CN107838903A - High-voltage transmission line inspection robot apparatus and system - Google Patents
High-voltage transmission line inspection robot apparatus and system Download PDFInfo
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- CN107838903A CN107838903A CN201711038447.8A CN201711038447A CN107838903A CN 107838903 A CN107838903 A CN 107838903A CN 201711038447 A CN201711038447 A CN 201711038447A CN 107838903 A CN107838903 A CN 107838903A
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- transmission line
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a kind of high-voltage transmission line inspection robot apparatus and system, wherein, the device includes：CCTV camera, robot connection member and circuit and wireless telecommunication system, the robot connection member includes arm mechanism, main body mechanism and balance weight mechanism, the arm mechanism of the robot connection member is suspended on high-tension bus-bar and maintains device to move, and main body mechanism and the CCTV camera of the robot connection member mechanically connect；Image information is transmitted to the circuit and wireless telecommunication system by the CCTV camera；The balance weight mechanism of the robot connection member mechanically connects with the circuit and wireless telecommunication system；Robot service data and image information are transmitted to ground receiver terminals by the circuit and wireless telecommunication system.High-voltage transmission line inspection robot device provided in an embodiment of the present invention, can be on the basis of line walking requirement be met, efficiency is improved, and is reduced line walking cost, is used manpower and material resources sparingly, and improves line walking security.
Description
Technical field
The present invention relates to electrical equipment technical field.It is more particularly related to inspection through overdrying font straight line
A kind of high-voltage transmission line inspection robot apparatus and system during shape high voltage power transmission tower.
Background technology
With flourishing for power system, carrying out remote conveying distribution using ultra-high-tension power transmission line already turns into routine side
Formula, it is that high-tension bus-bar maintenance work has to do periodically to carry out power transmission line inspection, and traditional line data-logging mode, which has, manually patrols
Line, vehicle-mounted line walking and helicopter line walking etc..Yet with low etc. by environmental influence or inspection effect difference and efficiency
Factor influences, and traditional routine inspection mode can not meet to require.Therefore a kind of circuit that can reliably complete livewire work is studied
The technology carrier that fault detect and its escape way are maked an inspection tour has great Practical meaning.
Existing inspection robot overemphasizes circuit applicability, and the free degree is excessive, causes mechanism excessively complicated, so that
Manufacture difficulty improves, cost is too high, and the obstacle mode across on high voltage transmission line is also different.
The content of the invention
In order to improve, the practicality of inspection robot in the prior art deficiency, mechanism are excessively complicated, the free degree is excessive, cost
The defects of expensive, the present invention provide a kind of high-voltage transmission line inspection robot apparatus and system using lever principle, met
Rational Simplification motion on the basis of service requirement, completes the inspecting high-voltage transmission lines of high quality, and propose it is a kind of it is new across
The method of obstacle more on high voltage transmission line.
The technical solution adopted for the present invention to solve the technical problems is：A kind of high-voltage transmission line inspection robot device and
System, including monitoring camera, robot connection member and circuit and wireless telecommunication system, robot connection member include before,
Arm mechanism, main body mechanism and balance weight mechanism afterwards, the arm mechanism of the robot connection member are suspended on high-tension bus-bar simultaneously
Device motion is maintained, main body mechanism and the monitoring camera of robot connection member mechanically connect；Monitoring camera believes image
Breath is transmitted to circuit and wireless telecommunication system；The balance weight mechanism of robot connection member connects with circuit and wireless telecommunication system machinery
Connect；Robot service data and image information are transmitted to ground receiver terminals by circuit and wireless telecommunication system, while receive ground
The instruction that terminal is sent, command device mass motion.Wherein, arm mechanism includes traveling wheel mechanism and arm rotating mechanism.
Above-mentioned high-voltage transmission line inspection robot apparatus and system, the traveling wheel mechanism by walking wheel support with it is described
The multi-diameter shaft of arm rotating mechanism is connected in the end away from the shaft shoulder using mechanical pin, forms the arm mechanism, institute
Motion in one dimension and the rotation function of single unit system can be ensured by stating arm mechanism.
Above-mentioned high-voltage transmission line inspection robot apparatus and system, the arm mechanism pass through affiliated arm rotating mechanism
Bearing and bearing block are fixedly connected in the vertical fixed plate of main body mechanism, are arranged symmetrically along vertical fixed plate center line.
Above-mentioned high-voltage transmission line inspection robot apparatus and system, the external box of microvave of the balance weight mechanism pass through connecting bolt
It is fixed on the screw mandrel sliding block and guide rail slide block of the main body mechanism, according to lever principle, the motion in one dimension of the balance weight mechanism
Central role is played to the balance for maintaining single unit system.
Above-mentioned high-voltage transmission line inspection robot apparatus and system, the monitoring camera is by camera bracket using company
Connecting bolt is fixed on the vertical fixed plate forearm mechanism side of the main body mechanism, and cam lens direction is adjustable, is easy to image
Collection.
Above-mentioned high-voltage transmission line inspection robot apparatus and system, the circuit and wireless telecommunication system pass through connecting bolt
The box house bottom surface of the balance weight mechanism is fixed on, its weight can be as a part for counterweight；The circuit and wireless telecommunications
System connects the motor and monitoring camera reception signal of arm mechanism and integrated model by wire, passes through wireless communication
Number contact ground based terminal, receive movement instruction and transmission returned data.
The invention has the advantages that the core that high-voltage transmission line inspection robot apparatus and system of the present invention makes full use of
Principle is lever principle, and this causes single unit system in structure or all has good lifting on moving, and effectively disappears
Except mechanism is excessively complicated, the free degree is excessive, involve great expense the defects of, reasonably reduce the free degree of device motion, i.e. letter
The mechanism of device is changed.Circuit specific aim is stronger, motion is simpler, cost is lower.By high voltage transmission line line walking machine of the present invention
When people's device is placed on applicable transmission line of electricity, it can efficiently restrain, complete patrol task in high quality.
To enable the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below by embodiment it is required use it is attached
Figure is briefly described explanation.
Fig. 1 is front view of the present invention；
Fig. 2 is rearview of the present invention；
Fig. 3 is side view of the present invention；
Fig. 4 is working environment schematic diagram of the present invention；
1. walking wheel support in figure, 2. road wheels, 3. road wheel support shafts, 4. bearings, 5. first motors and deceleration device,
6. multi-diameter shaft, 7. clutch shaft bearings and bearing block, 8. second motors and deceleration device, 9. vertical fixed plates, 10. long beams,
11. connecting plate, 12. tail trimmers, 13. horizontal fixed plates, 14. guide supporting seats, 15. optical axis guide rails, 16. screw mandrels, 17. guide rails are slided
Block, 18. screw mandrel sliding blocks, 19. second bearings and bearing block, 20. the 3rd motors and deceleration device, 21. casings, 22. counterweights,
23. circuit and radio communication year system, 24. monitoring cameras, 25. high voltage transmission lines, 26. stockbridge dampers, 27. overhanging golden tools.
Specific implementation method
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with attached in the embodiment of the present invention
Figure, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is only this
Invention part of the embodiment, rather than whole embodiments.Therefore, below to the embodiments of the invention that provide in the accompanying drawings
The scope for being not intended to limit claimed invention is described in detail, but is merely representative of the selected embodiment of the present invention.Base
In embodiments of the invention, every other reality that those skilled in the art are obtained on the premise of creative work is not made
Example is applied, belongs to the scope of protection of the invention
The service line situation of apparatus of the present invention includes normal high voltage transmission line 25, stockbridge damper 26 and overhanging golden tool 27.
【Embodiment 1】
To high-voltage transmission line inspection robot apparatus and system in operation on normal accessible high voltage transmission line 25, overall dress
Put and be suspended on by the U-shaped groove of road wheel 2 on high voltage transmission line 25, counterweight casing 21 is in intermediate equilibria position, overall dress
Put and be in safe and reliable poised state.When device carries out forward travel and inspection, the first motor and the band of deceleration device 5
Dynamic road wheel support shaft 3 rotates, and then to maintain road wheel 2 to rotate forward, by the frictional force of wheel face and high voltage transmission line 25,
Single unit system is set to do forward travel.During device advance, monitoring camera 24 carries out IMAQ, and data message is led to
Oversampling circuit and wireless communication system 23 are transferred to ground based terminal.In above process, the rotating speed of road wheel 2 can control adjustment,
That is the pace of device is adjustable；The adjustable angle of monitoring camera 24, it is varifocal.Remaining does not refer to that part maintains the original state,
Do not act.
【Embodiment 2】
To the operation on normal accessible high voltage transmission line 25 of high-voltage transmission line inspection robot apparatus and system, before device
When entering to run into stockbridge damper 26, in order to continue line data-logging work, it is necessary to overall to reach this purpose across stockbridge damper 26
Device will carry out following steps：
The first step：3rd motor and deceleration device 20 drive screw mandrel 16 to be rotated forward, and make the band therewith of screw mandrel sliding block 18
Dynamic counterweight casing 21 does motion in one dimension backward, and according to lever principle, single unit system will be fulcrum with rear walking wheel 2, front walking wheel 2
Position will be raised on vertical plane；
Second step：When front walking wheel 2 completely disengages high voltage transmission line 25, the 3rd motor and deceleration device 20 stop providing
Power, so that counterweight casing 21 stops moving backward, now device is in poised state；；
3rd step：Next the first motor and deceleration device 5 drive rear walking wheel 2 to rotate forward after, by defeated with high pressure
The frictional force of electric wire 25, makes single unit system do motion in one dimension forward, when front walking wheel 2 fully passes over stockbridge damper 26 after after the
One motor and deceleration device 5 stop providing power, single unit system stop motion；
4th step：3rd motor and deceleration device 20 drive screw mandrel 16 to be reversely rotated, and make the band therewith of screw mandrel sliding block 18
Dynamic counterweight casing 21 does forward motion in one dimension, and according to lever principle, single unit system will be fulcrum with rear walking wheel 2, front walking wheel 2
Position will be reduced on vertical plane；
5th step：After front walking wheel 2 entirely falls within high voltage transmission line 25, single unit system will be fulcrum with front walking wheel 2, rear row
Walking the position of wheel 2 will raise on vertical plane, when rear walking wheel 2 completely disengages high voltage transmission line 25, the 3rd motor
Stop providing power with deceleration device 20, so that counterweight casing 21 stops travelling forward, now device is in poised state；
6th step：Preceding first motor and deceleration device 5 drive front walking wheel 2 to rotate forward, by with high voltage transmission line 25
Frictional force, single unit system is done motion in one dimension forward, when rear walking wheel 2 fully passes over stockbridge damper 26 after it is preceding first driving
Motor and deceleration device 5 stop providing power, single unit system stop motion；
7th step：3rd motor and deceleration device 20 drive screw mandrel 16 to be rotated forward, and make the band therewith of screw mandrel sliding block 18
Dynamic counterweight casing 21 does motion in one dimension backward, and according to lever principle, single unit system will be fulcrum with front walking wheel 2, rear walking wheel 2
Position will be reduced on vertical plane.After rear walking wheel 2 entirely falls within high voltage transmission line 25, single unit system passes through road wheel
2 U-shaped groove is suspended on high voltage transmission line 25, and counterweight casing 21 is in intermediate equilibria position, and single unit system is in safety, can
The poised state leaned on.
When device carries out forward travel and inspection, the first motor and deceleration device 5 drive 3 turns of road wheel support shaft
It is dynamic, and then to maintain road wheel 2 to rotate forward, by the frictional force of wheel face and high voltage transmission line 25, make single unit system and advance
Motion, continue inspection work.During device advance, monitoring camera 24 carries out IMAQ, and data message is passed through
Circuit and wireless communication system 23 are transferred to ground based terminal.In above process, the rotating speed of road wheel 2 can control adjustment, i.e.,
The pace of device is adjustable；The adjustable angle of monitoring camera 24, it is varifocal.
【Embodiment 3】
To the operation on normal accessible high voltage transmission line 25 of high-voltage transmission line inspection robot apparatus and system, before device
When entering to run into overhanging golden tool 27, in order to continue line data-logging work, it is necessary to across overhanging golden tool 27, to reach this purpose,
Single unit system will carry out following steps：
The first step：3rd motor and deceleration device 20 drive screw mandrel 16 to be rotated forward, and make the band therewith of screw mandrel sliding block 18
Dynamic counterweight casing 21 does motion in one dimension backward, and according to lever principle, single unit system will be fulcrum with rear walking wheel 2, front walking wheel 2
Position will be raised on vertical plane；
Second step：When front walking wheel 2 completely disengages high voltage transmission line 25, the 3rd motor and deceleration device 20 stop providing
Power, so that counterweight casing 21 stops moving backward, now device is in poised state；
3rd step：Multi-diameter shaft 6 rotates forward for axle after the second motor and deceleration device 8 will drive single unit system afterwards, makes
When single unit system deviates 10 with high voltage transmission line 25, rear second motor and deceleration device 8 will drive single unit system to stop carrying
For power, single unit system stop motion simultaneously keeps balancing；
4th step：The first motor and deceleration device 5 drive rear walking wheel 2 to rotate forward afterwards, by with high voltage transmission line 25
Frictional force, single unit system is done motion in one dimension forward, when front walking wheel 2 fully passes over overhanging golden tool 27 after after first drive
Dynamic motor and deceleration device 5 stop providing power, single unit system stop motion；
5th step：Multi-diameter shaft 6 reversely rotates for axle after the second motor and deceleration device 8 will drive single unit system afterwards, makes
When single unit system returns the numerical value plane of high voltage transmission line 25, rear second motor and deceleration device 8 will drive single unit system
Stop providing power, single unit system stop motion simultaneously keeps balancing；
6th step：3rd motor and deceleration device 20 drive screw mandrel 16 to be reversely rotated, and make the band therewith of screw mandrel sliding block 18
Dynamic counterweight casing 21 does forward motion in one dimension, and according to lever principle, single unit system will be fulcrum with rear walking wheel 2, front walking wheel 2
Position will be reduced on vertical plane；
7th step：After front walking wheel 2 entirely falls within high voltage transmission line 25, single unit system will be fulcrum with front walking wheel 2, rear row
Walking the position of wheel 2 will raise on vertical plane, when rear walking wheel 2 completely disengages high voltage transmission line 25, the 3rd motor
Stop providing power with deceleration device 20, so that counterweight casing 21 stops travelling forward, now device is in poised state；
8th step：Multi-diameter shaft 6 rotates forward for axle before preceding second motor and deceleration device 8 will drive single unit system, makes
When single unit system deviates 10 with high voltage transmission line 25, preceding second motor and deceleration device 8 will drive single unit system to stop carrying
For power, single unit system stop motion simultaneously keeps balancing；
9th step：Preceding first motor and deceleration device 5 drive front walking wheel 2 to rotate forward, by with high voltage transmission line 25
Frictional force, single unit system is done motion in one dimension forward, when rear walking wheel 2 fully passes over overhanging golden tool 27 after it is preceding first drive
Dynamic motor and deceleration device 5 stop providing power, single unit system stop motion；
Tenth step：Multi-diameter shaft 6 reversely rotates for axle before preceding second motor and deceleration device 8 will drive single unit system, makes
When single unit system returns the numerical value plane of high voltage transmission line 25, preceding second motor and deceleration device 8 will drive single unit system
Stop providing power, single unit system stop motion simultaneously keeps balancing；
11st step：3rd motor and deceleration device 20 drive screw mandrel 16 to be rotated forward, and make screw mandrel sliding block 18 therewith
Counterweight casing 21 is driven to do motion in one dimension backward, according to lever principle, single unit system will be fulcrum with front walking wheel 2, rear walking
The position of wheel 2 will reduce on vertical plane.After rear walking wheel 2 entirely falls within high voltage transmission line 25, single unit system passes through row
The U-shaped groove for walking wheel 2 is suspended on high voltage transmission line 25, and counterweight casing 21 is in intermediate equilibria position, and single unit system is in peace
Entirely, reliable poised state.
When device carries out forward travel and inspection, the first motor and deceleration device 5 drive 3 turns of road wheel support shaft
It is dynamic, and then to maintain road wheel 2 to rotate forward, by the frictional force of wheel face and high voltage transmission line 25, make single unit system and advance
Motion, continue inspection work.During device advance, monitoring camera 24 carries out IMAQ, and data message is passed through
Circuit and wireless communication system 23 are transferred to ground based terminal.In above process, the rotating speed of road wheel 2 can control adjustment, i.e.,
The pace of device is adjustable；The adjustable angle of monitoring camera 24, it is varifocal.
Claims (10)
1. a kind of high-voltage transmission line inspection robot apparatus and system, it is characterised in that including traveling wheel mechanism（1）, arm rotation
Rotation mechanism（2）, main body mechanism（3）, balance weight mechanism（4）, monitoring camera（5）, circuit and wireless telecommunication system（6）It is whole with ground
End（7）As a total system, 5 frees degree be present, wherein, the traveling wheel mechanism（1）Including motor（1-1）、
Shaft coupling（1-2）, walking wheel support（1-3）, road wheel（1-4）, road wheel support shaft（1-5）, bearing（1-6）, connecting bolt
（1-7）, motor（1-1）It is made up of motor and speed reducer structure；Wherein, road wheel（1-4）Circumferential recess be U-lag, OK
Walk wheel（1-4）With road wheel support shaft（1-5）Using key connection；Road wheel support shaft（1-5）Road wheel is fixed on by bearing
Support（1-3）On；Motor（1-1）By battery（6-2）Power supply, drive road wheel（1-4）Rotation, transports whole device
It is dynamic；Motor（1-1）By circuit and wireless telecommunication system（6）Control, allows whole device to advance along high voltage transmission line, makees
For a dimension of device motion.
A kind of 2. high-voltage transmission line inspection robot apparatus and system according to claim 1, it is characterised in that the main body machine
Structure（3）By vertical fixed plate（3-1）, long beam（3-2）, tail trimmer（3-3）, connecting plate（3-4）, horizontal fixed plate（3-5）, silk
Bar（3-6）, optical axis guide rail（3-7）, screw mandrel sliding block（3-8）, guide rail slide block（3-9）, screw mandrel bearing and bearing block（3-10）, guide rail
Support base（3-11）, motor（3-12）, shaft coupling（3-13）, connecting bolt（3-14）Form；Wherein, vertical fixed plate
（3-1）Pass through connecting bolt（3-14）With long beam（3-2）Vertical side is fixed；Long beam（3-2）Below with tail trimmer（3-3）
Above with connecting plate（3-4）Using connecting bolt（3-14）Coordinate and fix；Tail trimmer（3-3）Below with horizontal fixed plate（3-
5）Using connecting bolt（3-14）It is fixed；Screw mandrel（3-6）Both ends and screw mandrel bearing and bearing block（3-10）Concentric fit, and pass through
Screw mandrel bearing and bearing block（3-10）Using connecting bolt（3-14）It is fixed on horizontal fixed plate（3-5）On；Optical axis guide rail（3-7）
Both ends and guide supporting seat（3-11）Concentric fit, and pass through guide supporting seat（3-11）Using connecting bolt（3-14）It is fixed on
Horizontal fixed plate（3-5）On；Screw mandrel sliding block（3-8）Pass through internal thread and screw mandrel（3-6）Coordinate, there is provided counter weight device（4）Fortune
Dynamic power, makes breeding mechanism（4）Along screw mandrel（3-6）It is axially moved；Guide rail slide block（3-9）With optical axis guide rail（3-7）It is engaged,
For bearing counter weight device（4）Weight, and ensure balance weight mechanism（4）The direction of motion；Motor（3-12）Pass through connection
Bolt（3-14）It is fixed on below horizontal fixed plate, motor（2-3）By battery（6-2）Power supply, by circuit and channel radio
News system（6）Control, motor（3-12）Pass through shaft coupling（3-13）With screw mandrel（3-6）It is connected, and maintains screw mandrel（3-
6）Rotary motion, to ensure balance weight mechanism（4）Motion, as balance weight mechanism（4）One dimension of motion.
A kind of 3. high-voltage transmission line inspection robot apparatus and system according to claim 1, it is characterised in that the arm rotation
Rotation mechanism（2）By multi-diameter shaft（2-1）, bearing and bearing block（2-2）, motor（2-3）Form；Multi-diameter shaft（2-1）Away from axle
The end of shoulder and walking wheel support（1-3）Mechanically connect and fix, multi-diameter shaft（2-1）Two groups of bearings and bearing spider are utilized at the shaft shoulder
（2-2）Connection, and pass through bearing and bearing spider（2-2）It is fixed on vertical fixed plate（3-1）On, multi-diameter shaft（2-1）Close to axle
The end of shoulder passes through key connection and motor（2-3）It is connected；Motor（2-3）It is fixed on vertically by bolt screw
Fixed plate（3-1）On；Wherein, motor（2-3）By battery（6-2）Power supply, drive multi-diameter shaft（2-1）Rotation, make whole
Device rotates；Motor（2-1）By circuit and wireless telecommunication system（6）Control, whole device is set to be revolved around multi-diameter shaft
Turn, a dimension as device motion.
A kind of 4. high-voltage transmission line inspection robot apparatus and system according to claim 1, it is characterised in that the counter weight machine
Structure（4）By casing（4-1）, mass（4-2）, connecting bolt（4-3）Form；Wherein, casing（4-1）Pass through connecting bolt（4-
3）With screw mandrel sliding block（3-8）And guide rail slide block（3-9）Connection；Mass（4-2）Pass through connecting bolt（4-3）It is fixed on casing
（4-1）Assigned position in inner bottom surface；Balance weight mechanism（4）Motion be used to maintain the balance of single unit system, be also used for ensureing whole
Body device can do exercises according to setting.
5. a kind of high-voltage transmission line inspection robot apparatus and system according to claim 1, it is characterised in that the monitoring is taken the photograph
As head（5）By camera（5-1）, fixed mount（5-2）, connecting bolt（5-3）Form；Wherein, camera（5-1）Matched somebody with somebody by machinery
Conjunction is fixed on fixed mount（5-2）On, fixed mount（5-2）Pass through connecting bolt（5-3）It is fixed on vertical fixed plate（3-1）On, Gu
Positioning is put adjustable, and to meet functional requirement, above-described connected mode is generally bolt connection for convenience of dismantling, but not only
It is confined to bolt connection, it may include the mode such as gluing, riveting；Camera（5-1）By battery（6-2）Power supply, by circuit and nothing
Line communication system（6）Control, and pass through circuit and wireless telecommunication system（6）By live real screen instantaneous transmission to ground based terminal
（7）, for monitoring camera（5）Species and model are not especially limited herein.
A kind of 6. high-voltage transmission line inspection robot apparatus and system according to claim 1, it is characterised in that the circuit and
Wireless telecommunication system（6）By control circuit（6-1）, battery（6-2）, wire（6-3）And wireless communication apparatus（6-4）Form；
Battery（6-2）As power supply to need the electrical equipment powered to provide power supply in single unit system；Wire（6-3）To connect circuit and
Wireless telecommunication system（6）With motor and monitoring camera（5）；Ground based terminal（7）Pass through wireless communication apparatus（6-4）Make control
Circuit processed（6-1）According to the commander's motor motion of existing program, integrated model is set to complete setting motion and action, and will mirror
Determine camera（5）The view data collected passes ground based terminal back（7）；At this to control circuit（6-1）Specific composition, battery
（6-2）Type and model, wire（6-3）Model and wireless communication apparatus（6-4）Type and specific composition do not limit.
7. a kind of high-voltage transmission line inspection robot apparatus and system according to claim 1, it is characterised in that the ground is whole
End（7）It can be computer, flat board, be not especially limited herein.
8. according to a kind of high-voltage transmission line inspection robot apparatus and system of claim 1 and 3, it is characterised in that the row
Zou Lun mechanisms（1）With arm rotating mechanism（2）The arm mechanism formed after cooperation shares forward and backward two sets, and installation site is on perpendicular
Straight fixed plate（3-1）Center line is arranged symmetrically, the optical axis guide rail（3-7）With matched guide rail slide block（3-9）And guide rail
Support base（3-11）Two sets are shared, two sets of optical axis guide rails（3-7）With screw mandrel（3-6）Axis spacing it is equal, be arranged symmetrically.
A kind of 9. high-voltage transmission line inspection robot apparatus and system according to claim 1, it is characterised in that the road wheel
（1-4）Rubber layer is attached with U-lag, to increase road wheel（1-4）Frictional force between high voltage transmission line.
10. a kind of high-voltage transmission line inspection robot apparatus and system according to claim 1, it is characterised in that the present apparatus is real
Border application is dry font linear high voltage power transmission tower.
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| CN201711038447.8A CN107838903A (en) | 2017-10-31 | 2017-10-31 | High-voltage transmission line inspection robot apparatus and system |
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| CN201711038447.8A CN107838903A (en) | 2017-10-31 | 2017-10-31 | High-voltage transmission line inspection robot apparatus and system |
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| CN201711038447.8A Pending CN107838903A (en) | 2017-10-31 | 2017-10-31 | High-voltage transmission line inspection robot apparatus and system |
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| CN108347006A (en) * | 2018-04-27 | 2018-07-31 | 广州供电局有限公司 | Upkeep operation robot |
| CN108347005A (en) * | 2018-04-27 | 2018-07-31 | 广州供电局有限公司 | Upkeep operation robot |
| CN108594054A (en) * | 2018-04-13 | 2018-09-28 | 广州供电局有限公司 | Overhead transmission line wire clamp measuring apparatus, method and device |
| CN109167297A (en) * | 2018-10-09 | 2019-01-08 | 华北电力大学（保定） | A kind of high stability high pressure inspection mobile robot device |
| CN111689392A (en) * | 2020-05-18 | 2020-09-22 | 国网河北省电力有限公司晋州市供电分公司 | Intelligent force-bearing tool for power transmission line |
| CN111730580A (en) * | 2020-07-08 | 2020-10-02 | 王永亮 | Double-mechanical-arm high-voltage transmission and guide line inspection robot structure |
| CN112600123A (en) * | 2021-01-01 | 2021-04-02 | 程国峰 | High-voltage cable inspection instrument based on electric power safety and inspection method thereof |
| CN113285391A (en) * | 2021-07-01 | 2021-08-20 | 重庆南电科技有限公司 | Transmission line inspection robot device |
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| CN108594054A (en) * | 2018-04-13 | 2018-09-28 | 广州供电局有限公司 | Overhead transmission line wire clamp measuring apparatus, method and device |
| CN108347006A (en) * | 2018-04-27 | 2018-07-31 | 广州供电局有限公司 | Upkeep operation robot |
| CN108347005A (en) * | 2018-04-27 | 2018-07-31 | 广州供电局有限公司 | Upkeep operation robot |
| CN109167297A (en) * | 2018-10-09 | 2019-01-08 | 华北电力大学（保定） | A kind of high stability high pressure inspection mobile robot device |
| CN111689392A (en) * | 2020-05-18 | 2020-09-22 | 国网河北省电力有限公司晋州市供电分公司 | Intelligent force-bearing tool for power transmission line |
| CN111730580A (en) * | 2020-07-08 | 2020-10-02 | 王永亮 | Double-mechanical-arm high-voltage transmission and guide line inspection robot structure |
| CN112600123A (en) * | 2021-01-01 | 2021-04-02 | 程国峰 | High-voltage cable inspection instrument based on electric power safety and inspection method thereof |
| CN113285391A (en) * | 2021-07-01 | 2021-08-20 | 重庆南电科技有限公司 | Transmission line inspection robot device |
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