CN109167297A - A kind of high stability high pressure inspection mobile robot device - Google Patents

A kind of high stability high pressure inspection mobile robot device Download PDF

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Publication number
CN109167297A
CN109167297A CN201811173466.6A CN201811173466A CN109167297A CN 109167297 A CN109167297 A CN 109167297A CN 201811173466 A CN201811173466 A CN 201811173466A CN 109167297 A CN109167297 A CN 109167297A
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CN
China
Prior art keywords
robot
stability
mobile
plate
pressure inspection
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.)
Pending
Application number
CN201811173466.6A
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Chinese (zh)
Inventor
苑朝
董子健
王怡爽
王葆
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.)
North China Electric Power University
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North China Electric Power University
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 North China Electric Power University filed Critical North China Electric Power University
Priority to CN201811173466.6A priority Critical patent/CN109167297A/en
Publication of CN109167297A publication Critical patent/CN109167297A/en
Pending legal-status Critical Current

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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

Abstract

The invention discloses a kind of high stability high pressure inspection mobile robot devices, including robot body, the first connecting plate is fixedly connected with above the left and right ends of the robot body, the upper end of the Mobile base is fixedly installed running gear, the interior lower end of the running gear slidably connects high-voltage line, the middle part upper end of the Mobile base and be located at immediately below high-voltage line it is fixed open up it is fluted, turbine is fixedly installed in the groove, the middle part lower end of the Mobile base is fixedly installed turbo-dynamo, one end of the turbo-dynamo is connect by being provided with transmission connecting mechanism with worm gear drive, the described one end of second connecting plate far from the second mounting plate and be located at robot body right above be fixedly installed shutter, the present invention relates to electric power supervisory control apparatus fields.A kind of high stability high pressure inspection mobile robot device can be realized robot body and complete inspection operation on high-voltage line, super-high voltage road, is conducive to the efficiency for improving mobile inspection.

Description

A kind of high stability high pressure inspection mobile robot device
Technical field
The present invention relates to electric power supervisory control apparatus field, specially a kind of high stability high pressure inspection mobile robot dress It sets.
Background technique
Domestic and international industrial robot is widely applied in industries such as processing and manufacturing, storage transports, and working efficiency and quality are very Height brings revolutionary variation to production cost, production efficiency and product qualification rate.In domestic Long-and Medium-term Development planning, clothes Business robot and dangerous school assignment robot are applied as the object given priority to.Existing power transmission network covers wide, maintenance workers Work amount is big, and aerial high-voltage power transmission line once goes wrong will cause significant impact to national product, and power transmission network from More the operating status for needing the power department moment to grasp transmission line of electricity and is adaptively required, in time discovery, quick diagnosis and elimination Potential faults, and timely discovery and processing to failure, avoid the accidents such as large area, prolonged power-off from occurring, this feelings Condition needs a kind of power transmission line inspection device, establishes solid foundation for the reliability service and maintenance in time of transmission line of electricity.It is existing Ultra-high-tension power transmission line monitoring mostly use manual inspection or helicopter routing inspection greatly, human inspection mode is to work about electric power personnel's physical strength Consume huge, and personal safety can not ensure, and helicopter routing inspection higher cost, be unable to satisfy the demand of efficient stable inspection.
Summary of the invention
(1) the technical issues of solving
In view of the deficiencies of the prior art, the present invention provides a kind of high stability high pressure inspection mobile robot device, solutions The problem of existing human inspection mode of having determined is huge to work about electric power personnel's physical demand, and personal safety can not ensure, from And it can be realized the carry out inspection of efficient stable.
(2) technical solution
In order to achieve the above object, the present invention is achieved by the following technical programs: a kind of high stability high pressure inspection shifting The left and right ends top of mobile robot device, including robot body, the robot body is fixedly connected with the first connecting plate, The upper end of first connecting plate is fixedly connected with Mobile base by the first mounting plate, and the upper end of the Mobile base is fixedly installed Running gear, the interior lower end of the running gear slidably connect high-voltage line, the middle part upper end of the Mobile base and are located at height Fixation opens up fluted immediately below crimping, and turbine is fixedly installed in the groove, and the middle part lower end fixation of the Mobile base is set It is equipped with turbo-dynamo, one end of the turbo-dynamo is connect by being provided with transmission connecting mechanism with worm gear drive, and described first Connecting plate upper end side is fixedly connected with the second connecting plate by the second mounting plate, and second connecting plate is far from the second mounting plate One end and be located at robot body right above be fixedly installed shutter.
Preferably, the robot body includes battery group, and the battery group is located on the middle part of robot body End.
Preferably, the upper end of the robot body and be located at battery group at left and right sides of be fixedly installed monitoring device and Mobile communication equipment.
Preferably, the monitoring device includes detection video camera, infrared thermal imager, Temperature Humidity Sensor and wind speed and passes The equipment such as sensor.
Preferably, the running gear includes traveling wheel, is sequentially connected between the traveling wheel and high-voltage line, the walking The inside middle of wheel is fixedly installed transmission shaft.
Preferably, mobile holder, the lower end of the mobile holder and shifting are fixedly installed at left and right sides of the transmission shaft Dynamic seat is fixedly connected, and the mobile holder is fixedly installed bearing fixed seat far from the side of transmission shaft.
Preferably, the mobile holder is fixedly installed movable motor by fixed plate far from one end of bearing fixed seat, The output end of the movable motor is fixedly connected with transmission shaft.
Preferably, the middle part upper end of the shutter is fixedly installed positioning deckle board, the positioning by third mounting plate The inside middle of deckle board offers through slot, and the high-voltage line passes through through slot.
Preferably, the front and rear sides surface of the third mounting plate is uniformly provided with fixation hole.
Preferably, the Mobile base and running gear are respectively provided with there are two and are located at the left and right sides of positioning deckle board.
(3) beneficial effect
The present invention provides a kind of high stability high pressure inspection mobile robot devices.Have following
The utility model has the advantages that
(1), a kind of high stability high pressure inspection mobile robot device, by solid above the both ends of robot body Surely it is connected with the first connecting plate, Mobile base is fixedly connected with by the first mounting plate in the upper end of the first connecting plate and walking fills It sets, running gear can be placed on to the surface of high-voltage line, drive transmission shaft and traveling wheel to rotate by movable motor, thus real Existing robot body carries out mobile inspection on high-voltage line, by setting in the inside middle of Mobile base and immediately below high-voltage line It is equipped with turbine, the middle part lower end of Mobile base is provided with turbo-dynamo, one end of turbo-dynamo is by being provided with transmission connection machine Structure is connect with worm gear drive, and the node barrier on some high-voltage lines can be passed over by turbine, is avoided there is a situation where blocking, The workload of staff is advantageously reduced, high pressure, supertension line inspection operation can be made a good job of.
(2), a kind of high stability high pressure inspection mobile robot device, by passing through the in the upper end of the first connecting plate Two connecting plates are fixedly connected with shutter, and shutter is located at the surface of robot body, can block to robot body, The service life for being conducive to improve inspection mobile robot device by exposing to the weather is avoided, while logical in the upper end of shutter It crosses third mounting plate and is fixedly installed positioning deckle board, offer through slot in the inside middle of positioning deckle board, and high-voltage line passes through and leads to Slot is conducive to improve the stability of robot body's mobile inspection on high-voltage line, to mention by shutter and positioning deckle board The efficiency of the mobile inspection of height.
Detailed description of the invention
Fig. 1 is overall structure of the present invention;
Fig. 2 is running gear structural schematic diagram of the present invention;
Fig. 3 is present invention positioning frame plate structure schematic diagram.
In figure: 1- robot body, the first connecting plate of 2-, the first mounting plate of 3-, 4- Mobile base, 5- running gear, 501- Traveling wheel, 502- transmission shaft, 503- mobile holder, 504- bearing fixed seat, 505- fixed plate, 506- movable motor, 6- high pressure Line, 7- groove, 8- turbine, 9- turbo-dynamo, 10- transmission connecting mechanism, the second mounting plate of 11-, the second connecting plate of 12-, 13- hide Baffle, 14- battery group, 15- monitoring device, 16- mobile communication equipment, 17- third mounting plate, 18- positioning deckle board, 19- are logical Slot, 20- fixation hole.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.
Fig. 1-3 is please referred to, the embodiment of the present invention provides a kind of technical solution: a kind of mobile machine of high stability high pressure inspection The left and right ends top of people's device, including robot body 1, robot body 1 is fixedly connected with the first connecting plate 2, and first connects The upper end of fishplate bar 2 is fixedly connected with Mobile base 4 by the first mounting plate 3, and the upper end of Mobile base 4 is fixedly installed running gear 5, Robot body 1 can be made to carry out mobile inspection on high-voltage line 6 by running gear 5, the interior lower end of running gear 5, which is slided, to be connected Be connected to high-voltage line 6, the middle part upper end of Mobile base 4 and be located at it is fixed immediately below high-voltage line 6 open up fluted 7, fixation is set in groove 7 It is equipped with turbine 8, the middle part lower end of Mobile base 4 is fixedly installed turbo-dynamo 9, and one end of turbo-dynamo 9 is by being provided with transmission Bindiny mechanism 10 and turbine 8 are sequentially connected, and the node barrier on some high-voltage lines can be passed over by turbine, avoid occurring stifled Firmly the case where, 2 upper end side of the first connecting plate are fixedly connected with the second connecting plate 12, the second connecting plate by the second mounting plate 11 12 one end far from the second mounting plate 11 and be located at robot body 1 right above be fixedly installed shutter 13, shutter 13 can Robot body 1 is blocked, is avoided by exposing to the weather, be conducive to raising inspection mobile robot device uses the longevity Life.
Robot body 1 includes battery group 14, and battery group 14 is located at the middle part upper end of robot body 1.Robot The upper end of main body 1 and be located at battery group 14 at left and right sides of be fixedly installed monitoring device 15 and mobile communication equipment 16, monitor Equipment 15 and mobile communication equipment 16 are that equipment common on existing market belongs to the prior art.Monitoring device 15 includes inspection The equipment such as video camera, infrared thermal imager, Temperature Humidity Sensor and air velocity transducer are surveyed, are monitoring common on existing market Equipment belongs to the prior art.
Running gear 5 includes traveling wheel 501, is sequentially connected between traveling wheel 501 and high-voltage line 6, the centre of traveling wheel 501 Inside is fixedly installed transmission shaft 502.The left and right sides of transmission shaft 502 is fixedly installed mobile holder 503, mobile holder 503 Lower end be fixedly connected with Mobile base 4, mobile holder 503 is fixedly installed bearing fixed seat far from the side of transmission shaft 502 504.The one end of mobile holder 503 far from bearing fixed seat 504 is fixedly installed movable motor 506 by fixed plate 505, walks The output end of motor 506 is fixedly connected with transmission shaft 502.
The middle part upper end of shutter 13 is fixedly installed positioning deckle board 18 by third mounting plate 17, positions in deckle board 18 Between it is internal offer through slot 19, high-voltage line 6 passes through through slot 19.The front and rear sides surface of third mounting plate 17 is uniformly provided with fixation Hole 20.Mobile base 4 and running gear 5 are respectively provided with there are two and are located at the left and right sides of positioning deckle board 18.
In use, by being fixedly connected with the first connecting plate 2 above the both ends of robot body 1, in the first connecting plate 2 Upper end Mobile base 4 and running gear 5 are fixedly connected with by the first mounting plate 3, running gear 5 can be placed on high-voltage line 6 Surface, drive transmission shaft 502 and traveling wheel 501 to rotate by movable motor 506, to realize robot body 1 in height Mobile inspection is carried out on crimping 6, by being provided with turbine 8 in the inside middle of Mobile base 4 and immediately below high-voltage line 6, The middle part lower end of Mobile base 8 is provided with turbo-dynamo 9, and one end of turbo-dynamo 9 is by being provided with transmission connecting mechanism 10 and whirlpool 8 transmission connection of wheel, the node barrier on some high-voltage lines 6 can be passed over by turbine 8, avoids having there is a situation where blocking Conducive to the workload for reducing staff, high pressure, supertension line inspection operation can be made a good job of, then by connecting first The upper end of fishplate bar 2 is fixedly connected with shutter 13 by the second connecting plate 12, shutter 13 be located at robot body 1 just on Side, can block 1 body of robot master, avoid being conducive to improve making for inspection mobile robot device by exposing to the weather Positioning deckle board 18 is fixedly installed by third mounting plate 17 with the service life, while in the upper end of shutter 13, in positioning deckle board 18 Inside middle offer through slot 19, and high-voltage line 6 passes through through slot 18, is conducive to improve by shutter 13 and positioning deckle board 18 The stability of robot body's mobile inspection on high-voltage line, so that the efficiency of mobile inspection is improved, it is easy to use.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment Intrinsic element.In the absence of more restrictions.By sentence " element limited including one ..., it is not excluded that There is also other identical elements in the process, method, article or apparatus that includes the element ".
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding And modification, the scope of the present invention is defined by the appended.

Claims (10)

1. a kind of high stability high pressure inspection mobile robot device, including robot body (1), it is characterised in that: the machine It is fixedly connected with the first connecting plate (2) above the left and right ends of device human agent (1), the upper end of first connecting plate (2) passes through First mounting plate (3) is fixedly connected with Mobile base (4), and the upper end of the Mobile base (4) is fixedly installed running gear (5), institute The interior lower end for stating running gear (5) slidably connects high-voltage line (6), the middle part upper end of the Mobile base (4) and be located at high pressure Fixation opens up fluted (7) immediately below line (6), is fixedly installed turbine (8) in the groove (7), in the Mobile base (4) Subordinate end is fixedly installed turbo-dynamo (9), one end of the turbo-dynamo (9) by be provided with transmission connecting mechanism (10) with Turbine (8) transmission connection, the first connecting plate (2) upper end side are fixedly connected with the second connection by the second mounting plate (11) Plate (12), the one end of second connecting plate (12) far from the second mounting plate (11) and is located at solid right above robot body (1) Surely shutter (13) are provided with.
2. a kind of high stability high pressure inspection mobile robot device according to claim 1, it is characterised in that: the machine Device human agent (1) includes battery group (14), and the battery group (14) is located at the middle part upper end of robot body (1).
3. a kind of high stability high pressure inspection mobile robot device according to claim 2, it is characterised in that: the machine The upper end of device human agent (1) and it is located at left and right sides of battery group (14) and is fixedly installed monitoring device (15) and mobile communication is set Standby (16).
4. a kind of high stability high pressure inspection mobile robot device according to claim 3, it is characterised in that: the prison Measurement equipment (15) includes the equipment such as detection video camera, infrared thermal imager, Temperature Humidity Sensor and air velocity transducer.
5. a kind of high stability high pressure inspection mobile robot device according to claim 1, it is characterised in that: the row Walking apparatus (5) includes traveling wheel (501), is sequentially connected between the traveling wheel (501) and high-voltage line (6), the traveling wheel (501) inside middle is fixedly installed transmission shaft (502).
6. a kind of high stability high pressure inspection mobile robot device according to claim 5, it is characterised in that: the biography It is fixedly installed at left and right sides of moving axis (502) mobile holder (503), the lower end and Mobile base (4) of the mobile holder (503) It is fixedly connected, the mobile holder (503) is fixedly installed bearing fixed seat (504) far from the side of transmission shaft (502).
7. a kind of high stability high pressure inspection mobile robot device according to claim 6, it is characterised in that: the row It walks the one end of bracket (503) far from bearing fixed seat (504) and is fixedly installed movable motor (506), institute by fixed plate (505) The output end for stating movable motor (506) is fixedly connected with transmission shaft (502).
8. a kind of high stability high pressure inspection mobile robot device according to claim 1, it is characterised in that: the screening The middle part upper end of baffle (13) is fixedly installed positioning deckle board (18) by third mounting plate (17), positioning deckle board (18) Inside middle offers through slot (19), and the high-voltage line (6) passes through through slot (19).
9. a kind of high stability high pressure inspection mobile robot device according to claim 8, it is characterised in that: described The front and rear sides surface of three mounting plates (17) is uniformly provided with fixation hole (20).
10. a kind of high stability high pressure inspection mobile robot device according to claim 8, it is characterised in that: described Mobile base (4) and running gear (5) are respectively provided with there are two and are located at the left and right sides of positioning deckle board (18).
CN201811173466.6A 2018-10-09 2018-10-09 A kind of high stability high pressure inspection mobile robot device Pending CN109167297A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201811173466.6A CN109167297A (en) 2018-10-09 2018-10-09 A kind of high stability high pressure inspection mobile robot device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201811173466.6A CN109167297A (en) 2018-10-09 2018-10-09 A kind of high stability high pressure inspection mobile robot device

Publications (1)

Publication Number Publication Date
CN109167297A true CN109167297A (en) 2019-01-08

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Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62247720A (en) * 1986-04-17 1987-10-28 Sanyo Electric Co Moving vehicle
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
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
CN102975191A (en) * 2012-12-05 2013-03-20 山东电力集团公司电力科学研究院 Line-walking robot system for overhead transmission line
CN105690404A (en) * 2016-04-20 2016-06-22 武汉大学 Manipulator device at tail end of double-foot robot for power transmission line
CN105896370A (en) * 2015-11-16 2016-08-24 国网湖南省电力公司 Quakeproof hammer replacement device, robot with same and quakeproof hammer replacement method
CN107838903A (en) * 2017-10-31 2018-03-27 华北电力大学 High-voltage transmission line inspection robot apparatus and system
CN108110712A (en) * 2015-04-25 2018-06-01 郑州天舜电子技术有限公司 A kind of jet-propelled electric wire deicing machine of remote control
CN207603079U (en) * 2017-12-07 2018-07-10 国家电网公司 A kind of transmission line of electricity high speed cruising inspection vehicle

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62247720A (en) * 1986-04-17 1987-10-28 Sanyo Electric Co Moving vehicle
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
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
CN102975191A (en) * 2012-12-05 2013-03-20 山东电力集团公司电力科学研究院 Line-walking robot system for overhead transmission line
CN108110712A (en) * 2015-04-25 2018-06-01 郑州天舜电子技术有限公司 A kind of jet-propelled electric wire deicing machine of remote control
CN105896370A (en) * 2015-11-16 2016-08-24 国网湖南省电力公司 Quakeproof hammer replacement device, robot with same and quakeproof hammer replacement method
CN105690404A (en) * 2016-04-20 2016-06-22 武汉大学 Manipulator device at tail end of double-foot robot for power transmission line
CN107838903A (en) * 2017-10-31 2018-03-27 华北电力大学 High-voltage transmission line inspection robot apparatus and system
CN207603079U (en) * 2017-12-07 2018-07-10 国家电网公司 A kind of transmission line of electricity high speed cruising inspection vehicle

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