CN106711854A - Pole-climbing robot with transmission line insulator cleaning function - Google Patents
Pole-climbing robot with transmission line insulator cleaning function Download PDFInfo
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- CN106711854A CN106711854A CN201710067065.1A CN201710067065A CN106711854A CN 106711854 A CN106711854 A CN 106711854A CN 201710067065 A CN201710067065 A CN 201710067065A CN 106711854 A CN106711854 A CN 106711854A
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- pole
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- robot
- transmission line
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- 238000004140 cleaning Methods 0.000 title claims abstract description 74
- 239000012212 insulator Substances 0.000 title claims abstract description 35
- 230000005540 biological transmission Effects 0.000 title claims abstract description 32
- 230000009194 climbing Effects 0.000 claims abstract description 53
- 238000012545 processing Methods 0.000 claims abstract description 15
- 238000001514 detection method Methods 0.000 claims abstract description 10
- 238000010191 image analysis Methods 0.000 claims abstract description 4
- 230000007246 mechanism Effects 0.000 claims description 29
- 230000003028 elevating effect Effects 0.000 claims description 28
- 239000012530 fluid Substances 0.000 claims description 10
- 238000012544 monitoring process Methods 0.000 claims description 6
- 238000004458 analytical method Methods 0.000 claims description 5
- 230000009193 crawling Effects 0.000 claims description 3
- 239000007921 spray Substances 0.000 claims 1
- 238000012423 maintenance Methods 0.000 abstract description 9
- 238000011010 flushing procedure Methods 0.000 abstract description 7
- 238000000034 method Methods 0.000 abstract description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 5
- 238000005406 washing Methods 0.000 abstract 2
- 238000010408 sweeping Methods 0.000 abstract 1
- 230000033001 locomotion Effects 0.000 description 6
- 241001417527 Pempheridae Species 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 239000000428 dust Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000013517 stratification Methods 0.000 description 2
- 206010016825 Flushing Diseases 0.000 description 1
- 208000037656 Respiratory Sounds Diseases 0.000 description 1
- 230000005856 abnormality Effects 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000009991 scouring Methods 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
- 210000002268 wool Anatomy 0.000 description 1
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
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/12—Brushes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
- B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a pole-climbing robot with transmission line insulator cleaning function, and relates to a robot. The domestic insulator cleaning usually employs the methods such as mechanical cleaning, water washing and gas flushing at present, and the worker climbing a pole for checking and cleaning is large in labor intensity, has potential safety hazard and low in work efficiency. The pole-climbing robot with the transmission line insulator cleaning function comprises a pole-climbing robot body, a detection holder, a cleaning machine arm, a control module and a robot ground upper computer control system comprising an image analysis and processing module. According to the technical scheme, the pole-climbing robot with the transmission line insulator sweeping function avoids the safety problems such as people climbing, common manual mechanical cleaning, water washing and gas flushing so as to improve the convenience and maintenance efficiency of the maintenance of the transmission line and reduce the labor intensity.
Description
Technical field
The present invention relates to a kind of robot, especially a kind of pole-climbing machine with electric transmission line isolator cleaning function
People.
Background technology
Electric transmission line isolator surface often accumulates dust, produces dirt, and the accumulation of dirt can make insulator surface
Insulating capacity declines, and circuit is increased the phenomenon for producing pollution flashover, so needing to inspect periodically cleaning insulator surface, recovers line
Road dielectric level, prevention circuit pollution flashover accident occur, and the insulator of surface cleaning can for a long time tolerate the requirement of operating voltage, it is ensured that
The safe operation of insulator.The inner insulator cleaning of current state is more using methods such as mechanical sweeper, water flushing, gas flushings, most of
Insulator is higher, it is necessary to operating personnel's climbing electric pole could be completed due to height, and artificial pole-climbing inspection is cleaned, labour intensity
Greatly, there is potential safety hazard, operating efficiency is low, be especially apparent under the extreme climate environments such as heat, severe cold.
The content of the invention
The technical problem to be solved in the present invention and the technical assignment for proposing are prior art to be improved and is improved,
A kind of climbing level robot with electric transmission line isolator cleaning function is provided, transmission line of electricity is realized with safe, fast, efficient
For the purpose of electric pole climbing and the inspection of insulator and cleaning.Therefore, the present invention takes following technical scheme.
A kind of climbing level robot with electric transmission line isolator cleaning function, including for climbing the pole-climbing machine of electric pole
Human body, the detection with wireless telecommunications module for carrying out camera monitoring to insulator located at climbing level robot body upper part
Head, located at climbing level robot body upper part for insulator is cleaned cleaning machinery arm, located at climbing level robot
Behaviour is controlled to robot working condition for the control module of robot crawling control and for controllers on body
The Robot upper computer control system with wireless telecommunications module made, described ground upper computer control system includes setting
There is the image analysis processing module for monitoring image transmitted by analysis detection head.It is right that climbing level robot can be realized easily
Photo, by detecting that head can easily realize the shooting to insulator, then is transferred to Robot by the climbing of electric pole
Upper computer control system carries out accident analysis, realizes adjusting the attitude of robot by Robot upper computer control system
Whole, control cleaning machinery arm realizes the cleaning to insulator, prevented artificial climbing and common artificial mechanical sweeper, water rinse and
The safety problem existed during gas flushing, improves the convenience and maintenance efficiency of Maintenance of Electric Transmission Line, reduces labour intensity.
As further improving and supplementing to above-mentioned technical proposal, present invention additionally comprises following additional technical feature.
Described climbing level robot body include vertically arranged lifting guide post, be respectively arranged on lifting guide post top and
The upper pole arm for holding electric pole tightly and lower pole arm of bottom, upper pole arm and lower pole arm is set to hold what is opened tightly on electric pole
Pole arm and the lower pole arm elevating mechanism vertically movable to climb mode formula, described upper pole arm on tensioning apparatus, realization
Or one of lower pole arm can be vertically slidable along lifting guide post, another with lifting guide post in height to fixation,
Described tensioning apparatus and elevating mechanism is driven by motor.Elevating mechanism and tensioning apparatus are driven by motor,
Pole arm and lower pole arm are held tightly and are opened successively on electric pole in realization, and pole arm or lower pole arm is led along lifting
Realize sliding up or down to bar, and drive robot body to realize lifting, complete the climbing motion on electric pole.
Described lifting guide post includes left elevating lever and right elevating lever, the symmetrical left and right located at climbing level robot body
Both sides, described upper pole arm and lower pole arm include the left side that is oppositely arranged of left and right embrace ring and it is right embrace ring, ring is embraced for a left side and
The pressure sensor of pressure detecting when encircling tight electric pole is embraced on the right side, and ring and right ring of embracing are embraced in a described left side to be included being used for located at anterior
Hold tightly electric pole handgrip, located at handgrip rear for be enclosed within left elevating lever and right elevating lever sliding sleeve, located at sliding sleeve rear
Foot piece.Ring and right armful of ring are embraced by the left side on left elevating lever and right elevating lever, the handgrip of ring and right armful of ring are embraced using a left side,
Under the support of tensioning apparatus, realize to the holding of electric pole and open, pressure sensor is easy to perceive holding state.
Described tensioning apparatus includes the upper tensioning apparatus being located between a left side for upper pole arm armful ring and right armful of ring, is located at down
The lower tensioning apparatus between ring and right armful of ring is embraced on a left side for pole arm, and described upper tensioning apparatus and lower tensioning apparatus include connection
Ring and right armful of ring rear end are embraced in the left tensioning spring for making handgrip holding electric pole embraced between ring and right armful of ring rear end, located at left
Between for making handgrip unclamp the cam mechanism of electric pole, described motor independently drives upper and lower cam machine for 2
The motor of structure.By the tensioning spring and motor of upper tensioning apparatus and lower tensioning apparatus it is respective independent drive it is upper
Lower cam mechanism, realizes to the holding of electric pole and opens, simple and reliable for structure.
Described elevating mechanism is the toggle being connected between upper and lower cam mechanism, and each cam mechanism is wrapped
Include camshaft, the double cam in tandem on camshaft, be respectively arranged on left two positions embraced on ring and right armful of ring foot piece
Band in double cam both sides contradicts the feeler lever of wheel, and when described double cam rotates, 2 cams of double cam are contradicted and each touched simultaneously
The conflict wheel of bar, the upper and lower ends of described toggle are all connected on camshaft, and toggle fortune circles,
The double cam of upper and lower cam mechanism is driven by sensor senses and respective motor under the control of robot control module and handed over
For the conflict wheel for contradicting respective both sides.The shape and structure of upper and lower double cam is identical, and respectively by two independent motors drives.It is double
Cam rotation can drive left tensioning and the closure for embracing ring and the right side armful ring, and toggle makes upper and lower double cam be connected, under
Portion's double cam rotation can drive crank and connecting rod movement to produce distance change, be realized under the cooperation of upper and lower pole arm upper and lower
The alternating to electric pole of strainer is held tightly and is opened, and realizes the climbing sports of robot body.
Described motor is turbine and worm reducing motor.Turbine and worm reducing motor possesses the good self-locking performance of worm and gear
Can, being capable of the accident such as effectively pre- anti-power failure the occurrence of cause robot to glide.
Described detection head is provided with high-definition camera, the wireless telecommunications module that described high-definition camera is carried by it
It is connected with upper computer control system.High-definition camera image clearly, is easy to the image procossing for lifting upper computer control system accurate
Degree.
Described cleaning machinery arm includes rotation platform, the rotatable underarm body for being connected to rotary platform upper, can revolve
The upper arm body for being connected to underarm body upper end, the dismountable cleaning hairbrush located at upper arm body front end and the cleaning fluid injector for turning,
Described rotation platform, underarm body, upper arm body, cleaning hairbrush and cleaning fluid injector are each coupled electrically to control module, described
Control module is provided with wireless telecommunications module.Control when realizing cleaning insulator by multiple rotary freedoms, manipulation is convenient,
Effectively cleaning can be realized.
Described cleaning hairbrush is electronic rotation bar type hairbrush, is connected to upper arm body front end, and described cleaning injector sets
In the top of upper arm body front end.The control of electronic rotation bar type hairbrush is simple, and cleaning performance is good, and cleaning injector is located at upper arm body
The top of front end, is easy to cleaning fluid to be ejected into the active component of cleaning, and cleaning performance is good.
The image that described image processing module is provided with to receiving carries out gray processing, binaryzation, image denoising, feature and carries
Take function.Image processing module carries out the treatment such as gray processing, binaryzation, image denoising, Edge Gradient Feature to image, by side
The method that edge is extracted can obtain the profile of object after image procossing, can be used to diagnose transmission pressure with the presence or absence of wire strand breakage
Etc. failure, it is easy to master system to identify the failures such as transmission line breakage, insulator dust stratification, and the failure that will be recognized is timely
Notify to staff.
Beneficial effect：Can quickly and easily realize that climbing, transmission line faultlocating and the insulator of high-tension pole are clear
Wash, reduce the labour intensity of Maintenance of Electric Transmission Line, improve operation maintenance efficiency, robot architecture is simply compact in addition, just
In carrying, intelligence degree is high, structural reliability is high, especially improves Maintenance of Electric Transmission Line in weather and poor environmental condition
Security.
Brief description of the drawings
Fig. 1 is positive structure diagram of the present invention.
Fig. 2 is pole-climbing schematic diagram of the present invention.
Fig. 3 is overlooking the structure diagram of the present invention.
In figure：1- climbing level robot bodies；2- cleaning machinery arms；3- detects head；4- electric poles；5- insulators；101- liters
Drop guide post；The upper pole arms of 102-；103- toggles；104- double cams；105- motors；106- control modules；
107- tensioning springs；Pole arm under 108-；109- feeler levers；110- is left to embrace ring；111- is right to embrace ring；112- foot pieces；113- handgrips；
114- sliding sleeves；201- rotation platforms；202- underarm bodies；203- upper arm bodies；204- cleans hairbrush；205- cleans fluid injector.
Specific embodiment
Technical scheme is described in further detail below in conjunction with Figure of description.
As Figure 1-3, a kind of climbing level robot with electric transmission line isolator cleaning function, including for climbing electricity
The climbing level robot body 1 of bar 4, the band nothing for carrying out camera monitoring to insulator 5 located at the top of climbing level robot body 1
The detection head 3 of line communication module group, located at the top of climbing level robot body 1 for the cleaning machine that is cleaned to insulator 5
Tool arm 2, on climbing level robot body 1 for robot crawling control control module 106 and for controllers pair
Robot working condition is controlled the Robot upper computer control system with wireless telecommunications module of operation, on ground
Position machine control system includes being provided with the image analysis processing module for monitoring image transmitted by analysis detection head 3.
In order to realize that the climbing on electric pole 4 is lifted, climbing level robot body 1 includes vertically arranged lifting guide post
101st, be respectively arranged on lifting guide post 101 upper and lower part upper pole arm 102 for holding electric pole 4 tightly and lower pole arm 108,
Pole arm 102 and lower pole arm 108 is set to hold tensioning apparatus, pole arm 102 and the lower pole in realization for opening tightly on electric pole 4
The elevating mechanism vertically movable to climb mode formula of arm 108, one of upper pole arm 102 or lower pole arm 108 can be along
Lifting guide post 101 is vertically slidable, and another leads in height with lifting guide post 101 to fixation, tensioning apparatus and elevating mechanism
Motor 105 of overdriving drives.Elevating mechanism and tensioning apparatus are driven by motor 105, pole arm 102 and lower armful in realization
Lever arm 108 is held tightly and is opened successively on electric pole 4, and makes pole arm 102 or lower pole arm 108 along lifting guide post 101
Realization is slided up or down, and drives robot body to realize lifting, completes the climbing motion on electric pole 4.
In order to realize upper pole arm 102 and lower pole arm 108 to the holding of electric pole 4 and open, lifting guide post 101 includes
Left elevating lever and right elevating lever, the symmetrical left and right sides located at climbing level robot body 1, upper pole arm 102 and lower pole arm
108 include that a left side armful ring 110 that left and right is oppositely arranged embraces ring 111, holds electric pole tightly for a left side armful ring 110 and the right side armful ring 111 with the right side
When pressure detecting pressure sensor, ring 110 and right ring 111 of embracing are embraced in a left side to be included located at anterior for holding grabbing for electric pole 4 tightly
Hand 113, located at the rear of handgrip 113 for be enclosed within left elevating lever and right elevating lever sliding sleeve 114, located at the rear of sliding sleeve 114
Foot piece 112.Ring 110 and right armful of ring 111 are embraced by the left side on left elevating lever and right elevating lever, the He of ring 110 is embraced using a left side
The handgrip 113 of ring 111 is embraced on the right side, under the support of tensioning apparatus, is realized to the holding of electric pole 4 and is opened, and pressure sensor is easy to
Perceive holding state.
In order that left ring 110 and the right ring 111 of embracing embraced realizes that tensioning is acted, tensioning apparatus includes being located at upper pole arm 102
A left side embrace ring 110 and it is right embrace ring 111 between upper tensioning apparatus, embraced located at a left side for lower pole arm 108 ring 110 and it is right embrace ring 111 it
Between lower tensioning apparatus, upper tensioning apparatus and lower tensioning apparatus include being connected to left to be embraced ring 110 and right embraces between the rear end of ring 111
For make handgrip 113 hold tightly electric pole 4 tensioning spring 107, embrace located at a left side ring 110 and it is right embrace between the rear end of ring 111 being used for
Handgrip 113 is set to unclamp the cam mechanism of electric pole 4, motor 105 is 2 and independently drives the driving of upper and lower cam mechanism electric
Machine.By the upper and lower of the respective independent driving of the tensioning spring 107 and upper and lower motor 105 of upper tensioning apparatus and lower tensioning apparatus
Cam mechanism, realizes to the holding of electric pole 4 and opens, simple and reliable for structure.
In order that pole arm replaces holding electric pole 4 up and down, climbing elevating movement is realized, elevating mechanism is upper and lower to be connected to
Toggle 103 between cam mechanism, each cam mechanism is including camshaft, on camshaft in tandem
Double cam 104, be respectively arranged on and left embrace ring 110 and right two bands for being located at the both sides of double cam 104 embraced on the foot piece 112 of ring 111
The feeler lever 109 of wheel is contradicted, when double cam 104 rotates, 2 cams of double cam 104 contradict the conflict of respective feeler lever 109 simultaneously
Wheel, the upper and lower ends of toggle 103 are all connected on camshaft, and the fortune of toggle 103 circles, upper and lower cam
The double cam 104 of mechanism is driven under the control of robot control module 106 by sensor senses and respective motor 105
Dynamic alternating contradicts the conflict wheel of respective both sides.The shape and structure of upper and lower double cam 104 is identical, and respectively by two independent drivings
Motor 105 drives.Double cam 104 rotates can drive left tensioning and the closure, crank connecting link machine for embracing ring 110 and the right side armful ring 111
Structure 103 makes upper and lower double cam 104 be connected, and the rotation of bottom double cam 104 can drive toggle 103 to move and produce distance
Change, realizes that the alternating to electric pole 4 of upper and lower strainer is held tightly and opened under the cooperation of upper and lower pole arm, realizes machine
The climbing sports of people's body.
Occur to prevent situations such as falling when the accident such as powering off again, motor 105 subtracts for turbine and worm
Speed motor.Turbine and worm reducing motor possesses the good self-locking property of worm and gear, being capable of the accident such as effectively pre- anti-power failure
The generation of situations such as causing robot downslide to be fallen.
In order to lift image processing effect, detection head 3 is provided with high-definition camera, the nothing that high-definition camera is carried by it
Line communication module group is connected with upper computer control system.High-definition camera image clearly, is easy to be lifted the figure of upper computer control system
As treatment accuracy and effect.
For the ease of control, effectively cleaning is realized, cleaning machinery arm 2 includes rotation platform 201, rotatable is connected to rotation
Turn the underarm body 202 on the top of platform 201, the rotatable upper arm body 203 for being connected to the upper end of underarm body 202, located at upper arm body 203
Dismountable cleaning hairbrush 204 of front end and cleaning fluid injector 205 are rotation platform 201, underarm body 202, upper arm body 203, clear
Scouring of wool brush 204 and cleaning fluid injector 205 are each coupled electrically to control module 106, and control module 106 is provided with wireless telecommunications module.
Control when realizing cleaning insulator 5 by multiple rotary freedoms, manipulation is convenient, can realize effectively cleaning.
In order to realize more preferable cleaning performance, cleaning hairbrush 204 is electronic rotation bar type hairbrush, is connected to upper arm body 203
Front end, top of the cleaning injector 205 located at the front end of upper arm body 203.The control of electronic rotation bar type hairbrush is simpler, cleaning performance
It is good, cleaning injector 205 located at the top of the front end of upper arm body 203, it is easy to cleaning fluid to be ejected into the active component of cleaning, clean
Effect is more preferable.
In order to realize the identification to image, the image that image processing module is provided with to receiving carry out gray processing, binaryzation,
Image denoising, feature extraction functions.Image processing module carries out gray processing, binaryzation, image denoising, edge feature and carries to image
The treatment such as take, the profile of object, can be used to diagnose transmission pressure after the method for edge extracting can obtain image procossing
With the presence or absence of failures such as wire strand breakages, it is easy to master system to identify the failures such as transmission line breakage, the dust stratification of insulator 5, and
The failure that will be recognized is notified to staff in time.
When robot manipulating task works, robot is placed into the side of electric pole 4, now upper and lower worm gear by start machine people first
Rotational band moving cam mechanism rotates worm drive motor 105 simultaneously, and the upper pole arm 102 of robot and lower pole arm 108 are simultaneously
Open, prepared to climb up electric pole 4；After pole arm is entirely around electric pole 4, upper and lower worm and gear motor 105 is same again
When rotate so that upper pole arm 102 and lower pole arm 108 hold electric pole 4 under the action of the spring, when upper pole arm 102 is with
Pressure sensor on pole arm 108 is returned and compresses signal, then prove that robot holds electric pole 4 tightly completely, can start to
On creep；When robot creeps upwards, upper worm and gear motor 105 turns an angle first, and upper pole arm 102 is complete
Open and no longer contacted with electric pole 4 entirely, after control module 106 detects upper pole arm 102 opens completely, the biconvex of bottom
Wheel 104 will rotate to an angle, and toggle 103 promotes robot body along two under the drive of bottom double cam 104
The lifting guide post 101 of side is moved upwards, after sensor detects toggle 103 reaches specified location, top
Double cam 104 will rotate to an angle again so that the upper locking electric pole 4 of pole arm 102, completes the first half of climbing level robot body 1
The rising for dividing；After robot control module 106 detects upper pole arm 102 holds electric pole 4 tightly completely, bottom double cam 104 exists
Lower worm and gear motor 105 is rotated by certain angle so that lower pole arm 108 opens and no longer connect with electric pole 4
Touch, after control module 106 detects lower pole arm 108 not to be contacted with electric pole 4, the double cam 104 of bottom will continue clockwise
Turning over certain angle drives toggle 103 to move, and the motion of toggle 103 will drive robot body lower half
Part moves up, and after robot body the latter half rises to specified location, lower pole arm 108 will under the action of the spring
Hold electric pole, when pressure sensor detects upper pole arm 102 again and lower pole arm 108 all holds electric pole tightly, machine tightly
Human body has completed an ascending motion, and stroke is about the twice of crank connecting link crank length, in the process, upper and lower cam machine
The double cam 104 of structure is slowed down electric under the control of robot control module 106 by sensor senses and respective turbine and worm
Machine to drive and replace realization to the holding of electric pole 4 with 1/2 cycle and open；The process that robot is constantly repeated more than is finally climbed
Climb to the top of electric pole 4, when control module 106 detects robot has reached optimal job position, detect that the high definition of head 3 is taken the photograph
As head starts, the image information that gather the realtime graphic of insulator 5 and will be collected by wireless telecommunications module is sent on ground
Position machine control system, the photo of insulator 5 of the ground upper computer control system to receiving further is processed, and judges insulator
Whether 5 have the abnormalities such as filth, crackle, breakage, corrosion, if finding, insulator 5 has dirt, and ground controller will pass through
The cleaning machinery arm 2 of ground upper computer control system graphical interface remoting insulator 5 is cleaned to insulator 5；Insulator 5 is completed to clean
After work, cleaning machinery arm 2 will be contracted to minimum state, and after ground controller sends lower beam to be instructed, robot body exists
Specified location is gradually decreased in the presence of cam mechanism and toggle 103, is finally reclaimed by ground controller.
Climbing level robot easily realizes the climbing of electric pole 4, by detecting that head 3 can be realized easily to insulator
5 shooting, then photo is transferred to Robot upper computer control system carries out accident analysis, it is upper by Robot
Machine control system realizes the pose adjustment to robot, and control cleaning machinery arm 2 realizes the cleaning to insulator 5, prevented people
Work climbs the potential safety hazard existed during with common artificial mechanical sweeper, water flushing and gas flushing, improves Maintenance of Electric Transmission Line
Convenience and maintenance efficiency, reduce labour intensity.
A kind of climbing level robot with electric transmission line isolator cleaning function shown in figure 1 above -3 is tool of the invention
Body embodiment, has embodied substantive distinguishing features of the present invention and progress, can be according to actual use needs, in enlightenment of the invention
Under, carry out the equivalent modifications of the aspects such as shape, structure to it, this programme protection domain row.
Claims (10)
1. a kind of climbing level robot with electric transmission line isolator cleaning function, it is characterised in that：Including for climbing electric pole
（4）Climbing level robot body（1）, located at climbing level robot body（1）Top for insulator（5）Carry out camera monitoring
The detection head with wireless telecommunications module（3）, located at climbing level robot body（1）Top for insulator（5）Carry out
The cleaning machinery arm of cleaning（2）, located at climbing level robot body（1）On for robot crawling control control module
（106）With the Robot with wireless telecommunications module for being controlled operation to robot working condition for controllers
Upper computer control system, described ground upper computer control system includes being provided with for monitoring analysis detection head（3）It is transmitted
The image analysis processing module of image.
2. a kind of climbing level robot with electric transmission line isolator cleaning function according to claim 1, its feature exists
In：Described climbing level robot body（1）Including vertically arranged lifting guide post（101）, be respectively arranged on lifting guide post
（101）Upper and lower part for holding electric pole tightly（4）Upper pole arm（102）With lower pole arm（108）, make pole arm
（102）With lower pole arm（108）In electric pole（4）It is upper to hold tensioning apparatus, the pole arm in realization for opening tightly（102）With lower pole arm
（108）The elevating mechanism vertically movable to climb mode formula, described upper pole arm（102）Or lower pole arm（108）Wherein
One of can along lifting guide post（101）It is vertically slidable, another and lifting guide post（101）It is described in height to fixation
Tensioning apparatus and elevating mechanism pass through motor（105）Drive.
3. a kind of climbing level robot with electric transmission line isolator cleaning function according to claim 2, its feature exists
In：Described lifting guide post（101）It is symmetrical located at climbing level robot body including left elevating lever and right elevating lever（1）'s
The left and right sides, described upper pole arm（102）With lower pole arm（108）Include that ring is embraced on the left side that left and right is oppositely arranged（110）With
Embrace ring in the right side（111）, for a left side embrace ring（110）Ring is embraced with the right side（111）The pressure sensor of pressure detecting, described when holding electric pole tightly
Embrace ring in a left side（110）Ring is embraced with the right side（111）Include located at anterior for holding electric pole tightly（4）Handgrip（113）, located at handgrip
（113）The sliding sleeve being enclosed within left elevating lever and right elevating lever at rear（114）, located at sliding sleeve（114）The foot piece at rear（112）.
4. a kind of climbing level robot with electric transmission line isolator cleaning function according to claim 2, its feature exists
In：Described tensioning apparatus includes being located at upper pole arm（102）A left side embrace ring（110）Ring is embraced with the right side（111）Between upper tensioning
Device, located at lower pole arm（108）A left side embrace ring（110）Ring is embraced with the right side（111）Between lower tensioning apparatus, described upper tensioning
Device and lower tensioning apparatus include being connected to left armful of ring（110）Ring is embraced with the right side（111）Between rear end for making handgrip（113）
Hold electric pole tightly（4）Tensioning spring（107）, located at a left side embrace ring（110）Ring is embraced with the right side（111）Between rear end for making handgrip
（113）Unclamp electric pole（4）Cam mechanism, described motor（105）Upper and lower cam mechanism is independently driven for 2
Motor.
5. a kind of climbing level robot with electric transmission line isolator cleaning function according to claim 2, its feature exists
In：Described elevating mechanism is the toggle being connected between upper and lower cam mechanism（103）, each cam mechanism wraps
Include camshaft, the double cam in tandem on camshaft（104）, be respectively arranged on and left embrace ring（110）Ring is embraced with the right side（111）
Foot piece（112）On two be located at double cam（104）The band of both sides contradicts the feeler lever of wheel（109）, described double cam（104）
During rotation, double cam（104）2 cams simultaneously contradict respective feeler lever（109）Conflict wheel, described toggle
（103）Upper and lower ends be all connected on camshaft, toggle（103）Fortune circles, the biconvex of upper and lower cam mechanism
Wheel（104）In robot control module（106）Control under pass through sensor senses and respective motor（105）Drive,
Alternating contradicts the conflict wheel of respective both sides.
6. a kind of climbing level robot with electric transmission line isolator cleaning function according to claim 2, its feature exists
In：Described motor（105）It is turbine and worm reducing motor.
7. a kind of climbing level robot with electric transmission line isolator cleaning function according to claim 1, its feature exists
In：Described detection head（3）Be provided with high-definition camera, the wireless telecommunications module that described high-definition camera is carried by it with
Upper computer control system is connected.
8. a kind of climbing level robot with electric transmission line isolator cleaning function according to claim 1, its feature exists
In：Described cleaning machinery arm（2）Including rotation platform（201）, rotatable be connected to rotation platform（201）The underarm on top
Body（202）, rotatable be connected to underarm body（202）The upper arm body of upper end（203）, located at upper arm body（203）Front end it is removable
The cleaning hairbrush for unloading（204）With cleaning fluid injector（205）, described rotation platform（201）, underarm body（202）, upper arm body
（203）, cleaning hairbrush（204）With cleaning fluid injector（205）It is each coupled electrically to control module（106）, described control module
（106）It is provided with wireless telecommunications module.
9. a kind of climbing level robot with electric transmission line isolator cleaning function according to claim 8, its feature exists
In：Described cleaning hairbrush（204）It is electronic rotation bar type hairbrush, is connected to upper arm body（203）Front end, described cleaning fluid spray
Emitter（205）Located at upper arm body（203）The top of front end.
10. a kind of climbing level robot with electric transmission line isolator cleaning function according to claim 1, its feature exists
In：The image that described image processing module is provided with to receiving carries out gray processing, binaryzation, image denoising, edge feature and carries
Take function.
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| CN112122260A (en) * | 2020-09-29 | 2020-12-25 | 内蒙古电力（集团）有限责任公司巴彦淖尔电业局 | Insulator cleaning robot with on-site real-time monitoring function |
| CN112197810A (en) * | 2020-10-15 | 2021-01-08 | 海南电网有限责任公司 | Electric pole type selection recommendation system |
| CN112197810B (en) * | 2020-10-15 | 2022-10-04 | 海南电网有限责任公司 | Electric pole type selection recommendation system |
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| CN113447496A (en) * | 2020-10-22 | 2021-09-28 | 朱振一 | Electronic information equipment power transmission line fault detection device and detection method |
| CN112620193A (en) * | 2021-03-08 | 2021-04-09 | 广东电网有限责任公司佛山供电局 | Insulator live-line cleaning device |
| CN115158505A (en) * | 2022-06-24 | 2022-10-11 | 永康市光明送变电工程有限公司 | Climbing robot for climbing lightning arrester tower |
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