CN110768159A - Auxiliary inspection robot and method for extra-high voltage transmission line inspection - Google Patents
Auxiliary inspection robot and method for extra-high voltage transmission line inspection Download PDFInfo
- Publication number
- CN110768159A CN110768159A CN201911102253.9A CN201911102253A CN110768159A CN 110768159 A CN110768159 A CN 110768159A CN 201911102253 A CN201911102253 A CN 201911102253A CN 110768159 A CN110768159 A CN 110768159A
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- falling
- walking device
- walking
- track
- wheels
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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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
Abstract
The invention discloses an extra-high voltage transmission line inspection auxiliary maintenance robot and a method thereof, and the robot comprises two walking devices which can move on an anti-falling track, namely a first walking device and a second walking device, wherein the first walking device and the second walking device are connected through a connecting support, the joints of the first walking device and the connecting support are respectively provided with a 360-degree horizontal rotating mechanism, the joint of the first walking device and the connecting support is also provided with a 45-degree vertical tilting mechanism, a video head is arranged on the first walking device, a thermal imaging camera and a visible light camera are arranged on the second walking device, a control box for controlling the walking devices, the 360-degree horizontal rotating mechanism and the 45-degree vertical tilting mechanism is arranged on an installation plate, and the control box is remotely controlled through ground equipment. The invention can improve the detection efficiency, improve the safety of workers and greatly reduce the labor intensity of front-line workers.
Description
Technical Field
The invention relates to the field of ultrahigh voltage transmission line detection, in particular to an auxiliary inspection robot and an auxiliary inspection method for an ultrahigh voltage transmission line.
Background
The ultrahigh voltage transmission lines in China are more and more, the power transmission load is larger and larger, if problems occur, the impact on a power grid is large, and the improvement of the power transmission reliability becomes inevitable. Observe insulator chain and thermal imaging and detect strain insulator crimping pipe and because the phenomenon of generating heat that various reasons caused becomes daily work, mainly climb the tower by the staff at present and accomplish above work, but it is very high to climb the tower operation risk coefficient, though be provided with and prevent the track of falling, nevertheless still have the problem that operation danger, intensity of labour are big and work efficiency is low.
Disclosure of Invention
The invention aims to provide an extra-high voltage transmission line inspection auxiliary maintenance robot and a method, which are used for overcoming the defects in the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides an extra-high voltage transmission line patrols and examines and repair robot auxiliarily, including two running gear that can move on preventing the track that falls, be first running gear and second running gear respectively, connect through linking bridge between first running gear and the second running gear, first running gear and second running gear all are provided with 360 horizontal rotation mechanism with linking bridge junction, first running gear still is provided with 45 perpendicular perk mechanisms with linking bridge junction, and install the video head on the first running gear, install thermal imaging camera and visible light camera on the second running gear, be provided with on the mounting panel and be used for controlling running gear, 360 horizontal rotation mechanism and 45 perpendicular control box that perk the mechanism, and the control box passes through ground equipment remote control.
Further, running gear includes the mounting panel, and the middle part of mounting panel is connected with the support frame, and the bottom symmetry of support frame is provided with and prevents falling track surface complex supporting wheel, and the supporting wheel is connected to the power wheel of setting on the mounting panel through the walking belt, and the symmetry is provided with a plurality of spliced poles on the mounting panel, and the bottom of spliced pole is provided with and prevents falling the track along complex track locking wheel outward, and power wheel and track locking wheel all control through the control box.
Furthermore, four connecting columns are symmetrically arranged on the mounting plate and distributed on two sides of the anti-falling track, and track locking wheels matched with the outer edge of the anti-falling track are arranged at the bottoms of the connecting columns.
Further, a thermal imaging camera and a visible light camera are mounted on the second walking device through a holder.
An extra-high voltage transmission line inspection auxiliary maintenance method comprises the steps that a first walking device and a second walking device are controlled to move or stop on anti-falling tracks through ground equipment in a remote control mode, meanwhile, inspection is conducted on the extra-high voltage transmission line through a video head, a thermal imaging camera and a visible light camera, inspection results are transmitted to the ground equipment to be observed, when the defect position of the current anti-falling tracks needs to be skipped, or when the extra-high voltage transmission line climbs towards higher-layer anti-falling tracks, or the traveling direction needs to be changed, the second walking device is transferred to other anti-falling tracks through the cooperation of a 45-degree vertical tilting mechanism and two 360-degree horizontal rotating mechanisms, and then the first walking device is driven to operate through the second walking device.
Furthermore, the walking device comprises a mounting plate, the middle part of the mounting plate is connected with a support frame, the bottom of the support frame is symmetrically provided with support wheels matched with the surface of the anti-falling track, the support wheels are connected to power wheels arranged on the mounting plate through a walking belt, the mounting plate is symmetrically provided with a plurality of connecting columns, the bottom of each connecting column is provided with a track locking wheel matched with the outer edge of the anti-falling track, and the power wheels and the track locking wheels are controlled by a control box;
when the second walking device is adjusted by matching the 45-degree vertical tilting mechanism and the two 360-degree horizontal rotating mechanisms, firstly, the rail locking wheels of the first walking device are controlled to be clamped at two sides of the anti-falling rail, then the supporting wheels and the walking belt of the first walking device are controlled to be tightly pressed on the surface of the anti-falling rail, then the 45-degree vertical tilting mechanism is controlled to tilt the second walking device, then the rail locking wheels, the supporting wheels and the walking belt of the first walking device are loosened, after the first walking device is controlled to run to a required position, the 45-degree vertical tilting mechanism and the 360-degree horizontal rotating mechanism are controlled to transfer the second walking device to the anti-falling rail to be reached, then the rail locking wheels of the second walking device are controlled to be clamped at two sides of the anti-falling rail, the supporting wheels and the walking belt of the second walking device are controlled to be tightly pressed on the surface of the anti-falling rail, and then the 45-degree vertical tilting mechanism and the 360-degree On the anti-falling track.
Compared with the prior art, the invention has the following beneficial technical effects:
when the robot is used for patrolling the ultra-high voltage transmission line, a worker can realize patrolling only by remote control on the ground without climbing a tower, in addition, the walking device is adopted to slide on the anti-falling track, and the video head, the thermal imaging camera and the visible light camera are simultaneously adopted to patrol the ultra-high voltage transmission line, so that the detection efficiency is improved, the safety of the worker is improved, the labor intensity of a line worker is greatly reduced, and the detection work can be normally finished on an electrified line and a power-off line.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the combination of the anti-falling rail and the traveling device;
FIG. 3 is a schematic view of the present invention in use.
Wherein, 1, a walking belt; 2. a support frame; 3. a power wheel; 4. a rail locking wheel; 5. a control box; 6. connecting a bracket; 7. a holder; 8. a fall prevention rail; 9. a traveling device; 9-1, a first walking device; 9-2 and a second walking device.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings:
referring to fig. 1 to 3, an extra-high voltage transmission line inspection auxiliary maintenance robot comprises two traveling devices 9 capable of moving on an anti-falling track 8, namely a first traveling device 9-1 and a second traveling device 9-2, wherein the first traveling device 9-1 and the second traveling device 9-2 are connected through a connecting support 6, a 360-degree horizontal rotating mechanism is arranged at the joint of the first traveling device 9-1 and the second traveling device 9-2 and the connecting support 6, a 45-degree vertical tilting mechanism is further arranged at the joint of the first traveling device 9-1 and the connecting support 6, a video head is mounted on the first traveling device 9-1, a thermal imaging camera and a visible light camera are mounted on the second traveling device 9-2 through a pan head 7, and a mounting plate for controlling the traveling devices 9 and 9 is arranged on the mounting plate, And the control box 5 of the 360-degree horizontal rotating mechanism and the 45-degree vertical tilting mechanism is remotely controlled by the ground equipment.
Running gear 9 includes the mounting panel, the middle part of mounting panel is connected with support frame 2, the bottom symmetry of support frame 2 is provided with and prevents falling rail 8 surface complex supporting wheel, the supporting wheel is connected to the power wheel 3 of setting on the mounting panel through walking belt 1, the symmetry is provided with four spliced poles on the mounting panel, four spliced poles distribute in the both sides of preventing falling rail 8, the bottom of spliced pole is provided with and prevents falling rail 8 outer along complex track locking wheel 4, power wheel 3 and track locking wheel 4 all control through control box 5.
An extra-high voltage transmission line inspection auxiliary maintenance method comprises the steps that a first walking device 9-1 and a second walking device 9-2 are controlled to move or stop on an anti-falling rail 8 through ground equipment in a remote control mode, meanwhile, inspection is conducted on the extra-high voltage transmission line through a video head, a thermal imaging camera and a visible light camera, inspection results are transmitted to the ground equipment to be observed, when the current anti-falling rail 8 needs to be skipped over, or the extra-high voltage transmission line climbs a higher-layer anti-falling rail 8, or the traveling direction needs to be changed, the second walking device 9-2 is transferred to other anti-falling rails 8 through the cooperation of a 45-degree vertical tilting mechanism and two 360-degree horizontal rotating mechanisms, and then the first walking device 9-1 is driven to operate through the second walking device 9-2.
When the second running gear 9-2 is adjusted by the 45 degree vertical tilting mechanism and two 360 degree horizontal rotating mechanisms in a matching manner, the track locking wheel 4 of the first running gear 9-1 is controlled to be clamped at two sides of the anti-falling track 8, then the supporting wheel and the running belt 1 of the first running gear 9-1 are controlled to be pressed on the surface of the anti-falling track 8, then the 45 degree vertical tilting mechanism is controlled to tilt the second running gear 9-2, then the track locking wheel 4, the supporting wheel and the running belt 1 of the first running gear 9-1 are loosened, the first running gear 9-1 is controlled to run to a required position, the 45 degree vertical tilting mechanism and the 360 degree horizontal rotating mechanism are controlled to transfer the second running gear 9-2 to the anti-falling track 8 to be reached, then the track locking wheel 4 of the second running gear 9-2 is controlled to be clamped at two sides of the anti-falling track 8, and the supporting wheels of the second walking device 9-2 and the walking belt 1 are controlled to be tightly pressed on the surface of the anti-falling track 8, and then the first walking device 9-1 is transferred to the same anti-falling track 8 by controlling the 45-degree vertical tilting mechanism and the 360-degree horizontal rotating mechanism.
The present invention will be described in further detail with reference to specific examples below:
the first walking device 9-1 and the second walking device 9-2 are two independent mechanisms, and both have respective walking motors and rail locking wheels 4, the first walking device 9-1 and the second walking device 9-2 are connected together through a connecting bracket 6, a 360-degree horizontal rotating mechanism is respectively arranged at the connecting part of the connecting bracket 6 and the first walking device 9-1 and the second walking device 9-2, and the first walking device 9-1 is also provided with a 45-degree vertical tilting mechanism for tilting the connecting bracket 6. The second traveling device 9-2 does not have this mechanism, and the first traveling device 9-1 is equipped with a video head. The thermal imaging camera and the visible light camera are mounted on the pan head 7 of the second traveling device 9-2. The holder 7 can be adjusted at any angle of 180 degrees up, down, left and right.
When the robot works, the walking belt 1 of the first walking device 9-1 is tightly attached to the plane of the anti-falling track 8 through remote control, the track locking wheel 4 is tightly clamped on two sides of the anti-falling track 8, then the supporting wheel and the walking belt 1 are tightly pressed on the plane of the anti-falling track 8 to obtain enough friction force, the connecting support 6 is started to vertically tilt to the plane of the second walking device 9-2 without contacting the anti-falling track 8, and the robot can move up and down on the anti-falling track; if the anti-falling track 8 has defects, the second walking device 9-2 can be adjusted to be aligned with the plane of the anti-falling track through the connecting bracket 6 and the 360-degree horizontal rotating mechanism of the second walking device 9-2 to the defect, the second walking device is tightly clamped at the two sides of the anti-falling track through the track locking wheel 4, then the supporting wheel and the walking belt are tightly pressed on the plane of the anti-falling track to obtain enough friction force, then the supporting wheel and the walking belt of the first walking device 9-1 are loosened, the track locking wheel 4 of the first walking device 9-1 is loosened, the connecting bracket of the first walking device 9-1 is started to enable the first walking device 9-1 to leave the plane of the anti-falling track, the second walking device 9-2 is started to walk on the anti-falling track, and the first walking device 9-1 and the second walking device 9-2 can also walk on the anti-falling track from a vertical walking state to a horizontal state, namely And (4) moving the track, horizontally moving the track to any suitable position, adjusting the cradle head 7 and collecting data. The first walking device 9-1 and the second walking device 9-2 are respectively provided with independent images to be transmitted to a monitor on the ground, and meanwhile, whether the clamping grooves of the rail locking wheels are in place can be mutually monitored.
Claims (6)
1. An extra-high voltage transmission line inspection auxiliary maintenance robot is characterized by comprising two traveling devices (9) capable of moving on an anti-falling track (8), namely a first traveling device (9-1) and a second traveling device (9-2), wherein the first traveling device (9-1) and the second traveling device (9-2) are connected through a connecting support (6), the joints of the first traveling device (9-1) and the second traveling device (9-2) and the connecting support (6) are respectively provided with a 360-degree horizontal rotating mechanism, the joint of the first traveling device (9-1) and the connecting support (6) is also provided with a 45-degree vertical tilting mechanism, a video head is installed on the first traveling device (9-1), and a thermal imaging camera and a visible light camera are installed on the second traveling device (9-2), the mounting plate is provided with a control box (5) for controlling the traveling device (9), the 360-degree horizontal rotating mechanism and the 45-degree vertical tilting mechanism, and the control box (5) is remotely controlled through ground equipment.
2. The extra-high voltage transmission line inspection auxiliary maintenance robot is characterized in that the walking device (9) comprises a mounting plate, a support frame (2) is connected to the middle of the mounting plate, support wheels matched with the surface of the anti-falling rail (8) are symmetrically arranged at the bottom of the support frame (2), the support wheels are connected to power wheels (3) arranged on the mounting plate through walking belts (1), a plurality of connecting columns are symmetrically arranged on the mounting plate, rail locking wheels (4) matched with the outer edges of the anti-falling rail (8) are arranged at the bottoms of the connecting columns, and the power wheels (3) and the rail locking wheels (4) are controlled through a control box (5).
3. The extra-high voltage transmission line inspection auxiliary maintenance robot as claimed in claim 2, wherein four connecting columns are symmetrically arranged on the mounting plate, the four connecting columns are distributed on two sides of the anti-falling track (8), and track locking wheels (4) matched with the outer edge of the anti-falling track (8) are arranged at the bottoms of the connecting columns.
4. The extra-high voltage transmission line patrol auxiliary overhaul robot as claimed in claim 1, wherein the second walking device (9-2) is provided with a thermal imaging camera and a visible light camera through a cradle head (7).
5. An extra-high voltage transmission line inspection auxiliary maintenance method, which adopts the extra-high voltage transmission line inspection auxiliary maintenance robot of claim 1, characterized in that a first walking device (9-1) and a second walking device (9-2) are controlled by a ground device to move or stop on a falling-proof track (8), an inspection is carried out on the extra-high voltage transmission line by a video head, a thermal imaging camera and a visible light camera, the inspection result is transmitted to the ground device for observation, when the defect position of the current falling-proof track (8) needs to be skipped, or when the current falling-proof track (8) climbs to a higher layer falling-proof track (8), or the traveling direction needs to be changed, the second walking device (9-2) is transferred to other falling-proof tracks (8) by the cooperation of a 45-degree vertical tilting mechanism and two 360-degree horizontal rotating mechanisms, then the first walking device (9-1) is driven to run by the second walking device (9-2).
6. The extra-high voltage transmission line inspection auxiliary maintenance method according to claim 1, characterized in that the traveling device (9) comprises a mounting plate, a support frame (2) is connected to the middle of the mounting plate, support wheels matched with the surface of the anti-falling track (8) are symmetrically arranged at the bottom of the support frame (2), the support wheels are connected to power wheels (3) arranged on the mounting plate through traveling belts (1), a plurality of connecting columns are symmetrically arranged on the mounting plate, track locking wheels (4) matched with the outer edge of the anti-falling track (8) are arranged at the bottoms of the connecting columns, and the power wheels (3) and the track locking wheels (4) are controlled by a control box (5);
when the second walking device (9-2) is adjusted by the 45-degree vertical tilting mechanism and two 360-degree horizontal rotating mechanisms in a matching manner, firstly, the rail locking wheel (4) of the first walking device (9-1) is controlled to be clamped at two sides of the anti-falling rail (8), then the supporting wheel and the walking belt (1) of the first walking device (9-1) are controlled to be tightly pressed on the surface of the anti-falling rail (8), then the 45-degree vertical tilting mechanism is controlled to tilt the second walking device (9-2), then the rail locking wheel (4), the supporting wheel and the walking belt (1) of the first walking device (9-1) are released, the first walking device (9-1) is controlled to move to a required position, and then the second walking device (9-2) is transferred to the anti-falling rail (8) to be reached by controlling the 45-degree vertical tilting mechanism and the 360-degree horizontal rotating mechanism, then controlling the rail locking wheels (4) of the second walking device (9-2) to be clamped at two sides of the anti-falling rail (8), controlling the supporting wheels and the walking belt (1) of the second walking device (9-2) to be tightly pressed on the surface of the anti-falling rail (8), and transferring the first walking device (9-1) to the same anti-falling rail (8) by controlling the 45-degree vertical tilting mechanism and the 360-degree horizontal rotating mechanism.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911102253.9A CN110768159B (en) | 2019-11-12 | 2019-11-12 | Auxiliary inspection robot and method for extra-high voltage transmission line inspection |
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| CN201911102253.9A CN110768159B (en) | 2019-11-12 | 2019-11-12 | Auxiliary inspection robot and method for extra-high voltage transmission line inspection |
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| CN110768159B CN110768159B (en) | 2020-12-22 |
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Cited By (3)
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| CN111244824A (en) * | 2020-04-08 | 2020-06-05 | 商丘师范学院 | High-voltage transmission cable inspection vehicle based on remote control |
| CN113013784A (en) * | 2021-03-12 | 2021-06-22 | 国网湖北省电力有限公司物资公司 | Anti-falling rail crawling device for 1000kV power transmission line tower |
| TWI760164B (en) * | 2021-03-31 | 2022-04-01 | 華新麗華股份有限公司 | wire slot puller |
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| TWI760164B (en) * | 2021-03-31 | 2022-04-01 | 華新麗華股份有限公司 | wire slot puller |
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