CN109638718B - Inspection robot for overhead transmission line - Google Patents
Inspection robot for overhead transmission line Download PDFInfo
- Publication number
- CN109638718B CN109638718B CN201910002238.0A CN201910002238A CN109638718B CN 109638718 B CN109638718 B CN 109638718B CN 201910002238 A CN201910002238 A CN 201910002238A CN 109638718 B CN109638718 B CN 109638718B
- Authority
- CN
- China
- Prior art keywords
- inspection robot
- transmission line
- clamping
- power transmission
- plate
- 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.)
- Active
Links
- 238000007689 inspection Methods 0.000 title claims abstract description 102
- 230000005540 biological transmission Effects 0.000 title claims abstract description 79
- 230000007246 mechanism Effects 0.000 claims abstract description 33
- 230000006698 induction Effects 0.000 claims abstract description 16
- 238000000034 method Methods 0.000 claims abstract description 13
- 230000008569 process Effects 0.000 claims abstract description 11
- 230000000712 assembly Effects 0.000 claims description 14
- 238000000429 assembly Methods 0.000 claims description 14
- 230000009471 action Effects 0.000 claims description 8
- 230000001681 protective effect Effects 0.000 claims description 4
- 239000013589 supplement Substances 0.000 claims description 3
- 230000001939 inductive effect Effects 0.000 claims 1
- 230000008878 coupling Effects 0.000 description 5
- 238000010168 coupling process Methods 0.000 description 5
- 238000005859 coupling reaction Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 238000005481 NMR spectroscopy Methods 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000003628 erosive effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 239000000047 product Substances 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
Images
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
Landscapes
- Manipulator (AREA)
- Electric Cable Installation (AREA)
Abstract
The invention belongs to the field of robots, and particularly provides an inspection robot for an overhead transmission line, which comprises a body, a traveling mechanism connected with the body, a flying mechanism connected with the body, and an induction charging device connected with the body. Due to the arrangement of the walking mechanism, the inspection robot can stably walk on the power transmission line, so that the inspection robot can be close to the power transmission line for inspection; the inspection robot can take off and land and fly over obstacles in the line inspection process due to the arrangement of the flying mechanism, so that the working range is enlarged; owing to be provided with induction charging device, can supply the electric energy for patrolling and examining the robot to patrol and examine the duration of robot has been increased.
Description
Technical Field
The invention belongs to the field of robots, and particularly provides an inspection robot for overhead transmission lines.
Background
With the continuous development of science and technology and the continuous upgrade of new products, the living environment of people is changed greatly, and even in the internet era, people still have ever-increasing demands on electric power. At present, an overhead transmission line is a main means of power transmission, inevitably, the overhead transmission line is subjected to the erosion of wind, sunshine, rain and snow for a long time outdoors, the situations of line damage, aging and the like easily occur, if the problems can not be found in time, the interruption of power transmission can be caused, and therefore huge inconvenience and loss are brought to power consumers. Therefore, it becomes important to regularly inspect and troubleshoot the overhead transmission line.
At present, the most common mode for patrolling an overhead transmission line is manual on-line and on-foot patrolling, but the landform of many areas is complicated, the efficiency of the patrolling mode is not high, and the electric power worker is accompanied with extremely high risk in the patrolling process. In order to improve the mode of patrolling transmission lines, the overhead line patrolling by using the robot gradually becomes an industry trend, and the current patrolling robot mainly comprises a suspension type robot and an unmanned aerial vehicle. The suspended robot is suspended on an overhead line, and line inspection is carried out in a rolling or climbing mode, so that the line feeding and discharging processes are complex, and the suspended robot is limited by the degree of freedom of a mechanism and is difficult to cross a tower and an on-line obstacle; unmanned aerial vehicle patrols and examines along overhead transmission line flight, does not receive the obstacle restriction, but unmanned aerial vehicle can not press close to the transmission line and carry out data acquisition to its duration is poor, patrol and examine stability not enough.
Therefore, there is a need in the art for a new type of inspection robot for overhead transmission lines to solve the above problems.
Disclosure of Invention
In order to solve the problems in the prior art, namely the problems that the existing inspection robot is difficult to get on and off the power line, low in inspection stability and poor in cruising ability, the invention provides the inspection robot for the overhead power transmission line, the inspection robot comprises a body, a traveling mechanism connected with the body, a flying mechanism connected with the body and an induction charging device connected with the body, wherein the body can be stably hung on the power transmission line, the traveling mechanism can enable the inspection robot to stably walk on the power transmission line, the flying mechanism can enable the inspection robot to take off and land and fly over obstacles in the process of line inspection, and the induction charging device can supplement electric energy for the inspection robot.
In the above-mentioned inspection robot, the body includes a main frame, a supporting frame and a protection frame, wherein the supporting frame is provided with two and is connected with the front and back both ends of main frame respectively, the protection frame is provided with two and all is connected with the bottom of main frame, the protection frame is followed the bottom downwardly extending of main frame makes the inspection robot focus step-down, thereby makes the inspection robot can hang smoothly on the power transmission line.
In the above preferred technical solution of the inspection robot, the main frame includes a front panel, a side panel and a rear panel, the side panel is installed between the front panel and the rear panel, a guide groove is provided on the front panel and/or the rear panel, and when the inspection robot lands on the power transmission line, the power transmission line enters the guide groove.
In the above-mentioned preferred technical scheme who patrols and examines robot, running gear includes first drive assembly and clamping components, first drive assembly with a frame is connected, first drive assembly can drive it patrols and examines the robot and is in walk on the power transmission line, clamping components is provided with a plurality ofly, and is a plurality of clamping components all with the main frame is connected, and is a plurality of clamping components all can press from both sides tightly power transmission line.
In foretell robot that patrols and examines preferred technical scheme, first drive assembly includes action wheel, shaft coupling, first motor and head rod, the action wheel passes through the shaft coupling with first motor is connected, first motor through first connecting rod with a frame is connected, first motor can drive the action wheel rotates, thereby makes the robot that patrols and examines walks on the overhead transmission line.
In the preferred technical scheme of the inspection robot, the clamping assembly comprises a first clamping plate, a first fixing plate, a first adapter plate, a first fixing shaft, a first clamping wheel, a first spring, a second clamping plate, a second fixing plate, a second adapter plate, a second fixing shaft, a second clamping wheel and a second spring, wherein one end of the first clamping plate is fixedly connected with the main frame, the other end of the first clamping plate is connected with the first fixing plate, one end of the first adapter plate is rotatably connected with the first fixing plate, one end of the first spring is connected with the other end of the first adapter plate, the other end of the first spring is connected with the first fixing plate, the first fixing shaft is connected with the first fixing plate, and the first clamping wheel is rotatably connected with the fixing shaft; one end of the second clamping plate is fixedly connected with the main frame, the other end of the second clamping plate is connected with the second fixing plate, one end of the second adapter plate is rotatably connected with the second fixing plate, one end of the second spring is connected with the other end of the second adapter plate, the other end of the second spring is connected with the second fixing plate, the second fixing shaft is connected with the second fixing plate, and the second clamping wheel is rotatably connected with the fixing shaft; under the installed condition, the gap between the first clamping wheel and the second clamping wheel is smaller than the diameter of the power transmission line, and when the inspection robot lands on the power transmission line, the first clamping wheel and the second clamping wheel can elastically clamp the power transmission line under the action of the first spring and the second spring.
In the above-mentioned preferred technical scheme who patrols and examines the robot, running gear still includes the leading wheel, the leading wheel pass through the second connecting rod with a frame is connected.
In the above-mentioned preferred technical scheme who patrols and examines robot, the leading wheel is provided with two and sets up respectively both ends around the main frame, every all be provided with the gradual change recess on the periphery of leading wheel so that it can adapt to different lines through and different radians to patrol and examine the robot transmission line.
In foretell inspection robot's preferred technical scheme, flight mechanism is provided with four and sets up with the mode of symmetry the front and back end of main frame, every flight mechanism includes horn and second drive assembly, the first end of horn with the main frame is connected, the second tip of horn with second drive assembly connects, second drive assembly can make inspection robot takes off, lands and is patrolling and examining the line in-process and leap the barrier.
In foretell inspection robot's preferred technical scheme, second drive assembly includes second motor, rotor and guard shield, the guard shield with rotor coaxial coupling, the second motor with the second end connection of horn, the second motor can direct drive the rotor rotates, thereby makes inspection robot takes off, descends and is patrolling and examining the line in-process and leap the barrier.
In the above preferred technical scheme of the inspection robot, the induction charging device includes a base station and a mobile station, the base station is installed on a tower of an overhead transmission line, the mobile station is installed on the protection frame, and when the mobile station is close to the base station, the mobile station can charge a battery pack installed on the protection frame.
As can be understood by those skilled in the art, in the preferred technical scheme of the invention, due to the arrangement of the walking mechanism, the inspection robot can stably walk on the power transmission line, so that the inspection robot can inspect the power transmission line in a close manner; moreover, the flying mechanism is arranged, so that the inspection robot can take off and land and fly over obstacles in the line inspection process, and the working range is enlarged; finally, the induction charging device is arranged, so that electric energy can be supplemented for the inspection robot, and the cruising ability of the inspection robot is increased.
Further, the body of robot patrols and examines includes main frame, a frame and protection frame, and the protection frame is provided with two and all is connected with the bottom of main frame, and the protection frame extends downwards from the bottom of main frame. Through such setting for patrol and examine robot focus step-down, thereby make patrol and examine the robot and can hang on the power transmission line steadily.
And furthermore, a guide groove is arranged on the front panel and/or the rear panel of the inspection robot, and when the inspection robot lands on the power transmission line, the power transmission line enters the guide groove. Through such setting, the stationarity of patrolling and examining the robot has further been improved.
Furthermore, the travelling mechanism comprises a first driving assembly and a clamping assembly, the clamping assembly can clamp the power transmission line, and stability of the inspection robot can be further improved through the arrangement.
Still further, the running gear still includes the leading wheel. Through such setting, can further improve the stationarity of patrolling and examining the robot.
Drawings
Fig. 1 is an overall structural schematic diagram of an inspection robot of an overhead power transmission line of the present invention;
FIG. 2 is an overall block diagram of the first drive assembly of the present invention;
FIG. 3 is an overall block diagram of the clamping assembly of the present invention;
fig. 4 is a schematic diagram of the structure of the induction charging device of the present invention.
List of reference numerals:
1. the device comprises a body, 11, a main frame, 12, a support frame, 13, a protective frame, 111, a front panel, 112, a side panel, 1111 and a first guide groove;
2. the device comprises a first driving component 21, a driving wheel 22, a coupler 23, a first motor 24 and a first connecting rod;
3. the clamping assembly 31, the first clamping plate, 32, the first fixing plate, 33, the first adapter plate, 34, the first fixing shaft, 35, the first clamping wheel, 36, the first spring, 37, the second clamping plate, 38, the second fixing plate, 39, the second adapter, 310, the second fixing shaft, 311, the second clamping wheel, 312 and the second spring;
41. a guide wheel 42, a second connecting rod;
5. a horn;
6. a second drive assembly, 61, a second motor, 62, a rotor, 63, a shroud;
7. a base station 71, an energy acquisition unit 72, an energy emission unit 711 and an annular iron core;
8. a mobile station 81, an energy sensing unit 82, an energy management unit;
9. a transmission line;
10. a battery pack.
Detailed Description
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and are not intended to limit the scope of the present invention.
It should be noted that in the description of the present invention, the terms of direction or positional relationship indicated by the terms "upper", "lower", "left", "right", "front", "rear", "bottom", etc. are based on the directions or positional relationships shown in the drawings, which are merely for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The problems that an existing inspection robot is difficult to get on and off the line, low in inspection stability and poor in cruising ability are pointed out based on the background technology. The invention provides an inspection robot for overhead transmission lines, and aims to improve the line loading and unloading capacity, stability and cruising capacity of the inspection robot, so that the inspection robot can stably execute line inspection tasks for a long time.
Specifically, as shown in fig. 1, the inspection robot comprises a body 1, a traveling mechanism connected with the body 1, a flying mechanism connected with the body 1, and an induction charging device connected with the body 1, wherein during operation, the body 1 can be stably suspended on the power transmission line 9, the traveling mechanism can enable the inspection robot to stably travel on the power transmission line 9, the flying mechanism can enable the inspection robot to take off and land and fly over obstacles in the process of line inspection, and the induction charging device can supplement electric energy for the inspection robot. Wherein, body 1 includes main frame 11, a frame 12 and protection frame 13, and a frame 12 is provided with two and is connected with the front and back both ends of main frame 11 respectively, and protection frame 13 is provided with two and all is connected with the bottom of main frame 11, and protection frame 13 extends downwards from the bottom of main frame 11 for patrol and examine the focus of robot step-down, thereby make and patrol and examine the robot and can hang on transmission line 9 steadily. And, still install the group battery 10 on protection frame 13 to can further reduce the focus of patrolling and examining the robot, and then make patrolling and examining the robot and hang on transmission line 9 more steadily. Of course, the battery pack 10 may be mounted on the main frame 11, and such adjustment of the specific mounting position of the battery pack 10 without departing from the principle and scope of the present invention should be limited within the protection scope of the present invention.
Preferably, as shown in fig. 1, the main frame 11 includes a front panel 111, a side panel 112 and a rear panel (not shown), the side panel 112 is installed between the front panel 111 and the rear panel, and a guide groove is provided on the front panel 111 and/or the rear panel, and when the inspection robot is landed on the power transmission line 9, the power transmission line 9 enters into the guide groove. In a preferred embodiment of the present invention, the first guide groove 1111 is disposed on the front panel 111, and the second guide groove (not shown) is disposed on the rear panel, that is, the guide grooves are disposed on both the front panel 111 and the rear panel, of course, the guide groove may be disposed only on the front panel 111, or the guide groove may be disposed only on the rear panel, and the adjustment of the specific arrangement position of the guide groove does not depart from the principle and scope of the present invention, and should be limited within the protection scope of the present invention.
Preferably, as shown in fig. 1 to 3, the traveling mechanism includes a first driving assembly 2 and a clamping assembly 3, the first driving assembly 2 is connected with the supporting frame 12, the first driving assembly 2 can drive the inspection robot to travel on the power transmission line 9, the clamping assembly 3 is provided in a plurality, the plurality of clamping assemblies 3 are all connected with the main frame 11, and the plurality of clamping assemblies 3 can clamp the power transmission line 9. In a preferred embodiment of the present invention, there are two first driving assemblies 2, one first driving assembly 2 is disposed at the front end of the inspection robot, the first driving assembly 2 is connected to a supporting frame 12 disposed at the front end, the other first driving assembly 2 is disposed at the rear end of the inspection robot, the first driving assembly 2 is connected to a supporting frame 12 disposed at the rear end of the inspection robot, or both first driving assemblies 2 are disposed at the front end or the rear end of the inspection robot; of course, the number of the first driving assemblies 2 is not limited to two, for example, one, three or four, etc., and those skilled in the art may flexibly set the specific number and the specific setting position of the first driving assemblies 2 in practical applications as long as the inspection robot can be driven to travel on the power transmission line 9 by the first driving assemblies 2. Furthermore, in a preferred embodiment of the present invention, the number of the clamping assemblies 3 is two, one clamping assembly 3 is disposed at the front end of the inspection robot, and the other clamping assembly 3 is disposed at the rear end of the inspection robot, or both clamping assemblies 3 are disposed at the front end or the rear end of the inspection robot; of course, the number of the clamping assemblies 3 is not limited to two, for example, three, four or five, etc., and those skilled in the art can flexibly set the specific number and the specific setting position of the clamping assemblies 3 in practical applications as long as the power transmission line 9 can be clamped by the clamping assemblies 3.
Preferably, as shown in fig. 2, the first driving assembly 2 includes a driving wheel 21, a coupling 22, a first motor 23 and a first connecting rod 24, the driving wheel 21 is connected to the first motor 23 through the coupling 22, the first motor 23 is connected to the supporting frame 12 through the first connecting rod 24, and the first motor 23 can drive the driving wheel 21 to rotate, so that the inspection robot can walk on the power transmission line 9.
Preferably, as shown in fig. 1 and 3, the operation principle of the grip assembly 3 is explained in detail with respect to the grip assembly 3 provided at the front end of the inspection robot. The clamping assembly 3 comprises a first clamping plate 31, a first fixing plate 32, a first adapter plate 33, a first fixing shaft 34, a first clamping wheel 35, a first spring 36, a second clamping plate 37, a second fixing plate 38, a second adapter plate 39, a second fixing shaft 310, a second clamping wheel 311 and a second spring 312, wherein one end of the first clamping plate 31 is fixedly connected with the front panel 111, the other end of the first clamping plate 31 is connected with the first fixing plate 32, one end of the first adapter plate 33 is rotatably connected with the first fixing plate 32, one end of the first spring 36 is connected with the other end of the first adapter plate 33, the other end of the first spring 36 is connected with the first fixing plate 32, the first fixing shaft 34 is connected with the first fixing plate 32, and the first clamping wheel 35 is rotatably connected with the first fixing shaft 34; one end of the second clamping plate 37 is fixedly connected with the front panel 111, the other end of the second clamping plate 37 is connected with the second fixing plate 38, one end of the second adapter plate 39 is rotatably connected with the second fixing plate 38, one end of the second spring 312 is connected with the other end of the second adapter plate 39, the other end of the second spring 312 is connected with the second fixing plate 38, the second fixing shaft 310 is connected with the second fixing plate 38, and the second clamping wheel 311 is rotatably connected with the second fixing shaft 310; in the installed state, the gap between the first pinch wheel 35 and the second pinch wheel 311 is smaller than the diameter of the power transmission line 9, and when the inspection robot is landed on the power transmission line 9, the first pinch wheel 35 and the second pinch wheel 311 can elastically pinch the power transmission line 9 under the action of the first spring 36 and the second spring 312. Specifically, before the inspection robot lands on the power transmission line 9, the first spring 36 and the second spring 312 are both in a relaxed state, and when the inspection robot lands on the power transmission line 9, under the action of the self gravity of the inspection robot, the first clamping wheel 35 drives the first adapter plate 33 to rotate anticlockwise relative to the first fixing plate 32, the second clamping wheel 311 drives the second adapter plate 37 to rotate anticlockwise relative to the second fixing plate 38, the gap between the first clamping wheel 35 and the second clamping wheel 311 is increased, so that the power line 9 is clamped between the first clamping wheel 35 and the second clamping wheel 311, at which point the first spring 36 and the second spring 312 are both in a compressed state, under the action of the first spring 36 and the second spring 312, the first clamping wheel 35 and the second clamping wheel 311 can elastically clamp the power transmission line 9, so that the safety and the stability of the inspection robot can be improved. The first clamping plate 31 and the first fixing plate 32 can be fixedly connected, so that the first clamping plate 31 or the first fixing plate 32 can be conveniently maintained and replaced, or the first clamping plate 31 and the first fixing plate 32 are directly integrated, so that the first clamping plate 31 and the first fixing plate 32 can be conveniently manufactured in an integrated manner, and a person skilled in the art can flexibly set a specific connection form of the first clamping plate 31 and the first fixing plate 32 in practical application as long as the first clamping plate 31 and the first fixing plate 32 can be fixedly connected. Similarly, the second clamping plate 37 and the second fixing plate 38 may be fixedly connected or integrated, the first fixing shaft 34 and the first adaptor plate 33 may be fixedly connected or integrated, and the second fixing shaft 310 and the second adaptor plate 39 may be fixedly connected or integrated. Note that the first clamp plate 31 may be fixedly connected to the side panel 112, and similarly, the second clamp plate 37 may be fixedly connected to the side panel 112.
Preferably, as shown in fig. 1, the traveling mechanism further includes a guide wheel 41, and the guide wheel 41 is connected to the support frame 12 by a second connecting rod 42. Wherein, leading wheel 41 is provided with two and set up both ends around main frame 11 respectively, all is provided with the gradual change recess on the periphery of every leading wheel 41 so that patrol and examine the transmission line 9 that the robot can adapt to different lines warp and different radians. Of course, the guide wheels 41 may be disposed only at the front end of the main frame 11, or the guide wheels 41 may be disposed only at the rear end of the main frame 11, and such adjustment of the specific disposition position of the guide wheels 41 does not depart from the principle and scope of the present invention, and should be limited within the protection scope of the present invention.
Preferably, as shown in fig. 1, four flying mechanisms are provided and are symmetrically disposed at front and rear ends of the main frame 11, each flying mechanism includes a horn 5 and a second driving assembly 6, a first end portion of the horn 5 is connected with the main frame 11, a second end portion of the horn 5 is connected with the second driving assembly 6, and the second driving assembly 6 enables the inspection robot to take off, land and fly over obstacles during the inspection process. Wherein, two flying mechanisms are arranged at the front end of the main frame 11 and symmetrically arranged at the left and right sides of the main frame 11, and two flying mechanisms are arranged at the rear end of the main frame 11 and symmetrically arranged at the left and right sides of the main frame 11. The second driving assembly 6 comprises a second motor 61, a rotor 62 and a shield 63, the shield 63 is coaxially connected with the rotor 62, the second motor 61 is connected with the second end of the horn 5, the second motor 61 can directly drive the rotor 62 to rotate, so that the inspection robot can take off and land and fly over obstacles in the process of line patrol, and the shield 63 is used for protecting the rotor 62.
Preferably, as shown in fig. 1 and 4, the induction charging device comprises a base station 7 and a mobile station 8, wherein the base station 7 is installed on a tower of an overhead transmission line, and the mobile station 8 is installed on a protection frame 13, and when the mobile station 8 approaches the base station 7, the battery pack 10 installed on the protection frame 13 can be charged. The base station 7 comprises an energy obtaining unit 71 and an energy transmitting unit 72, the energy obtaining unit 71 induces current through an annular iron core 711 sleeved on the power transmission line 9, and further outputs stable voltage to the energy transmitting unit 72 through rectification, and the energy transmitting unit 72 further transmits the induced energy through power amplification, an exciting coil and a resonance coil; the mobile station 8 includes an energy sensing unit 81 and an energy management unit 82, the energy sensing unit 81 receives the energy transmitted by the energy transmitting unit 72 through a resonance coil and outputs a regulated voltage to the energy management unit 82 through a rectifying unit, and the energy management unit 82 may implement charge and discharge management of the battery pack 10. The induction charging device can directly obtain electricity from the power transmission line 9 in an induction mode, and energy transmission is carried out in a nuclear magnetic resonance mode, so that the induction charging device is convenient, quick, safe and efficient. When the electric quantity of the inspection robot is insufficient, the inspection robot can move to the position near the base station 7 on the tower and is fixed on the power transmission line 9, the inspection robot is charged in an induction mode, and inspection operation is continued after charging is completed.
In addition, it should be noted that, in the process of the inspection operation, when encountering an on-line obstacle or a pole tower, the inspection robot can take off from the power transmission line 9 to fly over the on-line obstacle or the pole tower, and then land on the power transmission line 9 again to continue the inspection operation.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.
Claims (10)
1. An inspection robot for overhead transmission lines, which is characterized by comprising a body, a walking mechanism connected with the body, a flying mechanism connected with the body and an induction charging device connected with the body,
the body can be stably hung on the power transmission line, the walking mechanism can enable the inspection robot to stably walk on the power transmission line, the flying mechanism can enable the inspection robot to take off and land and fly over obstacles in the process of line inspection, and the induction charging device can supplement electric energy for the inspection robot;
the body comprises a main frame;
the walking mechanism comprises a clamping assembly;
the clamping assembly comprises a first clamping plate, a first fixing plate, a first adapter plate, a first fixing shaft, a first clamping wheel, a first spring, a second clamping plate, a second fixing plate, a second adapter plate, a second fixing shaft, a second clamping wheel and a second spring,
one end of the first clamping plate is fixedly connected with the main frame, the other end of the first clamping plate is connected with the first fixing plate, one end of the first transfer plate is rotatably connected with the first fixing plate, one end of the first spring is connected with the other end of the first transfer plate, the other end of the first spring is connected with the first fixing plate, the first fixing shaft is connected with the first fixing plate, and the first clamping wheel is rotatably connected with the first fixing shaft;
one end of the second clamping plate is fixedly connected with the main frame, the other end of the second clamping plate is connected with the second fixing plate, one end of the second adapter plate is rotatably connected with the second fixing plate, one end of the second spring is connected with the other end of the second adapter plate, the other end of the second spring is connected with the second fixing plate, the second fixing shaft is connected with the second fixing plate, and the second clamping wheel is rotatably connected with the second fixing shaft;
under the installed condition, the gap between the first clamping wheel and the second clamping wheel is smaller than the diameter of the power transmission line, and when the inspection robot lands on the power transmission line, the first clamping wheel and the second clamping wheel can elastically clamp the power transmission line under the action of the first spring and the second spring.
2. The inspection robot according to claim 1, wherein the body further includes a support frame and a protective frame, wherein,
the utility model discloses a robot patrols and examines, including main frame, protection frame, power transmission line, branch frame, protection frame follow the bottom downwardly extending of main frame makes patrolling and examining robot focus step-down, thereby makes patrolling and examining the robot can hang steadily on the power transmission line.
3. The inspection robot according to claim 2, wherein the main frame includes a front panel, a side panel and a rear panel, the side panel is installed between the front panel and the rear panel, and a guide groove is provided on the front panel and/or the rear panel, and the power transmission line enters the guide groove when the inspection robot is landed on the power transmission line.
4. The inspection robot according to claim 2, wherein the travelling mechanism further comprises a first driving assembly, the first driving assembly is connected with the support frame and can drive the inspection robot to travel on the power transmission line, a plurality of clamping assemblies are arranged and connected with the main frame, and the plurality of clamping assemblies can clamp the power transmission line.
5. The inspection robot according to claim 4, wherein the first driving assembly comprises a driving wheel, a coupler, a first motor and a first connecting rod, the driving wheel is connected with the first motor through the coupler, the first motor is connected with the support frame through the first connecting rod, and the first motor can drive the driving wheel to rotate, so that the inspection robot can walk on the overhead transmission line.
6. The inspection robot according to claim 2, wherein the travel mechanism further includes a guide wheel connected to the support frame by a second connecting rod.
7. The inspection robot according to claim 6, wherein the guide wheels are provided with two guide wheels and are respectively arranged at the front end and the rear end of the main frame, and a gradually-changing groove is formed in the circumferential surface of each guide wheel so that the inspection robot can adapt to the power transmission lines with different wire diameters and different radians.
8. The inspection robot according to claim 2, wherein the flying mechanisms are four in number and are symmetrically arranged at the front end and the rear end of the main frame, each flying mechanism comprises a horn and a second driving assembly, the first end of the horn is connected with the main frame, the second end of the horn is connected with the second driving assembly, and the second driving assembly can enable the inspection robot to take off and land and fly over obstacles in the inspection process.
9. The inspection robot according to claim 8, wherein the second drive assembly includes a second motor, a rotor and a shroud, the shroud being coaxially coupled to the rotor, the second motor being coupled to the second end of the boom, the second motor being capable of directly driving the rotor to rotate so as to enable the inspection robot to take off, land and fly over obstacles during an inspection cycle.
10. The inspection robot according to any one of claims 2-9, wherein the inductive charging device includes a base station mounted on a tower of an overhead transmission line and a mobile station mounted on the protective frame, the mobile station being capable of charging a battery pack mounted on the protective frame when the mobile station is proximate to the base station.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910002238.0A CN109638718B (en) | 2019-01-02 | 2019-01-02 | Inspection robot for overhead transmission line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910002238.0A CN109638718B (en) | 2019-01-02 | 2019-01-02 | Inspection robot for overhead transmission line |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109638718A CN109638718A (en) | 2019-04-16 |
| CN109638718B true CN109638718B (en) | 2020-02-07 |
Family
ID=66056648
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910002238.0A Active CN109638718B (en) | 2019-01-02 | 2019-01-02 | Inspection robot for overhead transmission line |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109638718B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110112674A (en) * | 2019-05-13 | 2019-08-09 | 国电南瑞科技股份有限公司 | A kind of autonomous crusing robot of transmission line of electricity based on flight obstacle detouring and obstacle-detouring method |
| WO2021117730A1 (en) | 2019-12-09 | 2021-06-17 | 国際先端技術総合研究所株式会社 | Aerial vehicle and tower including charging port |
| CN110979678A (en) * | 2019-12-27 | 2020-04-10 | 深圳市无限天空科技有限公司 | Unmanned aerial vehicle for circuit cruise detection |
| CN111515969A (en) * | 2020-04-26 | 2020-08-11 | 国网浙江省电力有限公司宁波供电公司 | Inspection robot device and inspection system |
| CN112848926A (en) * | 2021-03-01 | 2021-05-28 | 国网冀北电力有限公司唐山供电公司 | Patrol device for line maintenance and use method thereof |
| CN112977821B (en) * | 2021-03-17 | 2023-04-07 | 北京瑞盈智拓科技发展有限公司 | Transmission line inspection aircraft |
| CN113644612B (en) * | 2021-08-31 | 2023-05-02 | 广东科凯达智能机器人有限公司 | Conductive pressing mechanism and inspection robot using same |
| CN114006445B (en) * | 2021-12-07 | 2024-04-30 | 北京国网富达科技发展有限责任公司 | Charging station for large-span overhead line inspection robot |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6540207B1 (en) * | 2002-04-08 | 2003-04-01 | Harris Manufacturing Inc. | Cable hanging system |
| CN101771246B (en) * | 2008-12-31 | 2011-12-07 | 中国科学院沈阳自动化研究所 | Inspection robot mechanism with lifting and clamping functions |
| CN203434576U (en) * | 2013-08-27 | 2014-02-12 | 张军利 | Remote-controlled multi-shaft unmanned plane paying-off device |
| CN105633855B (en) * | 2016-03-22 | 2018-04-17 | 广州供电局有限公司 | Crusing robot and its method for inspecting |
| CN106887807B (en) * | 2017-03-02 | 2018-10-30 | 中国科学院自动化研究所 | Inspection robot for overhead transmission line |
| CN108258781A (en) * | 2018-02-01 | 2018-07-06 | 华南理工大学 | A kind of the automatic sensing charging unit and method of winged gliding style inspection robot |
-
2019
- 2019-01-02 CN CN201910002238.0A patent/CN109638718B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN109638718A (en) | 2019-04-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109638718B (en) | Inspection robot for overhead transmission line | |
| WO2021073232A1 (en) | Wirelessly charged line inspection unmanned aerial vehicle, charging apparatus and charging method | |
| CN109245326B (en) | Overhead line inspection robot pole tower resident charging station | |
| CN208630373U (en) | Pure electric vehicle car-haul system | |
| CN109484214A (en) | A kind of new energy vehicle charging robot | |
| CN108859773A (en) | Pure electric vehicle car-haul system | |
| CN110112674A (en) | A kind of autonomous crusing robot of transmission line of electricity based on flight obstacle detouring and obstacle-detouring method | |
| CN112977821B (en) | Transmission line inspection aircraft | |
| CN109546573A (en) | A kind of high altitude operation crusing robot | |
| CN204882698U (en) | Unmanned aerial vehicle ware with high pressure overhead line tests electric work ability in high altitude | |
| CN207090843U (en) | Tower crane with wireless charging type visualization video system | |
| CN112977819B (en) | Power transmission line inspection flying robot comprising double machines | |
| CN110000748A (en) | Undercarriage flexible intelligent installation system mechanical arm | |
| CN210806572U (en) | GIL pipeline inspection robot | |
| CN210293129U (en) | Contact type wire sag monitoring device | |
| JPH02111208A (en) | Power source for aerial cable self-propelled vehicle | |
| CN108964200A (en) | A kind of smart charge control system and its charging method | |
| CN210939245U (en) | Armless cable inspection robot | |
| CN211126801U (en) | Overhead transmission line overhauls robotic arm device | |
| CN112152306B (en) | Online endurance guarantee method for flying snake-shaped high-voltage transmission line maintenance robot | |
| CN117080932B (en) | Self-balancing wheel type line inspection robot for power transmission line splicing sleeve | |
| CN210570803U (en) | Electric power system monitoring and collecting device | |
| CN210821848U (en) | Multi-energy-source crawler-type electric driving platform for unmanned inspection of grasslands | |
| CN211377701U (en) | Engineering power supply device | |
| CN209119866U (en) | A kind of distributed mobile power supply system |
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 |