate, front vertical telescopic arm is also electrically connected with Freescale IMX6 processor to receive front vertical extension and contraction control signal, front horizontal telescopic arm is also electrically connected with Freescale IMX6 processor to receive front horizontal extension and contraction control signal.
Middle part Pneumatic extension minor structure is between middle wheel structure and base plate, for middle wheel structure is connected to base plate, including middle part carpal joint, middle part vertical telescopic arm, middle part elbow joint, middle part horizontal extension arm and middle part shoulder joint, middle wheel structure and middle part vertical telescopic arm are connected by middle part carpal joint, middle part vertical telescopic arm is connected with middle part elbow joint, middle part elbow joint is connected by middle part horizontal extension arm with middle part shoulder joint, middle part shoulder joint is connected with base plate, middle part vertical telescopic arm also is electrically connected with Freescale IMX6 processor to receive middle part vertical telescopic control signal, middle part horizontal extension arm also is electrically connected with Freescale IMX6 processor to receive middle part horizontal extension control signal.
Rear pneumatic dilaton structure is between rear wheel structure and base plate, for rear wheel structure is connected to base plate, including rear carpal joint, rear vertical telescopic arm, rear elbow joint, rear horizontal extension arm and rear shoulder joint, rear wheel structure and rear vertical telescopic arm are connected by rear carpal joint, rear vertical telescopic arm is connected with rear elbow joint, rear elbow joint is connected by rear horizontal extension arm with rear shoulder joint, rear shoulder joint is connected with base plate, rear vertical telescopic arm is also electrically connected with Freescale IMX6 processor to receive rear vertical extension and contraction control signal, rear horizontal extension arm is also electrically connected with Freescale IMX6 processor to receive rear horizontal extension control signal.
Brake minor structure includes brake shoes, brake guide frame and brake cylinder, and brake shoes is located behind supply line position, and brake guide frame is connected respectively with brake shoes and brake cylinder, provides power for operating for the skidding of brake shoes.
Gravity's center control minor structure is positioned at below base plate, adopting control chamber is the weighing device that center of gravity regulates, cylinder and three-position electromagnetic valve is regulated including center of gravity, center of gravity regulates cylinder and regulates offer power for center of gravity, and three-position electromagnetic valve controls the position of centre of gravity of robot body's structure by the relative distance between regulable control case and base plate.
Control chamber is positioned at below base plate, including shell and panel, described panel is integrated with Freescale IMX6 processor and the second frequency duplex communications interface, second frequency duplex communications interface is connected with the power supply management server of far-end, for receiving the wireless control directives of power supply management server wireless transmission.
Freescale IMX6 processor and the second frequency duplex communications interface, front drive motor, middle part drive motor and rear drive motor connect respectively, for resolving wireless control directives to determine and to export front vertical extension and contraction control signal, front horizontal extension and contraction control signal, middle part vertical telescopic control signal, middle part horizontal extension control signal, rear vertical extension and contraction control signal or rear horizontal extension control signal, it is additionally operable to resolve wireless control directives to determine the drive control signal of front drive motor, middle part drive motor or rear drive motor.
Freescale IMX6 processor connects also by the second frequency duplex communications interface and the first frequency duplex communications interface, to receive real-time ice layer thickness, determine that trigger promotes number of times according to real-time ice layer thickness, trigger promotes number of times be packaged in deicing instruction and is sent to the first frequency duplex communications interface by the second frequency duplex communications interface；Ultrasonic listening sensor, is positioned on front wheel structure, is electrically connected with Freescale IMX6 processor, for detecting and export the obstacle distance at place of front supply line.
Wherein, deicing instruction is sent to solenoid by the 3rd frequency duplex communications interface by the first frequency duplex communications interface, to control solenoid parsing deicing instruction, it is thus achieved that trigger promotes number of times, and promotes number of times repeatedly to perform the promotion to trigger according to the trigger being resolved to.
Alternatively, in described intelligent supply line maintenance platform, also include: flexible limit switch combination, including six flexible limit switches, for the distance of stretch out and draw back of restriction front vertical telescopic arm, front horizontal telescopic arm, middle part vertical telescopic arm, middle part horizontal extension arm, rear vertical telescopic arm and rear horizontal extension arm respectively；Brake limit switch, for limiting the braking distance of brake shoes；Control chamber moves limit switch, for limiting the displacement of control chamber；Microprocessor is AT89C51 single-chip microcomputer.
It addition, limit switch is also known as lead limit switch, for controlling stroke and the position limitation protection of plant equipment.In actual production, lead limit switch is arranged on prearranged position, when the module impact stroke switch being loaded on manufacturing machine moving component, the contact action of lead limit switch, it is achieved the switching of circuit.Therefore, limit switch is a kind of electrical equipment switching circuit according to the travel position of moving component, and its action principle is similar with button.Limit switch is widely used in all kinds of lathe and hoisting machinery, in order to control its stroke, to carry out terminal position limitation protection.In the control circuit of elevator, also utilize lead limit switch control switch the speed of gate, automatic opening and closing door spacing, the upper and lower position limitation protection of car.
Limit switch is exactly the electric switch of the limit of sports record position limiting plant equipment.This switch has contact and contactless.The comparison of contact is directly perceived, on the moving component of plant equipment, installs limit switch, and the fixing point moved corresponding thereto is installed the block of extreme position or contrary installation site.When the mechanical contact of limit switch runs into block, having cut off (or changing) control circuit, machinery runs with regard to out of service or change.Due to the inertia motion of machinery, this travel switch has certain " overtravel " to protect switch without damage.
Adopt the intelligent supply line maintenance platform of the present invention, the technical problem that the deicing of mechanization whole process supply line is difficult to is lacked for prior art, overcome three below threshold: on-the-spot electronization is surveyed ice difficulty, on-the-spot electronization deicing difficulty and current robot agent structure and is difficult to omnidistance supply line of patrolling, and platform resource is integrated, it is achieved thereby that the deicing of mechanization whole process supply line, reduce cost and the difficulty of deicing.
Although it is understood that the present invention discloses as above with preferred embodiment, but above-described embodiment is not limited to the present invention.For any those of ordinary skill in the art, without departing under technical solution of the present invention ambit, all may utilize the technology contents of the disclosure above and technical solution of the present invention is made many possible variations and modification, or be revised as the Equivalent embodiments of equivalent variations.Therefore, every content without departing from technical solution of the present invention, the technical spirit of the foundation present invention, to any simple modification made for any of the above embodiments, equivalent variations and modification, all still falls within the scope of technical solution of the present invention protection.
Claims (2)
1. an intelligent supply line maintenance platform, described platform includes ultrasonic listening sensor, ice sheet processes equipment and robot body's structure, robot body's structure is walked in supply line, ultrasonic listening sensor is positioned in robot body's structure, for detecting and export the obstacle distance at place of front supply line, robot body's structure processes equipment with ice sheet and is connected, and processes the equipment ice sheet process operation to supply line for controlling ice sheet.
2. intelligent supply line as claimed in claim 1 maintenance platform, it is characterised in that described platform includes:
2 sensor wires, parallel and symmetry is erected at the both sides of supply line；
Insulation triangular supports, between supply line and 2 sensor wires, is used for supporting fixing supply line and 2 sensor wires；
Temperature compensation means, including 3 temperature sensors and 2 temperature compensatoies, 3 temperature sensors are separately positioned on supply line and the inside of 2 sensor wires, 2 temperature compensatoies are separately positioned on the inside of 2 sensor wires, the temperature of each temperature compensator temperature with supply line by comparing its corresponding sensor wire, the temperature of its corresponding sensor wire is compensated, and the temperature to ensure its corresponding sensor wire is identical with the temperature of supply line；
Capacitance measurement circuit, is arranged in insulation triangular supports, for detecting supply line as a pole plate, 2 sensor wires as the capacitance of the capacitor of another pole plate；
Microprocessor, is arranged in insulation triangular supports, is connected with capacitance measurement circuit, determines that the ice layer thickness of supply line is to export as real-time ice layer thickness based on capacitance；
First frequency duplex communications interface, it is arranged on the position of supply line's place steel tower, is electrically connected with microcontroller, for the real-time ice layer thickness of wireless transmission, being additionally operable to receive deicing instruction by the second frequency duplex communications interface wireless, deicing instruction includes trigger and promotes number of times；
Steam-cylinder piston mechanism, is mounted in robot body's structure, including solenoid, rotary ammunition storage barrel, wireless communication interface, combustor and piston rod；
Piston rod top is furnished with beginning clamp, for clamping the ground wire of supply line, is connected with combustor bottom piston rod；
Bottom of combustion chamber connects rotary ammunition storage barrel；
Solenoid and trigger is connected bottom rotary ammunition storage barrel；
Trigger, for being pushed in combustor by ammunition in rotary ammunition storage barrel and triggering ammunition at burning detonation inside, produces the shock loading of moment, it is achieved deicing effect with the ground wire to supply line；
Solenoid is used for promoting trigger, it is possible to repeatedly perform the promotion to trigger to realize repeatedly triggering ammunition at burning detonation inside；
3rd frequency duplex communications interface, is positioned on combustor, is electrically connected with solenoid, is connected with the first frequency duplex communications interface wireless, for wireless receiving deicing instruction, and deicing instruction is electrically sent to solenoid；
Robot body's structure, including front wheel structure, middle wheel structure, rear wheel structure, brake minor structure, front Pneumatic extension minor structure, the pneumatic dilaton structure in rear, middle part Pneumatic extension minor structure, base plate, gravity's center control minor structure and control chamber；
Front wheel structure is in above base plate, including front drive motor and front road wheel, front road wheel adopts plastic material, there is the circular groove adapted with supply line, front drive motor is connected respectively with front cutting tip and front road wheel, while providing cutting power for front cutting tip, provide walking power for front road wheel；
Middle wheel structure is arranged in the middle of front wheel structure and wheel structure, it is in above base plate, including middle part drive motor and middle row travelling wheel composition, middle row travelling wheel adopts plastic material, there is the circular groove adapted with supply line, middle part drive motor is connected with middle row travelling wheel, for providing walking power for middle row travelling wheel；
Rear wheel structure is in above base plate, including rear drive motor and rear road wheel, rear road wheel adopts plastic material, there is the circular groove adapted with supply line, rear drive motor is connected respectively with rear cutting tip and rear road wheel, while providing cutting power for rear cutting tip, provide walking power for rear road wheel；
Front Pneumatic extension minor structure is between front wheel structure and base plate, for front wheel structure is connected to base plate, including front carpal joint, front vertical telescopic arm, front elbow joint, front horizontal telescopic arm and front shoulder joint, front wheel structure and front vertical telescopic arm are connected by front carpal joint, front vertical telescopic arm is connected with front elbow joint, front elbow joint is connected by front horizontal telescopic arm with front shoulder joint, front shoulder joint is connected with base plate, front vertical telescopic arm is also electrically connected with Freescale IMX6 processor to receive front vertical extension and contraction control signal, front horizontal telescopic arm is also electrically connected with Freescale IMX6 processor to receive front horizontal extension and contraction control signal；
Middle part Pneumatic extension minor structure is between middle wheel structure and base plate, for middle wheel structure is connected to base plate, including middle part carpal joint, middle part vertical telescopic arm, middle part elbow joint, middle part horizontal extension arm and middle part shoulder joint, middle wheel structure and middle part vertical telescopic arm are connected by middle part carpal joint, middle part vertical telescopic arm is connected with middle part elbow joint, middle part elbow joint is connected by middle part horizontal extension arm with middle part shoulder joint, middle part shoulder joint is connected with base plate, middle part vertical telescopic arm also is electrically connected with Freescale IMX6 processor to receive middle part vertical telescopic control signal, middle part horizontal extension arm also is electrically connected with Freescale IMX6 processor to receive middle part horizontal extension control signal；
Rear pneumatic dilaton structure is between rear wheel structure and base plate, for rear wheel structure is connected to base plate, including rear carpal joint, rear vertical telescopic arm, rear elbow joint, rear horizontal extension arm and rear shoulder joint, rear wheel structure and rear vertical telescopic arm are connected by rear carpal joint, rear vertical telescopic arm is connected with rear elbow joint, rear elbow joint is connected by rear horizontal extension arm with rear shoulder joint, rear shoulder joint is connected with base plate, rear vertical telescopic arm is also electrically connected with Freescale IMX6 processor to receive rear vertical extension and contraction control signal, rear horizontal extension arm is also electrically connected with Freescale IMX6 processor to receive rear horizontal extension control signal；
Brake minor structure includes brake shoes, brake guide frame and brake cylinder, and brake shoes is located behind supply line position, and brake guide frame is connected respectively with brake shoes and brake cylinder, provides power for operating for the skidding of brake shoes；
Gravity's center control minor structure is positioned at below base plate, adopting control chamber is the weighing device that center of gravity regulates, cylinder and three-position electromagnetic valve is regulated including center of gravity, center of gravity regulates cylinder and regulates offer power for center of gravity, and three-position electromagnetic valve controls the position of centre of gravity of robot body's structure by the relative distance between regulable control case and base plate；
Control chamber is positioned at below base plate, including shell and panel, described panel is integrated with Freescale IMX6 processor and the second frequency duplex communications interface, second frequency duplex communications interface is connected with the power supply management server of far-end, for receiving the wireless control directives of power supply management server wireless transmission, Freescale IMX6 processor and the second frequency duplex communications interface, front drive motor, middle part drive motor and rear drive motor connect respectively, for resolving wireless control directives to determine and to export front vertical extension and contraction control signal, front horizontal extension and contraction control signal, middle part vertical telescopic control signal, middle part horizontal extension control signal, rear vertical extension and contraction control signal or rear horizontal extension control signal, it is additionally operable to resolve wireless control directives to determine front drive motor, the drive control signal of middle part drive motor or rear drive motor；Freescale IMX6 processor connects also by the second frequency duplex communications interface and the first frequency duplex communications interface, to receive real-time ice layer thickness, determine that trigger promotes number of times according to real-time ice layer thickness, trigger promotes number of times be packaged in deicing instruction and is sent to the first frequency duplex communications interface by the second frequency duplex communications interface；
Ultrasonic listening sensor, is positioned on front wheel structure, is electrically connected with Freescale IMX6 processor, for detecting and export the obstacle distance at place of front supply line；
Wherein, deicing instruction is sent to solenoid by the 3rd frequency duplex communications interface by the first frequency duplex communications interface, to control solenoid parsing deicing instruction, it is thus achieved that trigger promotes number of times, and promotes number of times repeatedly to perform the promotion to trigger according to the trigger being resolved to；
Control chamber moves limit switch, for limiting the displacement of control chamber；
Microprocessor is AT89C51 single-chip microcomputer.
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| CN201610121856.3A CN105720543A (en) | 2015-12-17 | 2015-12-17 | Intelligent power supply line maintenance platform |
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| CN201610121856.3A CN105720543A (en) | 2015-12-17 | 2015-12-17 | Intelligent power supply line maintenance platform |
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Application publication date: 20160629 |