CN107959261B - Intelligent line inspection obstacle removing robot for power transmission line - Google Patents
Intelligent line inspection obstacle removing robot for power transmission line Download PDFInfo
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- CN107959261B CN107959261B CN201810062919.1A CN201810062919A CN107959261B CN 107959261 B CN107959261 B CN 107959261B CN 201810062919 A CN201810062919 A CN 201810062919A CN 107959261 B CN107959261 B CN 107959261B
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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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Abstract
The invention discloses an intelligent line patrol and obstacle removal robot for a power transmission line, which comprises a base, wherein a power supply device is arranged in the base, three pairs of arms of a front arm, a middle arm and a rear arm are respectively arranged on the base, a clamping cylinder is arranged between each pair of arms, the lower end of the clamping cylinder is connected with the base, each pair of arms is rotationally connected with two connecting sections, the ends of the two connecting sections are jointly rotationally connected with the upper ends of the clamping cylinders to form a Y-shaped structure, a pair of mutually meshed idler wheels are oppositely arranged between the tops of each pair of arms, a wire slot is formed between the two idler wheels, the tops of the two arms of the front arm are respectively provided with an upper resistance wire at the front side and above the wire slot through a lower rack of resistance wires, the middle arm is divided into an upper part and a lower part which are sleeved, the connecting sections on the middle arm are rotationally connected with the upper part of the upper resistance wire, and each clamping cylinder and the driving device are powered by the power supply device and are controlled by remote control. The invention can automatically travel along the transmission line and bypass the obstacle on the line to remove the foreign matters on the line.
Description
Technical Field
The invention relates to the technical field of electric energy transmission, in particular to an intelligent line inspection obstacle removing robot for a power transmission line.
Background
Ensuring the safety of the power transmission line is the basis of economic development. The power from the power plant to the user goes through four stages of a booster transformer station, a high-voltage transmission line, a step-down transformer station and a low-voltage distribution line, and the whole power transmission and transformation system for conveying the power is exposed in the field most of the time.
In order to ensure safe and reliable operation of the power transmission line, the power grid operation department needs to periodically carry out inspection, maintenance and maintenance on the power transmission and transformation system so as to ensure that faults or hidden trouble of faults are eliminated.
At present, most of the inspection of the high-voltage line of the power grid still adopts a traditional manual inspection mode, namely, manual walking along the line and tower climbing, and the hidden danger of the line is inspected by means of a telescope, a camera and the like. The manual inspection mode has the problems of high labor cost, environmental hazard, severe inspection, difficult inspection quality guarantee, difficult inspection management and the like, and is difficult to reach manually when the manual inspection mode passes through special road sections such as mountain, river, forest or original forest or unmanned area line and the like.
Therefore, there is a great need to develop an inspection tool that can be automated or semi-automated to replace the existing fully manual inspection method.
Disclosure of Invention
The invention aims at: aiming at the problems, the intelligent line inspection and obstacle removal robot for the power transmission line is provided, and can realize automatic line inspection and obstacle removal.
The technical scheme adopted by the invention is as follows:
the utility model provides a transmission line intelligence is patrolled and is removed barrier robot, includes the base, places power supply unit in the base, install forearm, well arm, three pairs of arms of trailing arm respectively on the base, all set up the clamp cylinder between every pair of arm, clamp cylinder lower extreme is connected with the base, rotate on every pair of arm and connect two linkage segments, the end of two linkage segments is connected with clamp cylinder upper end rotation jointly and is formed a Y type structure, set up a pair of intermeshing's gyro wheel in opposite directions between every pair of arm top, form the wire casing between two gyro wheels, two arm tops of forearm set up upper portion resistance wire in the wire casing top through the resistance wire lower carriage in the front side, well arm divide into upper and lower two parts that cup joint, the linkage segment on the well arm rotates and connects above that, upper portion resistance wire, each clamp cylinder, drive arrangement are by power supply unit power supply and carry out remote control.
In the technical scheme, the roller pairs on the front arm, the middle arm and the rear arm are all opened and closed by driving the connecting section through the expansion and contraction of the clamping cylinder.
Preferably, one roller of each pair of rollers is provided with a groove, the other roller is correspondingly provided with a boss, and the two rollers are meshed when being tightly attached.
Preferably, steering motors are arranged on the two arms of the forearm, the output ends of the steering motors are perpendicular to the forearm and are arranged on lower resistance wires at the ends through the lower resistance wires, and the lower resistance wires and the steering motors are powered by a power supply device and are controlled by a remote control. The upper resistance wire and the lower resistance wire heat foreign matters on the power transmission line from the upper part and the lower part of the power transmission line to burn, thereby achieving the purpose of removing the obstacle.
Preferably, the drive device comprises a drive motor and a reduction gear.
In summary, due to the adoption of the technical scheme, the beneficial effects of the invention are as follows:
1. through the cooperation among the three pairs of arms, the lifting cylinder and the clamping cylinder, the line inspection robot can travel along the power transmission line, can bypass obstacles such as a damper and a suspension clamp on the line in the traveling process, can inspect the line between two tension-resistant towers, and can only pass through the damper and cannot pass through the suspension clamp between two towers;
2. foreign matters on the line are heated through the resistance wire to enable the foreign matters to burn off, so that plastic films, kite lines and other foreign matters at any angle on the line can be easily removed, the foreign matter removing range is wide, the efficiency is high, and the existing line inspection robot in the market usually adopts a blade to cut the foreign matters to remove the obstacle, the coverage is small, the efficiency is low, and the line inspection robot is easy to clamp;
3. the whole weight is light, only about 18Kg, but the design of the existing line inspection robot on the market is too complex, and the weight is usually 30-40Kg;
4. the degree of clamping the transmission line by the roller pair can be adjusted by adjusting the clamping cylinder, so that the transmission line can be easily climbed upwards under the condition of obliquely upwards, and the existing line inspection robot in the market can normally climb upwards only by additionally arranging the pressing device.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
The marks in the figure: 1 is a base, 2 is a forearm, 3 is a middle arm, 4 is a rear arm, 5 is a driving device, 6 is a roller, 7 is a resistance wire upper frame, 8 is a resistance wire lower frame, 9 is a steering motor, 10 is a lifting cylinder, 11 is a clamping cylinder, and 12 is a connecting section.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
Examples:
as shown in fig. 1, a transmission line intelligence line inspection and obstacle removal robot, including base 1, place power supply unit in the base 1, install forearm 2, well arm 3, three pairs of arms of back arm 4 respectively on the base 1, all set up clamping cylinder 11 between every arm, clamping cylinder 11 lower extreme is connected with base 1, rotate on every arm to connect two linkage segments 12, the end of two linkage segments 12 is connected with clamping cylinder 11 upper end rotation jointly and is formed a Y type structure, set up a pair of intermeshing's gyro wheel 6 in opposite directions between every arm top, form the wire casing between two gyro wheels 6, the upper portion resistance wire is set up in the wire casing top through resistance wire lower carriage 8 in the front side at two arm tops of forearm 2, well arm 3 divide into upper and lower two parts that cup joint, the linkage segment 12 on the well arm 3 rotates and connects its top, upper portion resistance wire, each clamping cylinder 11, drive arrangement 5 are supplied power and carry out remote control by power supply unit.
One roller of each pair of rollers 6 is provided with a groove, the other roller is correspondingly provided with a boss, and the rollers are meshed when the rollers are tightly adhered.
The two arms of the forearm 2 are provided with steering motors 9, the output ends of the steering motors 9 are perpendicular to the forearm 2, lower resistance wires are arranged at the ends of the steering motors through a resistance wire lower frame 8, and the lower resistance wires and the steering motors 9 are powered by a power supply device and are controlled by a remote control.
The driving device 5 consists of a driving motor and a speed reducer.
The power supply device comprises a rechargeable lithium battery, a remote control signal receiving circuit and a microcontroller. An operator sends out signals by using a remote controller on the ground, after receiving the signals, the remote control signal receiving circuit inputs the signals into a microcontroller, the microcontroller processes the signals, and then the working states of the clamping cylinder, the lifting cylinder, the steering motor, the driving device and the resistance wire are controlled according to the processing results.
The operation method comprises the following steps:
1. the robot is placed on a power transmission line. In the initial state, the three pairs of rollers 6 are in a separate state, after the robot is placed at the corresponding position, the output rods of the clamping cylinder 11 and the lifting cylinder 10 are controlled to retract, the three pairs of arms synchronously draw close towards the middle, the three pairs of rollers 6 are meshed, so that the robot is hung on a power transmission line, and the steering motor 9 rotates the resistance wire lower frame 8 to a downward position.
2. The driving device 5 is started, so that the roller 6 is driven to rotate, and the robot can walk on a power transmission line. Each pair of rollers 6 is engaged with the grooves through the intermediate boss, and the entire rollers 6 are rotated together.
3. When the robot removes foreign matters, the steering motor 9 rotates the resistance wire lower frame 8 to a horizontal position, the resistance wires on the resistance wire upper frame and the resistance wire lower frame surround the power transmission line in a circumferential direction, then the resistance wires are heated to 400-500 ℃, and the whole robot slowly moves towards the foreign matters, so that the electric heating wires scald out the foreign matters such as plastic films, kite wires and the like.
4. The robot inspection line meets the action sequence of the suspension clamp:
(1) the output rod of the lifting cylinder 10 is retracted, the middle arm 3 is clamped, the output rod of the clamping cylinder 11 is retracted, the front arm 2 and the rear arm 4 are opened, the output rod of the lifting cylinder 10 on the middle arm 3 continues to retract to drive the rest part of the whole robot to lift upwards, and then the driving device 5 on the middle arm 3 drives the roller 6 to rotate, so that the whole robot slowly moves forwards until the suspension clamp is positioned between the front arm 2 and the middle arm 3;
(2) the output rod of the lifting cylinder 10 on the middle arm 3 stretches to drive the rest part of the whole robot to descend, meanwhile, the output rods of the clamping cylinders 11 on the front arm 2 and the rear arm 4 retract to enable the idler wheels 6 to be clamped and hung on a power transmission line, the idler wheels 6 on the middle arm 3 stretch, and at the moment, the driving device 5 on the front arm 2 and the rear arm 4 drive the idler wheels 6 to slowly move until a suspension clamp is positioned between the middle arm 3 and the rear arm 4.
(3) The output rod of the clamping cylinder 11 on the middle arm 3 stretches to enable the roller 6 to move upwards beyond the transmission line all the time and then clamp, the output rods of the clamping cylinders 11 on the front arm 2 and the rear arm 4 stretch out to enable the front arm 2 and the rear arm 4 to open, and the driving device 5 on the middle arm 3 drives the roller 6 to rotate, so that the whole robot slowly moves forwards until the whole robot completely passes through the suspension clamp.
(4) The lifting cylinder 10 of the middle arm 3 drives the rest part to lift upwards, the rollers 6 of the front arm 2 and the rear arm 4 are clamped after upwards exceeding the transmission line, the middle arm 3 is opened, and the line inspection state is restored.
Claims (2)
1. The utility model provides a transmission line intelligence inspection robot that removes barrier which characterized in that: the power supply device comprises a base (1), wherein a power supply device is arranged in the base (1), three pairs of arms including a front arm (2), a middle arm (3) and a rear arm (4) are respectively arranged on the base (1), a clamping cylinder (11) is arranged between each pair of arms, the lower end of the clamping cylinder (11) is connected with the base (1), two connecting sections (12) are rotationally connected to each pair of arms, the ends of the two connecting sections (12) are rotationally connected with the upper end of the clamping cylinder (11) together to form a Y-shaped structure, a pair of mutually meshed rollers (6) are oppositely arranged between the tops of each pair of arms, a wire slot is formed between the two rollers (6), an upper resistance wire is arranged above the wire slot on the front side of the two arm tops of the front arm (2) through a resistance wire upper frame (7), the middle arm (3) is divided into an upper part and a lower part which are sleeved, the connecting sections (12) on the middle arm (3) are rotationally connected to the upper part of the upper resistance wire, each clamping cylinder (11) and the driving device (5) are powered by the power supply device and are controlled by remote control;
the two arms of the front arm (2) are provided with steering motors (9), the output ends of the steering motors (9) are perpendicular to the front arm (2) and are provided with lower resistance wires at the ends through a resistance wire lower frame (8), and the lower resistance wires and the steering motors (9) are powered by a power supply device and are controlled by a remote control;
the driving device (5) consists of a driving motor and a speed reducer.
2. The intelligent line inspection and obstacle removal robot for a power transmission line according to claim 1, wherein: one roller of each pair of rollers (6) is provided with a groove, the other roller is correspondingly provided with a boss, and the two rollers are meshed when being tightly adhered.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810062919.1A CN107959261B (en) | 2018-01-23 | 2018-01-23 | Intelligent line inspection obstacle removing robot for power transmission line |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810062919.1A CN107959261B (en) | 2018-01-23 | 2018-01-23 | Intelligent line inspection obstacle removing robot for power transmission line |
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| CN107959261A CN107959261A (en) | 2018-04-24 |
| CN107959261B true CN107959261B (en) | 2023-05-23 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112242662A (en) * | 2020-09-21 | 2021-01-19 | 国网河南省电力公司安阳供电公司 | Transmission line removes inspection device |
| US20220129497A1 (en) * | 2020-10-23 | 2022-04-28 | Coupang Corp. | Systems and methods for filtering products based on images |
| CN112886471A (en) * | 2021-03-15 | 2021-06-01 | 国家电网有限公司 | High-voltage line inspection robot |
| CN115241795B (en) * | 2022-08-19 | 2024-07-16 | 杭州电力设备制造有限公司 | Inspection robot for crossing obstacle by power transmission line and working method thereof |
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| CN104477272A (en) * | 2014-12-10 | 2015-04-01 | 武汉大学 | Line patrol robot capable of climbing poles and towers and climbing method |
| CN105914651A (en) * | 2016-06-01 | 2016-08-31 | 南昌大学 | Single-arm driving double-arm obstacle crossing line inspection robot |
| CN205764134U (en) * | 2016-05-24 | 2016-12-07 | 海汇集团有限公司 | Tower hoist main chord produces automatic transport sizing cutting device |
| CN206099252U (en) * | 2016-11-01 | 2017-04-12 | 张泽中 | High tension power line deicing robot |
| CN207819313U (en) * | 2018-01-23 | 2018-09-04 | 自贡市三人实业有限公司 | A kind of intelligent transmission line patrol block removing robot |
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2018
- 2018-01-23 CN CN201810062919.1A patent/CN107959261B/en active Active
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| JP2010220346A (en) * | 2009-03-16 | 2010-09-30 | Kansai Electric Power Co Inc:The | Self-traveling electric wire inspection device |
| CN201590618U (en) * | 2009-11-26 | 2010-09-22 | 重庆前卫仪表有限责任公司 | Power transmission line inspection device |
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| CN104477272A (en) * | 2014-12-10 | 2015-04-01 | 武汉大学 | Line patrol robot capable of climbing poles and towers and climbing method |
| CN205764134U (en) * | 2016-05-24 | 2016-12-07 | 海汇集团有限公司 | Tower hoist main chord produces automatic transport sizing cutting device |
| CN105914651A (en) * | 2016-06-01 | 2016-08-31 | 南昌大学 | Single-arm driving double-arm obstacle crossing line inspection robot |
| CN206099252U (en) * | 2016-11-01 | 2017-04-12 | 张泽中 | High tension power line deicing robot |
| CN207819313U (en) * | 2018-01-23 | 2018-09-04 | 自贡市三人实业有限公司 | A kind of intelligent transmission line patrol block removing robot |
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Address after: 643000 office building 16, Dongsi Road, high tech Industrial Park, Yantan District, Zigong City, Sichuan Province Applicant after: Sichuan Qiangshi New Materials Co.,Ltd. Address before: 643000 Group 2, Dawan Village, Fenghuang Township, Da'an District, Zigong City, Sichuan Province Applicant before: Zigong Sanren Industrial Co.,Ltd. |
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Effective date of registration: 20230425 Address after: 643000 office building 16, Dongsi Road, high tech Industrial Park, Yantan District, Zigong City, Sichuan Province Applicant after: SICHUAN FURUIDE ELECTIRCAL EQUIPMENT TECHNOLOGY CO.,LTD. Address before: 643000 office building 16, Dongsi Road, high tech Industrial Park, Yantan District, Zigong City, Sichuan Province Applicant before: Sichuan Qiangshi New Materials Co.,Ltd. |
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