CN109038371B - Tower obstacle crossing bridge for overhead transmission line wheel type inspection robot - Google Patents
Tower obstacle crossing bridge for overhead transmission line wheel type inspection robot Download PDFInfo
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- CN109038371B CN109038371B CN201811167828.0A CN201811167828A CN109038371B CN 109038371 B CN109038371 B CN 109038371B CN 201811167828 A CN201811167828 A CN 201811167828A CN 109038371 B CN109038371 B CN 109038371B
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- overhead transmission
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- 238000007689 inspection Methods 0.000 title claims abstract description 40
- 230000005540 biological transmission Effects 0.000 title claims abstract description 39
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 22
- 239000010959 steel Substances 0.000 claims abstract description 22
- 238000009434 installation Methods 0.000 claims abstract description 11
- 238000009413 insulation Methods 0.000 abstract description 11
- 238000005096 rolling process Methods 0.000 description 6
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 230000001154 acute effect Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000000284 resting effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
-
- 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 discloses a pole tower obstacle crossing bridge for a wheel type inspection robot of an overhead transmission line, which comprises a middle bridge (10), a mounting bracket (20) and a connecting bridge (30): the intermediate bridge (10) is of a strip-shaped structure, the intermediate bridge (10) is in a horizontal state, and two ends of the intermediate bridge (10) are sequentially connected with a steel pipe (12) and a steel strand (11); the mounting bracket (20) is used for connecting the intermediate bridge (10) with a tower head cross arm (41) of the power transmission tower (40); the connecting bridge (30) is used for connecting the steel stranded wires (11) with a ground wire (42) on the power transmission tower (40). The pole tower obstacle crossing bridge for the overhead transmission line wheel type inspection robot has the characteristics of no need of modifying the original tower body structure, simple structure and convenient installation. The overhead transmission line wheel type inspection robot does not influence the original tower performance after being installed by the tower obstacle crossing bridge, meets the requirement of ground wire galloping, and maintains the original ground wire insulation scheme.
Description
Technical Field
The invention relates to the field of power transmission auxiliary equipment, in particular to a pole tower obstacle crossing bridge for a wheel type inspection robot of an overhead power transmission line.
Background
Because the overhead line is exposed to the natural environment for a long time, the line and the pole tower are easily affected by the surrounding environment and natural change, and the problems of equipment defect and line safety threat are very easy to occur. Therefore, the effective grasp of the running condition of the transmission line becomes an important ring for ensuring the power transmission, and in the present stage, in order to grasp the running condition of the line, the line running condition is grasped by mainly adopting a manual line inspection mode in China. But with the rapid development of ultra-high voltage transmission lines in China in recent years, the coverage areas of the high-voltage and ultra-high voltage transmission lines are wider and wider, the wire network arrangement is denser and more complex, the manual inspection efficiency is low, the inspection period is long, the labor intensity of personnel is high, the personal safety and other problems are increasingly outstanding. To solve these problems, overhead line inspection robots have been developed.
Existing overhead line inspection robots are mainly divided into two types. The inspection robot without obstacle crossing function can only inspect the line condition in a single span, and has a narrow application range. One type is a patrol robot with obstacle crossing function, and the robot can cross obstacles such as a pole tower end part, a damper, a splicing sleeve and the like in a circuit, so that patrol in a section of circuit is realized, and the cost of the robot is reduced. However, such robots are high-altitude special working robots, have extremely high safety requirements, and in many robot schemes no mature products are present except for wheel-type rolling inspection robots.
The wheel type rolling inspection robot generally adopts two groups of wheels with V-shaped grooves to clamp cables from the upper side and the lower side, and the tower head of a corner tower, a suspension clamp, a damper, a connecting fitting and the like can shield the upper channel and the lower channel of the cables to prevent the robot from moving. Building an auxiliary bridge to avoid the obstacles is a main means for realizing the wheeled rolling inspection robot. Because the cable is overhead and has the galloping, how to guarantee to patrol and examine the robot steadily, the safe obstacle bridge that passes through is the main problem of building the obstacle passageway of crossing. The wire mesh towers and the connecting fittings of different grades in China are various, and certain universality is also paid attention to when the obstacle crossing bridge is built.
Disclosure of Invention
In order to solve the obstacle crossing problem of the wheeled rolling inspection robot on the transmission tower. The invention provides a pole tower obstacle crossing bridge for an overhead transmission line wheel type inspection robot, which has the characteristics of no need of modifying an original tower body structure, simple structure and convenience in installation. The original tower performance is not influenced after installation, the ground wire galloping is satisfied, and the original ground wire insulation scheme is reserved. The pole tower obstacle crossing bridge for the overhead transmission line wheel type inspection robot is used for solving the problem that the transmission line inspection robot passes through an obstacle when rolling on a ground wire to advance, and can ensure that the robot realizes continuous and stable full-road inspection on an inspection section.
The invention solves the technical problems that: the utility model provides an overhead transmission line wheeled inspection robot is with shaft tower obstacle crossing bridge, includes:
the middle bridge is in a strip-shaped structure, the middle bridge is in a horizontal state, and two ends of the middle bridge are sequentially connected with steel pipes and steel strands;
the mounting bracket is used for connecting the intermediate bridge with a tower head cross arm of the power transmission tower;
and the connecting bridge is used for connecting the steel stranded wires with the ground wire on the power transmission tower.
The installing support contains first link and the second link that bilateral symmetry set up, and first link and second link are mirror image each other.
The first connecting frame comprises a cross beam and a longitudinal beam which are connected in sequence, and a front folded plate and a rear folded plate are arranged at one end of the cross beam.
The front folded plate and the rear folded plate are of right-angle structures, the lower ends of the front folded plate and the rear folded plate are fixedly connected with one end of the cross beam, and the upper part of the front folded plate and the upper part of the rear folded plate clamp and fix the tower head cross arm of the power transmission tower.
The installing support still contains and connects the horizontal bar, and the other end of crossbeam is fixed with the upper portion connection of longeron, and the lower extreme of longeron is fixed with connecting the horizontal bar connection, is fixed with intermediate bridge fixed mounting seat on the connection horizontal bar.
The cross beam of the first connecting frame is parallel to the cross beam of the second connecting frame, the longitudinal beam of the first connecting frame is parallel to the longitudinal beam of the second connecting frame, and the cross beam are angle steel.
The connecting bridge comprises a connecting bridge body and a fixing clamp, wherein the connecting bridge body is connected with the fixing clamp through a bolt, one end of the connecting bridge body is provided with a U-shaped opening, the ground wire is positioned in the U-shaped opening, the other end of the connecting bridge body is fixedly connected with the steel stranded wire, and an included angle is formed between the other end of the connecting bridge body and the ground wire.
The connecting bridge body is of a bent strip-shaped structure, the fixing clamp is of a semi-cylindrical structure, the fixing clamp sleeve is arranged outside the ground wire, the mounting bracket further comprises a preformed armor rod, the preformed armor rod is wound outside the ground wire, and one section of the preformed armor rod is filled between the ground wire and the connecting bridge body and between the U-shaped opening.
The beneficial effects of the invention are as follows: the original structure of the line and the tower body is not required to be changed during installation, and the method is suitable for additional installation of the existing line. The two obstacle crossing bridges are high in universality and wide in application range, and the whole line can be laid efficiently. Therefore, the inspection robot can complete the inspection operation of the whole section of line without barriers. Simple structure, light weight and high installation speed. The bridge body installation work of all inspection sections can be completed in one inspection period. Improving personnel effectiveness.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.
Fig. 1 is a schematic diagram of a tower obstacle crossing bridge for an overhead transmission line wheeled inspection robot.
Fig. 2 is a schematic perspective view of an intermediate bridge.
Fig. 3 is a schematic perspective view of the mounting bracket.
Fig. 4 is a schematic perspective view of a connecting bridge.
Fig. 5 is a perspective view of the fixing clip.
10. An intermediate bridge; 20. a mounting bracket; 30. a connecting bridge; 40. a power transmission tower;
11. steel strand; 12. a steel pipe;
21. a first connection frame; 22. a second connecting frame; 23. a cross beam; 24. a longitudinal beam; 25. a front folded plate; 26. a rear folded plate; 27. connecting the transverse bars; 28. the intermediate bridge is fixedly provided with a mounting seat;
31. a connecting bridge body; 32. a fixing clip; 33. a bolt; 34. pre-twisting the wire;
41. a tower head cross arm; 42. a ground wire; 43. and (5) a damper.
Detailed Description
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.
The utility model provides an overhead transmission line wheeled inspection robot is with shaft tower obstacle crossing bridge, includes:
the middle bridge 10 is in a strip-shaped structure, the middle bridge 10 is in a horizontal state, the left end and the right end of the middle bridge 10 are sequentially connected with steel pipes 12 and steel strands 11, the steel pipes 12 can be sleeved outside the steel strands 11, and the number of the middle bridge 10 is one;
the installation bracket 20 is used for connecting and fixing the intermediate bridge 10 and a tower head cross arm 41 of the power transmission tower 40;
the connection bridge 30 is used for connecting the steel stranded wires 11 with the ground wire 42 on the power transmission tower 40, and the number of the connection bridges 30 is two, as shown in fig. 1 to 4.
In this embodiment, the mounting bracket 20 includes a first connecting frame 21 and a second connecting frame 22 that are symmetrically disposed about each other, and the first connecting frame 21 and the second connecting frame 22 have the same structure and are mirror images of each other. The first connecting frame 21 comprises a cross member 23 and a longitudinal member 24 connected in sequence, and one end of the cross member 23 is provided with a front flap 25 and a rear flap 26, as shown in fig. 2 and 3.
In this embodiment, the front flap 25 and the rear flap 26 are both in strip-shaped sheet structures, the front flap 25 and the rear flap 26 are both in right angles, the lower ends of the front flap 25 and the rear flap 26 are connected and fixed with one end of the cross beam 23, and the upper parts of the front flap 25 and the rear flap 26 clamp and fix the tower head cross arm 41 of the power transmission tower 40.
In this embodiment, the mounting bracket 20 further includes a connection cross bar 27, the other end of the cross bar 23 is fixedly connected with the upper portion of the longitudinal beam 24, the lower end of the longitudinal beam 24 is fixedly connected with the connection cross bar 27, and an intermediate bridge fixing mount 28 is fixedly arranged on the connection cross bar 27, and the intermediate bridge 10 is fixedly connected with the intermediate bridge fixing mount 28.
In this embodiment, the cross beam 23 of the first connecting frame 21 is parallel to the cross beam 23 of the second connecting frame 22, the longitudinal beam 24 of the first connecting frame 21 is parallel to the longitudinal beam 24 of the second connecting frame 22, and both the cross beam 23 and the cross beam 23 are angle steel, as shown in fig. 1 and 2.
In this embodiment, the connecting bridge 30 includes a connecting bridge body 31 and a fixing clip 32, the connecting bridge body 31 and the fixing clip 32 are connected by a bolt 33, one end of the connecting bridge body 31 is provided with a U-shaped opening, the ground wire 42 is located in the U-shaped opening, the other end of the connecting bridge body 31 is fixedly connected with the steel stranded wire 11, and an included angle is formed between the other end of the connecting bridge body 31 and the ground wire 42, and the included angle is an acute angle, as shown in fig. 4 and 5.
In this embodiment, the connecting bridge 31 has a curved bar-shaped structure, the fixing clip 32 has a semi-cylindrical structure, the fixing clip 32 is sleeved outside the ground wire 42, the mounting bracket 20 further includes a preformed armor rod 34, the preformed armor rod 34 is wound outside the ground wire 42, and a section of the preformed armor rod 34 is filled between the ground wire 42 and the U-shaped opening of the connecting bridge 31. The preformed armor rods 34 fill the front opening of the bridge body to allow smooth transition between the bridge and ground, and allow the wheeled rolling inspection robot to travel smoothly onto the bridge body.
The inter-bridge connection realizes the establishment of a channel between the connecting bridge and the intermediate bridge, and ensures that the robot passes smoothly. The ground wire insulation device comprises flexible connection, rigid connection and insulation connection which can be selected according to a ground wire insulation scheme. The flexible connection is led out by the connecting bridge, and the other side is in compression joint and rigid connection, so that the flexible structure is adopted to meet the galloping of the power transmission line, and meanwhile, the flexible connection swings to adapt to different included angles of the ground wires at two sides. The other side of the rigid connection is in pressure connection with the middle bridge, so that another supporting point is provided for the flexible connection and the connecting bridge, and the robot is prevented from deflecting when passing through the connecting bridge and the flexible connection. The rigid connection length can be selected according to the actual requirements of the site so as to adapt to different ground wire shockproof schemes. The insulation connection is that the ground wires on two sides or the ground wires and the tower head are arranged between the intermediate bridge when insulation is needed. The two sides of the bridge structure are connected by the insulating rod in the middle of the bridge structure, so that the bridge structure is insulated from the middle bridge. So as not to affect the original insulation scheme on the ground wire.
The intermediate bridge 10 realizes the connection of the obstacle crossing bridge structures at the two sides of the tower head, and simultaneously, the connecting corner tower bracket provides a fulcrum for the whole obstacle crossing bridge, and a positioning device can be additionally arranged to provide a positioning position for the machine if necessary. The mounting bracket 20 provides support for the intermediate bridge 10, the front side is fixed on the intermediate bridge, the rear side is fixed on the tower head cross arm, and different hole sites can be selected according to the specification of the cross arm and the included angle of the wires so as to adapt to various working conditions.
The specific use condition of the pole tower obstacle crossing bridge for the overhead transmission line wheel type inspection robot is described below.
During installation, constructors select proper widths of the mounting brackets 20 according to the widths of the tower heads on site and assemble the mounting brackets 20, and lock the straight plates through the front folded plates 25 and the rear folded plates 26 to fix the whole mounting brackets. The intermediate bridge 10 is bolted to the mounting bracket 20.
The constructor winds the fixing clip 32 around the ground wire 42 with the pre-twisted wire 34 at a proper distance outside the damper 43, and then fills the gap of the pre-twisted wire measured far from the tower head with the half pre-twisted wire 34. After the connecting bridge body 31 is in compression joint flexible connection, the connecting bridge body is connected with the fixing card 32 through a stud on the fixing card 32 and is locked. According to the actual length of the site, the rigid connection is respectively inserted into the deep end of the intermediate bridge 10 and the flexible connection of the connecting bridge, and is pressed by a manual hydraulic clamp. According to the actual insulation scheme of the tower, insulation connection is inserted between the rigid connection and the intermediate bridge or is used for replacing the rigid connection, and the installation mode of the insulation connection is the same as that of the rigid connection. The bridging body lap joint of the large side and the small side of the tower is completed through the steps. The whole obstacle crossing bridge forms a complete obstacle crossing channel of the inspection robot.
When the inspection robot walks on the ground wire 42, the ground wire is tightly clamped by the upper-side driving wheel and the lower-side driven wheel of the ground wire, and the driving wheel and the U-shaped hub of the driven wheel form a closed space to prevent the robot from falling from the ground wire. When the inspection robot walks near the tower, the spiral tubular structure formed by the preformed armor rods during the speed reduction running is contacted with the connecting bridge, the robot detects that the pressure between the driving wheel and the driven wheel changes due to the wedge-shaped structure at the front part of the connecting bridge, the distance between the driving wheel and the driven wheel is opened, a certain pressure is kept, and the whole robot is driven to run forwards under the rotation of the driving wheel to climb the connecting bridge. Because of the flat structure of the connecting bridge body, the driving wheel and the driven wheel of the U-shaped hub can be clamped on the connecting bridge to prevent the wire from being separated. Further successively through flexible connection, rigid connection, intermediate bridge. And the robot on the intermediate bridge judges whether the robot arrives at the center of the intermediate bridge or not by detecting the position bulge on the intermediate bridge, for example, the robot on the center of the intermediate bridge selects to continuously advance and update the position or stop on the intermediate bridge for charging and resting according to the task and the power supply condition.
The foregoing description of the embodiments of the invention is not intended to limit the scope of the invention, so that the substitution of equivalent elements or equivalent variations and modifications within the scope of the invention shall fall within the scope of the patent. In addition, the technical features and the technical features, the technical features and the technical invention can be freely combined for use.
Claims (6)
1. The utility model provides a pole tower obstacle crossing bridge for overhead transmission line wheeled inspection robot which characterized in that, this pole tower obstacle crossing bridge for overhead transmission line wheeled inspection robot includes:
the middle bridge (10) is of a strip-shaped structure, the middle bridge (10) is in a horizontal state, and two ends of the middle bridge (10) are sequentially connected with a steel pipe (12) and a steel strand (11);
the installation bracket (20) is used for connecting the intermediate bridge (10) with a tower head cross arm (41) of the power transmission tower (40);
the connecting bridge (30) is used for connecting the steel stranded wires (11) with a ground wire (42) on the power transmission tower (40);
the mounting bracket (20) comprises a first connecting frame (21) and a second connecting frame (22) which are symmetrically arranged left and right, and the first connecting frame (21) and the second connecting frame (22) are mirror images;
the connecting bridge (30) comprises a connecting bridge body (31) and a fixing clamp (32), wherein the connecting bridge body (31) is connected with the fixing clamp (32) through a bolt (33), one end of the connecting bridge body (31) is provided with a U-shaped opening, a ground wire (42) is positioned in the U-shaped opening, the other end of the connecting bridge body (31) is fixedly connected with the steel stranded wire (11), and an included angle is formed between the other end of the connecting bridge body (31) and the ground wire (42).
2. The pole-tower obstacle crossing bridge for overhead transmission line wheeled inspection robots according to claim 1, characterized in that the first connecting frame (21) comprises a cross beam (23) and a longitudinal beam (24) which are connected in sequence, and a front folded plate (25) and a rear folded plate (26) are arranged at one end of the cross beam (23).
3. The pole-tower obstacle crossing bridge for overhead transmission line wheel inspection robots according to claim 2, characterized in that the front folded plate (25) and the rear folded plate (26) are both in right-angle structures, the lower ends of the front folded plate (25) and the rear folded plate (26) are fixedly connected with one end of the cross beam (23), and the upper parts of the front folded plate (25) and the rear folded plate (26) clamp and fix the tower head cross arm (41) of the transmission tower (40).
4. The pole-tower obstacle surmounting bridge for the overhead transmission line wheel type inspection robot according to claim 2, wherein the mounting bracket (20) further comprises a connecting cross bar (27), the other end of the cross bar (23) is fixedly connected with the upper part of the longitudinal beam (24), the lower end of the longitudinal beam (24) is fixedly connected with the connecting cross bar (27), and a middle bridge fixing mounting seat (28) is fixedly arranged on the connecting cross bar (27).
5. The pole-tower obstacle crossing bridge for overhead transmission line wheeled inspection robots according to claim 2, characterized in that the cross beam (23) of the first connecting frame (21) is parallel to the cross beam (23) of the second connecting frame (22), the longitudinal beam (24) of the first connecting frame (21) is parallel to the longitudinal beam (24) of the second connecting frame (22), and the cross beam (23) are angle steel.
6. The pole-tower obstacle surmounting bridge for overhead transmission line wheel type inspection robots according to claim 1, wherein the connecting bridge body (31) is of a bent strip-shaped structure, the fixing clamp (32) is of a semi-cylindrical structure, the fixing clamp (32) is sleeved outside the ground wire (42), the mounting bracket (20) further comprises a preformed armor rod (34), the preformed armor rod (34) is wound outside the ground wire (42), and one section of the preformed armor rod (34) is filled between the ground wire (42) and the U-shaped opening of the connecting bridge body (31).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811167828.0A CN109038371B (en) | 2018-10-08 | 2018-10-08 | Tower obstacle crossing bridge for overhead transmission line wheel type inspection robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811167828.0A CN109038371B (en) | 2018-10-08 | 2018-10-08 | Tower obstacle crossing bridge for overhead transmission line wheel type inspection robot |
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| Publication Number | Publication Date |
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| CN109038371A CN109038371A (en) | 2018-12-18 |
| CN109038371B true CN109038371B (en) | 2024-02-02 |
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| CN201811167828.0A Active CN109038371B (en) | 2018-10-08 | 2018-10-08 | Tower obstacle crossing bridge for overhead transmission line wheel type inspection robot |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110000816B (en) * | 2019-04-16 | 2020-12-29 | 中科开创（广州）智能科技发展有限公司 | Novel charging method for inspection robot |
| CN113889903B (en) * | 2021-09-29 | 2023-08-25 | 国电南瑞科技股份有限公司 | Auxiliary hardware fitting device for robot crossing high-voltage iron tower |
| CN114899783B (en) * | 2022-07-14 | 2022-10-11 | 国网浙江省电力有限公司绍兴供电公司 | Cable walking deicing robot and tower crossing method thereof |
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| CN208923714U (en) * | 2018-10-08 | 2019-05-31 | 国网江苏省电力有限公司检修分公司 | A kind of overhead transmission line wheeled crusing robot shaft tower obstacle detouring bridge |
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2018
- 2018-10-08 CN CN201811167828.0A patent/CN109038371B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2020145A1 (en) * | 1989-06-30 | 1990-12-31 | Jun Sawada | Apparatus for tracking an overhead line |
| CN202474713U (en) * | 2012-03-23 | 2012-10-03 | 宁夏电力公司吴忠供电局 | Overhead ground wire bridging device for inspection robot |
| CN103078270A (en) * | 2013-01-25 | 2013-05-01 | 武汉大学 | Ground wire strain tower gap bridge device for inspection robot of power transmission line |
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