CN108512119A - A kind of HV Transmission Line Routing Inspection robot - Google Patents

A kind of HV Transmission Line Routing Inspection robot Download PDF

Info

Publication number
CN108512119A
CN108512119A CN201810474199.XA CN201810474199A CN108512119A CN 108512119 A CN108512119 A CN 108512119A CN 201810474199 A CN201810474199 A CN 201810474199A CN 108512119 A CN108512119 A CN 108512119A
Authority
CN
China
Prior art keywords
robot
linear module
sliding block
driving motor
leading screw
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201810474199.XA
Other languages
Chinese (zh)
Other versions
CN108512119B (en
Inventor
刘庆运
何远洋
刘涛
汪李兵
方清
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Anhui University of Technology AHUT
Original Assignee
Anhui University of Technology AHUT
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Anhui University of Technology AHUT filed Critical Anhui University of Technology AHUT
Priority to CN201810474199.XA priority Critical patent/CN108512119B/en
Publication of CN108512119A publication Critical patent/CN108512119A/en
Application granted granted Critical
Publication of CN108512119B publication Critical patent/CN108512119B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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

Landscapes

  • Manipulator (AREA)

Abstract

The present invention discloses a kind of HV Transmission Line Routing Inspection robot, belongs to cable detection technical field.The robot includes the identical robot monomer of two structures, rack, the identical linear module of symmetrically arranged two structures and binocular camera;Robot monomer includes turntable, clamping device and robot linear motion joint.The present invention takes three angled crawler belts to clamp cable increasing friction force, improves adaptability of the robot to environment, and the present invention saves actuator using link mechanism, is conducive to control design case and maintenance.

Description

A kind of HV Transmission Line Routing Inspection robot
Technical field:
The present invention relates to cable detection technical fields, more specifically to a kind of HV Transmission Line Routing Inspection robot.
Background technology:
Important equipment of the transmission line of electricity as transmission electric power, safe operation are related to the reliability of electric system.And it is defeated Due to being placed in countryside for a long time, exposing to the sun and rain leads to raw material aging, fracture, abrasion, corruption etc., such as cannot for electric line and its attachment It repairs and replaces in real time, it will cause serious safety accident.Therefore, inspection periodically is carried out to transmission line of electricity, understands electric power in time Line operating condition finds and removes a hidden danger of crucial importance.
The maintenance mode mainly used at present is manual inspection, and staff's walking or cycling are walked about along power transmission line, led to After with the naked eye or sem observation of looking in the distance checks whether power transmission line and its attachment are damaged or there are failures.But since transmission line of electricity is distributed Point is more, have a very wide distribution, local environment is complicated badly, and this method condition is arduous, and heavy workload, efficiency are low, and inspection quality is complete Depending on artificial, there are missing inspections and miss detection, and realize that difficulty is larger in special areas such as mountain areas.Realize that automation is patrolled Inspection, need corresponding inspection mechanism, though and existing inspection mechanism can complete obstacle detouring action, it is higher to environmental requirement, at cable It will appear high wind when high-altitude, will have a direct impact on robot work.Therefore it proposes a kind of in harsh environment to stablize in electricity The crusing robot to work on cable is significant.
Robot can not achieve obstacle detouring disclosed in Chinese patent CN101196551A, can not long range inspection circuit.China The whole mechanical revolution of arm around clamping cables of robot is needed disclosed in patent CN101752804A when robot obstacle detouring, to clamping Power requires height, and in high-altitude, harsher wind conditions risk is larger.
Invention content:
The object of the present invention is to provide a kind of can stablize to run on cable, can be completed on cable obstacle detouring (stockbridge damper, absolutely Edge substring etc.) action, the safe and stable work of energy and the high pressure of obstacle detouring while another fixed load ability are defeated in the harsher wind conditions of high-altitude Electric wire circuit scanning test robot.
HV Transmission Line Routing Inspection robot provided by the present invention includes the identical robot monomer of two structures, machine Frame, binocular camera 8 and the identical linear module of symmetrically arranged two structures.
The rack includes connecting plate 1 and symmetrical symmetrically arranged first linear module bottom plate 4, camera bracket 2 On the connecting plate 1, the binocular camera 8 is arranged on the camera bracket 2;The connecting plate 1 with it is described First linear module bottom plate 4 is connected.
The linear module includes flange 3, sliding block 5, the first leading screw 6 and the first driving motor 7, the flange 3 with it is described First linear module bottom plate 4 is connected, and first leading screw 6 is assemblied on the first linear module bottom plate 4, and the sliding block 5 fills It fits on first leading screw 6, first driving motor 7 is connect with first leading screw 6 for driving first leading screw 6。
The robot monomer include turntable 9, clamping device and robot linear motion joint, the turntable 9 with it is described Sliding block 5 connects, and robot linear motion joint is arranged on the turntable 9, and robot linear motion joint includes Second linear module bracket 11, the second linear module bottom plate 12, the second sliding block 13, the second leading screw 14 and the second driving motor 15, Second driving motor 15 is mounted on the turntable 9, and second leading screw 14 is assemblied in the described second linear module bottom plate On 12, second driving motor 15 is connect with second leading screw 14 for driving second leading screw 14, second line Property module bottom plate 12 be connected with the described second linear module bracket 11, second sliding block 13 is assemblied in second leading screw 14 On, the robot monomer is assemblied in by the sliding block 5 on the linear module.
The clamping device includes spring 10, connecting rod 16, push rod 17, lower clamping jaw device 18, upper gripper jaw device 19, sliding rail 20 And third sliding block 21, the lower clamping jaw device 18 include lower clamping jaw 22 and lower crawler belt 23, the lower clamping jaw 22 is mounted on described the On two sliding blocks 13, the lower crawler belt 23 is assemblied in the lower clamping jaw 22, and the push rod 17 is mounted on second sliding block 13 Both sides, the push rod 17 are connect with the connecting rod 16, and the sliding rail 20 is mounted on the connecting rod 16, and the third sliding block 21 is pacified On the sliding rail 20, the push rod 17 is hinged with the third sliding block 21;The upper gripper jaw device 19 include upper gripper jaw 24, Third driving motor 25, upper crawler belt 26, upper bracket 27 and spring guide 28, the upper crawler belt 26 are assemblied in the upper gripper jaw 24 Interior, the third driving motor 25 is mounted on the upper gripper jaw 24, and the third driving motor 25 is by being driven band connection institute Crawler belt 26 is stated, the spring guide 28 is connected across the upper bracket 27 with the upper gripper jaw 24, and the spring 10 is mounted on On the spring guide 28.The connecting rod 16 is connect with the upper gripper jaw 24 by link mechanism.
The crusing robot of existing achievable obstacle detouring action has the following problems:First, insufficient clamping force, most survey monitor Device people takes ratcheting mechanism realization to be run on cable, is susceptible to what robot was waved to both sides in the high altitude environment of high wind Problem influences robot work, and there are security risks, takes three angled crawler belts to clamp for this problem present invention Cable increasing friction force is not easy to swing sideward dynamic, improves adaptability of the robot to environment;Second, most obstacle climbing ability is stronger Crusing robot have multiple joints, control is difficult, and maintenance cost is high, and the present invention designs link mechanism and saves actuator, convenient The control design case of robot and maintenance.
Description of the drawings:
Fig. 1 is the overall structure diagram of robot of the present invention;
Fig. 2 is the main structure diagram of robot of the present invention;
Fig. 3 is the left view structural representation of robot of the present invention;
Fig. 4 is the overlooking structure diagram of robot of the present invention;
Fig. 5 is the schematic diagram of base structure in robot of the present invention;
Fig. 6 is the mechanical grip structural schematic diagram in robot of the present invention;
Fig. 7 is the clamping device structural schematic diagram in robot of the present invention.
In figure:1:Connecting plate;2:Camera bracket;3:Flange;4:First linear module bottom plate;5:Sliding block;6:First Thick stick;7:First driving motor;8:Binocular camera;9:Turntable;10:Spring;11:Second linear module bracket; 12:Second line Property module bottom plate;13:Second sliding block;14:Second leading screw;15:Second driving motor;16:Connecting rod;17:Push rod;18:Lower clamping jaw Device;19:Upper gripper jaw device;20:Sliding rail;21:Third sliding block;22:Lower clamping jaw;23:Lower crawler belt;24:Upper gripper jaw;25:Third Driving motor;26:Upper crawler belt;27:Upper bracket;28:Spring guide.
Specific implementation mode:
To further appreciate that the content of present invention, the present invention is described in detail below in conjunction with the accompanying drawings.
A kind of HV Transmission Line Routing Inspection robot of the present invention includes the identical robot monomer of two structures, rack, double Mesh camera 8 and the identical linear module of symmetrically arranged two structures;The robot monomer is assemblied in rack, the machine Frame includes connecting plate 1 and the first linear module bottom plate 4 being symmetrical set, and the linear module includes that flange 3, first is linear Module bottom plate 4, sliding block 5, the first leading screw 6 and the first driving motor 7, the flange 3 are connected with first linear module bottom plate 4, institute It states the first leading screw 6 to be assemblied on first linear module bottom plate 4, the sliding block 5 is assemblied on the first leading screw 6, first driving Motor 7 is connect with the first leading screw 6 for driving first leading screw 6, the camera bracket 2 to be connected on connecting plate 1, is imaged Binocular camera 8 is installed on head bracket 2.
The robot monomer includes turntable 9, clamping device and robot linear motion joint, the turntable 9 and sliding block 5 It connects, equipped with robot linear motion joint on turntable 9, the robot linear motion shutdown includes the second linear module bracket 11, the second linear module bottom plate 12, the second sliding block 13, the second leading screw 14 and the second driving motor 15 are equipped on the turntable 9 Second driving motor 15, second leading screw 14 are assemblied on the second linear module bottom plate 12, the second driving motor 15 and second For driving the second leading screw 14,12 and second linear module bracket 11 of the second linear module bottom plate is connected the connection of leading screw 14, described Second sliding block 13 is assemblied on the second leading screw 14.
Robot of the present invention is using the obstacle on binocular camera identification cable.
The second driving motor 15 in robot monomer drives the second leading screw 14, the second leading screw 14 to push on lower clamping jaw 22 It rises, the push rod 17 on lower clamping jaw 22 pushes connecting rod 16, connecting rod 16 to push upper gripper jaw 24 to decline, make robot clamping jaw clamping cables.
The robot is when being encountered obstacle on cable, robot normal operation, and two robot monomer positions one are previous Afterwards, two robot monomer clamping jaw clamping cables, third driving motor 25 work, crawler belt 26 in drive, to drive robot whole Body advances.
When robot monitors obstacle, the robot monomer for being located at front keeps clamping cable, is located at the machine at rear portion Second driving motor 15 of people's monomer inverts, and clamping jaw is made to unclamp, and then should be rotated positioned at the turntable 9 of the robot monomer at rear portion, Robot monomer of first driving motor 7 driving positioned at rear portion, which surmounts obstacles and advance to robot entirety front end, completes obstacle detouring, The turntable 9 for completing the robot monomer of obstacle detouring rotates backward, and the second driving motor 15 driving clamping jaw of this robot monomer clamps Cable;Right latter two first driving motor 7 work, makes robot frame advance, the robot monomer position until obstacle detouring is completed It sets in the whole middle part of robot;Then the robot monomer for not completing obstacle detouring repeats obstacle detouring action, and robot is made to complete obstacle detouring. After robot completes obstacle detouring, the working condition of robot integral reset to normal operation.
Schematically the present invention and embodiments thereof are described above, description is not limiting, institute in attached drawing What is shown is also one of embodiments of the present invention, and actual structure is not limited to this.So if the common skill of this field Art personnel are enlightened by it, without departing from the spirit of the invention, are not inventively designed and the technical solution Similar frame mode and embodiment, are within the scope of protection of the invention.

Claims (2)

1. a kind of HV Transmission Line Routing Inspection robot, it is characterised in that the robot includes the identical robot of two structures Monomer, rack, binocular camera (8) and the identical linear module of symmetrically arranged two structures;The rack includes connecting plate (1) and symmetrical symmetrically arranged first linear module bottom plate (4), camera bracket (2) are mounted on the connecting plate (1) On, the binocular camera (8) is arranged on the camera bracket (2);The connecting plate (1) and the first linear module Bottom plate (4) is connected;The linear module includes flange (3), sliding block (5), the first leading screw (6) and the first driving motor (7), described Flange (3) is connected with the first linear module bottom plate (4), and first leading screw (6) is assemblied in the first linear module bottom On plate (4), the sliding block (5) is assemblied on first leading screw (6), first driving motor (7) and first leading screw (6) it connects;The robot monomer include turntable (9), clamping device and robot linear motion joint, the turntable (9) with Sliding block (5) connection, robot linear motion joint are arranged on the turntable (9), the robot linear motion Joint include the second linear module bracket (11), the second linear module bottom plate (12), the second sliding block (13), the second leading screw (14) and Second driving motor (15), second driving motor (15) are mounted on the turntable (9), the second leading screw (14) assembly On the described second linear module bottom plate (12), second driving motor (15) connect with second leading screw (14), described Second linear module bottom plate (12) is connected with the described second linear module bracket (11), and second sliding block (13) is assemblied in described On second leading screw (14), the robot monomer is assemblied in by the sliding block (5) on the linear module;The clamping device It is slided including spring (10), connecting rod (16), push rod (17), lower clamping jaw device (18), upper gripper jaw device (19), sliding rail (20) and third Block (21), the lower clamping jaw device (18) include lower clamping jaw (22) and lower crawler belt (23), and the lower clamping jaw (22) is mounted on described On second sliding block (13), the lower crawler belt (23) is assemblied in the lower clamping jaw (22), and the push rod (17) is mounted on described the The both sides of two sliding blocks (13), the push rod (17) connect with the connecting rod (16), and the sliding rail (20) is mounted on the connecting rod (16) on, the third sliding block (21) is mounted on the sliding rail (20), and the push rod (17) is cut with scissors with the third sliding block (21) Even;The upper gripper jaw device (19) include upper gripper jaw (24), third driving motor (25), upper crawler belt (26), upper bracket (27) and Spring guide (28), the upper crawler belt (26) are assemblied in the upper gripper jaw (24), and the third driving motor (25) is mounted on On the upper gripper jaw (24), the third driving motor (25) is led by being driven upper crawler belt (26), the spring described in band connection Bar (28) is connected across the upper bracket (27) with the upper gripper jaw (24), and the spring (10) is mounted on the spring guide (28) on.
2. a kind of HV Transmission Line Routing Inspection robot according to claim 1, it is characterised in that the connecting rod (16) with The upper gripper jaw (24) is connected by link mechanism.
CN201810474199.XA 2018-05-17 2018-05-17 A kind of HV Transmission Line Routing Inspection robot Active CN108512119B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201810474199.XA CN108512119B (en) 2018-05-17 2018-05-17 A kind of HV Transmission Line Routing Inspection robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201810474199.XA CN108512119B (en) 2018-05-17 2018-05-17 A kind of HV Transmission Line Routing Inspection robot

Publications (2)

Publication Number Publication Date
CN108512119A true CN108512119A (en) 2018-09-07
CN108512119B CN108512119B (en) 2019-10-29

Family

ID=63400675

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201810474199.XA Active CN108512119B (en) 2018-05-17 2018-05-17 A kind of HV Transmission Line Routing Inspection robot

Country Status (1)

Country Link
CN (1) CN108512119B (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109193455A (en) * 2018-10-09 2019-01-11 华北电力大学(保定) A kind of high pressure inspection mobile robot running gear

Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101168254A (en) * 2006-10-25 2008-04-30 上海求是机器人有限公司 Swinging arm type transmission line polling robot
CN201484528U (en) * 2009-09-17 2010-05-26 北京深浪电子技术有限公司 Extend arm type braking function multi-CCD full-angle line inspection robot
CN101752804A (en) * 2008-12-03 2010-06-23 中国科学院自动化研究所 Two-arm swing obstacle-clearing type line walking robot body
CN101800403A (en) * 2010-04-06 2010-08-11 昆山市工业技术研究院有限责任公司 Inspection robot for ultra-high voltage power transmission lines
CN104022458A (en) * 2014-05-22 2014-09-03 山东科技大学 Suspended inspection robot on superhigh-voltage power transmission line
CN204278024U (en) * 2014-11-28 2015-04-22 国家电网公司 A kind of insulator cleaning robot crawling mechanism
CN106253129A (en) * 2016-07-30 2016-12-21 张学衡 A kind of high tension cable crusing robot
CN205829024U (en) * 2016-06-02 2016-12-21 青岛科技大学 Inspection robot for high-voltage transmission lines
CN206277416U (en) * 2016-12-04 2017-06-27 安徽工业大学 A kind of robot arm rotating mechanism
CN207134725U (en) * 2017-09-11 2018-03-23 国家电网公司 A kind of power transmission line unmanned self-checking unit
DE102016218308B4 (en) * 2016-08-03 2018-04-05 Schunk Sonosystems Gmbh Apparatus and method for producing a tested welded joint

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101168254A (en) * 2006-10-25 2008-04-30 上海求是机器人有限公司 Swinging arm type transmission line polling robot
CN101752804A (en) * 2008-12-03 2010-06-23 中国科学院自动化研究所 Two-arm swing obstacle-clearing type line walking robot body
CN201484528U (en) * 2009-09-17 2010-05-26 北京深浪电子技术有限公司 Extend arm type braking function multi-CCD full-angle line inspection robot
CN101800403A (en) * 2010-04-06 2010-08-11 昆山市工业技术研究院有限责任公司 Inspection robot for ultra-high voltage power transmission lines
CN104022458A (en) * 2014-05-22 2014-09-03 山东科技大学 Suspended inspection robot on superhigh-voltage power transmission line
CN204278024U (en) * 2014-11-28 2015-04-22 国家电网公司 A kind of insulator cleaning robot crawling mechanism
CN205829024U (en) * 2016-06-02 2016-12-21 青岛科技大学 Inspection robot for high-voltage transmission lines
CN106253129A (en) * 2016-07-30 2016-12-21 张学衡 A kind of high tension cable crusing robot
DE102016218308B4 (en) * 2016-08-03 2018-04-05 Schunk Sonosystems Gmbh Apparatus and method for producing a tested welded joint
CN206277416U (en) * 2016-12-04 2017-06-27 安徽工业大学 A kind of robot arm rotating mechanism
CN207134725U (en) * 2017-09-11 2018-03-23 国家电网公司 A kind of power transmission line unmanned self-checking unit

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109193455A (en) * 2018-10-09 2019-01-11 华北电力大学(保定) A kind of high pressure inspection mobile robot running gear

Also Published As

Publication number Publication date
CN108512119B (en) 2019-10-29

Similar Documents

Publication Publication Date Title
CN111900676B (en) Transmission line outer sheath inspection repairing device and using method thereof
CN106655006B (en) Transmission line polling robot obstacle-surmounting travelling gear
CN108748073B (en) Live overhaul operation robot for substation equipment
CN108714883B (en) Transformer substation live overhaul autonomous operation robot platform
CN105690414A (en) Terminal clamping device for iron tower automatic overhauling climb robot
CN201994593U (en) Inspection or de-icing robot of power transmission line
CN103786145B (en) Transmission line high-altitude quality examination machine people
CN102136696A (en) Transmission line patrolling or deicing robot
CN203993875U (en) A kind of reactor Work robot
CN102941567A (en) High-tension transmission line patrol and operation robot actuating arm
CN111959559B (en) Movable rack conversion device and system in rack turnout area
CN111682451A (en) Obstacle-avoiding type efficient inspection electric power robot
CN108512119B (en) A kind of HV Transmission Line Routing Inspection robot
CN102922529B (en) Inspection robot system along split conductors
CN114193128B (en) Tool for supplementing missing pin on insulator string hardware fitting and yoke plate fixing bolt
CN105356364A (en) Automatic overhead distribution line live-line maintenance and reconstruction device
CN109873363A (en) Extra high voltage direct current transmission line method for inspecting
CN106371007A (en) Reclosing heavy current test system
CN203544187U (en) Inspection robot suitable for electric transmission line with strain section
CN106099744B (en) A kind of high-tension cable inspection arch maintenance robot
CN210061146U (en) Transformer substation robot hanging and dismounting ground wire control system
CN207189678U (en) A kind of clamping device
CN203086055U (en) Integrated work robot on overhead transmission line
CN211374942U (en) Insulator chain creeping mechanism
CN104409884A (en) High-safety and short-stroke short circuit grounding device

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant