CN107528258B - Inspection robot and online charging positioning method thereof - Google Patents

Inspection robot and online charging positioning method thereof Download PDF

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Publication number
CN107528258B
CN107528258B CN201710806658.5A CN201710806658A CN107528258B CN 107528258 B CN107528258 B CN 107528258B CN 201710806658 A CN201710806658 A CN 201710806658A CN 107528258 B CN107528258 B CN 107528258B
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China
Prior art keywords
wheel
robot
positioning
shaped
inspection robot
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CN201710806658.5A
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Chinese (zh)
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CN107528258A (en
Inventor
曹雷
郭锐
仲亮
卢士彬
贾永刚
任杰
杨波
高玉明
孙晓斌
吴观斌
李超英
李建祥
赵金龙
黄德旭
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State Grid Intelligent Technology Co Ltd
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State Grid Corp of China SGCC
Electric Power Research Institute of State Grid Shandong Electric Power Co Ltd
State Grid Intelligent Technology Co Ltd
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Priority to CN201710806658.5A priority Critical patent/CN107528258B/en
Publication of CN107528258A publication Critical patent/CN107528258A/en
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    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02GINSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G1/00Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
    • H02G1/02Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02GINSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G7/00Overhead installations of electric lines or cables
    • H02G7/05Suspension arrangements or devices for electric cables or lines
    • H02G7/053Suspension clamps and clips for electric overhead lines not suspended to a supporting wire

Abstract

The invention discloses an inspection robot and an online charging positioning method thereof. The inspection robot comprises a driving arm, wherein a driving wheel and a positioning wheel are arranged on the driving arm, and the positioning wheel is positioned right below the driving wheel and on the same axis; the driving arm is butted with a suspension clamp with a positioning function to realize the charging positioning of the robot at the suspension clamp; the suspension clamp includes: the C-shaped wire clamp is used for clamping a driving wheel of the inspection robot; the bottom of the C-shaped wire clamp is fixedly connected with a clamping jaw, and the shape of the clamping jaw is matched with a positioning wheel of the robot; the jack catch is used for clamping a positioning wheel of the robot, and then the robot is positioned at the suspension clamp.

Description

Inspection robot and online charging positioning method thereof
Technical Field
The invention belongs to the field of electric transmission line hardware fittings, and particularly relates to an inspection robot and an online charging positioning method of the inspection robot.
Background
The safe operation of the high-voltage transmission line directly affects the production and life of people, regular inspection of the transmission line is required, the safe operation condition of the transmission line is mastered and known at any time, hidden dangers can be found and eliminated in time, and accidents are prevented.
Due to the fact that our country has wide breadth, wide distribution of power transmission lines, distance from cities and towns and complex terrain, robots are widely applied to the field of high-voltage power transmission lines, such as deicing robots, line detection robots, line operation robots and the like. However, at present, the electric quantity of the robot applied on the line is not mature, most of the robots adopt a method of manually replacing batteries, so that the application and popularization and the continuous operation capacity of the robot are limited, and therefore, the problems of online charging and autonomous positioning docking of the robot become urgent to solve.
Disclosure of Invention
In order to solve the defects of the prior art, the first object of the invention is to provide an inspection robot, wherein a driving arm of the inspection robot is butted with a suspension clamp with a positioning function to realize charging positioning of the robot at the suspension clamp.
The invention discloses an inspection robot, which comprises a driving arm, wherein the driving arm is provided with a driving wheel and a positioning wheel, and the positioning wheel is positioned under the driving wheel and on the same axis; the driving arm is butted with a suspension clamp with a positioning function to realize the charging positioning of the robot at the suspension clamp;
the suspension clamp includes: the C-shaped wire clamp is used for clamping a driving wheel of the inspection robot; the bottom of the C-shaped wire clamp is fixedly connected with a clamping jaw, and the shape of the clamping jaw is matched with a positioning wheel of the robot; the jack catch is used for clamping a positioning wheel of the robot, and then the robot is positioned at the suspension clamp.
Further, the C-shaped wire clamp is integrated.
The effect is as follows: the stability and the fastness of whole fastener can be guaranteed to integrated C type fastener.
Furthermore, rings are connected to the upper end of the C-shaped wire clamp, U-shaped rings penetrate through the rings, hanging plates are connected to the U-shaped rings, and the tops of the hanging plates are connected with a tower.
The effect is as follows: can be fixed with drainage wire on the shaft tower like this, and be used for charging for the robot that carries out transmission line and patrols and examines.
Furthermore, the C-shaped wire clamp is hinged with the hanging ring.
The effect is as follows: therefore, the swinging of the ground wire can be better adapted, and the flexibility is increased.
Furthermore, the U-shaped ring is hinged with the hanging plate.
The effect is as follows: therefore, the swinging of the ground wire can be better adapted, and the flexibility is increased.
Furthermore, a first image acquisition device is arranged on the C-shaped wire clamp and connected with the microprocessor.
The first image acquisition device is used for acquiring the working state image information of the C-shaped wire clamp in real time and transmitting the working state image information to the microprocessor for corresponding analysis.
Furthermore, a second image acquisition device is also arranged on the clamping jaw and connected with the microprocessor.
The first image acquisition device is used for acquiring the working state image information of the clamping jaw in real time and transmitting the working state image information to the microprocessor for corresponding analysis.
Furthermore, the microprocessor is also connected with a remote monitoring server, and the remote monitoring server is connected with a remote monitoring terminal.
Furthermore, the driving arm also comprises a support frame and a rotary joint, and the support frame is used for integrating the driving wheel, the positioning wheel and the rotary joint into a whole.
The effect is as follows: the driving wheel, the positioning wheel and the rotary joint are integrated by the support frame to form a driving arm; and set up the locating wheel under the drive wheel for locating wheel and drive wheel are in same axis, and the positioning accuracy when having improved robot like this and charging.
Furthermore, the positioning wheel is a V-shaped wheel, the V-shaped wheel is connected with the direct current motor, the support frame is provided with a linear platform, and the V-shaped wheel is driven by the direct current motor to reciprocate up and down along the linear platform.
The second purpose of the invention is to provide an online charging positioning method of the inspection robot.
The invention discloses an online charging positioning method of an inspection robot, which comprises the following steps:
when the robot that patrols and examines needs fix a position the time of charging in suspension clamp department, the drive wheel moves the intermediate position of C type fastener, blocks in the inside of C type fastener, and the locating wheel rises gradually until jack catch position department, and blocks the locating wheel by the jack catch and realize patrolling and examining the robot and fix a position of charging in suspension clamp department.
Compared with the prior art, the invention has the beneficial effects that:
the inspection robot runs to the middle position of the C-shaped wire clamp by using the driving wheel and is clamped in the C-shaped wire clamp, the positioning wheel gradually rises to the position of the clamping jaw, and the positioning wheel is clamped by the clamping jaw to realize accurate charging positioning of the robot at the suspension wire clamp.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
Fig. 1 is a front view of a suspension clamp having a positioning function;
fig. 2 is a left side view of the suspension clamp with a positioning function;
FIG. 3 is a schematic diagram of a robot drive arm configuration;
fig. 4 is a schematic diagram of the butt joint of the driving arm and the suspension clamp of the robot.
Wherein: 1. c type fastener, 2, U type ring, 3, rings, 4, link plate, 5, jack catch, 6, support frame, 7, locating wheel, 8, ground wire, 9, drive wheel, 10, sharp platform, 11, direct current motor.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
As shown in fig. 3, the inspection robot of the present invention comprises a driving arm, wherein the driving arm comprises a support frame 6, a driving wheel 9, a positioning wheel 7 and a rotary joint, and the support frame 6 is used for integrating the driving wheel 9, the positioning wheel 7 and the rotary joint; the positioning wheel 7 is positioned right below the driving wheel 9 and is positioned on the same axis.
The effect is as follows: the driving wheel, the positioning wheel and the rotary joint are integrated by the support frame to form a driving arm; and set up the locating wheel under the drive wheel for locating wheel and drive wheel are in same axis, and the positioning accuracy when having improved robot like this and charging.
In the specific implementation, the positioning wheel 7 is a V-shaped wheel, the V-shaped wheel is connected with the direct current motor 11, the support frame 6 is provided with a linear platform 10, and the V-shaped wheel is driven by the direct current motor 11 to reciprocate up and down along the linear platform 10.
The driving arm of the inspection robot is butted with the suspension clamp with a positioning function to realize the charging positioning of the robot at the suspension clamp.
The structure of the suspension clamp with the positioning function is shown in fig. 1 and 2.
As shown in fig. 1 and 2, a suspension clamp having a positioning function for realizing positioning of charging of a robot includes:
the C-shaped wire clamp 1 is used for clamping a driving wheel of the inspection robot; the ground wire 8 passes through the C-shaped wire clamp 1; the bottom of the C-shaped wire clamp 1 is fixedly connected with a clamping jaw 5, and the shape of the clamping jaw 5 is matched with a positioning wheel 7 of the robot; the jack catch 5 is used for clamping a positioning wheel 7 of the robot, and therefore the robot can be charged and positioned at the suspension clamp.
In a specific implementation, the C-type wire clamp 1 is preferably of a single body type.
The effect is as follows: the stability and the fastness of whole fastener can be guaranteed to integrated C type fastener.
In other embodiments, the C-shaped wire clamp 1 can also be detachably configured.
In concrete realization, rings 3 are connected to the upper end of C type wire clamp 1, wear to be equipped with U type ring 2 in rings 3, and U type ring 2 in-connection has link plate 4, link plate 4 top links to each other with the shaft tower.
The effect is as follows: can be fixed with drainage wire on the shaft tower like this, and be used for charging for the robot that carries out transmission line and patrols and examines.
The hanging plate is a plate-shaped (single-piece or double-piece) connecting piece fixed by screws or assembled by bolts or a connecting plate with two ends being the plate-shaped connecting pieces.
The hanging plate 4 is connected in the U-shaped ring 2, so that the bending moment of the hanging plate can be reduced, and the hanging direction can be changed.
In a specific implementation, the C-shaped wire clamp 1 is hinged to the lifting ring 3.
The effect is as follows: therefore, the swinging of the ground wire can be better adapted, and the flexibility is increased.
Besides the hinged connection, other fixed connection modes can be adopted between the C-shaped wire clamp 1 and the lifting ring 3.
In a concrete implementation, the U-shaped ring 2 is hinged with the hanging plate 4.
The effect is as follows: therefore, the swinging of the ground wire can be better adapted, and the flexibility is increased.
Besides the hinged connection, other fixed connection modes can be adopted between the U-shaped ring 2 and the hanging plate 4.
The C-shaped wire clamp is provided with a first image acquisition device, and the first image acquisition device is connected with a microprocessor.
The first image acquisition device is used for acquiring the working state image information of the C-shaped wire clamp in real time and transmitting the working state image information to the microprocessor for corresponding analysis.
The claw of the invention is also provided with a second image acquisition device which is connected with the microprocessor.
The first image acquisition device is used for acquiring the working state image information of the clamping jaw in real time and transmitting the working state image information to the microprocessor for corresponding analysis.
The microprocessor is also connected with a remote monitoring server, and the remote monitoring server is connected with a remote monitoring terminal.
The suspension clamp with the positioning function has a simple structure, the shape of the clamping jaw fixed at the bottom of the C-shaped clamp is matched with the positioning wheel of the robot, and the positioning wheel of the robot is clamped by the clamping jaw, so that the robot can be accurately charged and positioned at the suspension clamp.
Other structures of the inspection robot are all the existing structures, and the structures will not be described in a repeated way.
The invention discloses an online charging positioning method of an inspection robot, which comprises the following steps:
when the robot that patrols and examines needs fix a position the time of charging in suspension clamp department, the drive wheel moves the intermediate position of C type fastener, blocks in the inside of C type fastener, and the locating wheel rises gradually until jack catch position department, and blocks the locating wheel by the jack catch and realize patrolling and examining the robot and fix a position of charging in suspension clamp department.
Fig. 4 is a schematic diagram of the butt joint of the driving arm and the suspension clamp of the robot.
As shown in fig. 4, the driving arm of the present invention can be directly fixedly connected to the suspension clamp and can be positioned at the suspension clamp by charging.
When the robot that patrols and examines needs fix a position the time of charging in suspension clamp department, drive wheel 9 moves the intermediate position of C type fastener 1, the card is in the inside of C type fastener 1, positioning wheel 7 rises along straight line platform 10 gradually under DC motor 11's drive, make positioning wheel 7 card in the recess of the jack catch 5 of fastener bottom, firmly grasp positioning wheel 7, at this moment, whole robot can not take place the back-and-forth movement even under the condition of whole outage yet, realized the location promptly and guaranteed safety again.
The robot runs to the middle position of the C-shaped wire clamp by using the driving wheel and is clamped in the C-shaped wire clamp, the positioning wheel gradually rises to the position of the clamping jaw, and the positioning wheel is clamped by the clamping jaw to realize accurate charging positioning of the robot at the suspension wire clamp.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.

Claims (8)

1. The inspection robot is characterized by comprising a driving arm, wherein the driving arm is provided with a driving wheel and a positioning wheel, and the positioning wheel is positioned under the driving wheel and on the same axis; the driving arm is butted with a suspension clamp with a positioning function to realize the charging positioning of the robot at the suspension clamp; the driving arm further comprises a supporting frame;
the suspension clamp includes: the C-shaped wire clamp is used for clamping a driving wheel of the inspection robot; the bottom of the C-shaped wire clamp is fixedly connected with a clamping jaw, and the shape of the clamping jaw is matched with a positioning wheel of the robot; the clamping jaws are used for clamping a positioning wheel of the robot, so that the robot is positioned at the suspension clamp;
the upper end of the C-shaped wire clamp is connected with a hanging ring, a U-shaped ring penetrates through the hanging ring, a hanging plate is connected in the U-shaped ring, and the top of the hanging plate is connected with a tower;
the positioning wheel is a V-shaped wheel, the V-shaped wheel is connected with the direct current motor, the support frame is provided with a linear platform, and the V-shaped wheel is driven by the direct current motor to reciprocate up and down along the linear platform;
the inspection robot runs to the middle position of the C-shaped wire clamp by using the driving wheel and is clamped in the C-shaped wire clamp, the positioning wheel gradually rises to the position of the clamping jaw, and the positioning wheel is clamped by the clamping jaw to realize accurate charging positioning of the robot at the suspension wire clamp;
the hanging plate is used for fixing the drainage wire on the tower and charging the robot for inspecting the transmission line.
2. The inspection robot according to claim 1, wherein the C-shaped clamps are one piece.
3. The inspection robot according to claim 1, wherein the C-shaped wire clamp is hinged to the lifting ring.
4. The inspection robot according to claim 1, wherein the clevis is hingedly connected to the clevis.
5. The inspection robot according to claim 1, wherein a first image acquisition device is arranged on the C-shaped wire clamp, and the first image acquisition device is connected with the microprocessor;
or/and
and a second image acquisition device is also arranged on the clamping jaw and is connected with the microprocessor.
6. The inspection robot according to claim 5, wherein the microprocessor is further coupled to a remote monitoring server, the remote monitoring server being coupled to a remote monitoring terminal.
7. The inspection robot according to claim 1, wherein the drive arm further includes a revolute joint, and the support frame is configured to integrate the drive wheel, the positioning wheel and the revolute joint.
8. The inspection robot online charging positioning method according to any one of claims 1-7, comprising:
when the robot that patrols and examines needs fix a position the time of charging in suspension clamp department, the drive wheel moves the intermediate position of C type fastener, blocks in the inside of C type fastener, and the locating wheel rises gradually until jack catch position department, and blocks the locating wheel by the jack catch and realize patrolling and examining the robot and fix a position of charging in suspension clamp department.
CN201710806658.5A 2017-09-08 2017-09-08 Inspection robot and online charging positioning method thereof Active CN107528258B (en)

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Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
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CN107528258B true CN107528258B (en) 2020-10-13

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Families Citing this family (1)

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Publication number Priority date Publication date Assignee Title
CN108711775B (en) * 2018-05-08 2019-05-17 中科开创(广州)智能科技发展有限公司 A kind of charging unit and charging method for overhead transmission line circuit scanning test robot

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JP3612954B2 (en) * 1997-08-22 2005-01-26 株式会社日立製作所 Mobile monitoring device
CN102227067B (en) * 2011-03-29 2013-07-10 重庆市电力公司检修分公司 Walking arm of walking robot in transmission line
CN103825338B (en) * 2014-03-17 2015-09-02 武汉大学 High-voltage line inspection robot independently locates control device and the method for docking charging
CN204835368U (en) * 2015-08-31 2015-12-02 国家电网公司 Transmission line robot patrols and examines maintenance system
CN106374388B (en) * 2016-10-21 2018-05-29 国网山东省电力公司电力科学研究院 A kind of whole accessible crusing robot system of aerial earth wire and method
CN106329451A (en) * 2016-11-11 2017-01-11 广东电网有限责任公司电力科学研究院 Common ground wire element for robot walking

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Address after: Ji'nan City, Shandong Province Wang Yue Road 250003 No. 2000

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Effective date of registration: 20201029

Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park)

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Address before: Ji'nan City, Shandong Province Wang Yue Road 250003 No. 2000

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