CN108183427B - Transmission line foreign matter investigation robot device - Google Patents
Transmission line foreign matter investigation robot device Download PDFInfo
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- CN108183427B CN108183427B CN201810007188.0A CN201810007188A CN108183427B CN 108183427 B CN108183427 B CN 108183427B CN 201810007188 A CN201810007188 A CN 201810007188A CN 108183427 B CN108183427 B CN 108183427B
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- transmission line
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 68
- 238000011835 investigation Methods 0.000 title claims abstract description 8
- 230000007246 mechanism Effects 0.000 claims abstract description 30
- 238000007689 inspection Methods 0.000 claims description 6
- 238000000034 method Methods 0.000 abstract description 4
- 230000008569 process Effects 0.000 abstract description 4
- 230000005611 electricity Effects 0.000 abstract description 3
- 238000012423 maintenance Methods 0.000 abstract description 3
- 238000009434 installation Methods 0.000 description 6
- 230000009471 action Effects 0.000 description 4
- 239000011324 bead Substances 0.000 description 3
- 230000001174 ascending effect Effects 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 238000007405 data analysis Methods 0.000 description 2
- 238000010191 image analysis Methods 0.000 description 2
- 239000002985 plastic film Substances 0.000 description 2
- 229920006255 plastic film Polymers 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 239000000463 material Substances 0.000 description 1
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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
Abstract
The invention relates to a robot device for checking foreign matters in a power transmission line. The device comprises a travelling mechanism, a balance mechanism and a camera mechanism which moves along with the travelling mechanism and inspects foreign matters of a power transmission line, wherein the travelling mechanism comprises a pair of pulleys which roll on the power transmission line and are arranged in tandem, the balance mechanism comprises a first balance rod which is used for mounting the pulleys and is coaxially arranged with the pulleys, and the first balance rod is provided with a balance weight which moves along the axial direction of the first balance rod and is used for balancing the pulleys. The pulley can move along the power transmission line, the power transmission line is shot and scanned through the carried camera mechanism, and the corresponding control center can know whether the power transmission line carries the foreign matters and information such as specific positions of the foreign matters in real time, so that power maintenance personnel can find and remove the foreign matters in time. The invention can avoid the long-time discontinuous electricity from carrying out manual foreign matter investigation and removal on the power transmission line, thereby greatly improving the operation efficiency. The invention can not only process dangerous cases in time, but also reduce personal safety risks.
Description
Technical Field
The invention belongs to the field of power systems, and particularly relates to a foreign matter investigation robot device for a power transmission line.
Background
In an electric power system, a transmission line is an intermediate link for transmitting and distributing electric energy, and a fixed safety distance is reserved between leads when the transmission line is designed. Under normal conditions, as long as the safety distance is kept between the wires, the power transmission line can safely operate. If there is a non-insulated object other than air between the wires, such as a plastic film, a kite, a fishing line, etc. The wires are often discharged through these foreign objects, causing short circuits between the wires and tripping the switches of the substation. At present, when foreign matters such as plastic films, kites, fishing lines and the like exist on power transmission lines, the foreign matters are mainly treated by a manual mode. The manual operation consumes large manpower and material resources and has large safety risk, the power failure operation needs to wait for a long time, and foreign matters influence the operation safety of the line for a long time. There is a need to find a device that can process the foreign matters in time and reduce the personal safety risk to check the foreign matters in the power transmission line so as to clean the foreign matters.
Disclosure of Invention
In order to solve the technical problem, the invention provides a robot device for checking foreign matters in a power transmission line.
In order to realize the purpose of the invention, the invention adopts the following technical scheme:
the utility model provides a transmission line foreign matter investigation robot device, includes running gear, balance mechanism and the mechanism of making a video recording that removes and investigate the transmission line foreign matter with running gear, running gear includes a pair of pulley of rolling walking and tandem arrangement on the transmission line, balance mechanism is including being used for the installation the pulley and with the first balancing pole of pulley coaxial arrangement, be equipped with on the first balancing pole along first balancing pole axial displacement and be used for balancing the counter weight of pulley.
Further, running gear is still including being located the fuselage of the below of pulley, install the first motor on the fuselage and by first motor drive pivoted action wheel for install on the first balancing pole of installation direction of advance rear pulley with pulley fixed connection from the driving wheel, the action wheel passes through the belt drive and installs from the driving wheel rotation on the first balancing pole.
Furthermore, the balance mechanism also comprises a supporting rod which is vertically fixed with one end of the first balance rod, and a second balance rod which is arranged in parallel with the first balance rod is also fixed on the supporting rod; the balance weight is composed of a vertical rod, one end of the vertical rod is provided with a through hole for the first balance rod to pass through, the other end of the vertical rod is provided with a through hole for the second balance rod to pass through, the first balance rod and the second balance rod are respectively composed of a screw rod, and nuts which are located on two sides of the vertical rod and used for fixing the vertical rod are respectively arranged on the first balance rod and the second balance rod.
Further, the first balance bar and the second balance bar are respectively provided with axial scales.
Further, install horizontal inclinometer and second motor on the fuselage, the bracing piece lower extreme embeds there is the telescopic link, second motor drive the telescopic link upwards contracts or the realization of downwardly extending the fuselage is in horizontal balance state all the time.
Further, a camera for checking foreign matters of the power transmission line is mounted on the machine body.
Furthermore, be equipped with on the telescopic link along telescopic link axial interval arrangement's a plurality of elasticity card pearl, be equipped with on the bracing piece with the bayonet socket that card pearl corresponds.
The invention has the beneficial effects that:
(1) the pulley can move along the power transmission line, the power transmission line is shot and scanned through the carried camera mechanism, and the corresponding control center can know whether the power transmission line carries the foreign matters and information such as specific positions of the foreign matters in real time, so that power maintenance personnel can find and remove the foreign matters in time. According to the invention, the position of the balance weight on the balance rod is adjusted, so that the pulley can reach a balance state on the power transmission line, and the pulley can stably walk and move on the power transmission line. The invention can avoid manual foreign matter investigation and removal of the power transmission line by long-time discontinuous electricity, and greatly improves the operation efficiency. The invention can not only process dangerous cases in time, but also reduce personal safety risks.
(2) The invention adopts a rear wheel driving mode to realize the traveling movement of the pulley on the power transmission line, namely, the first motor drives the driving wheel to rotate, the driving wheel drives the driven wheel to rotate through the belt, meanwhile, the pulley fixedly connected with the driven wheel rotates along with the driven wheel, and the pulley rotates to move forward along the power transmission line so as to carry out the shooting and scanning of the foreign matters of the power transmission line. The device has the advantages of simple structure, automatic real-time inspection of foreign matters in the power transmission line, great labor input saving, safety and high efficiency.
(3) The balance mechanism is convenient for the installation and the disassembly of the pulley, when the pulley is installed on the first balance rod, the vertical rod can move along the first balance rod and the second balance rod to adjust the balance state of the pulley, and after the pulley is balanced, the vertical rod can be fixed through the nut. Bracing piece, first balancing pole, second balancing pole and montant can form confined loop configuration, can avoid the pulley to fall from the power transmission line and cause the injury, and the safety in utilization improves greatly.
(4) The vertical rod can be positioned on the same scale of the upper balance rod and the lower balance rod according to the axial scale, so that the vertical rod is convenient to fix; in addition, the vertical rod is adjusted in the left-right movement mode according to the scales, so that the two pulleys can be installed on a balance point better and faster, and further the two pulleys are balanced on the power transmission line and can move stably on the power transmission line.
(5) The camera can be controlled to have functions of image analysis and the like, an operator can know the types and other conditions of foreign matters on the power transmission line only according to the control end display screen without looking up the power transmission line, and foreign matter removal is carried out according to the feedback data analysis result.
(6) The support rod is internally provided with the telescopic rod, the robot body is provided with the horizontal inclinometer, when the robot runs on the power transmission line, the horizontal inclinometer can detect whether the robot body is in an inclined state such as an ascending slope and a descending slope, the second motor works at the moment, and the telescopic rod is stretched or contracted by the gear on the driving shaft of the second motor, so that the robot body is regulated to run on the power transmission line in a state of horizontal line balance all the time, and the stability of the scanning and shooting angles of the camera on the power transmission line is ensured.
Drawings
FIG. 1 is a schematic view of the structure of the present invention.
Fig. 2 is a schematic view of the mounting structure of the pulley.
Fig. 3 is a schematic view of the installation of the present invention on a power transmission line.
The designations in the drawings have the following meanings:
10-transmission line 21-pulley 22-body 23-first motor 24-driving wheel
25-driven wheel 26-camera 27-belt 31-first balance bar 32-second balance bar
33-support rod 331-bayonet 34-vertical rod 35-nut 36-horizontal inclinometer
37-second motor 38-telescopic rod 381-clamping bead
Detailed Description
The technical scheme of the invention is more specifically explained by combining the following embodiments:
as shown in fig. 1, 2 and 3:
the device comprises a travelling mechanism, a balance mechanism and a camera mechanism which moves along with the travelling mechanism and inspects foreign matters of the power transmission line, wherein the travelling mechanism comprises a pair of pulleys 21 which roll on the power transmission line 10 and are arranged in tandem, the balance mechanism comprises a first balance rod 31 which is used for mounting the pulleys 21 and is coaxially arranged with the pulleys 21, and a balance weight which moves along the axial direction of the first balance rod 31 and is used for balancing the pulleys 21 is arranged on the first balance rod 31.
The pulley 21 can move along the power transmission line 10, the power transmission line 10 is shot and scanned through the carried camera mechanism, and the corresponding control center can know whether the power transmission line 10 carries the foreign matters and information such as specific positions of the foreign matters in real time, so that power maintenance personnel can find and remove the foreign matters in time. According to the invention, the position of the balance weight on the balance rod is adjusted, so that the pulley can reach a balance state on the power transmission line, and the pulley can stably walk and move on the power transmission line. The invention can avoid manual foreign matter investigation and removal of the power transmission line by long-time discontinuous electricity, and greatly improves the operation efficiency. The invention can not only process dangerous cases in time, but also reduce personal safety risks.
Running gear is still including being located fuselage 22 of the below of pulley 21, install first motor 23 on fuselage 22 and by first motor 23 drive pivoted action wheel 24 for install on the first equalizer bar 31 of installation direction of advance rear pulley 21 with pulley 21 fixed connection's from driving wheel 25, action wheel 24 passes through the belt drive and installs driven wheel 25 on the first equalizer bar 31 rotates. The driven wheel 25 and the pulley 21 are fixed on the same hollow connecting shaft, and the hollow connecting shaft is movably sleeved on the first balance rod 31. The invention adopts a rear wheel driving mode to realize the walking movement of the pulley 21 on the power transmission line 10, namely, the first motor 23 drives the driving wheel 24 to rotate, the driving wheel 24 drives the driven wheel 25 to rotate through the belt 27, meanwhile, the pulley 21 fixedly connected with the driven wheel 25 rotates along with the driven wheel 25, and the pulley 21 rotates to move forward along the power transmission line 10 to carry out the shooting and scanning of the foreign matters of the power transmission line. The device has the advantages of simple structure, automatic real-time inspection of foreign matters in the power transmission line, great labor input saving, safety and high efficiency.
The balance mechanism further comprises a supporting rod 33 vertically fixed with one end of the first balance rod 31, and a second balance rod 32 arranged in parallel with the first balance rod 31 is further fixed on the supporting rod 33; the balance weight is composed of a vertical rod 34, one end of the vertical rod 34 is provided with a through hole for the first balance rod 31 to pass through, the other end of the vertical rod 34 is provided with a through hole for the second balance rod 32 to pass through, the first balance rod 31 and the second balance rod 32 are respectively composed of a screw rod, and nuts 35 which are located on two sides of the vertical rod 34 and used for fixing the vertical rod 34 are respectively arranged on the first balance rod 31 and the second balance rod 32.
The balance mechanism of the invention is convenient for the installation and the disassembly of the pulley 21, when the pulley 21 is installed on the first balance bar 31, the vertical bar 34 can move along the first balance bar 31 and the second balance bar 32 for adjusting the balance state of the pulley 21, and after the pulley 21 is balanced, the vertical bar 34 can be fixed through the nut 35. The supporting rod 33, the first balance rod 31, the second balance rod 32 and the vertical rod 34 can form a closed annular structure, so that the pulley 21 can be prevented from falling from the power transmission line 10 to cause damage, and the use safety is greatly improved.
The first balance bar 31 and the second balance bar 32 are respectively provided with axial scales. According to the invention, the vertical rod 34 can be positioned on the same scale of the upper and lower balance rods according to the axial scale, so that the fixing is convenient; in addition, the vertical rod 34 is adjusted left and right according to the scales, so that the two pulleys 21 can be better and faster installed on a balance point, and the two pulleys 21 can be balanced on the power transmission line and can stably move on the power transmission line.
Install horizontal inclinometer 36 and second motor 37 on the fuselage 22, the bracing piece 33 lower extreme embeds there is telescopic link 38, the drive of second motor 37 telescopic link 38 upwards contracts or the downwardly extending realization the fuselage 22 is in horizontal balanced state all the time. The telescopic rod 38 is provided with a plurality of elastic clamping beads 381 which are axially arranged along the telescopic rod 38 at intervals, and the support rod 33 is provided with a bayonet 331 corresponding to the clamping beads 381. According to the invention, the support rod 33 is internally provided with the telescopic rod 38, the robot body 22 is provided with the horizontal inclinometer 36, when the robot runs on the power transmission line 10, the horizontal inclinometer 36 can detect whether the robot body is in an inclined state such as an ascending slope or a descending slope, the second motor 37 works, and the telescopic rod 38 is stretched or contracted by the gear on the drive shaft of the second motor 37, so that the robot body 22 is regulated to run on the power transmission line 10 in a horizontal line balance state all the time, and the stability of the scanning and shooting angle of the power transmission line by the camera 26 is ensured.
The camera 26 for checking foreign matters in the power transmission line is mounted on the body 22. The camera 26 can be controlled to have functions of image analysis and the like, an operator can know the types and other conditions of foreign matters on the power transmission line only according to the control end display screen without looking up the power transmission line, and foreign matter removal is carried out according to the feedback data analysis result.
Claims (5)
1. Transmission line foreign matter investigation robot device, its characterized in that: the device comprises a travelling mechanism, a balancing mechanism and a camera mechanism which moves along with the travelling mechanism and inspects foreign matters of the power transmission line, wherein the travelling mechanism comprises a pair of pulleys (21) which roll on the power transmission line (10) and are arranged in tandem, the balancing mechanism comprises a first balancing rod (31) which is used for mounting the pulleys (21) and is coaxially arranged with the pulleys (21), and a balance weight which moves along the axial direction of the first balancing rod (31) and is used for balancing the pulleys (21) is arranged on the first balancing rod (31);
the travelling mechanism further comprises a machine body (22) positioned below the pulley (21), a first motor (23) arranged on the machine body (22) and a driving wheel (24) driven by the first motor (23) to rotate, a driven wheel (25) fixedly connected with the pulley (21) is arranged on a first balance rod (31) used for installing the pulley (21) behind the advancing direction, and the driving wheel (24) drives the driven wheel (25) arranged on the first balance rod (31) to rotate through a belt (27);
the balance mechanism further comprises a supporting rod (33) vertically fixed with one end of the first balance rod (31), and a second balance rod (32) arranged in parallel with the first balance rod (31) is further fixed on the supporting rod (33); the counter weight comprises montant (34), montant (34) one end is equipped with the confession first balancing pole (31) pass through the through-hole, montant (34) other end is equipped with the confession the through-hole that second balancing pole (32) pass through, first balancing pole (31), second balancing pole (32) comprise the screw rod respectively, be equipped with respectively on first balancing pole (31), second balancing pole (32) and be located montant (34) both sides just are used for fixing nut (35) of montant (34).
2. The power transmission line foreign matter inspection robot device according to claim 1, characterized in that: the first balance rod (31) and the second balance rod (32) are respectively provided with axial scales.
3. The power transmission line foreign matter inspection robot device according to claim 1, characterized in that: install horizontal inclinometer (36) and second motor (37) on fuselage (22), bracing piece (33) lower extreme embeds there is telescopic link (38), second motor (37) drive telescopic link (38) upwards shrink or downwardly extending realizes fuselage (22) is in horizontal balance state all the time.
4. The power transmission line foreign matter inspection robot device according to claim 1, characterized in that: the camera (26) for checking foreign matters of the power transmission line is mounted on the machine body (22).
5. The inspection robot device for foreign matters on an electric transmission line according to claim 3, wherein: be equipped with on telescopic link (38) along a plurality of elasticity card pearl (381) that telescopic link (38) axial interval arranged, be equipped with on bracing piece (33) with bayonet socket (331) that card pearl (381) correspond.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810007188.0A CN108183427B (en) | 2018-01-04 | 2018-01-04 | Transmission line foreign matter investigation robot device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810007188.0A CN108183427B (en) | 2018-01-04 | 2018-01-04 | Transmission line foreign matter investigation robot device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108183427A CN108183427A (en) | 2018-06-19 |
| CN108183427B true CN108183427B (en) | 2020-04-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810007188.0A Active CN108183427B (en) | 2018-01-04 | 2018-01-04 | Transmission line foreign matter investigation robot device |
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| CN (1) | CN108183427B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2167746Y (en) * | 1993-05-23 | 1994-06-08 | 宋亢生 | Overhead steel cable cycling balancing device |
| JP2001103629A (en) * | 1999-09-27 | 2001-04-13 | Fujikura Ltd | Optical cable winding machine to overhead earth-wire |
| CN102209934A (en) * | 2008-11-14 | 2011-10-05 | 加勒特·W·布朗 | Extendable camera support and stabilization apparatus |
| CN102263389A (en) * | 2010-05-25 | 2011-11-30 | 中国科学院沈阳自动化研究所 | Double-wheel-arm locking type inspection robot mechanism |
| CN105914661A (en) * | 2016-05-30 | 2016-08-31 | 成都市鑫裕华科技有限公司 | Cable pay-off block |
| CN107482529A (en) * | 2017-09-08 | 2017-12-15 | 山东鲁能智能技术有限公司 | Inspection control method, device and the crusing robot of a kind of overhead transmission line |
| CN207834941U (en) * | 2018-01-04 | 2018-09-07 | 国家电网公司 | Electric line foreign matter investigates robot device |
-
2018
- 2018-01-04 CN CN201810007188.0A patent/CN108183427B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2167746Y (en) * | 1993-05-23 | 1994-06-08 | 宋亢生 | Overhead steel cable cycling balancing device |
| JP2001103629A (en) * | 1999-09-27 | 2001-04-13 | Fujikura Ltd | Optical cable winding machine to overhead earth-wire |
| CN102209934A (en) * | 2008-11-14 | 2011-10-05 | 加勒特·W·布朗 | Extendable camera support and stabilization apparatus |
| CN102263389A (en) * | 2010-05-25 | 2011-11-30 | 中国科学院沈阳自动化研究所 | Double-wheel-arm locking type inspection robot mechanism |
| CN105914661A (en) * | 2016-05-30 | 2016-08-31 | 成都市鑫裕华科技有限公司 | Cable pay-off block |
| CN107482529A (en) * | 2017-09-08 | 2017-12-15 | 山东鲁能智能技术有限公司 | Inspection control method, device and the crusing robot of a kind of overhead transmission line |
| CN207834941U (en) * | 2018-01-04 | 2018-09-07 | 国家电网公司 | Electric line foreign matter investigates robot device |
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| Publication number | Publication date |
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| CN108183427A (en) | 2018-06-19 |
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