CN109873363A - Extra high voltage direct current transmission line method for inspecting - Google Patents
Extra high voltage direct current transmission line method for inspecting Download PDFInfo
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- CN109873363A CN109873363A CN201910315283.1A CN201910315283A CN109873363A CN 109873363 A CN109873363 A CN 109873363A CN 201910315283 A CN201910315283 A CN 201910315283A CN 109873363 A CN109873363 A CN 109873363A
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Abstract
本发明公开了一种特高压直流输电线路巡检方法，利用巡检机器人对特高压直流输电线路六分裂导线进行巡检，所述巡检机器人包括机架、设置在机架下方的移动组件、固定在机架上方的控制机箱、以可转动方式分别设置在机架两侧的机械手臂以及设置在机械手臂远离机架一端的除异物组件；所述机械手臂能够升降除异物组并使除异物组件在升降过程中保持水平。本发明提供特高压直流输电线路巡检方法，能够利用具有在输电线路导线上行走、巡检和除去异物等多种功能的巡检机器人进行巡检作业，代替作业人员进行巡线及异物清除工作，提高工作效率和巡检安全性。
The invention discloses a method for inspecting ultra-high voltage direct current transmission lines. An inspection robot is used to inspect the six-split conductors of an ultra-high voltage direct current transmission line. The inspection robot comprises a frame, a mobile component arranged under the frame, A control chassis fixed on the top of the rack, a robotic arm arranged on both sides of the rack in a rotatable manner, and a foreign object removal component arranged at one end of the robotic arm away from the rack; the robotic arm can lift the foreign object removal group and remove foreign objects. Components remain level during lifting. The invention provides an inspection method for ultra-high voltage direct current transmission lines, which can use an inspection robot with multiple functions such as walking on the wires of the transmission line, inspecting and removing foreign objects to perform inspection operations, instead of operators to perform line inspection and foreign object removal work , improve work efficiency and inspection safety.
Description
Technical field
The present invention relates to polling transmission line technical fields, and in particular to a kind of extra high voltage direct current transmission line inspection side
Method.
Background technique
It is the major way of long range transmission & distribution electric power using high pressure and super-pressure overhead power transmission line.Power line as repaired not in time
Multiple replacement, will lead to major accident, causes the power failure and huge economic loss of large area.Utilities Electric Co. will periodically set route
Standby inspection finds earlier damage in time and is assessed, arranges necessary maintenance and reparation.Foreign matter failure is to cause power circuit
Main, the one of the major reasons of short circuit tripping.
With the continuous expansion of power grid scale, the increase of substation, electrical grid transmission route is throughout town and country, electric transmission line channel
Environment is increasingly sophisticated, can wind some kites often on route, some foreign matters such as the hot balloon, polybag, the sunshade net that descend slowly and lightly,
An important factor for as transmission line safety stable operation is influenced, great hidden danger is brought to the normal operation of route.Currently, often
There are three types of the operational methods for removing overhead line foreign matter: 1) staff ties up dress cutter with insulating bar and carries out on cross-arm
It cuts off, but operating stick limited length, is restricted by foreign matter present position.2) staff wears special screening clothing and is entered by force by rope ladder
Electrification is artificial in electric field removes, and need to enter strong electrical field equipotential live line work, risk height, large labor intensity, low efficiency.3) stop when working
Electric operation, staff are moved to manual removal at foreign matter along conducting wire with rope ladder frame.Due to being only applicable to power failure operation, reduce
Transmission line of electricity availability coefficient, influences power supply reliability.These three methods require to put into more manpower and material resources, and operation procedure
Complexity, time are long, and people's large labor intensity, security reliability is low, and the processing that has a power failure directly reduces the reliability of power supply, causes
Socie-economic loss influences people's lives.
Therefore, in order to solve the above problem, a kind of extra high voltage direct current transmission line six-multiple conductor is needed to charge except foreign matter patrols
Robot is examined, it can be using with walking, inspection and the inspection machine for removing the multiple functions such as foreign matter on transmission line wire
People carries out inspection operation, carries out line walking instead of operating personnel and foreign matter removes work, improve working efficiency and inspection safety.
Summary of the invention
In view of this, providing extra high voltage direct current transmission line the purpose of the present invention is overcoming defect in the prior art and patrolling
Detecting method, can be using with walking, inspection and the crusing robot for removing the multiple functions such as foreign matter on transmission line wire
Inspection operation is carried out, line walking is carried out instead of operating personnel and foreign matter removes work, improve working efficiency and inspection safety.
Extra high voltage direct current transmission line method for inspecting of the invention, comprising the following steps:
S1, crusing robot is put on extra high voltage direct current transmission line six-multiple conductor；
S2, crusing robot are mobile, while starting cradle head camera；
S3, when cradle head camera takes on extra high voltage direct current transmission line six-multiple conductor, there are foreign matters, and signal is passed
It is handed to controller, controller, which is sent after signal control driving motor is moved to corresponding position, to be stopped；
S4, controller send signal make rotary electric machine and telescope motor work will except foreign matter component is moved to corresponding height,
Then control driving motor is mobile, while sending signal makes electric scissors motor work, and passes through shearing foreign matter and extra-high voltage direct-current transmission
Route six-multiple conductor connecting portion makes the two separation to make foreign matter be detached from；
S5, it completes except after foreign matter work, controller, which sends signal, makes rotary electric machine and telescope motor work that will remove foreign matter group
Part is moved to below extra high voltage direct current transmission line six-multiple conductor at 20cm-50cm；
S6, crusing robot continuation are moved on extra high voltage direct current transmission line six-multiple conductor, detection line needed for reaching
When the end of road, stop working；
S7, crusing robot is removed from extra high voltage direct current transmission line six-multiple conductor.
Further, the crusing robot includes rack, the moving assembly being arranged in below rack, is fixed on the rack
The control cabinet of side, the mechanical arm for being separately positioned on rack two sides in a rotatable manner and setting are in mechanical arm far from machine
Remove foreign matter component in frame one end；The mechanical arm can go up and down except foreign matter group and make to keep in lifting process except foreign matter component
It is horizontal.
Further, the mechanical arm includes mechanical upper arm, mechanical ancon, mechanical lower arm, rotating bar and telescopic rod；
Described machinery upper arm one end is connect with rack in a rotatable manner, and the other end is connect with mechanical ancon in a rotatable manner；It is described
Mechanical lower arm one end is connect with mechanical ancon in a rotatable manner, and the other end is fixedly connected with foreign matter component is removed；The rotating bar
One end is connect with rack in a rotatable manner, and the other end is connect with mechanical ancon in a rotatable manner；Described telescopic rod one end with
In the middle part of the fixed mechanically arm of rotary way, the other end is fixed on mechanical arm top in a rotatable manner；In the rack
It is provided with the rotary electric machine for driving rotating bar to rotate and the telescope motor for driving telescopic rod flexible.
Further, the mechanical upper arm lower end is provided with rotatably upper arm gear, machinery lower arm upper end setting
There is the lower arm gear that can be rotated and engage with upper arm gear.
Further, the mechanical arm further includes lower arm reinforcing rod, and lower arm reinforcing rod one end is in a rotatable manner
It is connect with mechanical ancon, with except foreign matter component is fixedly connected, middle part is fixedly connected the other end with mechanical lower arm.
Further, described except foreign matter component includes connection frame, guiding mechanism and cutting mechanism；The connection frame is with can not
The mode of rotation is fixedly connected with mechanical lower arm and lower arm reinforcing rod；The guiding mechanism and cutting mechanism are fixed on connection frame
On；The cutting mechanism includes the electric scissors for being fixed on the electric scissors motor of connection frame and connecting with electric scissors motor output shaft；It is described to lead
It include two guide rods being fixed in mode angled therebetween on connection frame to mechanism, and the axis composition of two guide rods
Plane be parallel to horizontal plane.
Further, the control cabinet inside is provided with controller, and the front and back outside the control cabinet is each provided with
One cradle head camera；The cradle head camera and controller communicate to connect.
Further, the moving assembly includes driving motor and the traveling wheel with driving motor transmission connection, the drive
Dynamic motor and traveling wheel are each attached in rack；The rotary electric machine, driving motor and electric scissors motor are communicated with controller
Connection.
Further, in step s 4, controller drives rotary electric machine to drive rotating bar rotation, rotating bar band motivation first
Tool ancon and mechanical upper arm are rotated by rotation center of hinged place in rack, and then controller driving contraction motor drives telescopic rod
It is flexible, drive mechanical lower arm to rotate using mechanical lower arm and mechanical ancon hinged place as rotation center, until except foreign matter component reaches
Horizontal position and foreign matter position can be corresponded to.
Further, in step s 2, survey monitor can be manipulated by the wireless control handle communicated to connect with controller
Device people's moving direction.
The beneficial effects of the present invention are: a kind of extra high voltage direct current transmission line method for inspecting disclosed by the invention, Neng Gouli
Inspection operation is carried out with the crusing robot with the multiple functions such as walking, inspection and removing foreign matter on transmission line wire,
Line walking is carried out instead of operating personnel and foreign matter removes work, improves working efficiency and inspection safety.
Detailed description of the invention
The invention will be further described with reference to the accompanying drawings and examples:
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is partial enlargement at the A of Fig. 1；
Fig. 3 is mechanical arm of the invention and the structural schematic diagram except foreign matter component.
Specific embodiment
As shown in Figure 1-Figure 3, the extra high voltage direct current transmission line method for inspecting in the present embodiment, comprising the following steps:
S1, crusing robot is put on extra high voltage direct current transmission line six-multiple conductor；
S2, crusing robot are mobile, while starting cradle head camera；
S3, when cradle head camera takes on extra high voltage direct current transmission line six-multiple conductor, there are foreign matters, and signal is passed
It is handed to controller, controller, which is sent after signal control driving motor is moved to corresponding position, to be stopped；
S4, controller send signal make rotary electric machine and telescope motor work will except foreign matter component is moved to corresponding height,
Then control driving motor is mobile, while sending signal makes electric scissors motor work, and passes through shearing foreign matter and extra-high voltage direct-current transmission
Route six-multiple conductor connecting portion makes the two separation to make foreign matter be detached from；
S5, it completes except after foreign matter work, controller, which sends signal, makes rotary electric machine and telescope motor work that will remove foreign matter group
Part is moved to below extra high voltage direct current transmission line six-multiple conductor at 20cm-50cm；
S6, crusing robot continuation are moved on extra high voltage direct current transmission line six-multiple conductor, detection line needed for reaching
When the end of road, stop working；
S7, crusing robot is removed from extra high voltage direct current transmission line six-multiple conductor.
In the present embodiment, the crusing robot includes rack 1, the moving assembly being arranged in below rack 1, is fixed on machine
The control cabinet 3 of 1 top of frame is separately positioned on the mechanical arm of 1 two sides of rack in a rotatable manner and is arranged in manipulator
Arm removes foreign matter component far from 1 one end of rack；The mechanical arm can go up and down except foreign matter group and make going up and down except foreign matter component
It keeps in the process horizontal.Moving assembly enables crusing robot to walk on transmission line wire and inspection, mechanical arm energy
Enough liftings are except foreign matter group and make to remove foreign matter component holding level in lifting process, to enable to reach foreign matter except foreign matter component
Position, and except foreign matter component is parallel with cable, so as to remove the foreign matter on transmission line of electricity, operation people can be replaced
Member carries out line walking and foreign matter removes work, improves working efficiency and inspection safety.
In the present embodiment, the mechanical arm includes mechanical upper arm 41, mechanical ancon 42, mechanical lower arm 43, rotating bar 44
And telescopic rod 45；Described machinery upper arm 41 one end is connect with rack 1 in a rotatable manner, the other end in a rotatable manner with machine
Tool ancon 42 connects；Described machinery lower arm 43 one end connect with mechanical ancon 42 in a rotatable manner, the other end with except foreign matter group
Part is fixedly connected；Described 44 one end of rotating bar is connect with rack 1 in a rotatable manner, the other end in a rotatable manner with mechanical elbow
Portion 42 connects；Described 45 one end of telescopic rod is in a rotatable manner in the middle part of fixed mechanically arm 41, and the other end is in a rotatable manner
It is fixed on mechanical arm top；Be provided in the rack 1 for drive rotating bar 44 rotate rotary electric machine and for driving
The flexible telescope motor of dynamic telescopic rod 45.Rotary way described herein each means that hingedly, due to there are many foreign matters, some exists
Above transmission line of electricity (balloon, the polybag of the state that such as blows), (such as hot balloon shell falls some below transmission line of electricity
Kite etc.), so needing to work except foreign matter component is sent to corresponding position by mechanical arm；Electricity is rotated when work
Machine drives rotating bar 44 to rotate, and rotating bar 44 drives mechanical ancon 42 and mechanical upper arm 41 with hinged place in rack 1 in rotation
Heart rotation, then contraction pole drives mechanical lower arm 43 to rotate with mechanical 42 hinged place of ancon as rotation center using mechanical lower arm 43,
Until finally being carried out to the foreign matter on transmission line of electricity except foreign matter component reaches horizontal position and can correspond to foreign matter position
It removes.
In the present embodiment, 41 lower end of the machinery upper arm is provided with rotatably upper arm gear 41a, the machinery lower arm 43
Upper end is provided with the lower arm gear 43a that can be rotated and engage with upper arm gear 41a.Due to mechanical arm require large carrying capacity,
Inertia is small, position precision is high, stability is high, and mechanical upper arm 41 and mechanical lower arm 43 are articulated with mechanical ancon 42, in mechanical arm
Adjustment is except foreign matter module position and when being purged foreign matter, and hinged place may shake, and in 44 He of rotating bar
The inertia of machinery upper arm 41 and mechanical lower arm 43 is bigger when telescopic rod 45 drives, so mechanically under 41 lower end of arm and machinery
One group of intermeshing gear, in the two relative rotational motion, upper arm gear 41a and lower arm gear 43a is arranged in 43 upper end of arm
Face and face contact, two-arm provide stress point when rotating, increase bearing capacity, and keep rotation process more stable, reduce mechanical
The inertia of arm improves position precision.
In the present embodiment, the mechanical arm further includes lower arm reinforcing rod 46, and described 46 one end of lower arm reinforcing rod is can turn
Flowing mode is connect with mechanical ancon 42, and with except foreign matter component is fixedly connected, middle part is fixedly connected the other end with mechanical lower arm 43.Under
Arm reinforcing rod 46 can rotate simultaneously with mechanical lower arm 43, increase the bearing capacity and stability of mechanical lower arm 43, and can
Make to enable to carry out except foreign matter component is stable except foreign matter work except the connection frame in foreign matter component is stronger.
It is described except foreign matter component includes connection frame 51, guiding mechanism 52 and cutting mechanism in the present embodiment；The connection frame
51 are non-rotatably fixedly connected with mechanical lower arm 43 and lower arm reinforcing rod 46；The guiding mechanism 52 and cutter
Structure is fixed on connection frame 51.Guiding mechanism 52 guides foreign matter to enter in the cutting stroke of cutting mechanism, then carries out by cutting
Cutting mechanism isolates and falls off foreign matter with transmission line of electricity foreign matter cutting.
In the present embodiment, the cutting mechanism include be fixed on connection frame 51 electric scissors motor 531 and with electric scissors motor 531
Export the electric scissors 532 of axis connection.
In the present embodiment, the guiding mechanism 52 includes two and is fixed on leading on connection frame 51 in mode angled therebetween
Horizontal plane is parallel to the plane of bar, and the axis composition of two guide rods.It is angled therebetween that guiding mechanism 52 is enable to guide
Range it is bigger, two guiding distance between tie rods successively decrease towards close to the orientation angle of cutting mechanism, the axis group of two guide rods
At plane be parallel to horizontal plane, that is to say, that two guide rods are parallel to transmission line of electricity, will not with transmission line of electricity generate interference.
In the present embodiment, the control cabinet 3 is internally provided with controller, and the front and back outside the control cabinet 3 is respectively set
It is equipped with a cradle head camera；The cradle head camera and controller communicate to connect.(refer to along direction of travel before and after cradle head camera
On front and back) each setting one, be due to crusing robot be that can be moved towards both direction, so front and back is respectively provided with.
In moving process, photographing information is transferred to controller by cradle head camera, and controller is received to control after the signal of foreign matter and be driven
Dynamic motor stops after being moved to corresponding position, and then sending signal move rotary electric machine and telescope motor work will except foreign matter component
Corresponding height is moved, driving motor movement is then controlled while sending signal makes electric scissors motor 531 work, completes to work except foreign matter
After will except the adjustment of foreign matter component as transmission line of electricity apart from biggish position, continue inspection work.
In the present embodiment, the moving assembly includes driving motor 21 and the traveling wheel with the transmission connection of driving motor 21
22, the driving motor 21 and traveling wheel 22 are each attached in rack 1.
In the present embodiment, the rotary electric machine, driving motor 21 and electric scissors motor 531 are communicated to connect with controller.
And controller can pass through wireless control handle remote control by the signal of reception wireless control handle, operator
Crusing robot.The mode of the communication connection of controller and various motors, wireless control handle is the prior art, herein no longer
It is described in detail.
Finally, it is stated that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although referring to compared with
Good embodiment describes the invention in detail, those skilled in the art should understand that, it can be to skill of the invention
Art scheme is modified or replaced equivalently, and without departing from the objective and range of technical solution of the present invention, should all be covered at this
In the scope of the claims of invention.
Claims (10)
1. a kind of extra high voltage direct current transmission line method for inspecting, which comprises the following steps:
S1, crusing robot is put on extra high voltage direct current transmission line six-multiple conductor；
S2, crusing robot are mobile, while starting cradle head camera；
S3, when cradle head camera takes on extra high voltage direct current transmission line six-multiple conductor, there are foreign matters, transmit signals to
Controller, controller, which is sent after signal control driving motor is moved to corresponding position, to be stopped；
S4, controller, which send signal, makes rotary electric machine and telescope motor work will be except foreign matter component is moved to corresponding height, then
It is mobile to control driving motor, while sending signal makes electric scissors motor work, and passes through shearing foreign matter and extra high voltage direct current transmission line
Six-multiple conductor connecting portion makes the two separation to make foreign matter be detached from；
S5, it completes except after foreign matter work, controller, which sends signal, move rotary electric machine and telescope motor work will except foreign matter component
It moves below extra high voltage direct current transmission line six-multiple conductor at 20cm-50cm；
S6, crusing robot continuation are moved on extra high voltage direct current transmission line six-multiple conductor, detection route end needed for reaching
When end, stop working；
S7, crusing robot is removed from extra high voltage direct current transmission line six-multiple conductor.
2. extra high voltage direct current transmission line method for inspecting according to claim 1, it is characterised in that: the crusing robot
Including rack, the moving assembly being arranged in below rack, the control cabinet for the side of being fixed on the rack, in a rotatable manner set respectively
Set rack two sides mechanical arm and mechanical arm is set far from rack one end except foreign matter component；The mechanical arm
It can go up and down except foreign matter group and make to remove foreign matter component holding level in lifting process.
3. extra high voltage direct current transmission line method for inspecting according to claim 2, it is characterised in that: the mechanical arm packet
Include mechanical upper arm, mechanical ancon, mechanical lower arm, rotating bar and telescopic rod；Described machinery upper arm one end in a rotatable manner with
Rack connection, the other end are connect with mechanical ancon in a rotatable manner；Described machinery lower arm one end in a rotatable manner with machinery
Ancon connection, the other end are fixedly connected with foreign matter component is removed；Described rotating bar one end is connect with rack in a rotatable manner, another
End is connect with mechanical ancon in a rotatable manner；Described telescopic rod one end is fixed in the middle part of mechanically arm in a rotatable manner, separately
One end is fixed on mechanical arm top in a rotatable manner；The rotation electricity for driving rotating bar to rotate is provided in the rack
Machine and telescope motor for driving telescopic rod flexible.
4. extra high voltage direct current transmission line method for inspecting according to claim 2, it is characterised in that: under the machinery upper arm
End is provided with rotatably upper arm gear, and the machinery lower arm upper end is provided with the lower arm tooth that can be rotated and engage with upper arm gear
Wheel.
5. extra high voltage direct current transmission line method for inspecting according to claim 2, it is characterised in that: the mechanical arm is also
Including lower arm reinforcing rod, lower arm reinforcing rod one end is connect with mechanical ancon in a rotatable manner, the other end with remove foreign matter group
Part is fixedly connected, and middle part is fixedly connected with mechanical lower arm.
6. extra high voltage direct current transmission line method for inspecting according to claim 5, it is characterised in that: described to remove foreign matter component
Including connection frame, guiding mechanism and cutting mechanism；The connection frame non-rotatably adds with mechanical lower arm and lower arm
Strong bar is fixedly connected；The guiding mechanism and cutting mechanism are fixed on connection frame；The cutting mechanism includes being fixed on connection
The electric scissors motor of frame and the electric scissors being connect with electric scissors motor output shaft；The guiding mechanism includes two in mode angled therebetween
The guide rod being fixed on connection frame, and the plane of the axis composition of two guide rods is parallel to horizontal plane.
7. extra high voltage direct current transmission line method for inspecting according to claim 6, it is characterised in that: in the control cabinet
Portion is provided with controller, and the front and back outside the control cabinet is each provided with a cradle head camera；The cradle head camera with
Controller communication connection.
8. extra high voltage direct current transmission line method for inspecting according to claim 7, it is characterised in that: the moving assembly packet
Driving motor and the traveling wheel with driving motor transmission connection are included, the driving motor and traveling wheel are each attached in rack；Institute
Rotary electric machine, driving motor and electric scissors motor is stated to communicate to connect with controller.
9. extra high voltage direct current transmission line method for inspecting according to claim 3, it is characterised in that: in step s 4, control
Device processed drives rotary electric machine to drive rotating bar rotation first, and rotating bar drives mechanical ancon and mechanical upper arm with hinged place in rack
For rotation center rotation, then controller driving shrinks motor and drives telescopic rod flexible, drive mechanical lower arm with mechanical lower arm with
Mechanical ancon hinged place is rotation center rotation, until except foreign matter component reaches horizontal position and can correspond to foreign matter institute in place
It sets.
10. extra high voltage direct current transmission line method for inspecting according to claim 1, it is characterised in that: in step s 2, can
To manipulate crusing robot moving direction by the wireless control handle communicated to connect with controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910315283.1A CN109873363A (en) | 2019-04-18 | 2019-04-18 | Extra high voltage direct current transmission line method for inspecting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910315283.1A CN109873363A (en) | 2019-04-18 | 2019-04-18 | Extra high voltage direct current transmission line method for inspecting |
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| CN109873363A true CN109873363A (en) | 2019-06-11 |
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ID=66922840
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201910315283.1A Pending CN109873363A (en) | 2019-04-18 | 2019-04-18 | Extra high voltage direct current transmission line method for inspecting |
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| CN111113370A (en) * | 2020-01-09 | 2020-05-08 | 西南交通大学 | Crank arm type inspection robot |
| CN113237887A (en) * | 2021-04-29 | 2021-08-10 | 北京送变电有限公司 | Auxiliary device for checking and accepting conducting wire |
| CN114914844A (en) * | 2021-12-15 | 2022-08-16 | 长沙理工大学 | Transmission line hot-line work robot and equipotential operating mechanism thereof |
| CN114973132A (en) * | 2022-05-18 | 2022-08-30 | 慧之安信息技术股份有限公司 | Power transmission line foreign matter and engineering vehicle monitoring system based on edge cloud cooperation |
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| CN114914844A (en) * | 2021-12-15 | 2022-08-16 | 长沙理工大学 | Transmission line hot-line work robot and equipotential operating mechanism thereof |
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| CN114973132A (en) * | 2022-05-18 | 2022-08-30 | 慧之安信息技术股份有限公司 | Power transmission line foreign matter and engineering vehicle monitoring system based on edge cloud cooperation |
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Application publication date: 20190611 |