CN107425583B - Intelligent induction charging device of high-voltage transmission line inspection robot - Google Patents
Intelligent induction charging device of high-voltage transmission line inspection robot Download PDFInfo
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- CN107425583B CN107425583B CN201710838229.6A CN201710838229A CN107425583B CN 107425583 B CN107425583 B CN 107425583B CN 201710838229 A CN201710838229 A CN 201710838229A CN 107425583 B CN107425583 B CN 107425583B
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 31
- 238000007689 inspection Methods 0.000 title claims abstract description 28
- 230000006698 induction Effects 0.000 title claims abstract description 21
- 238000004891 communication Methods 0.000 claims abstract description 26
- 238000005516 engineering process Methods 0.000 claims abstract description 12
- 230000002457 bidirectional effect Effects 0.000 claims abstract description 8
- 238000001514 detection method Methods 0.000 claims description 37
- 238000006243 chemical reaction Methods 0.000 claims description 12
- 238000012545 processing Methods 0.000 claims description 10
- 230000007246 mechanism Effects 0.000 claims description 9
- 238000001914 filtration Methods 0.000 claims description 6
- 238000012544 monitoring process Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 6
- 239000003990 capacitor Substances 0.000 description 5
- 238000012423 maintenance Methods 0.000 description 5
- 230000003139 buffering effect Effects 0.000 description 3
- 230000005611 electricity Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 208000025274 Lightning injury Diseases 0.000 description 1
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- 230000000149 penetrating effect Effects 0.000 description 1
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- H02J7/025—
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R19/00—Wheel guards; Radiator guards, e.g. grilles; Obstruction removers; Fittings damping bouncing force in collisions
- B60R19/02—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects
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Abstract
The intelligent induction charging device of the high-voltage transmission line inspection robot comprises a high-voltage wire, a converter, a rectifying unit, a storage battery, a control system and a computer; the high-voltage lead passes through the induction end of the converter, the output end of the converter is connected with the input end of the rectifying unit, the output end of the rectifying unit is connected with the charging end of the storage battery, the converter, the rectifying unit and the storage battery are both in bidirectional connection with the control system, and the data of the control system are in bidirectional connection with the computer through wireless communication and wired communication technologies. The device converts the magnetic field around the high-voltage transmission line into electric energy, intelligent charging and electric energy management are realized through DSP centralized control and management, the electric energy state and the charging condition of the high-voltage transmission line inspection robot are sent to a remote computer through wireless communication and wired communication, remote supervision of a plurality of inspection robots of data is realized, and meanwhile, the system has the real-time monitoring function of parameters such as voltage, current, temperature, time and the like.
Description
Technical Field
The invention belongs to the technical field of power transformer detection, and particularly relates to an intelligent induction charging device and a control system of a high-voltage transmission line inspection robot.
Background
The high-voltage transmission line is the main artery of the whole power system, and the safety and the reliability of the high-voltage transmission line are directly related to the stable operation of the power grid. The high-voltage transmission line not only bears the mechanical stress of the line and the internal pressure of an electric load, but also is subjected to attack by external disasters such as strong wind, lightning stroke, rain and snow, hail corrosion and the like in natural environment, and faults such as broken strands of wires, enlarged contact resistance and the like can be caused when the high-voltage transmission line runs for a long time, so that the safe running of a power system is seriously endangered. Traditional high-voltage line maintenance relies on manual inspection operation along the transmission line, and maintenance workload is large, cost is high and dangerous. The high-voltage transmission line inspection robot technology is continuously developed, manual transmission line inspection is gradually replaced, the inspection work intensity and maintenance cost are reduced, and the quality and management level of inspection work are improved.
The charging technology of the high-voltage transmission line inspection robot adopts a solar charging mode, a laser charging mode and a capacitor charging mode. The output of the solar rechargeable battery is easily influenced by the external environment temperature, the light intensity change, the seasonality and other factors, the energy conversion rate between the light energy and the solar energy is low, the periodic maintenance is needed, and the large-scale application of solar charging is limited. The laser charging mode converts relay light or other light sources into electric energy through a photoelectric converter, but the laser diode of the high-power laser generator has limited service life and is easy to degrade. The capacitor electricity taking technology charges through the parallel capacitor voltage divider connected in parallel on the bus, the manufacturing process requirements on the capacitor voltage divider are high, meanwhile, the capacitor voltage dividers are connected to the high-voltage bus, and the reliability and the safety coefficient of the power transmission system are reduced. Therefore, the novel charging technology of the high-voltage transmission line inspection robot is researched, intelligent charging and maintenance-free are realized, the safety and reliability of the system are improved, and the intelligent charging system has very important theoretical significance and practical significance.
Disclosure of Invention
The invention aims to:
in order to achieve the aim of the invention, the invention provides an intelligent induction charging device and a control system of a high-voltage transmission line inspection robot.
The technical scheme is as follows:
intelligent induction charging device of high-voltage transmission line inspection robot, characterized in that: the device comprises a high-voltage wire (1), a converter (2), a rectifying unit (3), a storage battery (4), a control system (5) and a computer (6); the high-voltage lead (1) passes through the induction end of the converter (2), the output end of the converter (2) is connected with the input end of the rectifying unit (3), the output end of the rectifying unit (3) is connected with the charging end of the storage battery (4), the converter (2), the rectifying unit (3) and the storage battery (4) are in bidirectional connection with the control system (5), and the data of the control system (5) are in bidirectional connection with the computer (6) through wireless communication and wired communication technologies.
The control system (5) comprises an actuating mechanism (7), a signal conversion unit (8), a display unit (9), a display drive (10), a reset unit (11), a drive protection unit (12), a current detection unit (13), a time detection unit (14), a voltage detection unit B (15), a temperature detection unit (16), a voltage detection unit A (17), a harmonic detection unit (18), a signal processing unit (19), a DSP (20), a communication unit (21) and a filtering unit (22), wherein the output end of the actuating mechanism (7) is connected with the converter (2), the control signal input end of the actuating mechanism (7) is connected with the signal output end of the signal conversion unit (8), the signal input end of the signal conversion unit (8) is connected with the signal output end of the DSP (20), the signal input end of the display unit (9) is connected with the signal output end of the DSP (20) through the display drive (10), the signal output end of the reset unit (11) is connected with the signal input end of the DSP (20), the signal output end of the drive protection unit (12) is connected with the control signal input end of the rectifying unit (3), the signal output end of the drive protection unit (12) is connected with the signal output end of the PWM (13) of the drive protection unit (20), the measuring end of the time detecting unit (14) and the measuring end of the voltage detecting unit B (15) are connected with the rectifying unit (3), the signal output end of the current detecting unit (13), the time detecting unit (14) and the signal output end of the voltage detecting unit B (15) are connected with the signal input end of the DSP (20) through the signal processing unit (19), the filtering unit (22) is connected with the two ends of the direct current bus between the rectifying unit (3) and the storage battery (4), the measuring end of the temperature detecting unit (16), the voltage detecting unit A (17) and the measuring end of the harmonic detecting unit (18) are connected with the storage battery (4), the signal output end of the temperature detecting unit (16), the voltage detecting unit A (17) and the harmonic detecting unit (18) are connected with the signal input end of the DSP (20) through the signal processing unit (19), and the communication signal input end of the computer (7) is connected with the communication signal output end of the DSP (20) through the communication unit (21).
The high-voltage lead (1), the converter (2), the rectifying unit (3), the storage battery (4), the control system (5) and the computer (6) are all arranged on the chassis (09), and the travelling wheel (010) is arranged at the lower end of the chassis (09);
the chassis is also provided with a collision buffer device, and the collision buffer device comprises a buffer plate (011), a buffer box (012) and a lifting inserted link;
the buffer plate (011) is of an L-shaped structure formed by a cross rod and vertical plates, the buffer plate (011) can move close to and separate from the chassis (09), the vertical plates of the buffer plate (011) are arranged on the side face of the chassis (09) and form buffer distances with the side face of the chassis (09), the cross rod of the buffer plate (011) extends into a telescopic box (025) below the bottom face of the chassis (09), a primary telescopic spring (026) is arranged in the telescopic box (025), the primary telescopic spring (026) is sleeved on the cross rod of the buffer plate (011), one end of the primary telescopic spring is fixed with the cross rod, and the other end of the primary telescopic spring is fixed with the inner wall of the telescopic box (025) so that the cross rod is compressed or stretched when moving inwards (towards the middle part of the chassis (09), namely, the left direction in FIG. 4);
the buffer box (012) is arranged at the middle position of the bottom of the chassis (09), the bottom of the buffer box (012) is connected with a T-shaped connecting pipe, the T-shaped connecting pipe is of a T-shaped structure formed by a vertical pipe (014) and a transverse pipe (015), the bottom of the buffer box (012) is connected with the vertical pipe (014) of the T-shaped connecting pipe, the shaft of the travelling wheel (010) is inserted into two ends of the transverse pipe (015) at the bottom of the T-shaped connecting pipe, and the shaft of the travelling wheel (010) can perform axial drawing and inserting actions relative to the transverse pipe (015);
a gear (016) and two racks (017) are arranged in the buffer box (012), the two racks (017) are arranged on two sides of the gear (016) and meshed with the gear (016), the two racks (017) can move parallel to the ground of the chassis (09), the gear (016) is driven to rotate during movement, and the movement directions of the two racks (017) are opposite; the two racks (017) are respectively connected with a connecting rod (018), the front end of a cross rod of the buffer plate (011) is connected to the middle part of the connecting rod (018) through a connecting piece (027), when the buffer plate is used, the connecting rod (018) is linked with the cross rod of the buffer plate (011), a secondary buffer spring (028) is sleeved on the connecting rod (018), one end of the connecting rod (018) is connected to the end point of the connecting rod (018), the other end of the connecting rod is connected with the connecting piece (027), and the center of the gear (016) is a sleeve hole with internal threads;
the lifting inserted link is of a Y-shaped structure with a downward opening, the Y-shaped structure is composed of a main link (013) and two branched support links (019), an external thread pull rod is arranged at the upper end of the main link (013), and the external thread pull rod and the main link (013) can rotate relatively with each other and the axial distance is unchanged; the external thread pull rod extends into a trepanning of the gear (016) to be matched with the trepanning in a threaded manner, and the lifting of the lifting insert rod is controlled through rotation of the gear (016);
a through hole (020) is formed in the wall of a transverse tube (015) of the T-shaped connecting tube, the through hole corresponds to the pit (021) on the shaft of the travelling wheel (010), and in normal operation, a supporting rod (019) penetrates through the through hole (020) and then is inserted into the pit (021) to fix the shaft of the travelling wheel (010) and the transverse tube (015) relatively; when the buffer board (011) is impacted, the cross rod of the buffer board (011) moves inwards and pushes the gear (016) to rotate, so that the lifting inserting rod ascends, and the supporting rod (019) leaves the through hole (020) and the pit (021) to complete unlocking.
A buffer spring (022) is arranged between the upper part of the buffer plate (011) and the side wall of the chassis (09).
The main rod (013) is arranged in the vertical pipe (014), and a strip-shaped through hole (023) for the branch rod (019) to extend out is arranged on the side wall of the vertical pipe (014) so as to enable the branch rod (019) to lift.
The part of the shaft of the travelling wheel (010) extending into the transverse tube (015) is sleeved with a three-stage buffer spring (024), one end of the three-stage buffer spring (024) is connected with the shaft of the travelling wheel (010), and the other end is connected with the inner wall of the transverse tube (015).
The invention has the advantages and beneficial effects that: the intelligent induction charging device and the control system of the high-voltage transmission line inspection robot convert the magnetic field around the high-voltage transmission line into electric energy by utilizing an induction electricity taking technology, realize intelligent charging and electric energy management by DSP centralized control and management, send the electric energy state and the charging condition of the high-voltage transmission line inspection robot to a remote computer by wireless communication and wired communication, realize the remote supervision of a plurality of inspection robots of data, and simultaneously have the real-time monitoring function of parameters such as voltage, current, temperature, time and the like. Meanwhile, the side anti-collision technology well ensures the protectiveness of the travelling trolley when being impacted, and the patent technology has the advantages of simple structure, high reliability, good safety, high communication rate and the like, and lays a foundation for the development of intelligent technology of the inspection robot.
The invention will now be described in detail with reference to the drawings and specific examples.
Drawings
FIG. 1 is a schematic diagram of an intelligent induction charging device of a high-voltage transmission line inspection robot;
FIG. 2 is a block diagram of a control system of the intelligent induction charging device of the high-voltage transmission line inspection robot;
FIG. 3 is a schematic view of a crash cushion structure;
FIG. 4 is a state diagram of the right side upon impact;
FIG. 5 is a schematic diagram of several gears;
1. a high voltage wire; 2. a transducer; 3. a rectifying unit; 4. a storage battery; 5. a control system; 6. a computer; 7. an actuator; 8. a signal conversion unit; 9. a display unit; 10. a display drive; 11. a reset unit; 12. a drive protection unit; 13. a current detection unit; 14. a time detection unit; 15. a voltage detection unit B; 16. a temperature detection unit; 17. a voltage detection unit A; 18. a harmonic detection unit; a signal processing unit 19; 20. a DSP; 21. a communication unit; 22. and a filtering unit.
Detailed Description
In order to achieve the aim of the invention, the invention provides an intelligent induction charging device and a control system of a high-voltage transmission line inspection robot.
The intelligent induction charging device of the high-voltage transmission line inspection robot is shown in a structural diagram as shown in fig. 1, and comprises a high-voltage wire 1, a converter 2, a rectifying unit 3, a storage battery 4, a control system 5 and a computer 6, wherein the high-voltage wire 1 passes through an induction end of the converter 2 in a penetrating mode, an output end of the converter 2 is connected with an input end of the rectifying unit 3, an output end of the rectifying unit 3 is connected with a charging end of the storage battery 4, the converter 2, the rectifying unit 3 and the storage battery 4 are in bidirectional connection with the control system 5, and data of the control system 5 are in bidirectional connection with the computer 6 through wireless communication and wired communication technologies.
The high-voltage wire 1 generates an alternating magnetic field around a line in the transmission process, the converter 2 generates induced electromotive force by utilizing the alternating magnetic field, and the alternating current is converted into direct current through the rectifying unit 3 to realize power supply for the storage battery 4. The control system 5 controls the energy conversion, rectification and charging processes, monitors variables such as voltage, current, temperature, time, harmonic waves and the like, and simultaneously sends data of the intelligent induction charging device of the high-voltage transmission line inspection robot to the computer 6 of the monitoring center to realize remote control and management of the charging process.
The control system structure diagram of the intelligent induction charging device of the high-voltage transmission line inspection robot is shown in fig. 2, and comprises an executing mechanism 7, a signal conversion unit 8, a display unit 9, a display driver 10, a reset unit 11, a drive protection unit 12, a current detection unit 13, a time detection unit 14, a voltage detection unit B15, a temperature detection unit 16, a voltage detection unit A17, a harmonic detection unit 18, a signal processing unit 19, a DSP20, a communication unit 21 and a filtering unit 22, wherein the output end of the executing mechanism 7 is connected with a converter 2, the control signal input end of the executing mechanism 7 is connected with the signal output end of the signal conversion unit 8, the signal input end of the signal conversion unit 8 is connected with the signal output end of the DSP20, the signal input end of the display unit 9 is connected with the signal output end of the DSP20 through the display driver 10, the signal output end of the reset unit 11 is connected with the signal input end of the DSP20, the signal output end of the drive protection unit 12 is connected with the control signal input end of the rectification unit 3, the signal input end of the drive protection unit 12 is connected with the PWM signal output end of the DSP20, the measuring ends of the current detection unit 13, the time detection unit 14 and the voltage detection unit B15 are connected with the rectification unit 3, the signal output ends of the current detection unit 13, the time detection unit 14 and the voltage detection unit B15 are connected with the signal input end of the DSP20 through the signal processing unit 19, the filter unit 22 is connected with the two ends of a direct current bus between the rectification unit 3 and the storage battery 4, the measuring ends of the temperature detection unit 16, the voltage detection unit A17 and the harmonic detection unit 18 are connected with the storage battery 4, and the measuring ends of the temperature detection unit 16 and the voltage detection unit A17, the signal output end of the harmonic detection unit 18 is connected with the signal input end of the DSP20 through the signal processing unit 19, and the communication signal input end of the computer 7 is connected with the communication signal output end of the DSP20 through the communication unit 21.
The high-voltage lead (1), the converter (2), the rectifying unit (3), the storage battery (4), the control system (5) and the computer (6) are all arranged on the chassis (09), and the travelling wheel (010) is arranged at the lower end of the chassis (09);
the chassis is also provided with a collision buffer device, and the collision buffer device comprises a buffer plate (011), a buffer box (012) and a lifting inserted link;
the buffer plate (011) is of an L-shaped structure formed by a cross rod and vertical plates, the buffer plate (011) can move close to and separate from the chassis (09), the vertical plates of the buffer plate (011) are arranged on the side face of the chassis (09) and form buffer distances with the side face of the chassis (09), the cross rod of the buffer plate (011) extends into a telescopic box (025) below the bottom face of the chassis (09), a primary telescopic spring (026) is arranged in the telescopic box (025), the primary telescopic spring (026) is sleeved on the cross rod of the buffer plate (011), one end of the primary telescopic spring is fixed with the cross rod, and the other end of the primary telescopic spring is fixed with the inner wall of the telescopic box (025) so that the cross rod is compressed or stretched when moving inwards (towards the middle part of the chassis (09), namely, the left direction in FIG. 4);
the buffer box (012) is arranged at the middle position of the bottom of the chassis (09), the bottom of the buffer box (012) is connected with a T-shaped connecting pipe, the T-shaped connecting pipe is of a T-shaped structure formed by a vertical pipe (014) and a transverse pipe (015), the bottom of the buffer box (012) is connected with the vertical pipe (014) of the T-shaped connecting pipe, the shaft of the travelling wheel (010) is inserted into two ends of the transverse pipe (015) at the bottom of the T-shaped connecting pipe, and the shaft of the travelling wheel (010) can perform axial drawing and inserting actions relative to the transverse pipe (015);
a gear (016) and two racks (017) are arranged in the buffer box (012), the two racks (017) are arranged on two sides of the gear (016) and meshed with the gear (016), the two racks (017) can move parallel to the ground of the chassis (09), the gear (016) is driven to rotate during movement, and the movement directions of the two racks (017) are opposite; the two racks (017) are respectively connected with a connecting rod (018), the front end of a cross rod of the buffer plate (011) is connected to the middle part of the connecting rod (018) through a connecting piece (027), when the buffer plate is used, the connecting rod (018) is linked with the cross rod of the buffer plate (011), a secondary buffer spring (028) is sleeved on the connecting rod (018), one end of the connecting rod (018) is connected to the end point of the connecting rod (018), the other end of the connecting rod is connected with the connecting piece (027), and the center of the gear (016) is a sleeve hole with internal threads;
the lifting inserted link is of a Y-shaped structure with a downward opening, the Y-shaped structure is composed of a main link (013) and two branched support links (019), an external thread pull rod is arranged at the upper end of the main link (013), and the external thread pull rod and the main link (013) can rotate relatively with each other and the axial distance is unchanged; the external thread pull rod extends into a trepanning of the gear (016) to be matched with the trepanning in a threaded manner, and the lifting of the lifting insert rod is controlled through rotation of the gear (016);
a through hole (020) is formed in the wall of a transverse tube (015) of the T-shaped connecting tube, the through hole corresponds to the pit (021) on the shaft of the travelling wheel (010), and in normal operation, a supporting rod (019) penetrates through the through hole (020) and then is inserted into the pit (021) to fix the shaft of the travelling wheel (010) and the transverse tube (015) relatively; when the buffer board (011) is impacted, the cross rod of the buffer board (011) moves inwards and pushes the gear (016) to rotate, so that the lifting inserting rod ascends, and the supporting rod (019) leaves the through hole (020) and the pit (021) to complete unlocking.
A buffer spring (022) is arranged between the upper part of the buffer plate (011) and the side wall of the chassis (09).
The main rod (013) is arranged in the vertical pipe (014), and a strip-shaped through hole (023) for the branch rod (019) to extend out is arranged on the side wall of the vertical pipe (014) so as to enable the branch rod (019) to lift.
The part of the shaft of the travelling wheel (010) extending into the transverse tube (015) is sleeved with a three-stage buffer spring (024), one end of the three-stage buffer spring (024) is connected with the shaft of the travelling wheel (010), and the other end is connected with the inner wall of the transverse tube (015).
When a collision is encountered, as shown in fig. 4, taking a right collision as an example, a right collision is encountered, a vertical plate of the buffer plate 011 is extruded, a buffer spring 022 is extruded to complete primary buffering, a transverse rod of the buffer plate 011 moves inwards (at the left side in the drawing) to enable a secondary buffer spring (028) to stretch to complete secondary buffering, then if force still exists, the secondary buffer spring (028) drives a connecting rod (018) to move inwards to further push a rack 017 inwards, so that a gear 016 rotates, and further, an external thread pull rod drives a lifting inserted rod to lift, so that the supporting rod 019 leaves a through hole 020 and a pit 021 to complete unlocking, and at the same time, if the impact force continues, a chassis 09 moves to the left side in the drawing, at this time, a tertiary buffer spring 024 at the left side is stretched, and the tertiary buffer spring 024 at the right side is compressed to complete tertiary buffering, so that the whole chassis, particularly the connection of a travelling wheel and the chassis 09 is well protected, and maintenance is avoided after damage. After the impact is finished, the chassis is reset, and the support rod 019 is reinserted into the through hole 020 and the pit 021 to finish temporary locking.
Claims (3)
1. Intelligent induction charging device of high-voltage transmission line inspection robot, characterized in that: the device comprises a high-voltage wire (1), a converter (2), a rectifying unit (3), a storage battery (4), a control system (5) and a computer (6); the high-voltage lead (1) passes through the induction end of the converter (2), the output end of the converter (2) is connected with the input end of the rectification unit (3), the output end of the rectification unit (3) is connected with the charging end of the storage battery (4), the converter (2), the rectification unit (3) and the storage battery (4) are both in bidirectional connection with the control system (5), and the data of the control system (5) are in bidirectional connection with the computer (6) through wireless communication and wired communication technologies;
the high-voltage lead (1), the converter (2), the rectifying unit (3), the storage battery (4), the control system (5) and the computer (6) are all arranged on the chassis (09), and the travelling wheel (010) is arranged at the lower end of the chassis (09);
the chassis is also provided with a collision buffer device, and the collision buffer device comprises a buffer plate (011), a buffer box (012) and a lifting inserted link;
the buffer plate (011) is of an L-shaped structure formed by a cross rod and a vertical plate, the buffer plate (011) and the chassis (09) are moved close to and separated from each other, the vertical plate of the buffer plate (011) is arranged on the side surface of the chassis (09) and forms a buffer distance with the side surface of the chassis (09), the cross rod of the buffer plate (011) extends into a telescopic box (025) below the bottom surface of the chassis (09), a first-stage telescopic spring (026) is arranged in the telescopic box (025), the first-stage telescopic spring (026) is sleeved on the cross rod of the buffer plate (011), one end of the first-stage telescopic spring is fixed with the cross rod, and the other end of the first-stage telescopic spring is fixed with the inner wall of the telescopic box (025) so that the spring is compressed or stretched when the cross rod moves inwards;
the buffer box (012) is arranged at the middle position of the bottom of the chassis (09), the bottom of the buffer box (012) is connected with a T-shaped connecting pipe, the T-shaped connecting pipe is of a T-shaped structure formed by a vertical pipe (014) and a transverse pipe (015), the bottom of the buffer box (012) is connected with the vertical pipe (014) of the T-shaped connecting pipe, the shaft of the travelling wheel (010) is inserted into two ends of the transverse pipe (015) at the bottom of the T-shaped connecting pipe, and the shaft of the travelling wheel (010) can perform axial drawing and inserting actions relative to the transverse pipe (015);
a gear (016) and two racks (017) are arranged in the buffer box (012), the two racks (017) are arranged on two sides of the gear (016) and meshed with the gear (016), the two racks (017) can move parallel to the ground of the chassis (09), the gear (016) is driven to rotate during movement, and the movement directions of the two racks (017) are opposite; the two racks (017) are respectively connected with a connecting rod (018), the front end of a cross rod of the buffer plate (011) is connected to the middle part of the connecting rod (018) through a connecting piece (027), when the buffer plate is used, the connecting rod (018) is linked with the cross rod of the buffer plate (011), a secondary buffer spring (028) is sleeved on the connecting rod (018), one end of the connecting rod (018) is connected to the end point of the connecting rod (018), the other end of the connecting rod is connected with the connecting piece (027), and the center of the gear (016) is a sleeve hole with internal threads;
the lifting inserted link is of a Y-shaped structure with a downward opening, the Y-shaped structure is composed of a main link (013) and two branched support links (019), an external thread pull rod is arranged at the upper end of the main link (013), and the external thread pull rod and the main link (013) can rotate relatively with each other and the axial distance is unchanged; the external thread pull rod extends into a trepanning of the gear (016) to be matched with the trepanning in a threaded manner, and the lifting of the lifting insert rod is controlled through rotation of the gear (016);
a through hole (020) is formed in the wall of a transverse tube (015) of the T-shaped connecting tube, the through hole corresponds to the pit (021) on the shaft of the travelling wheel (010), and in normal operation, a supporting rod (019) penetrates through the through hole (020) and then is inserted into the pit (021) to fix the shaft of the travelling wheel (010) and the transverse tube (015) relatively; when the buffer plate (011) is impacted, the cross rod of the buffer plate (011) moves inwards and pushes the gear (016) to rotate, so that the lifting inserted rod ascends, and the support rod (019) leaves the through hole (020) and the pit (021) to unlock;
a buffer spring (022) is arranged between the upper part of the buffer plate (011) and the side wall of the chassis (09);
the main rod (013) is arranged in the vertical pipe (014), and a strip-shaped through hole (023) for the branch rod (019) to extend out is arranged on the side wall of the vertical pipe (014) so as to enable the branch rod (019) to lift.
2. The intelligent induction charging device of the high-voltage transmission line inspection robot according to claim 1, wherein: the control system (5) comprises an actuating mechanism (7), a signal conversion unit (8), a display unit (9), a display drive (10), a reset unit (11), a drive protection unit (12), a current detection unit (13), a time detection unit (14), a voltage detection unit B (15), a temperature detection unit (16), a voltage detection unit A (17), a harmonic detection unit (18), a signal processing unit (19), a DSP (20), a communication unit (21) and a filtering unit (22), wherein the output end of the actuating mechanism (7) is connected with the converter (2), the control signal input end of the actuating mechanism (7) is connected with the signal output end of the signal conversion unit (8), the signal input end of the signal conversion unit (8) is connected with the signal output end of the DSP (20), the signal input end of the display unit (9) is connected with the signal output end of the DSP (20) through the display drive (10), the signal output end of the reset unit (11) is connected with the signal input end of the DSP (20), the signal output end of the drive protection unit (12) is connected with the control signal input end of the rectifying unit (3), the signal output end of the drive protection unit (12) is connected with the signal output end of the PWM (13) of the drive protection unit (20), the measuring end of the time detecting unit (14) and the measuring end of the voltage detecting unit B (15) are connected with the rectifying unit (3), the signal output end of the current detecting unit (13), the time detecting unit (14) and the signal output end of the voltage detecting unit B (15) are connected with the signal input end of the DSP (20) through the signal processing unit (19), the filtering unit (22) is connected with the two ends of the direct current bus between the rectifying unit (3) and the storage battery (4), the measuring end of the temperature detecting unit (16), the voltage detecting unit A (17) and the measuring end of the harmonic detecting unit (18) are connected with the storage battery (4), the signal output end of the temperature detecting unit (16), the voltage detecting unit A (17) and the harmonic detecting unit (18) are connected with the signal input end of the DSP (20) through the signal processing unit (19), and the communication signal input end of the computer (6) is connected with the communication signal output end of the DSP (20) through the communication unit (21).
3. The intelligent induction charging device of the high-voltage transmission line inspection robot according to claim 1, wherein: the part of the shaft of the travelling wheel (010) extending into the transverse tube (015) is sleeved with a three-stage buffer spring (024), one end of the three-stage buffer spring (024) is connected with the shaft of the travelling wheel (010), and the other end is connected with the inner wall of the transverse tube (015).
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| CN108362207A (en) * | 2018-02-28 | 2018-08-03 | 成都信息工程大学 | A kind of sag of conductor and ground wire measuring device |
| CN108808829A (en) * | 2018-07-06 | 2018-11-13 | 洛阳视距智能科技有限公司 | A kind of online charging unit of electric inspection process robot solar energy and method |
| CN109244776B (en) * | 2018-09-30 | 2023-06-13 | 国家电网有限公司 | Circuit converter |
| CN112531845B (en) * | 2020-12-10 | 2023-05-30 | 广州高新兴机器人有限公司 | Robot multi-mode fusion charging device, method and computer storage medium |
| CN112787377A (en) * | 2020-12-31 | 2021-05-11 | 南京熊猫电子股份有限公司 | Battery quick-charging protection device and method applied to service robot |
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