CN105932628A - Deicing line inspection robot - Google Patents
Deicing line inspection robot Download PDFInfo
- Publication number
- CN105932628A CN105932628A CN201610279959.2A CN201610279959A CN105932628A CN 105932628 A CN105932628 A CN 105932628A CN 201610279959 A CN201610279959 A CN 201610279959A CN 105932628 A CN105932628 A CN 105932628A
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- Prior art keywords
- plate
- robot
- position switch
- deicing
- inspection robot
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Classifications
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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
Abstract
The invention discloses a deicing line inspection robot, and belongs to the field of a special robot, for the purpose of providing a deicing line inspection robot advantaged in simple structure, stable operation, automatic barrier avoiding and automatic deicing. The deicing line inspection robot comprises robot bodies and deicing devices. Each robot body comprises a mechanical wheel type walking mechanism and a barrier crossing mechanism, wherein the mechanical wheel type walking mechanism and the barrier crossing mechanism are connected through an upper connection plate to form the robot body. A control apparatus is fixed on a frame lower plate, the barrier avoiding mechanisms are fixedly connected with a frame, and the deicing devices are fixed on roller fixation frames. According to the invention, through additional arrangement of the deicing devices, an automatic deicing apparatus can be completed, at the same time, the robot is light in structure, also has an automatic barrier avoiding function, reduces the influence exerted by ice on a power transmission line to the maximum degree, and guarantees power supply safety.
Description
Technical field
The present invention relates to inspection robot technical field, in particular, relate to a kind of inspection robot with automatic obstacle avoidance functions and deicing function.
Background technology
Inspection robot is the full-automatic line inspection device carrying out patrolling and examining operation along aerial high-voltage power transmission line, can livewire work (livewire work refers to not have a power failure on high voltage electric equipment overhaul, a kind of operational method of test, content can be divided into live testing, several respects such as on-line checking method and power-on serving), run along transmission pressure whole process and (include that straightway and strain insulator line segment along transmission pressure realize rolling and creep, cross over and dodge suspension clamp, suspension insulator, stockbridge damper, strain clamp, the structural type obstacles such as shaft tower, utilize the sensor apparatus carried to shaft tower, wire and lightning conducter, insulator, line hardware, line channels etc. implement proximity test.Owing to inspection robot line walking is closely patrolled and examined thus precision is high, do not exist and patrol and examine blind area, work efficiency can be improved again, save substantial amounts of human resources, line walking expense is also relative to low many for helicopter line walking, and avoids maintenance to have a power failure, it is ensured that normal power supply.
Therefore, use the detection of inspection robot automatic running on transmisson line to become the means of a kind of necessity ensureing high voltage transmission line safe operation, develop a kind of low cost, lightweight, control simple, reliable inspection robot and will necessarily bring considerable economic benefit and social benefit.
Impact due to natural environment, run into harsh climate environment, ice easily hung by high-voltage line, the structure of existing deicing inspection robot is the most complicated, though the effect of deicing can be reached, but result is not ideal, so, it is badly in need of at present developing a kind of simple in construction, the deicing inspection robot of compact, solves the problems referred to above.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, it is provided that a kind of stability is high, simple in construction has the inspection robot of deicing function.
The deicing inspection robot of the present invention, including robot body and deicer, described robot body includes three robot monomer, described robot monomer includes in-wheel driving mechanism and robot obstacle-avoiding mechanism, the wheeled drive mechanism of described machinery includes movable motor, roller, roller fixed mount, rolling bearing and short axle, described rolling bearing has two, it is separately fixed at the both sides of roller fixed mount, described roller fixed mount is connected with upper junction plate, described movable motor connects firmly with upper junction plate, described short axle is connected by shaft coupling with the main shaft of movable motor, short axle is assemblied in the rolling bearing of both sides, described roller is assemblied on short axle by key, end cap is screwed on roller fixed mount.The described barrier getting over mechanism described in robot obstacle-avoiding mechanism includes obstacle detouring motor, screw mandrel, feed screw nut pair, right baffle-plate, right baffle plate and nut connecting rod, described obstacle detouring motor support base is fixed on frame upper plate, obstacle detouring motor is fixed on obstacle detouring motor support base, described screw mandrel is assemblied on the main shaft of obstacle detouring motor, screw mandrel passes frame upper plate, feed screw nut pair is fixed in nut connecting rod, screw mandrel is threadeded with feed screw nut pair, upper junction plate and nut connecting rod are by being articulated and connected, right baffle-plate connects firmly with nut connecting rod, and right baffle plate connects firmly the upper plate in frame.nullThe described control device described in device that controls connects firmly in frame lower plate，Described control device includes PLC and 24V DC source，By PLC, movable motor and obstacle detouring motor are controlled，Realize the rotating of motor，Described inspection robot control system includes machinery wheel type traveling mechanism control system and barrier getting over mechanism control system，Described mechanical wheel type traveling mechanism control system includes travel switch、Travel switch mounting plate、Upper limit position switch and upper limit position switch installing plate，Described travel switch is arranged on travel switch mounting plate，Travel switch mounting plate is arranged on right baffle-plate，Described upper limit position switch is arranged on upper limit position switch installing plate，Described upper limit position switch installing plate connects firmly on right baffle-plate，Described barrier getting over mechanism control system includes lower position switch and lower position switch installing plate，Lower position switch is arranged on lower position switch installing plate，Described lower position switch installing plate is fixed on the upper plate of frame.Described deicer includes wire, booster transformer, heating wire and electrothermal wire rack, described heating wire is connected with booster transformer by wire, described booster transformer is connected with controlling device, described heating wire is embedded in inside electrothermal wire rack, and described electrothermal wire rack is fixed on roller fixed mount.
The spacing of described robot monomer is 350mm.Described heating wire is arranged closely in inside electrothermal wire rack, and the shape of described electrothermal wire rack is circular, electrothermal wire rack's Distance High Voltage Electricity Transfer 1-3 centimetre.
Described booster transformer is DC boosting transformator.Described rolling bearing uses 30000 type taper roll bearings, and bearing support structure uses two ends fixed bearing pattern, and rolling bearing is fixed on the both sides of roller fixed mount by the way of welding.Described travel switch selects fine motion impact switch as detection device, and described upper limit position switch is position sensor, and described lower position switch is position sensor and pressure transducer.
Beneficial effects of the present invention: (1) volume is little, lightweight, power consumptive province, but must provide for power supply that enough space mounting carry, controller, detection instrument etc.；
(2) ability of electromagnetism interference is strong, it is possible to normally use in strong electromagnetic interference environment；
(3) can even running at a desired speed on high-voltage line, there is certain climbing capacity；
(4) obstacle on high-tension line can be crossed over more neatly.
(5) deicer is increased, it is possible to achieve deicing of high-voltage wires function.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention
Fig. 2 is the structural representation of robot monomer of the present invention
Fig. 3 is the schematic diagram located that is articulated and connected
Fig. 4 is the schematic diagram of frame upper plate
Fig. 5 is the structural representation of machinery wheel type traveling mechanism
Fig. 6 is deicer structural representation
In figure: frame lower plate 1, bolt 2, obstacle detouring motor 3, obstacle detouring motor support base 4, frame upper plate 5, screw mandrel 6, feed screw nut pair 7, nut connecting rod 8, right baffle plate 9, upper limit position switch installing plate 10, upper limit position switch 11, right baffle-plate 12, upper junction plate 13, screw 14, end cap 15, rolling bearing 16, roller fixed mount 17, short axle 18, roller 19, movable motor 20, travel switch 21, travel switch mounting plate 22, lower position switch 23, lower position switch installing plate 24, electrothermal wire rack 25, heating wire 26, wire 27, booster transformer 28 and deicer A.
Detailed description of the invention
The invention will be further described below in conjunction with the accompanying drawings.
In the drawings, inspection robot includes frame lower plate 1, bolt 2, obstacle detouring motor 3, obstacle detouring motor support base 4, frame upper plate 5, screw mandrel 6, feed screw nut pair 7, nut connecting rod 8, right baffle plate 9, upper limit position switch installing plate 10, upper limit position switch 11, right baffle-plate 12, upper junction plate 13, screw 14, end cap 15, rolling bearing 16, roller fixed mount 17, short axle 18, roller 19, movable motor 20, travel switch 21, travel switch mounting plate 22, lower position switch 23, lower position switch installing plate 24, electrothermal wire rack 25, heating wire 26, wire 27, booster transformer 28 and deicer A.
Described robot body includes machinery wheel type traveling mechanism and barrier getting over mechanism, described mechanical wheel type traveling mechanism and barrier getting over mechanism are attached by upper junction plate 13, constituting a robot monomer, robot body has 3, and inspection robot monomer distance is 350 millimeters.Described control device is fixed in frame lower plate 1, and described avoidance mechanism connects firmly in frame.Frame includes that frame upper plate 5 and frame lower plate 1, frame upper plate 5 and frame lower plate 1 are linked together by bolt 2.
Described mechanical wheel type traveling mechanism includes movable motor 20, roller 19, roller fixed mount 17, rolling bearing 16 and short axle 18, described rolling bearing 16 has two, it is separately fixed at the both sides of roller fixed mount 17, described roller fixed mount 17 is connected with upper junction plate 13, described movable motor 20 connects firmly with upper junction plate 13, described short axle 18 is connected by shaft coupling with the main shaft of movable motor 20, short axle 18 is assemblied in both sides rolling bearing 16, described roller 19 is assemblied on short axle 18 by key, end cap 15 is fixed on roller fixed mount 17 by screw 14.Described rolling bearing 16 uses 30000 type taper roll bearings, and bearing support structure uses two ends fixed bearing pattern, and rolling bearing 16 is fixed on the both sides of roller fixed mount 17 by the way of welding.
Described barrier getting over mechanism includes obstacle detouring motor 3, screw mandrel 6, feed screw nut pair 7, right baffle-plate 12, right baffle plate 9 and nut connecting rod 8, described obstacle detouring motor support base 4 is fixed on frame upper plate 5, obstacle detouring motor 3 is fixed on obstacle detouring motor support base 4, described screw mandrel 6 is assemblied on the main shaft of obstacle detouring motor 3, screw mandrel 6 is through frame upper plate 5, feed screw nut pair 7 is fixed in nut connecting rod 8, screw mandrel 6 is threadeded with feed screw nut pair 7, upper junction plate 13 and nut connecting rod 8 are by being articulated and connected, right baffle-plate 12 connects firmly with nut connecting rod 8, right baffle plate 9 connects firmly the upper plate in frame.
nullDescribed control device connects firmly in frame lower plate 1，Described control device includes PLC and 24V DC source，By PLC, movable motor 20 and obstacle detouring motor 3 are controlled，Realize the rotating of motor，Described inspection robot control system includes machinery wheel type traveling mechanism control system and barrier getting over mechanism control system，Described mechanical wheel type traveling mechanism control system includes travel switch 21、Travel switch mounting plate 22、Upper limit position switch 11 and upper limit position switch installing plate 10，Described travel switch 21 is arranged on travel switch mounting plate 22，Travel switch mounting plate 22 is arranged on right baffle-plate 12，Described upper limit position switch 11 is arranged on upper limit position switch installing plate 10，Described upper limit position switch installing plate 10 connects firmly on right baffle-plate 12，Described barrier getting over mechanism control system includes lower position switch 23 and lower position switch installing plate 24，Lower position switch 23 is arranged on lower position switch installing plate 24，Described lower position switch installing plate 24 is fixed on the upper plate of frame.Described travel switch 21 selects fine motion impact switch as detection device, and described upper limit position switch 11 is position sensor, and described lower position switch 23 is position sensor and pressure transducer.
Described deicer A includes wire 27, booster transformer 28, heating wire 26 and electrothermal wire rack 25, described heating wire 26 is connected with booster transformer 28 by wire 27, described booster transformer 28 is connected with controlling device, it is internal that described heating wire 26 is embedded in electrothermal wire rack 25, and described electrothermal wire rack 25 is fixed on roller fixed mount 17.
It is internal that described heating wire 26 is arranged closely in electrothermal wire rack 25, and the shape of described electrothermal wire rack 25 is circular, electrothermal wire rack 25 Distance High Voltage Electricity Transfer 3-5 millimeter.Described booster transformer 28 is DC boosting transformator.
When deicing inspection robot is arranged on high-voltage line, first open heater, the ice on high-voltage line is melted, then open robot, make robot start working, both can complete automatic obstacle avoidance functions while robot ambulation, deicing function can be completed again.
When inspection robot does not run into barrier, use three-wheel to simultaneously drive mode, make roller walk along high-voltage line under movable motor drives.
When inspection robot runs into barrier, run into the roller of barrier by nut-screw rod barrier getting over mechanism so that it is climb away high-voltage line, then make roller towards tilting under the effect of self gravitation.
Like this, three rollers arrange disengaging high-voltage line successively, the roller making disengaging high-voltage line under the driving of another two roller clears the jumps, after further through barrier getting over mechanism decline and contact again as driving wheel with high-voltage line, other two rollers pass sequentially through identical action and complete obstacle detouring.So inspection robot just can successfully clear the jumps.
Claims (6)
- null1. a deicing inspection robot，Including robot body and deicer，It is characterized in that，Described robot body includes three robot monomer，Described robot monomer includes in-wheel driving mechanism and robot obstacle-avoiding mechanism，The wheeled drive mechanism of described machinery includes movable motor (20)、Roller (19)、Roller fixed mount (17)、Rolling bearing (16) and short axle (18)，Described rolling bearing (16) has two，It is separately fixed at the both sides of roller fixed mount (17)，Described roller fixed mount (17) is connected with upper junction plate (13)，Described movable motor (20) connects firmly with upper junction plate (13)，Described short axle (18) is connected by shaft coupling with the main shaft of movable motor (20)，Short axle (18) is assemblied in both sides rolling bearing (16)，Described roller (19) is assemblied on short axle (18) by key，End cap (15) is fixed on roller fixed mount (17) by screw (14)，The described barrier getting over mechanism described in robot obstacle-avoiding mechanism includes obstacle detouring motor (3)、Screw mandrel (6)、Feed screw nut pair (7)、Right baffle-plate (12)、Right baffle plate (9) and nut connecting rod (8)，Described obstacle detouring motor support base (4) is fixed on frame upper plate (5)，Obstacle detouring motor (3) is fixed on obstacle detouring motor support base (4)，Described screw mandrel (6) is assemblied on the main shaft of obstacle detouring motor (3)，Screw mandrel (6) passes frame upper plate (5)，Feed screw nut pair (7) is fixed in nut connecting rod (8)，Screw mandrel (6) is threadeded with feed screw nut pair (7)，Upper junction plate (13) and nut connecting rod (8) are by being articulated and connected，Right baffle-plate (12) connects firmly with nut connecting rod (8)，Right baffle plate (9) connects firmly the upper plate in frame，The described control device described in device that controls connects firmly in frame lower plate (1)，Described control device includes PLC and 24V DC source，By PLC, movable motor (20) and obstacle detouring motor (3) are controlled，Realize the rotating of motor，Described inspection robot control system includes machinery wheel type traveling mechanism control system and barrier getting over mechanism control system，Described mechanical wheel type traveling mechanism control system includes travel switch (21)、Travel switch mounting plate (22)、Upper limit position switch (11) and upper limit position switch installing plate (10)，Described travel switch (21) is arranged on travel switch mounting plate (22)，Travel switch mounting plate (22) is arranged on right baffle-plate (12)，Described upper limit position switch (11) is arranged on upper limit position switch installing plate (10)，Described upper limit position switch installing plate (10) connects firmly on right baffle-plate (12)，Described barrier getting over mechanism control system includes lower position switch (23) and lower position switch installing plate (24)，Lower position switch (23) is arranged on lower position switch installing plate (24)，Described lower position switch installing plate (24) is fixed on the upper plate of frame，Described deicer (A) includes wire (27)、Booster transformer (28)、Heating wire (26) and electrothermal wire rack (25)，Described heating wire (26) is connected with booster transformer (28) by wire (27)，Described booster transformer (28) is connected with controlling device，It is internal that described heating wire (26) is embedded in electrothermal wire rack (25)，Described electrothermal wire rack (25) is fixed on roller fixed mount (17).
- Deicing inspection robot the most according to claim 1, is characterized in that, the spacing of described robot monomer is 350mm.
- Deicing inspection robot the most according to claim 1, it is characterized in that, it is internal that described heating wire (26) is arranged closely in electrothermal wire rack (25), and the shape of described electrothermal wire rack (25) is circular, electrothermal wire rack (25) Distance High Voltage Electricity Transfer 1-3 centimetre.
- Deicing inspection robot the most according to claim 1, is characterized in that, described booster transformer (28) is DC boosting transformator.
- Deicing inspection robot the most according to claim 1, it is characterized in that, described rolling bearing (16) uses 30000 type taper roll bearings, bearing support structure uses two ends fixed bearing pattern, and rolling bearing (16) is fixed on the both sides of roller fixed mount (17) by the way of welding.
- Inspection robot the most according to claim 1, it is characterized in that, described travel switch (21) selects fine motion impact switch as detection device, and described upper limit position switch (11) is position sensor, and described lower position switch (23) is position sensor and pressure transducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610279959.2A CN105932628A (en) | 2016-04-30 | 2016-04-30 | Deicing line inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610279959.2A CN105932628A (en) | 2016-04-30 | 2016-04-30 | Deicing line inspection robot |
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| Publication Number | Publication Date |
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| CN105932628A true CN105932628A (en) | 2016-09-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610279959.2A Pending CN105932628A (en) | 2016-04-30 | 2016-04-30 | Deicing line inspection robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108309664A (en) * | 2018-03-16 | 2018-07-24 | 商丘医学高等专科学校 | A kind of paediatrics rescue monitor device based on platform of internet of things |
| CN108963936A (en) * | 2018-06-05 | 2018-12-07 | 成都金甲虫科技有限公司 | One kind being used for deicing of high-voltage wires crusing robot |
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| CN105429082A (en) * | 2015-12-29 | 2016-03-23 | 国家电网公司 | Ice and snow melting device for transmission line |
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2016
- 2016-04-30 CN CN201610279959.2A patent/CN105932628A/en active Pending
Patent Citations (8)
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|---|---|---|---|---|
| CN101728803A (en) * | 2009-12-31 | 2010-06-09 | 武汉大学 | Robot for de-icing of power transmission lines |
| CN201584734U (en) * | 2010-01-07 | 2010-09-15 | 张永权 | Cable de-icing machine |
| CN102270822A (en) * | 2011-08-25 | 2011-12-07 | 三峡大学 | Robot for automatic deicing of transmission line |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108309664A (en) * | 2018-03-16 | 2018-07-24 | 商丘医学高等专科学校 | A kind of paediatrics rescue monitor device based on platform of internet of things |
| CN108963936A (en) * | 2018-06-05 | 2018-12-07 | 成都金甲虫科技有限公司 | One kind being used for deicing of high-voltage wires crusing robot |
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Application publication date: 20160907 |
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