CN109244934B - Ground wire suspension inspection robot - Google Patents
Ground wire suspension inspection robot Download PDFInfo
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- CN109244934B CN109244934B CN201811086141.4A CN201811086141A CN109244934B CN 109244934 B CN109244934 B CN 109244934B CN 201811086141 A CN201811086141 A CN 201811086141A CN 109244934 B CN109244934 B CN 109244934B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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Abstract
The invention discloses a ground wire suspension inspection robot, which comprises a robot box body, wherein a control system is contained in the robot box body, detection equipment is carried on the robot box body, three arms are arranged at the rear of the robot box body, and the three arms are connected with the robot box body through arm bases; the front, middle and rear arms realize walking on the power transmission line through the driving mechanism, the telescopic action of the machine body in the vertical direction is realized through the telescopic mechanism, and the opening and closing action of the driving mechanism is realized through the opening and closing mechanism; therefore, when an obstacle is encountered, the three arms cooperate to perform ordered actions so as to realize the function of crossing the obstacle. The invention has the characteristics of strong obstacle crossing capability, high obstacle crossing efficiency, large climbing angle, stable structure, light weight, simple operation, good real-time performance and the like, realizes stable running along the ground wire of the 220 kV-500 kV power transmission line, and can cross over the line equipment such as a vibration damper, a spacer, a suspension clamp, a repair pipe and the like arranged on the ground wire.
Description
Technical Field
The invention belongs to the technical field of power inspection equipment, and particularly relates to a ground wire suspension inspection robot.
Background
In order to ensure the safe and stable operation of the high-voltage transmission line, the high-voltage transmission line must be periodically overhauled. The inspection of the high-voltage transmission line is very necessary for protecting the safety of a power grid, the high-voltage transmission line is widely distributed, the geographic environment of part of regions is complex, and a manual inspection mode is not suitable any more due to high labor intensity and low inspection precision, so that only a new inspection mode can be found.
The development of mobile robot technology provides a new technical platform for the inspection of overhead high-voltage power transmission lines. Compared with the robot running along the lead, the robot running along the ground wire is 'high-level', the field angle of a routing inspection line is large, the routing inspection effect is good, but the structure of a tension tower head of the ground wire is complex, so that the robot is difficult to surmount, and the practicability of the robot is greatly restricted.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the problems, the invention provides a ground wire suspension inspection robot which can stably run along the ground wire of a 220 kV-500 kV power transmission line and can cross over line equipment such as a vibration damper, a spacer, a suspension clamp, a repair pipe and the like arranged on the ground wire.
The technical scheme is as follows: in order to realize the purpose of the invention, the technical scheme adopted by the invention is as follows: a ground wire suspension inspection robot comprises a robot box body, wherein a control system is contained in the robot box body, detection equipment is carried on the robot box body, three arms are arranged at the rear of the robot box body, and the three arms are connected with the robot box body through arm bases;
the front arm and the rear arm are positioned at two ends of the robot box body, and respectively comprise a driving mechanism positioned at the top, an opening and closing mechanism, a rotating mechanism and a pressing mechanism positioned in the middle and a lifting mechanism positioned below; the lower part of the driving mechanism is connected with an opening and closing mechanism, the lower part of the opening and closing mechanism is connected with a rotating mechanism, the lower part of the rotating mechanism is connected with a lifting mechanism, the upper part of the lifting mechanism is connected with a pressing mechanism, and the lower part of the lifting mechanism is connected with an arm base;
the middle arm is positioned in the middle of the robot box body and comprises a driving mechanism positioned at the top, an opening and closing mechanism and a rotating mechanism in the middle, a lifting mechanism below the opening and closing mechanism and a charging mechanism in front of the middle arm; the lower part of the driving mechanism is connected with an opening and closing mechanism, the lower part of the opening and closing mechanism is connected with a rotating mechanism, the lower part of the rotating mechanism is connected with a lifting mechanism, a charging mechanism is arranged in front of the lifting mechanism, and the bottom of the lifting mechanism is connected with a transverse arm base;
the control system is electrically connected with the driving mechanism, the opening and closing mechanism, the lifting mechanism and the middle arm charging mechanism.
Further, the driving mechanism comprises a driving motor, and the driving motor is connected with a driving wheel through a shaft sleeve; the driving motor is connected with the opening and closing mechanism through a motor base.
Furthermore, the opening and closing mechanism comprises an opening and closing bottom plate, two guide rails are arranged above the opening and closing bottom plate, four sliding blocks are arranged on the guide rails, and the sliding blocks are connected with the motor base; the opening and closing motor is installed below the opening and closing bottom plate and connected with the opening and closing screw rod through a straight gear, the opening and closing screw rod is connected with a screw rod nut seat through a screw rod nut, and the screw rod nut seat is fixedly connected with the motor seat.
Further, slewing bearing includes slewing bearing, the slewing bearing top is connected with the bottom plate that opens and shuts through the bolt, the slewing bearing below is connected with the bearing base through the bolt, be connected with the block rubber through interference fit on the bearing base, the block rubber is connected with the base that opens and shuts through spacing rectangular.
Further, elevating system includes the arm outer tube, the arm outer tube passes through the guide block and is connected with the arm inner tube, the arm inner tube passes through the bearing base and is connected with flexible push rod, flexible push rod passes through the push rod base and is connected with the arm outer tube.
Further, hold-down mechanism includes the pinch roller, the pinch roller is connected with the compact heap, be connected with the last support seat of rotatory pinch roller on the compact heap, be connected with rotatory pinch roller under the compact heap, the last support seat of rotatory pinch roller is connected with the extension spring, the extension spring other end is connected with the compact heap.
Further, the middle arm charging mechanism comprises a charging plug, the charging plug is connected with a charging seat through a pressure spring, and the charging seat is connected with an arm inner tube through a bolt.
Furthermore, the arm base is connected with the front, middle and rear arms, and the front arm base is connected with the robot box body.
Furthermore, the detection equipment comprises a camera and an infrared detector, wherein the camera and the infrared detector are connected with a signal transceiver through a circuit, and the signal transceiver is connected with a base station control center on the ground through a wireless signal.
Has the advantages that: compared with the prior art, the ground wire suspension inspection robot has the advantages that:
(1) the safety protection is good: when the walking device walks, the three driving wheels can be simultaneously hung on the wire, and the pinch rollers can play a role in protection; when the obstacle is crossed, the three arms are at least provided with two hanging wires, so that the robot cannot fall off from the power transmission line due to shaking, and the running stability of the robot is ensured.
(2) Obstacle crossing efficiency is high: when the robot spans obstacles such as a vibration damper and the like, the pressing mechanism can be directly knocked off, so that the obstacle crossing step is omitted, and the obstacle crossing efficiency is improved.
(3) The control is simple, the precision is high: the automatic control during walking and obstacle crossing is realized, the obstacle crossing time is short, and the efficiency is high.
(4) The inspection quality is high and the application is wide: the arrangement of the camera and the infrared detector can clearly transmit the walking line information to the ground base station through the wireless network bridge, thereby ensuring the quality of the routing inspection work of the power transmission line; but also remote control, but the wide application is patrolled and examined work in transmission line.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a cross-sectional view of the front and back arms of the present invention.
Detailed Description
The technical solution of the present invention is further described below with reference to the accompanying drawings and examples.
As shown in figures 1 and 2, the ground wire suspension inspection robot comprises a robot box body 5, wherein a control system is contained in the robot box body, a detection device 6 is carried on the robot box body 5, a front arm 1, a middle arm 9 and a rear arm 8 at the rear of the robot box body are connected with the robot box body 5 through an arm base 7, and the front arm 1 and the rear arm 8 are located at two ends of the robot box body 5.
The front arm 1 and the rear arm 8 comprise a driving mechanism positioned at the top, an opening and closing mechanism, a rotating mechanism and a pressing mechanism at the middle part, and a lifting mechanism below. The lower part of the driving mechanism is connected with an opening and closing mechanism, the lower part of the opening and closing mechanism is connected with a rotating mechanism, the lower part of the rotating mechanism is connected with a lifting mechanism, the upper part of the lifting mechanism is connected with a pressing mechanism, and the lower part of the lifting mechanism is connected with an arm base.
The middle arm 9 comprises a driving mechanism at the top, an opening and closing mechanism at the middle part, a rotating mechanism, a lifting mechanism below and a charging mechanism in front of the middle arm 9. The control system is electrically controlled and connected with the driving mechanism, the opening and closing mechanism, the lifting mechanism and the middle arm charging mechanism. The lower part of the driving mechanism is connected with an opening and closing mechanism, the lower part of the opening and closing mechanism is connected with a rotating mechanism, the lower part of the rotating mechanism is connected with a lifting mechanism, the front part of the lifting mechanism is provided with a charging mechanism, and the bottom of the lifting mechanism is connected with a transverse arm base.
The driving mechanism comprises a driving motor 36, the driving motor 36 is connected with the driving wheel 12 through a shaft sleeve 13, the driving motor 36 is connected with the opening and closing mechanism through a motor base 35, and the driving motor 36 is connected with the control system through a circuit.
The opening and closing mechanism comprises an opening and closing bottom plate 32, two guide rails 11 are installed above the opening and closing bottom plate 32, four sliding blocks 10 are installed on the guide rails 11, the sliding blocks 10 are connected with a motor base 37, an opening and closing motor 30 is installed below the opening and closing bottom plate 32, the opening and closing motor 30 is connected with an opening and closing lead screw 34 through a driving gear 31 and a driven gear 33, the opening and closing lead screw 34 is fixedly connected with the motor base 37 through a lead screw nut 35, and the opening and closing motor 30 is connected with a control system through a.
The rotating mechanism comprises a rotary bearing 29, the upper portion of the rotary bearing 29 is connected with an opening and closing bottom plate 32 through a bolt, the lower portion of the rotary bearing 29 is connected with a bearing base 26 through a bolt, the bearing base 26 is connected with a rubber block 27 through interference fit, and the rubber block 27 is connected with the opening and closing base 32 through a limiting strip 28.
The lifting mechanism comprises an arm outer tube 22, the arm outer tube 22 is connected with an arm inner tube 25 through a guide block, the arm inner tube 25 is connected with a telescopic push rod 24 through a bearing base 26, the telescopic push rod 24 is connected with the arm outer tube 22 through a push rod base 23, and the telescopic push rod 24 is connected with a control system through a circuit.
The pressing mechanism comprises a pressing wheel 17, the pressing wheel 17 is connected with a pressing seat 18, the pressing seat 18 is connected with a support seat 20 on the rotary pressing wheel, the pressing seat 18 is connected with a lower support seat 21 of the rotary pressing wheel, the support seat 20 on the rotary pressing wheel is connected with a tension spring 19, and the other end of the tension spring 19 is connected with the pressing seat 18.
The middle arm charging mechanism comprises a charging plug 3, the charging plug 3 is connected with a charging seat 2 through a pressure spring 4, and the charging seat 2 is connected with an arm inner tube 25 through a bolt. The charging plug 3 is connected with the control system through a circuit.
The detection equipment 12 comprises a camera and an infrared detector, the camera and the infrared detector are connected with a signal transceiver through a circuit, and the signal transceiver is connected with a base station control center on the ground through a wireless signal. The detection equipment 12 is fixed under the robot box 5, and transmits the shot line image information to a base station control center on the ground through a wireless network bridge, so that ground workers can conveniently determine the position of a damaged transmission line and the surrounding environment condition of the transmission line, and the maintenance is convenient.
The ground wire suspension inspection robot is suitable for 500KV high-voltage transmission lines. The front arm 1, the middle arm 9 and the rear arm 8 realize walking on a power transmission line through a driving mechanism; the telescopic action of the machine body in the vertical direction, namely the stretching and contracting states, is realized through the telescopic mechanism; the opening and closing actions of the driving mechanism, namely the opening and closing states, are realized through the opening and closing mechanism. Therefore, when meeting an obstacle, the three arms are matched to orderly extend and contract, open and close so as to realize the function of crossing the obstacle.
The ground wire suspension inspection robot has the following specific operation process: when the electric power line is traveled, the front arm 1, the middle arm 9 and the rear arm 8 are hung through the driving wheel 12, the telescopic mechanisms of the front arm 1, the middle arm 9 and the rear arm 8 are in a contraction state, the opening and closing mechanism is in a closing state, and the pressing mechanism is in a pressing state. When encountering an obstacle such as a suspension clamp, the robot stops walking, the front arm 1 is lifted through the telescopic mechanism, the driving wheel 12 of the front arm 1 is opened through the opening and closing mechanism, the front arm 1 is sunken through the telescopic mechanism, the robot moves forwards, the front arm 1 is lifted through the telescopic mechanism, the front arm 1 is closed through the opening and closing mechanism, the front arm 1 is sunken through the telescopic mechanism, the robot moves forwards, the middle arm 9 is lifted through the telescopic mechanism, the driving wheel 12 of the middle arm 9 is opened through the opening and closing mechanism, the middle arm 9 is sunken through the telescopic mechanism, the robot moves forwards, the rear arm 8 is lifted through the telescopic mechanism, the driving wheel 12 of the rear arm 8 is opened through the opening and closing mechanism, the rear arm 8 is sunken through the telescopic mechanism, the robot moves forwards, the rear arm 8 is lifted through the telescopic mechanism, the rear arm 8 is closed through the opening and closing mechanism, the rear arm 8 sinks through the telescopic mechanism, and the robot moves forward to complete obstacle crossing. When meeting barriers such as a vibration damper and a gap bridge, the robot can directly move forward and pass through the gap bridge because the pressing wheels can be knocked away and the distance between the charging plug and the walking wheel is larger than the length of the barriers.
Claims (5)
1. The ground wire suspension inspection robot is characterized by comprising a robot box body, wherein a control system is contained in the robot box body, detection equipment is carried on the robot box body, three arms are arranged at the rear of the robot box body, and the three arms are connected with the robot box body through arm bases;
the front arm and the rear arm are positioned at two ends of the robot box body, and respectively comprise a driving mechanism positioned at the top, an opening and closing mechanism, a rotating mechanism and a pressing mechanism positioned in the middle and a lifting mechanism positioned below;
the lower part of the driving mechanism is connected with an opening and closing mechanism, the lower part of the opening and closing mechanism is connected with a rotating mechanism, the lower part of the rotating mechanism is connected with a lifting mechanism, the upper part of the lifting mechanism is connected with a pressing mechanism, and the lower part of the lifting mechanism is connected with an arm base;
the middle arm is positioned in the middle of the robot box body and comprises a driving mechanism positioned at the top, an opening and closing mechanism and a rotating mechanism in the middle, a lifting mechanism below the opening and closing mechanism and a charging mechanism in front of the middle arm;
the lower part of the driving mechanism is connected with an opening and closing mechanism, the lower part of the opening and closing mechanism is connected with a rotating mechanism, the lower part of the rotating mechanism is connected with a lifting mechanism, a charging mechanism is arranged in front of the lifting mechanism, and the bottom of the lifting mechanism is connected with a transverse arm base;
the control system is electrically connected with the driving mechanism, the opening and closing mechanism, the lifting mechanism and the middle arm charging mechanism;
the driving mechanism comprises a driving motor, and the driving motor is connected with a driving wheel through a shaft sleeve; the driving motor is connected with the opening and closing mechanism through a motor base;
the opening and closing mechanism comprises an opening and closing bottom plate, two guide rails are arranged above the opening and closing bottom plate, four sliding blocks are arranged on the guide rails, and the sliding blocks are connected with the motor base; an opening and closing motor is arranged below the opening and closing bottom plate, the opening and closing motor is connected with an opening and closing screw rod through a straight gear, the opening and closing screw rod is connected with a screw rod nut seat through a screw rod nut, and the screw rod nut seat is fixedly connected with a motor seat;
the rotating mechanism comprises a rotary bearing, the upper part of the rotary bearing is connected with the opening and closing bottom plate through a bolt, the lower part of the rotary bearing is connected with a bearing base through a bolt, the bearing base is connected with a rubber block through interference fit, and the rubber block is connected with the opening and closing base through a limiting strip;
the lifting mechanism comprises an arm outer tube, the arm outer tube is connected with an arm inner tube through a guide block, the arm inner tube is connected with a telescopic push rod through a bearing base, and the telescopic push rod is connected with the arm outer tube through a push rod base.
2. The ground wire suspension inspection robot according to claim 1, wherein the pressing mechanism comprises a pressing wheel, the pressing wheel is connected with a pressing seat, the pressing seat is connected with a supporting seat on the rotary pressing wheel, the lower part of the pressing seat is connected with a lower supporting seat of the rotary pressing wheel, the supporting seat on the rotary pressing wheel is connected with a tension spring, and the other end of the tension spring is connected with the pressing seat.
3. The ground wire suspension inspection robot according to claim 1, wherein the middle arm charging mechanism comprises a charging plug, the charging plug is connected with a charging seat through a pressure spring, and the charging seat is connected with an arm inner tube through a bolt.
4. The ground wire suspension inspection robot according to claim 1, wherein the arm base is connected with a front arm, a middle arm and a rear arm, and the front arm is connected with a robot box body.
5. The ground wire suspension inspection robot according to claim 1, wherein the detection equipment comprises a camera and an infrared detector, the camera and the infrared detector are connected with a signal transceiver through a circuit, and the signal transceiver is connected with a base station control center on the ground through a wireless signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811086141.4A CN109244934B (en) | 2018-09-18 | 2018-09-18 | Ground wire suspension inspection robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811086141.4A CN109244934B (en) | 2018-09-18 | 2018-09-18 | Ground wire suspension inspection robot |
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| CN109244934A CN109244934A (en) | 2019-01-18 |
| CN109244934B true CN109244934B (en) | 2020-10-16 |
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| CN201811086141.4A Active CN109244934B (en) | 2018-09-18 | 2018-09-18 | Ground wire suspension inspection robot |
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| CN109941366B (en) * | 2019-03-30 | 2020-11-17 | 浙江清华长三角研究院 | Novel wire-hanging robot upper and lower obstacle-avoiding type traveling mechanism and traveling method thereof |
| CN110154055B (en) * | 2019-06-17 | 2024-05-17 | 国网福建省电力有限公司泉州供电公司 | Inspection robot |
| CN110474253B (en) * | 2019-08-27 | 2020-07-28 | 北京盛嘉鑫泰安装有限公司 | Electric power inspection robot capable of crossing obstacles |
| CN111564881A (en) * | 2020-05-26 | 2020-08-21 | 湖北工业大学 | Intelligent charging device for high-voltage transmission line inspection robot and control method |
| CN111634442B (en) * | 2020-06-03 | 2022-07-29 | 西北工业大学 | A suspension type robot structure for aircraft assembly quality detects |
| CN112037599B (en) * | 2020-08-27 | 2022-07-22 | 深圳供电局有限公司 | Ground wire actual operation simulation training device |
| CN112165029B (en) * | 2020-10-20 | 2022-02-15 | 云南电网有限责任公司怒江供电局 | Overhead transmission conductor inspection obstacle crossing robot and obstacle crossing method thereof |
| CN112873245B (en) * | 2021-03-25 | 2022-06-28 | 深圳亿嘉和科技研发有限公司 | Overhead line three-arm inspection robot |
| 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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| JPH10248130A (en) * | 1997-02-28 | 1998-09-14 | Toshiba Corp | Stringing traveling unit and control method therefor |
| CN101882765A (en) * | 2010-05-11 | 2010-11-10 | 湖南大学 | Traveling mechanism of robot on high voltage transmission line |
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