CN110932175A - Method for resisting environmental interference of 500KV transmission line high-altitude line inspection robot - Google Patents
Method for resisting environmental interference of 500KV transmission line high-altitude line inspection robot Download PDFInfo
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- CN110932175A CN110932175A CN201911268977.0A CN201911268977A CN110932175A CN 110932175 A CN110932175 A CN 110932175A CN 201911268977 A CN201911268977 A CN 201911268977A CN 110932175 A CN110932175 A CN 110932175A
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- transmission line
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B7/00—Cleaning by methods not provided for in a single other subclass or a single group in this subclass
- B08B7/0064—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by temperature changes
- B08B7/0071—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by temperature changes by heating
Abstract
The invention discloses an anti-environmental-interference method for a 500KV transmission line high-altitude line patrol robot, which is provided with an anti-environmental-interference device, wherein the anti-environmental-interference device comprises a shielding device, a flame thrower and a windshield, the flame thrower comprises an induction power supply, an electrolytic bath, an air pump and an oxyhydrogen gas jet nozzle, and an electronic igniter and the shielding device comprise heat-insulating ceramics and a metal sleeve. The invention can solve the problem that the high-altitude line patrol robot encounters the influence of environmental sundries during line patrol, provides flame with abnormal high temperature, ensures that the environmental sundries are burnt out and interfered, does not leave residues, simultaneously has no direct influence on the transmission line by the high-temperature flame, and establishes power gay for solving the faults, defects and hidden dangers of the transmission line and reliably processing foreign matters on the surface of the transmission line.
Description
Technical Field
The invention relates to the field of fruit packaging, in particular to an anti-environmental-interference method for a 500KV transmission line high-altitude line inspection robot.
Background
At present, 6000 kilometers of overhead transmission lines are administered by a power transmission department, and new lines are continuously put into production every year. The overhead transmission line has wide coverage area and complex terrain passing through the area. In addition, the distance between the overhead line and the ground wire is high, the wire diameter is relatively small, the existing defects or hidden dangers are not easy to find, in order to accurately master the running condition of the line and timely eliminate the potential hidden dangers of the line, the line inspection and acceptance are mainly carried out through manual regular line inspection and manual line routing at the present stage, the method is high in labor intensity, long in time consumption and low in efficiency, some line sections are subjected to topographic factors and even cannot be inspected, and inspection dead angles also exist even when the unmanned aerial vehicle inspects the line. In recent years, partial overhead ground wires directly enter the ground wires to be wired and inspected in a close distance by manpower, a large number of defects of corrosion, abrasion and strand breakage are discovered, some defects are in an emergency grade and must be treated by taking measures immediately, however, the manual wiring has high safety risk, huge workload, high labor intensity and low working efficiency, and can not be carried out in a live-line manner, and the wiring and inspection are difficult to complete if the wiring and inspection are carried out according to a scheduled inspection plan.
CN205704212U discloses a wire rod obstacle crossing mechanism of an inspection robot, CN109066464A discloses an obstacle crossing device of an inspection robot, and CN102427209B discloses a obstacle crossing sliding mechanism of an inspection robot and an inspection robot device.
Aiming at the current situation, a power transmission line full-working-condition remote control wiring robot is developed, 8 sets of equipment prototype machines are applied to actual work in total for inspection, and the full-working-condition (8-11 kilometers in one strain section) remote control wiring work can be really realized.
In the process of a large number of line patrolling, a large number of interference sources of environmental sundries also appear, the service life and the use safety of the transmission line are seriously influenced, for example, various sundries brought by wind can generate galvanic corrosion, mechanical hidden dangers, accidental electric shock discharge dangers and the like, because the 500KV transmission line is higher off the ground, objects with attached hidden dangers comprise light and thin iron sheets, films, braided fabrics, cables, branch weeds and other stubborn obstacles which are easy to wind, rain and snow can continuously freeze and accumulate with excessive thickness and the like, the cutting is carried out by adopting a cutter, the efficiency is low, the effect is not good, oil flame is used for combustion, the oil flame is difficult to burn completely, the oil flame has no use especially for metal wires, iron sheets and the like, and becomes a main interference source for corroding the transmission line like the residual waste residues after the combustion, oxyhydrogen flame or acetylene flame with the temperature of up to 3000 ℃ can be used for completely removing foreign, the high-temperature flame has to heat the power transmission line at the same time, so that the defects of heat softening, chemical oxidation, mechanical property reduction, tensile deformation and the like of the power transmission line are caused due to the existence of fusing of the power transmission line, the service life of the power transmission line is seriously shortened, the power transmission line is not different from cut and mending sore, abnormal high-temperature flame is needed for reliably treating foreign matters on the surface of the power transmission line to ensure burning off, burning down and no residue, and the direct influence of the flame on the power transmission line needs to be reduced as much as possible, which is a very important technical problem which causes the technical problem of headache of technicians in.
CN101243591 discloses a system for inductively powering a remote device, the inductive power supply powering the device without a direct physical connection. In those devices that utilize inductive power, the device and the inductive power supply are typically designed so that the device operates only with a particular type of inductive power supply. This requires each device to have a uniquely designed inductive power supply, which according to one embodiment includes a switch operating at a frequency, a primary coil energized by the switch, a primary transceiver for receiving frequency change information from a remote device, and a controller for changing the frequency in response to the frequency change information. According to a second embodiment, a remote device capable of being energized by an inductive power supply includes a secondary coil, a load, a secondary controller for determining an actual voltage across the load, and a secondary transceiver for transmitting a frequency adjustment command to the inductive power supply. According to yet another embodiment, a method of operating an inductive power supply includes: exciting the primary coil at an initial frequency; polling a remote device; and disconnecting the primary coil if the remote device does not respond. According to yet another embodiment, a remote device having a secondary coil for receiving power at an operating frequency from an inductive power supply and powering a load, a method of operating the remote device comprising: comparing the desired voltage with the actual voltage; and sending an instruction to correct the actual voltage to the inductive power supply.
CN105021924A discloses an inductive power supply system and method for facilitating load matching, the system includes an inductive power supply, a load module and a matching display module. The induction power supply is used for outputting alternating current to the load module and calculating the matching rate between the load module and the output power of the induction power supply according to the load parameters of the output alternating current; the load module is connected with the induction power supply and used for receiving alternating current output by the induction power supply and generating an induction magnetic field. According to the system, whether the induction power supply is matched with the load module can be judged, if not, the coil of the load module can be adjusted to enable the load module to be matched with the induction power supply, and then the induction power supply is enabled to output with the maximum power.
Disclosure of Invention
The invention aims to overcome the problems in the prior art and provides an anti-environmental interference method for a 500KV transmission line high-altitude line inspection robot, which can shield wind and rain, resist the sun and the influence of environmental sundries, effectively protect movable components and sensors for detection, can work stably and reliably in all weather in a severe environment with high wind and freezing and easy damage of transmission lines, and establishes power for timely finding, positioning and solving the faults, defects and hidden dangers of the transmission lines.
In order to achieve the technical purpose and achieve the technical effect, the invention is realized by the following technical scheme:
the 500KV transmission line high-altitude line patrol robot anti-environmental interference method comprises a conventional line patrol robot and an anti-environmental interference device, wherein the anti-environmental interference device comprises a shielding device, a flame thrower and a windshield, the flame thrower comprises an induction power supply, an electrolytic cell, an air pump and an oxyhydrogen gas injection nozzle, the electronic flame thrower and the shielding device comprise heat-insulating ceramics and a metal sleeve, and the anti-environmental interference method further comprises the following steps:
a. in a normal line patrol mode, the sensor assembly finds an environmental sundry interference source wound or adhered on the surface of the power transmission line, and the main control circuit board starts an anti-environmental interference program;
b. starting a shielding device, wherein the shielding device wraps the power transmission line, the heat-insulating ceramic is positioned close to the inner ring of the power transmission line, and the metal sleeve is sleeved on the outer side of the heat-insulating ceramic;
c. starting the walking driving device to move towards an environmental impurity interference source;
d. an induction coil of the induction power supply obtains current from the 500KV transmission line in a non-contact induction mode;
e. starting an air pump to pump air, and ejecting gas in the electrolytic cell by an oxyhydrogen gas ejection nozzle, wherein the oxyhydrogen gas ejection nozzle faces the metal sleeve;
f. the electrolytic tank is filled with water for electrolysis, the electrolytic tank is provided with independent bottom parts communicated with the anode electrolytic tank and the cathode electrolytic tank, positive and negative electrolytic electrodes are correspondingly inserted in the electrolytic tank, the positive and negative electrolytic electrodes are connected with an induction power supply and a main control circuit board, the main control circuit board instructs the induction power supply to supply power to the positive and negative electrolytic electrodes, the water in the electrolytic tank, hydrogen and oxygen are generated, and the water, the hydrogen and the oxygen are pumped by an air pump and are ejected from a hydrogen and oxygen gas ejection nozzle;
g. the main control circuit board instructs an electronic igniter positioned in the oxyhydrogen gas injection nozzle to ignite and ignite hydrogen to generate high-temperature flame with the temperature of 3000 ℃, the high-temperature flame is injected on the surface of the metal sleeve and extends annularly along the metal sleeve, and the metal sleeve is hot;
h. the walking driving device continues to drive the walking, the high-temperature flame extending along the annular metal sleeve, the red-hot metal pipe and the built-in heat-insulating ceramic are sequentially contacted with the environmental impurity interference source, and the remains of the environmental impurity interference source are burnt, melted or scalded and extruded;
i. the main control circuit board instructs the induction power supply to power off the positive and negative electrolysis electrodes, stops the action of water electrolysis and stops the generation of hydrogen and oxygen;
j. the oxyhydrogen flame is extinguished, the air pump is closed, and the air pumping is stopped;
k. and (5) removing the shielding device, stopping wrapping the transmission line, and entering a normal line patrol mode.
Furthermore, the middle part of the windshield is a regular curved body with a hyperbolic section and two large ends and a concave middle part, the two sides are spherical bodies which are connected smoothly,
further, shield the ware and install on moment balance assembly, moment balance assembly is connected with conventional inspection robot, including balanced fulcrum and balancing pole, the one end of balancing pole is the compensation heavy object, and the other end is scalable pole, shield the ware subassembly and be located the scalable pole outside, shield the ware subassembly and can wholly or partly wrap up the power transmission line.
Furthermore, the balance rod is provided with a rotating support, the rotating support is rotatably connected with the wind shield through a rotating shaft, the balance fulcrum is an eccentric cam, and the surface of the eccentric cam is provided with a variable fulcrum arc-shaped bulge.
Furthermore, the heat-insulating ceramic and the metal sleeve are provided with cutting edges and extruding convex-concave parts.
Furthermore, the heat-insulating ceramic is made of tungsten steel or tungsten alloy which is high-temperature resistant and corrosion resistant.
Further, the electrolysis trough is provided with liquid storage storehouse and gas storage storehouse, and the liquid storage storehouse bottom intercommunication of anodal electrolysis trough and negative pole electrolysis trough can add the electrolyte salt that promotes electric conductivity in aqueous, and the gas storage storehouse position is kept away from to mutual isolation is connected with the air pump through exhaust duct, the air pump passes through the injection pipeline and is connected with oxyhydrogen gas injection nozzle, still is connected with main control circuit board through the conductor wire, accepts main control circuit board's control.
Furthermore, the shielding device is a clip which can be opened and closed, a notched annular, U-shaped or V-shaped groove is arranged on the clip, an annular shape which can wrap the power transmission line is formed when the shielding device is closed, and the shielding device is an annular, U-shaped or V-shaped notched device when the shielding device is opened.
Furthermore, the telescopic rod is connected with a telescopic driving motor, and the telescopic driving motor is connected with and controlled by the main control circuit board.
Furthermore, the induction power supply is provided with an induction coil, electric energy is obtained by inducing the change of the voltage and/or the current of the power transmission line, the induction coil is connected with the main control circuit board, and the main control circuit board is controlled to supply power to the electrolytic bath, the air pump, the sensor and the motor.
Further, conventional line patrol robot is provided with running gear, walking drive arrangement, hinders subassembly, sensor module and main control circuit board more, installs respectively and fixes on the housing subassembly, main control circuit board is connected and is controlled walking drive arrangement, hinders subassembly and sensor module work more, hinder the subassembly more and be used for climbing pole support and high altitude obstacle, sensor module is used for discovering and monitoring the impaired condition of electric wire, walking drive arrangement is used for driving running gear and removes along the electric wire, still is provided with the subassembly of preventing wind of fixing in the moment balance subassembly of housing subassembly inboard, the outside and sets up the anti-skidding subassembly on running gear, prevent wind the subassembly and include deep bead and wind cap, the wind cap middle part is the rule curved surface body that two big middle parts of hyperbola are sunken, and both sides are the spherical body, are connected with the same direction as the cunning, the subassembly of preventing wind sets up on the deep bead, including balanced fulcrum and balancing pole, the one end of balancing pole is the compensation heavy object, and the other end is scalable pole, sensor unit is located the detecting head in the scalable pole outside, evenly distributed, the detecting head can be whole or partial parcel power transmission line. The obstacle crossing assembly suggests to use a lead screw obstacle crossing mechanism of an inspection robot disclosed in CN205704212U, an obstacle crossing device of an inspection robot disclosed in CN109066464A or a obstacle crossing sliding mechanism of an inspection robot disclosed in CN102427209B and inspection robot equipment. The development cost can be reduced, a die with high manufacturing cost is not needed to be purchased in small batches, and the purchase cost is low.
Furthermore, the walking driving device is a motor connected with an induced power supply or a storage battery, the walking device is a concave disc, and the walking device is connected with the motor through a gear, a belt or a rotating shaft to realize power-on walking. If an induction power supply system is used, borrowing is recommended preferentially, research and development cost can be reduced, a die with high manufacturing cost is not needed for small-batch purchase, matched control software does not need to be developed, and purchasing cost is low.
Furthermore, the concave disc is provided with a power transmission line accommodating groove ring, the groove width of the power transmission line accommodating groove ring is 1.05-1.3 times of the power transmission line diameter, the groove depth is 0.75-2 times of the power transmission line diameter, and the power transmission line accommodating groove ring cannot loosen and fall off when rotating 90 degrees in a normal working state.
Further, the side surface and/or the bottom surface of the power transmission line accommodating groove ring is/are provided with a plurality of anti-skidding soft ribs which are uniformly distributed in 360 degrees.
Furthermore, the shape of the anti-skid soft rib is bidirectional sawtooth.
Furthermore, the side surface of the power transmission line accommodating groove ring is provided with a wear-resistant flexible convex strip or bulge for damping.
Further, the inductive power supply is provided with an induction coil, and obtains electric energy by inducing the change of the voltage and/or current of the power transmission line to supply power to the main control circuit board, the sensor and the motor, for details, refer to an inductive power supply system and method convenient for load matching disclosed in CN105021924A and a system for inductively supplying power to a remote device disclosed in CN101243591, which are cheap and good in quality.
The invention has the beneficial effects that:
(1) the cleaning agent can clear the environmental interference such as steel wires, iron sheets and other metal foreign matters which are difficult to clean, can be cleaned completely under the combined action of high-temperature flame burning, red thermal oxidation and convex-concave extrusion of the cutting edge, and can greatly reduce the risk of corrosion of the transmission line caused by the residues on the surface of the transmission line;
(2) the structural design mode of the heat-insulating ceramic and the metal sleeve can ensure that flame burns around the power transmission line in a ring shape without directly contacting the power transmission line, effectively realizes the heat-insulating effect on the power transmission line, effectively cuts the interference of burnt sundries, enables foreign matters to fall off after being extruded, and ensures that the cleaning effect is better;
(3) the power transmission line is used for supplying power by induced current, the current is stable and controllable, the design difficulty of an energy system is reduced, water is used as a medium, hydrogen and oxygen are generated by electrolysis, the gas source is reliable, the proportion is accurate, no residue exists after combustion, the generated steam has a certain cleaning effect, the steam evaporation protection on the surface of the power transmission line is ensured to a certain extent, and overheating is prevented;
(4) the operation method and the flame control method are safe and reliable, and have no explosion risk.
The foregoing is a summary of the present invention, and in order to provide a clear understanding of the technical means of the present invention and to be implemented in accordance with the present specification, the following is a detailed description of the preferred embodiments of the present invention with reference to the accompanying drawings. The detailed description of the present invention is given in detail by the following examples and the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a schematic overall layout diagram of an anti-environmental-interference line patrol robot according to the present invention;
fig. 2 is a schematic view of a partial structure layout of an anti-environmental-interference line patrol robot according to the present invention;
FIG. 3 is a schematic view of a windshield according to the present invention;
fig. 4 is a schematic diagram of the operation steps of the inspection robot for resisting environmental interference according to the invention.
The reference numbers in the figures illustrate: the line patrol robot comprises a line patrol robot 1, an environmental interference resistance device 2, a shelter 3, a flame thrower 4, a windshield 5, a sensor assembly 6, an environmental impurity interference source 7, a power transmission line 8, a walking device 9, a moment balance assembly 10, a balance fulcrum 11, a balance rod 12, a main control circuit board 101, an eccentric cam 111, a variable fulcrum arc-shaped bulge 112, a compensation weight 121, a telescopic rod 122, heat insulation ceramics 301, a metal sleeve 302, a cutting edge 303, an extrusion convex-concave 304, an induction power source 401, an electrolytic cell 402, an air pump 403, a oxyhydrogen gas injection nozzle 404, an electronic igniter 405, a high-temperature flame 406, a heat insulation induction coil 4011, water 4020 for electrolysis, a positive electrode electrolytic cell 4021, a negative electrode electrolytic cell 4022, a positive and negative electrode 4023, a liquid storage cabin 4024, a liquid storage cabin 4025, an exhaust pipeline 4026, a regular curved body 501 with two large heads and a middle concave part, and two.
Detailed Description
The invention is further described with reference to the accompanying drawings in which:
referring to fig. 1-4, an anti-environmental interference method for a 500KV transmission line high-altitude line patrol robot comprises a conventional line patrol robot and an anti-environmental interference device, wherein the anti-environmental interference device comprises a shielding device, a flame thrower and a windshield, the flame thrower comprises an induction power supply, an electrolytic cell, an air pump and an oxyhydrogen gas injection nozzle, the electronic flame thrower and the shielding device comprise a heat-insulating ceramic and a metal sleeve, and the anti-environmental interference method comprises the following steps as shown in fig. 4:
a. in a normal line patrol mode, the sensor assembly finds an environmental sundry interference source wound or adhered on the surface of the power transmission line, and the main control circuit board starts an anti-environmental interference program;
b. starting a shielding device, wherein the shielding device wraps the power transmission line, the heat-insulating ceramic is positioned close to the inner ring of the power transmission line, and the metal sleeve is sleeved on the outer side of the heat-insulating ceramic;
c. starting the walking driving device to move towards an environmental impurity interference source;
d. an induction coil of the induction power supply obtains current from the 500KV transmission line in a non-contact induction mode;
e. starting an air pump to pump air, and ejecting gas in the electrolytic cell by an oxyhydrogen gas ejection nozzle, wherein the oxyhydrogen gas ejection nozzle faces the metal sleeve;
f. the electrolytic tank is filled with water for electrolysis, the electrolytic tank is provided with independent bottom parts communicated with the anode electrolytic tank and the cathode electrolytic tank, positive and negative electrolytic electrodes are correspondingly inserted in the electrolytic tank, the positive and negative electrolytic electrodes are connected with an induction power supply and a main control circuit board, the main control circuit board instructs the induction power supply to supply power to the positive and negative electrolytic electrodes, the water in the electrolytic tank, hydrogen and oxygen are generated, and the water, the hydrogen and the oxygen are pumped by an air pump and are ejected from a hydrogen and oxygen gas ejection nozzle;
g. the main control circuit board instructs an electronic igniter positioned in the oxyhydrogen gas injection nozzle to ignite and ignite hydrogen to generate high-temperature flame with the temperature of 3000 ℃, the high-temperature flame is injected on the surface of the metal sleeve and extends annularly along the metal sleeve, and the metal sleeve is hot;
h. the walking driving device continues to drive the walking, the high-temperature flame extending along the annular metal sleeve, the red-hot metal pipe and the built-in heat-insulating ceramic are sequentially contacted with the environmental impurity interference source, and the remains of the environmental impurity interference source are burnt, melted or scalded and extruded;
i. the main control circuit board instructs the induction power supply to power off the positive and negative electrolysis electrodes, stops the action of water electrolysis and stops the generation of hydrogen and oxygen;
j. the oxyhydrogen flame is extinguished, the air pump is closed, and the air pumping is stopped;
k. and (5) removing the shielding device, stopping wrapping the transmission line, and entering a normal line patrol mode.
Furthermore, the middle part of the windshield is a regular curved body with a hyperbolic section and two large ends and a concave middle part, the two sides are spherical bodies which are connected smoothly,
further, shield the ware and install on moment balance assembly, moment balance assembly is connected with conventional inspection robot, including balanced fulcrum and balancing pole, the one end of balancing pole is the compensation heavy object, and the other end is scalable pole, shield the ware subassembly and be located the scalable pole outside, shield the ware subassembly and can wholly or partly wrap up the power transmission line.
Furthermore, the balance rod is provided with a rotating support, the rotating support is rotatably connected with the wind shield through a rotating shaft, the balance fulcrum is an eccentric cam, and the surface of the eccentric cam is provided with a variable fulcrum arc-shaped bulge.
Furthermore, the heat-insulating ceramic and the metal sleeve are provided with cutting edges and extruding convex-concave parts.
Furthermore, the heat-insulating ceramic is made of tungsten steel or tungsten alloy which is high-temperature resistant and corrosion resistant.
Further, the electrolysis trough is provided with liquid storage storehouse and gas storage storehouse, and the liquid storage storehouse bottom intercommunication of anodal electrolysis trough and negative pole electrolysis trough can add the electrolyte salt that promotes electric conductivity in aqueous, and the gas storage storehouse position is kept away from to mutual isolation is connected with the air pump through exhaust duct, the air pump passes through the injection pipeline and is connected with oxyhydrogen gas injection nozzle, still is connected with main control circuit board through the conductor wire, accepts main control circuit board's control.
Furthermore, the shielding device is a clip which can be opened and closed, a notched annular, U-shaped or V-shaped groove is arranged on the clip, an annular shape which can wrap the power transmission line is formed when the shielding device is closed, and the shielding device is an annular, U-shaped or V-shaped notched device when the shielding device is opened.
Furthermore, the telescopic rod is connected with a telescopic driving motor, and the telescopic driving motor is connected with and controlled by the main control circuit board.
Furthermore, the induction power supply is provided with an induction coil, electric energy is obtained by inducing the change of the voltage and/or the current of the power transmission line, the induction coil is connected with the main control circuit board, and the main control circuit board is controlled to supply power to the electrolytic bath, the air pump, the sensor and the motor.
Further, conventional line patrol robot is provided with running gear, walking drive arrangement, hinders subassembly, sensor module and main control circuit board more, installs respectively and fixes on the housing subassembly, main control circuit board is connected and is controlled walking drive arrangement, hinders subassembly and sensor module work more, hinder the subassembly more and be used for crossing pole support and high altitude obstacle, sensor module is used for discovering and monitors the impaired condition of electric wire, walking drive arrangement is used for driving running gear and removes along the electric wire, hinders the subassembly more and suggests to use a line patrol robot lead screw that CN205704212U disclosed hinders mechanism more, the line patrol robot that CN109066464A disclosed hinders the device more or a line patrol robot that CN102427209B disclosed strides over obstacle glide machanism and line patrol robot equipment. The development cost can be reduced, a die with high manufacturing cost is not needed to be purchased in small batches, and the purchase cost is low.
Furthermore, the walking driving device is a motor connected with an induced power supply or a storage battery, the walking device is a concave disc, and the walking device is connected with the motor through a gear, a belt or a rotating shaft to realize power-on walking. If an induction power supply system is used, borrowing is recommended preferentially, research and development cost can be reduced, a die with high manufacturing cost is not needed for small-batch purchase, matched control software does not need to be developed, and purchasing cost is low.
Furthermore, the concave disc is provided with a power transmission line accommodating groove ring, the groove width of the power transmission line accommodating groove ring is 1.05-1.3 times of the power transmission line diameter, the groove depth is 0.75-2 times of the power transmission line diameter, and the power transmission line accommodating groove ring cannot loosen and fall off when rotating 90 degrees in a normal working state.
Further, the side surface and/or the bottom surface of the power transmission line accommodating groove ring is/are provided with a plurality of anti-skidding soft ribs which are uniformly distributed in 360 degrees.
Furthermore, the shape of the anti-skid soft rib is bidirectional sawtooth.
Furthermore, the side surface of the power transmission line accommodating groove ring is provided with a wear-resistant flexible convex strip or bulge for damping.
Further, the inductive power supply is provided with an induction coil, and obtains electric energy by inducing the change of the voltage and/or current of the power transmission line to supply power to the main control circuit board, the sensor and the motor, for details, refer to an inductive power supply system and method convenient for load matching disclosed in CN105021924A and a system for inductively supplying power to a remote device disclosed in CN101243591, which are cheap and good in quality.
Furthermore, the walking driving device is a motor connected with an induced power supply or a storage battery, the walking device is a concave disc, and the walking device is connected with the motor through a gear, a belt or a rotating shaft to realize power-on walking. And an induction power supply system is used, so that the cost is low, and the induction power supply system is recommended to be preferentially selected.
Furthermore, the concave disc is provided with a power transmission line accommodating groove ring, the groove width of the power transmission line accommodating groove ring is 1.05-1.3 times of the power transmission line diameter, the groove depth is 0.75-2 times of the power transmission line diameter, and the power transmission line accommodating groove ring cannot loosen and fall off when rotating 90 degrees in a normal working state.
Further, the side surface and/or the bottom surface of the power transmission line accommodating groove ring is/are provided with a plurality of anti-skidding soft ribs which are uniformly distributed in 360 degrees.
Furthermore, the shape of the anti-skid soft rib is bidirectional sawtooth.
Furthermore, the side surface of the power transmission line accommodating groove ring is provided with a wear-resistant flexible convex strip or bulge for damping.
Furthermore, the probe is in a ring shape or a ring shape with a gap, a U shape or a V shape which can be opened and closed.
Furthermore, the telescopic rod is connected with a telescopic driving motor, and the telescopic driving motor is connected with and controlled by the main control circuit board.
Furthermore, the induction power supply is provided with an induction coil, and electric energy is obtained by inducing the change of voltage and/or current of the power transmission line to supply power for the main control circuit board, the sensor and the motor.
The specific embodiment is as follows:
the invention is placed on a transmission line on one side between two transmission line supports by a transmission line management department by using a tool, the invention is stably placed, a line patrol robot is started to work, a main control circuit board is electrified (high-voltage coils are used for directly obtaining electric energy from high-voltage line non-contact induction), a walking driving device (a motor) is instructed to drive a walking device (wheels) to rotate through gears and belts, the walking driving device moves to the other side between the two transmission line supports, a sensor assembly (a camera, a resistance measuring instrument, an X-ray or ultrasonic flaw detection instrument and the like) is driven to work at the same time, various defects (corrosion, abrasion, strand breakage and the like) of the transmission line are found in time, when the invention reaches the other side between the two transmission line supports or meets a larger obstacle on the transmission line, an obstacle crossing assembly works to cross over an electric pole support and an overhead obstacle, and if the obstacle crossing assembly is damaged or not installed, the obstacle crossing is manually realized by a power transmission line management department by using a tool, and the interval line patrol of the next power transmission line is carried out.
However, the 500KV power transmission line is located at high altitude, no wind and rain shielding object exists in the nearby environment, the power transmission line and the line patrol robot can only be exposed outside and subjected to tests of exposure to sunlight, rain, wind, frost, rain and snow, the high altitude has no obstacle, generally has high wind speed, various impurities fly with wind, are blocked by the power transmission line and are laid on or wound on the power transmission line, the high altitude is difficult to clean by conventional means, the high altitude is frozen in the sky and in the sky, rainwater is frozen in the wind, and a large and odd-shaped obstacle is formed on the power transmission line, so that the walking detection of the line patrol robot is influenced, the service life of the power transmission line is also influenced, and the large and odd-shaped obstacle becomes one of various environment impurity interference sources; starting a shielding device, wherein the shielding device wraps the power transmission line, the heat-insulating ceramic is positioned close to the inner ring of the power transmission line, and the metal sleeve is sleeved on the outer side of the heat-insulating ceramic; starting the walking driving device to move towards an environmental impurity interference source; an induction coil of the induction power supply obtains current from the 500KV transmission line in a non-contact induction mode; starting an air pump to pump air, and ejecting gas in the electrolytic cell by an oxyhydrogen gas ejection nozzle, wherein the oxyhydrogen gas ejection nozzle faces the metal sleeve; the electrolytic tank is filled with water for electrolysis, the electrolytic tank is provided with independent bottom parts communicated with the anode electrolytic tank and the cathode electrolytic tank, positive and negative electrolytic electrodes are correspondingly inserted in the electrolytic tank, the positive and negative electrolytic electrodes are connected with an induction power supply and a main control circuit board, the main control circuit board instructs the induction power supply to supply power to the positive and negative electrolytic electrodes, the water in the electrolytic tank, hydrogen and oxygen are generated, and the water, the hydrogen and the oxygen are pumped by an air pump and are ejected from a hydrogen and oxygen gas ejection nozzle; the main control circuit board instructs an electronic igniter positioned in the oxyhydrogen gas injection nozzle to ignite and ignite hydrogen to generate high-temperature flame with the temperature of 3000 ℃, the high-temperature flame is injected on the surface of the metal sleeve and extends annularly along the metal sleeve, and the metal sleeve is hot; the walking driving device continues to drive the walking, the high-temperature flame extending along the annular metal sleeve, the red-hot metal pipe and the built-in heat-insulating ceramic are sequentially contacted with the environmental impurity interference source, and the remains of the environmental impurity interference source are burnt, melted or scalded and extruded; the main control circuit board instructs the induction power supply to power off the positive and negative electrolysis electrodes, stops the action of water electrolysis and stops the generation of hydrogen and oxygen; the oxyhydrogen flame is extinguished, the air pump is closed, and the air pumping is stopped; and (5) removing the shielding device, stopping wrapping the transmission line, and entering a normal line patrol mode.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The utility model provides a 500KV transmission line high altitude patrols line robot anti environmental disturbance method, includes conventional patrolling line robot (1), is provided with conventional sensor assembly (6) and main control circuit board (101), its characterized in that: an anti-environmental interference device (2) is further arranged and comprises a shielding device (3), a flame thrower (4) and a windshield (5), wherein the flame thrower (4) comprises an induction power supply (401), an electrolytic cell (402), an air pump (403), an oxyhydrogen gas injection nozzle (404) and an electronic igniter (405), the shielding device (3) comprises a heat-insulating ceramic (301) and a metal sleeve (302), and an anti-environmental interference method comprises the following steps:
a. in a normal line patrol mode, a sensor assembly (6) finds an environmental sundry interference source (7) wound or adhered to the surface of a power transmission line, and a main control circuit board (101) of a line patrol robot (1) starts an anti-environmental interference program;
b. starting a shielding device (3), wherein the shielding device (3) wraps the power transmission line (8), the heat insulation ceramic (301) is positioned at the inner ring close to the power transmission line, and the metal sleeve (302) is sleeved at the outer side of the heat insulation ceramic;
c. starting a walking driving device (9) of the inspection robot (1) to move towards an environmental sundry interference source (7);
d. an induction coil (4011) of an induction power supply (401) obtains current from a 500KV power transmission line in a non-contact induction mode;
e. starting an air pump (403) to pump air, and ejecting gas in the electrolytic cell by an oxyhydrogen gas ejection nozzle (404), wherein the oxyhydrogen gas ejection nozzle (404) faces the metal sleeve (302);
f. the electrolytic tank (402) is filled with water (4020) for electrolysis, the electrolytic tank (402) is provided with independent bottoms which are communicated with the anode electrolytic tank (4021) and the cathode electrolytic tank (4022), positive and negative electrolytic electrodes (4023) are correspondingly inserted in the electrolytic tanks, the positive and negative electrolytic electrodes (4023) are connected with the induction power supply (401) and the main control circuit board (101), the main control circuit board (101) instructs the induction power supply (401) to supply power to the positive and negative electrolytic electrodes (4023), and the water in the electrolytic tanks, hydrogen and oxygen are generated and pumped by the air pump (403) and sprayed out from the oxyhydrogen gas spray nozzle (404);
g. the main control circuit board (101) instructs an electronic igniter (405) positioned on an oxyhydrogen gas injection nozzle (404) to ignite, so as to ignite hydrogen and generate high-temperature flame (406) with the temperature of 3000 ℃, wherein the high-temperature flame (406) is injected on the surface of the metal sleeve (302) and extends annularly along the metal sleeve (302), and the metal sleeve (302) is red hot;
h. the walking driving device (9) continues to drive to walk, and the high-temperature flame (406) which extends annularly along the metal sleeve (302), the red-hot metal sleeve (302) and the built-in heat-insulating ceramic (301) sequentially contact with the environmental impurity interference source (7) to burn, melt or scald and extrude the remains of the environmental impurity interference source;
i. the main control circuit board (101) instructs the induction power supply (401) to cut off the power of the positive and negative electrolysis electrodes (4023), stops the action of electrolyzing water and stops the generation of hydrogen and oxygen;
j. the oxyhydrogen flame is extinguished, the air pump (403) is closed, and the air pumping is stopped;
k. and (4) removing the shielding device (3), stopping wrapping the transmission line (8), and entering a normal line patrol mode.
2. The 500KV transmission line high-altitude line patrol robot environment interference resisting method according to claim 1, characterized in that: the middle part of the windshield (5) is a regular curved body (501) with hyperbolic sections and large two ends and a concave middle part, the two sides of the windshield are spherical bodies (502) which are connected smoothly, and the lower part of the windshield is provided with a wind shield (503).
3. The 500KV transmission line high-altitude line patrol robot environment interference resisting method according to claim 1, characterized in that: the utility model discloses a line patrol robot, including shielding ware (3) and installing on moment balance subassembly (10), moment balance subassembly (10) are connected with conventional line patrol robot (1), including balanced fulcrum (11) and balancing pole (12), the one end of balancing pole (12) is compensation heavy object (121), and the other end is telescopic rod (122), shield ware subassembly (5) and be located telescopic rod (122) outside, shield ware subassembly (5) and can wholly or partly parcel power transmission line (8).
4. The 500KV transmission line high-altitude line patrol robot environment interference resisting method according to claim 1, characterized in that: the balance rod (12) is provided with a rotating support (123) and is in rotating connection with a wind shield (503) through a rotating shaft (124), the balance fulcrum (11) is an eccentric cam (111), and a fulcrum-variable arc-shaped protrusion (112) is arranged on the surface of the eccentric cam (111).
5. The 500KV transmission line high-altitude line patrol robot environment interference resisting method according to claim 3, characterized in that: the heat insulation ceramic (301) and the metal sleeve (302) are provided with cutting edges (303) and extrusion convex-concave portions (304).
6. The 500KV transmission line high-altitude line patrol robot environment interference resisting method according to claim 4, characterized in that: the metal sleeve (302) is made of high-temperature-resistant and corrosion-resistant tungsten steel or tungsten alloy.
7. The 500KV transmission line high-altitude line patrol robot environment interference resisting method according to claim 5, characterized in that: the electrolytic tank (402) is provided with a liquid storage bin (4024) and a gas storage bin (4025), the bottoms of the liquid storage bins of the anode electrolytic tank (4021) and the cathode electrolytic tank (4022) are communicated, electrolyte salt for promoting conductivity can be added into water, the gas storage bins are far away and isolated from each other and are connected with an air pump (403) through an exhaust pipeline (4026), and the air pump (403) is connected with a oxyhydrogen gas injection nozzle (404) through an injection pipeline (4027) and is also connected with a main control circuit board (101) through a conductive wire to receive the control of the main control circuit board (101).
8. The method for resisting environmental interference of the 500KV transmission line high-altitude line inspection robot according to the structure of claim 1, is characterized in that: the shielding device (3) is a clip capable of being opened and closed, a notched annular, U-shaped or V-shaped groove is formed in the clip, an annular shape capable of wrapping the power transmission line is formed when the clip is closed, and the clip is a notched annular, U-shaped or V-shaped when the clip is opened.
9. The 500KV transmission line high-altitude line patrol robot environment interference resisting method according to claim 1, characterized in that: the telescopic rod (122) is connected with a telescopic driving motor (125), and the telescopic driving motor (125) is connected and controlled by the main control circuit board (101).
10. The 500KV transmission line high-altitude line patrol robot environment interference resisting method according to claim 1, characterized in that: the induction power supply (401) is provided with an induction coil (4011), obtains electric energy by inducing the change of voltage and/or current of a power transmission line, is connected with the main control circuit board (101), and is controlled to supply power to the electrolytic cell (402), the air pump (403), the sensor (6) and the motor through the main control circuit board (101).
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