CN110994455B - Inspection and maintenance robot for ultra-high voltage transmission line and operation method - Google Patents
Inspection and maintenance robot for ultra-high voltage transmission line and operation method Download PDFInfo
- Publication number
- CN110994455B CN110994455B CN201911319248.3A CN201911319248A CN110994455B CN 110994455 B CN110994455 B CN 110994455B CN 201911319248 A CN201911319248 A CN 201911319248A CN 110994455 B CN110994455 B CN 110994455B
- Authority
- CN
- China
- Prior art keywords
- connecting arm
- falling
- rail
- track
- wing plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
Landscapes
- Manipulator (AREA)
Abstract
The patent discloses an inspection and overhaul robot for an extra-high voltage transmission line and an operation method, wherein a first branch machine (100) is connected with a second branch machine (200) through a connecting arm (10), and a vertical rotating mechanism (9) is arranged on the connecting arm (10); the first branch machine (100) and the second branch machine (200) comprise a track clamping mechanism, a traveling mechanism, a controller (17), a power supply (18), a horizontal rotating mechanism, a wireless communication module (28) and a video camera (26), and the track clamping mechanism and the horizontal rotating mechanism are respectively clamped on two sides of a wing plate of the anti-falling track (1) through the wheel rim of a track clamping wheel (13); the advantage of this patent is: the maintenance work can be completed on the ground through man-machine conversation without climbing a tower by workers; the detection efficiency and the power supply reliability are improved, the safety of workers is improved, and the labor intensity of front-line workers is greatly reduced; the detection work can be normally finished on live lines and power failure lines.
Description
Technical Field
The patent relates to a high-voltage transmission line overhauling tool, in particular to an extra-high voltage transmission line inspection and overhauling robot and an operation method.
Background
The ultrahigh voltage transmission lines in China are more and more, the power transmission load is more and more, the impact of the lines on the power grid is large if problems exist, and the maintenance and protection of the transmission lines become very important work content of national power systems. Observe insulator string and thermal imaging and detect strain insulator crimping pipe because the phenomenon of generating heat that various reasons caused is as carrying out the important work of daily dimension guarantor, needs the staff to step on the tower and overhauls one by one. The extra-high voltage transmission line is high in voltage level, high in pole tower height, time-consuming and labor-consuming in tower climbing, large in workload of operators, low in working efficiency, and has potential safety hazards of electric shock, falling and the like.
A plurality of researches are carried out on a robot for climbing the tower instead of a human, a large number of types of iron tower climbing robots are found through a large number of searches, the iron tower climbing robots mainly comprise hard ladder climbing robots, cement pole climbing robots and the like, but the actual application is not found at present due to the volume and the weight. The anti-falling rail is a T-shaped steel rail arranged along a tower for preventing tower climbing personnel from falling accidentally when the tower is built, the effect of the anti-falling rail is limited to the fact that the tower climbing personnel hang safety ropes at present, and the working strength of operators cannot be reduced.
Disclosure of Invention
The purpose of this patent is to design an extra-high voltage transmission line inspection and maintenance robot and operation method, utilizes current track of preventing falling, realizes automatic tower climbing and detects insulator, crimping pipe reliability.
The technical scheme of this patent is: extra-high voltage transmission line inspection and maintenance robot, characterized by: the first branch machine and the second branch machine are connected through a connecting arm, and a vertical rotating mechanism is arranged on the connecting arm; the first extension and the second extension are two identical independent mechanisms and respectively comprise a track clamping mechanism, a walking mechanism, a controller, a power supply, a horizontal rotating mechanism, a wireless communication module and a video camera, wherein the track clamping mechanism, the walking mechanism, the controller, the power supply, the horizontal rotating mechanism, the wireless communication module and the video camera are arranged on the platform; the power supply respectively supplies power to the controller, the video camera, the camera holder and the wireless communication module, the controller is electrically connected with the video camera and the camera holder, the wireless communication module is electrically connected with the controller and the video camera, and the wireless communication module is communicated with an operation monitor arranged on the ground in a wireless mode;
the rail clamping mechanism comprises a rail clamping wheel and an electric telescopic rod, the rail clamping wheel is connected to two sides below the platform through a wheel shaft, two ends of the electric telescopic rod are respectively connected to the wheel shafts on two sides of the platform, an annular groove is formed in a flange of the rail clamping wheel, the width of the annular groove is matched with the thickness of a wing plate of the anti-falling rail, the first branch machine and the second branch machine are respectively clamped on two sides of the wing plate of the anti-falling rail through the flange of the rail clamping wheel, and the wheel shafts of the rail clamping wheels on two sides are tightened through the electric telescopic rod to enable the rail clamping wheel to be pressed on two sides of the wing plate of;
the walking mechanism comprises two belt pulleys, a belt and at least two tension pulleys, the two belt pulleys are connected to the platform through a belt pulley support, the belt is installed on the rim of the belt pulley, the belt is attached to the wing panel surface of the anti-falling rail through the two tension pulleys, the tension pulleys are movably connected to the platform through a tension pulley support, and the tension pulley support is pressed on the platform through an electric telescopic block;
the horizontal rotating mechanism comprises a motor I, a pinion I and a bull gear I, the motor I is fixed on the platform, the bull gear I is connected to the platform through a support, the output shaft end of the motor I is connected with the rotating shaft of the pinion I, the pinion I and the bull gear I are matched and paired to form a gear reduction mechanism, the end part of a connecting arm is fixedly connected with a spoke of the bull gear I, and the connecting arm can rotate in the horizontal direction when the motor I rotates;
the vertical rotating mechanism comprises a motor II, a pinion II and a bull gear II, the pinion II is matched with the bull gear II to form a gear reduction mechanism, the motor II is fixed on a rotating support frame of the pinion II, an output shaft of the motor II is connected with a rotating shaft of the pinion II to drive the pinion II to rotate, and the rotating support frame of the bull gear II is connected with a spoke of the bull gear II to rotate along with the bull gear II; the connecting arm comprises two sections, namely a first section connecting arm and a second section connecting arm, the vertical rotating mechanism is arranged between the first section connecting arm and the second section connecting arm, and the first section connecting arm and the second section connecting arm are connected through the vertical rotating mechanism; one end of the first section of connecting arm is connected to a spoke of a large gear I of a horizontal rotating mechanism in the first separator, and the other end of the first section of connecting arm is connected to a rotating support frame of a small gear II of a gear reduction mechanism of the vertical rotating mechanism; one end of the second section of connecting arm is connected to a spoke of a large gear I of the horizontal rotating mechanism of the second separator, and the other end of the second section of connecting arm is connected to a rotating support frame of a large gear II of a gear reduction mechanism of the vertical rotating mechanism; the rotating support frame of the small gear II is hinged with the rotating support frame of the large gear II and can rotate relatively in the vertical direction; when the motor II rotates, the second section of connecting arm can rotate in the vertical direction relative to the first section of connecting arm or the first section of connecting arm can rotate in the vertical direction relative to the second section of connecting arm;
the video camera is arranged on a camera holder arranged on the platform, and the shooting angle of the video camera can be adjusted by adjusting the camera holder; the video camera comprises a thermal imaging camera and a visible light camera;
the operation method of the inspection and maintenance robot for the ultra-high voltage transmission line comprises the following steps:
1) when the anti-falling rail is in work, a switch of a power supply is turned on, the rail clamping wheels of the rail clamping mechanism of the first sub-machine are arranged on two sides of a wing plate of the anti-falling rail, a belt of the travelling mechanism is attached to the surface of the wing plate of the anti-falling rail, and the electric telescopic rod of the rail clamping mechanism of the first sub-machine is started, so that the annular grooves of the rail clamping wheels are tightly clamped on two sides of the wing plate of the anti-falling rail, the clamping force is not too large, and the rail clamping wheels can slide along the two sides of the wing plate and; then starting an electric telescopic block of a first branch machine traveling mechanism, and pressing a tension pulley and a belt on the plane of a wing plate of the anti-falling track to obtain enough friction force required by traveling;
2) starting a motor II of the vertical rotating mechanism on the connecting arm to enable the second section of connecting arm to vertically tilt to a wing plate plane of the second sub-machine without contacting the anti-falling track, and then starting a traveling motor of the traveling mechanism of the first sub-machine, so that the first sub-machine can travel up and down on the anti-falling track;
3) if a defect or other obstacles influencing the walking are found on the anti-falling track, the second splitter is adjusted to be aligned with the plane of the wing plate of the anti-falling track through a vertical rotating mechanism on the connecting arm and a horizontal rotating mechanism of the second splitter, an electric telescopic rod of a track clamping mechanism of the second splitter is started, an annular groove of a track clamping wheel of the second splitter is clamped at two sides of the wing plate of the anti-falling track, an electric telescopic block of the running mechanism of the second splitter is started to tightly attach a tension wheel and a belt to the plane of the wing plate of the anti-falling track so as to obtain enough friction force, and then the electric telescopic block of the running mechanism of the first splitter and the electric telescopic rod of the track clamping mechanism are sequentially loosened so that the belt and the track clamping wheel of the running mechanism of the; then starting a motor II of the vertical rotating mechanism on the connecting arm, and enabling the first extension to rotate for a certain angle in the vertical direction so as to leave the anti-falling track; then starting a traveling motor of a traveling mechanism of the second branch machine, and enabling the second branch machine to continue to travel up and down on the anti-falling track;
4) when the anti-falling rail of the main rod tower is transferred to the horizontal anti-falling rail on the cross arm, the vertical walking state is changed into the horizontal walking state, and the step 3 is carried out; the camera tripod head is adjusted to acquire the relevant data of the insulator and the crimping pipe when the camera tripod head horizontally walks to any suitable position, and the data are transmitted to an operation monitor on the ground in real time and are stored.
The advantage of this patent is: the maintenance work can be completed on the ground through man-machine conversation without climbing a tower by workers; the detection efficiency and the power supply reliability are improved, the safety of workers is improved, and the labor intensity of front-line workers is greatly reduced; the detection work can be normally finished on live lines and power failure lines.
Drawings
FIG. 1 is a schematic structural diagram of a detection robot in working state;
FIG. 2 is a cross-sectional view A-A of FIG. 1;
FIG. 3 is a cross-sectional view B-B of FIG. 1;
FIG. 4 is a cross-sectional view C-C of FIG. 1;
FIG. 5 is a schematic view of a connecting arm configuration;
FIG. 6 is an enlarged fragmentary sectional view taken at D-D of FIG. 3;
FIG. 7 is a schematic structural diagram of a process for detecting the transition of the walking direction of the robot;
in the drawings, 1-a fall arrest track; 2-a belt pulley; 3-a platform; 4-a wheel axle; 5-a tension wheel; 6-a tension wheel bracket; 7-a box body; 8-a pressing shaft; 9-a vertical rotation mechanism; 10-a linker arm; 11-a walking motor; 12-a belt; 13-a rail clamping wheel; 14-an electric telescopic rod; 15-electric telescopic block; 16-a pulley carrier; 17-a controller; 18-a power supply; 19-motor I; 20-pinion I; 21-bull gear I; 22-a support; 23-motor II; 24-pinion II; 25-bull gear II; 26-a video camera; 27-a camera head; 28-a wireless communication module; 100-a first extension; 200-second extension.
Detailed Description
As shown in fig. 1, the inspection and overhaul robot for the extra-high voltage transmission line comprises a first branch machine 100 and a second branch machine 200, wherein the first branch machine 100 and the second branch machine 200 are connected through a connecting arm 10, and a vertical rotating mechanism 9 is arranged on the connecting arm 10; the first sub-machine 100 and the second sub-machine 200 are two independent mechanisms with the same structure, and each mechanism comprises a track clamping mechanism, a traveling mechanism, a controller 17, a power supply 18, a horizontal rotating mechanism, a wireless communication module 28 and a video camera 26 which are arranged on the platform 3; a box body 7 is fixedly arranged above the platform 3, a controller 17, a power supply 18, a horizontal rotating mechanism and a wireless communication module 28 are arranged in the box body 7, and one end of a connecting arm 10 is fixedly connected with a rotating part of the horizontal rotating mechanism and then extends out of an opening above the box body 7.
As shown in fig. 2, the rail clamping mechanism comprises a rail clamping wheel 13 and an electric telescopic rod 14; the rail clamping wheels 13 are connected to two sides below the platform 3 through wheel shafts 4, threads are arranged at two ends of the wheel shafts 4, one ends of the wheel shafts 4 are connected to the platform 3 through nuts, the other ends of the wheel shafts 4 are connected with the rail clamping wheels 13, and the rail clamping wheels 13 can rotate on the wheel shafts; the platform 3 is arranged above the wing plate surface of the T-shaped steel of the anti-falling track 1, and the track clamping wheels 13 are arranged on two sides of the wing plate in a pairwise opposite manner; an annular groove is arranged on the rim of the rail clamping wheel 13, and the width of the annular groove is matched with the thickness of a T-shaped steel wing plate of the anti-falling rail 1; one end of an electric telescopic rod 14 is connected with the wheel shaft 4 on one side of the platform 3, and the other end is connected with the wheel shaft 4 opposite to the platform 3 on the other side of the platform, so that the rail clamping wheels 13 on two sides of the wing plate are folded on two sides of the anti-falling rail 1; the first divider 100 and the second divider 200 are clamped on two sides of a T-shaped steel wing plate of the anti-falling rail 1 through rims of rail clamping wheels 13 on two sides of a rail clamping mechanism, wheel shafts 4 of the rail clamping wheels 13 on two sides are tightened through electric telescopic rods 14 to enable the rail clamping wheels 13 to be pressed on two sides of the T-shaped steel wing plate, the rail clamping wheels 13 can slide along the wing plate after being pressed on two sides of the wing plate, annular grooves on the rims of the rail clamping wheels 13 on two sides are clamped on two sides of the wing plate in an opposite mode, and therefore the rail clamping mechanism is in sliding fit with the anti-falling rail 1 and does not fall off from the anti-falling rail 1.
As shown in fig. 3, 4 and 6, the traveling mechanism includes two belt pulleys 2, a traveling motor 11, a belt 12 and at least two tension pulleys 5, the two belt pulleys 2 are connected to the platform 3 through a belt pulley support 16, the traveling motor 11 is fixed on the platform 3 or the belt pulley support 16, an output shaft of the traveling motor 11 is connected with a central shaft of one of the belt pulleys 2, and the traveling motor 11 drives the belt pulley 2 to rotate along with the central shaft; a belt 12 is arranged on the rim of the belt pulley 2, the belt 12 is attached to the surface of a T-shaped steel wing plate of the anti-falling rail 1 through two tension pulleys 5, rotating shafts at two ends of each tension pulley 5 are connected in shaft holes at the lower ends of tension pulley supports 6 at two sides, two sides of the middle part of the platform 3 are recessed inwards, the upper ends of the tension pulley supports 6 protrude from two sides of the platform 3 to the upper surface of the platform 3, two electric telescopic blocks 15 are fixedly arranged on the platform 3, connecting holes are arranged on telescopic pressure rods of the electric telescopic blocks 15, a pressing shaft 8 is inserted into the telescopic pressure rod holes of the electric telescopic blocks 15, two ends of the pressing shaft 8 are fixedly connected with the upper ends of the tension pulley supports 6, when the telescopic rods of the electric telescopic blocks 15 are extended, the tension pulley supports 6 are lifted upwards along with the pressing shaft 8, the belt 12 is separated from the surface of a wing plate of, the tension pulley support 6 moves downwards along with the pressing shaft 8, the belt 12 is tightly attached to the wing plate surface of the anti-falling rail 1, and the tension pulley support 6 is pressed on the platform 3 through the electric telescopic block 15.
As shown in fig. 6, the horizontal rotating mechanism comprises a motor I19, a pinion I20 and a bull gear I21, the motor I19 is fixed on the platform 3, the bull gear I21 is connected to the platform 3 through a support 22, the output shaft end of the motor I19 is connected with the wheel shaft of the pinion I20, the pinion I20 and the bull gear I21 are matched and paired to form a gear reduction mechanism, the end of a connecting arm 10 is fixedly connected with the spoke of the bull gear I21, and the connecting arm 10 can rotate in the horizontal direction when the motor I19 rotates;
the vertical rotating mechanism 9 comprises a motor II 23, a pinion II 24 and a bull gear II 25, the pinion II 24 and the bull gear II 25 are matched and paired to form a gear reduction mechanism, the motor II 23 is fixed on a rotating support frame of the pinion II 24, an output shaft of the motor II 23 is connected with a rotating shaft of the pinion II 24 to drive the pinion II 24 to rotate, and the rotating support frame of the bull gear II 25 is connected with a spoke of the bull gear II 25 to rotate along with the bull gear II 25; the connecting arm 10 comprises two sections, namely a first section connecting arm and a second section connecting arm, the vertical rotating mechanism 9 is arranged between the first section connecting arm and the second section connecting arm, and the first section connecting arm and the second section connecting arm are connected through the vertical rotating mechanism 9; one end of the first section of connecting arm is connected to a spoke of a large gear I21 of a horizontal rotating mechanism in the first separator 100, and the other end of the first section of connecting arm is connected to a rotating support frame of a small gear II 24 of a gear reduction mechanism of the vertical rotating mechanism 9; one end of the second section of connecting arm is connected to the spoke of the large gear I21 of the horizontal rotating mechanism of the second extension 200, and the other end of the second section of connecting arm is connected to the rotating support frame of the large gear II 25 of the gear reduction mechanism of the vertical rotating mechanism 9; the rotating support frame of the small gear II 24 is hinged with the rotating support frame of the large gear II 25 and can rotate relatively in the vertical direction; when the motor II 23 rotates, the second section of connecting arm can rotate in the vertical direction relative to the first section of connecting arm or the first section of connecting arm can rotate in the vertical direction relative to the second section of connecting arm (for convenience of description, the expressions about the vertical rotation and the horizontal rotation are in the patent, the plane of the wing plate of the anti-falling track is set to be in the horizontal direction); thus, when the motor ii 23 of the vertical rotation mechanism 9 rotates, the first separator 100 and the second separator 200 rotate relatively in the vertical direction.
The video camera 26 is arranged on a camera cloud platform 27 arranged on the platform 3, and the shooting angle of the video camera 26 can be adjusted by adjusting the camera cloud platform 27; the video camera 26 comprises a thermal imaging camera and a visible light camera, and is used for observing the insulator string and detecting the heating phenomenon of the strain compression joint pipe caused by various reasons through thermal imaging, and observing and adjusting whether the work of the first divider 100 or the second divider 200 is normal or not, and whether the annular groove of the rail clamping wheel 13 is clamped at the two sides of the wing plate of the anti-falling rail 1 or not; the video camera 26 on the first sub-machine 100 is mounted at the front end (the end close to the second sub-machine 200) of the platform 3 of the first sub-machine 100 and is used for observing the second sub-machine 200 and detecting an insulator string and a lead crimping pipe, and the video camera 26 on the second sub-machine 200 is mounted at the rear end (the end close to the first sub-machine 100) of the second sub-machine 200 and is used for observing the first sub-machine 100 and detecting the insulator string and the lead crimping pipe; the power supply 18 supplies power to the controller 17, the video camera 26, the camera holder 27 and the wireless communication module 28 respectively, the controller 17 is electrically connected with the video camera 26 and the camera holder 27, the controller 17 is used for controlling the video camera 26 and the camera holder 27 to work, the wireless communication module 28 is electrically connected with the controller 17 and the video camera 26, the wireless communication module 28 is in communication with an operation monitor arranged on the ground in a wireless mode, the video camera 26 transmits shot data to an operation monitor on the ground in real time through the wireless communication module 28 and stores the shot data, the wireless communication module 28 and the operation monitor arranged on the ground transmit information in real time in a wireless mode, and the operation monitor on the ground sends a control command to the controller 17.
The operation method of the inspection and maintenance robot for the ultra-high voltage transmission line comprises the following steps:
1) when the anti-falling rail 1 works, a switch of a power supply 18 is turned on, the rail clamping wheels 13 of the rail clamping mechanism of the first separator 100 are arranged on two sides of a wing plate of the anti-falling rail 1, a belt 12 of a travelling mechanism is attached to the surface of the wing plate of the anti-falling rail 1, and an electric telescopic rod 14 of the rail clamping mechanism of the first separator 100 is started, so that the annular grooves of the rail clamping wheels 13 are tightly clamped on two sides of the wing plate of the anti-falling rail 1, the clamping force is not too large, and the rail clamping wheels 13 can slide along the two sides of the wing plate and are firmly connected without falling; then starting the electric telescopic block 15 of the traveling mechanism of the first separator 100, and pressing the tension pulley 5 and the belt 12 on the plane of the wing plate of the anti-falling track 1 to obtain enough friction force required by traveling;
2) starting a motor II 23 of the vertical rotating mechanism 9 on the connecting arm 10 to enable the second section of connecting arm to vertically tilt to a wing plate plane of the second branch machine 200 without contacting the anti-falling track 1, then starting a traveling motor 11 of a traveling mechanism of the first branch machine 100, and enabling the first branch machine 100 (the second branch machine 200 to follow up) to travel up and down on the anti-falling track 1;
3) as shown in fig. 1, if there is a defect or other obstacle affecting the walking on the fall arrest rail 1, the second sub-machine 200 is adjusted to be aligned with the plane of the wing plate of the anti-falling track 1 through the vertical rotating mechanism 9 on the connecting arm 10 and the horizontal rotating mechanism of the second sub-machine 200, the electric telescopic rod 14 of the track clamping mechanism of the second sub-machine 200 is started, the annular groove of the track clamping wheel 13 of the second sub-machine 200 is clamped at the two sides of the wing plate of the anti-falling track 1, the electric telescopic block 15 of the travelling mechanism of the second sub-machine 200 is started to tightly attach the tension wheel 5 and the belt 12 to the plane of the wing plate of the anti-falling track 1 so as to obtain enough friction force, and then the electric telescopic block 15 of the travelling mechanism of the first sub-machine 100 and the electric telescopic rod 14 of the track clamping mechanism are sequentially loosened so that the belt 12 and the track clamping wheel 13; then, a motor II 23 of the vertical rotating mechanism 9 on the connecting arm 10 is started, so that the first separator 100 rotates for a certain angle in the vertical direction to leave the anti-falling track 1; then, the traveling motor 11 of the traveling mechanism of the second sub-machine 200 is started, and the second sub-machine 200 (the first sub-machine 100 follows up) can continue to travel up and down on the anti-falling track 1;
4) as shown in fig. 7, when the main-rod tower anti-falling rail 1 is transferred to the horizontal anti-falling rail 1 on the cross arm, the vertical traveling state needs to be changed to the horizontal traveling state, and the step 3 is performed; the camera holder 27 is adjusted to collect the relevant data of the insulator and the crimping pipe when the camera holder is horizontally moved to any suitable position, and the data is sent to an operation monitor on the ground in real time and stored; in the above steps 1 to 3, the video cameras on the first divider 100 and the second divider 200 respectively have independent images to be transmitted to the operation monitor on the ground, and the operation monitor is mutually monitored to determine whether the operation is normal and whether the annular groove of the rail clamping wheel 13 is clamped in place.
Claims (4)
1. Extra-high voltage transmission line inspection and maintenance robot, characterized by: the first sub-machine (100) is connected with the second sub-machine (200) through a connecting arm (10), and a vertical rotating mechanism (9) is arranged on the connecting arm (10); the first branch machine (100) and the second branch machine (200) are two identical independent mechanisms and respectively comprise a track clamping mechanism, a walking mechanism, a controller (17), a power supply (18), a horizontal rotating mechanism, a wireless communication module (28) and a video camera (26) which are arranged on the platform (3); the power supply (18) respectively supplies power to the controller (17), the video camera (26), the camera holder (27) and the wireless communication module (28), the controller (17) is electrically connected with the video camera (26) and the camera holder (27), the wireless communication module (28) is electrically connected with the controller (17) and the video camera (26), and the wireless communication module (28) is in communication with an operation monitor arranged on the ground in a wireless mode;
the rail clamping mechanism comprises rail clamping wheels (13) and electric telescopic rods (14), the rail clamping wheels (13) are connected to two sides below the platform (3) through wheel shafts (4), two ends of each electric telescopic rod (14) are respectively connected to the wheel shafts (4) on two sides of the platform (3), annular grooves are formed in the rims of the rail clamping wheels (13), the width of each annular groove is matched with the thickness of a wing plate of the anti-falling rail (1), the first branch machine (100) and the second branch machine (200) are respectively clamped to two sides of the wing plate of the anti-falling rail (1) through the wheel rims of the rail clamping wheels (13), and the wheel shafts (4) of the rail clamping wheels (13) on two sides are tightened through the electric telescopic rods (14) so that the rail clamping wheels (13) are pressed on two sides of the wing plate of the anti-falling rail (1);
the walking mechanism comprises two belt pulleys (2), a belt (12) and at least two tension pulleys (5), the two belt pulleys (2) are connected to the platform (3) through belt pulley supports (16), the belt (12) is installed on the rim of the belt pulleys (2), the belt (12) is attached to the wing plate surface of the anti-falling rail (1) through the two tension pulleys (5), the tension pulleys (5) are movably connected to the platform (3) through tension pulley supports (6), and the tension pulley supports (6) are pressed on the platform (3) through electric telescopic blocks (15);
horizontal rotating mechanism includes motor I (19), I (20) of pinion and I (21) gear wheel, I (19) of motor are fixed on platform (3), I (21) gear wheel is connected on platform (3) through support (22), the output shaft end of motor I (19) is connected with the rotation axis of I (20) gear wheel, I (20) gear wheel and I (21) gear wheel match to forming gear reduction mechanism, the tip of linking arm (10) and the spoke fixed connection of I (21) gear wheel, linking arm (10) can rotate in the horizontal direction when I (19) rotation of motor.
2. The inspection and overhaul robot of the extra-high voltage transmission line according to claim 1, which is characterized in that: the vertical rotating mechanism (9) comprises a motor II (23), a pinion II (24) and a bull gear II (25), the pinion II (24) and the bull gear II (25) are matched and paired to form a gear reduction mechanism, the motor II (23) is fixed on a rotating support frame of the pinion II (24), an output shaft of the motor II (23) is connected with a rotating shaft of the pinion II (24) to drive the pinion II (24) to rotate, and the rotating support frame of the bull gear II (25) is connected with a spoke of the bull gear II (25) to rotate along with the bull gear II (25);
the connecting arm (10) comprises two sections, namely a first section connecting arm and a second section connecting arm, the vertical rotating mechanism (9) is arranged between the first section connecting arm and the second section connecting arm, and the first section connecting arm and the second section connecting arm are connected through the vertical rotating mechanism (9); one end of the first section of connecting arm is connected to a spoke of a large gear I (21) of a horizontal rotating mechanism in the first extension (100), and the other end of the first section of connecting arm is connected to a rotating support frame of a small gear II (24) of a gear reducing mechanism of the vertical rotating mechanism (9); one end of the second section of connecting arm is connected to a spoke of a large gear I (21) of the horizontal rotating mechanism of the second extension (200), and the other end of the second section of connecting arm is connected to a rotating support frame of a large gear II (25) of a gear reduction mechanism of the vertical rotating mechanism (9); the rotating support frame of the pinion II (24) is hinged with the rotating support frame of the bull gear II (25) and can rotate relatively in the vertical direction; when the motor II (23) rotates, the second section of connecting arm can rotate in the vertical direction relative to the first section of connecting arm or the first section of connecting arm can rotate in the vertical direction relative to the second section of connecting arm.
3. The inspection and overhaul robot of the extra-high voltage transmission line according to claim 1, which is characterized in that: the video camera (26) is arranged on a camera holder (27) arranged on the platform (3), and the shooting angle of the video camera (26) can be adjusted by adjusting the camera holder (27); the video camera (26) includes a thermal imaging camera and a visible light camera.
4. The operation method of the inspection and maintenance robot for the ultra-high voltage transmission line comprises the following steps:
1) when the anti-falling rail machine works, a switch of a power supply (18) is turned on, rail clamping wheels (13) of a rail clamping mechanism of a first separator (100) are arranged on two sides of a wing plate of the anti-falling rail (1), a belt (12) of a travelling mechanism is attached to the surface of the wing plate of the anti-falling rail (1), an electric telescopic rod (14) of the rail clamping mechanism of the first separator (100) is started, an annular groove of the rail clamping wheels (13) is tightly clamped on two sides of the wing plate of the anti-falling rail (1), clamping force is not too large, and the rail clamping wheels (13) can slide along the two sides of the wing plate and are firmly connected without falling; then an electric telescopic block (15) of a traveling mechanism of the first separator (100) is started, and a tension pulley (5) and a belt (12) are pressed on the plane of a wing plate of the anti-falling track (1) to obtain enough friction force required by traveling;
2) starting a motor II (23) of the vertical rotating mechanism (9) on the connecting arm (10) to enable the second section of connecting arm to vertically tilt to a wing plate plane of the second sub-machine (200) without contacting the anti-falling track (1), and then starting a traveling motor (11) of a traveling mechanism of the first sub-machine (100), so that the first sub-machine (100) can travel up and down on the anti-falling track (1);
3) if the anti-falling track (1) has defects or other obstacles influencing the walking, the vertical rotating mechanism (9) on the connecting arm (10) and the horizontal rotating mechanism of the second subset (200) are used for adjusting the second subset (200) to be aligned with the plane of the wing plate of the anti-falling track (1), the electric telescopic rod (14) of the track clamping mechanism of the second subset (200) is started, the annular groove of the track clamping wheel (13) of the second subset (200) is clamped at the two sides of the wing plate of the anti-falling track (1), the electric telescopic block (15) of the walking mechanism of the second subset (200) is started to tightly joint the tension wheel (5) and the belt (12) on the plane of the wing plate of the anti-falling track (1) to obtain enough friction force, and then the electric telescopic block (15) of the walking mechanism of the first subset (100) and the electric telescopic rod (14) of the track clamping mechanism are sequentially, separating a belt (12) and a track clamping wheel (13) of a travelling mechanism of the first separator (100) from the anti-falling track (1); then a motor II (23) of the vertical rotating mechanism (9) on the connecting arm (10) is started, so that the first separator (100) rotates for a certain angle in the vertical direction to leave the anti-falling track (1); then a traveling motor (11) of a traveling mechanism of the second subset (200) is started, and the second subset (200) can continue to travel up and down on the anti-falling track (1);
4) when the anti-falling rail (1) of the main rod tower is transferred to the horizontal anti-falling rail (1) on the cross arm, the vertical walking state is changed into the horizontal walking state, and the step 3 is carried out; the camera tripod head (27) is adjusted when the robot horizontally walks to any suitable position, the related data of the insulator and the crimping pipe are collected, and the data are sent to an operation monitor on the ground in real time and stored.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911319248.3A CN110994455B (en) | 2019-12-19 | 2019-12-19 | Inspection and maintenance robot for ultra-high voltage transmission line and operation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911319248.3A CN110994455B (en) | 2019-12-19 | 2019-12-19 | Inspection and maintenance robot for ultra-high voltage transmission line and operation method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110994455A CN110994455A (en) | 2020-04-10 |
| CN110994455B true CN110994455B (en) | 2020-10-09 |
Family
ID=70065759
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911319248.3A Expired - Fee Related CN110994455B (en) | 2019-12-19 | 2019-12-19 | Inspection and maintenance robot for ultra-high voltage transmission line and operation method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110994455B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111431088B (en) * | 2020-04-17 | 2021-06-11 | 国网山东省电力公司平原县供电公司 | Automatic maintenance device for power transmission line |
| CN112621784B (en) * | 2020-12-29 | 2021-12-28 | 山西戴德测控技术有限公司 | Multi-foot turnover type cable inspection robot and inspection method thereof |
| CN113013784B (en) * | 2021-03-12 | 2022-05-06 | 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 |
| CN114629244B (en) * | 2022-03-28 | 2023-05-02 | 三峡大学 | Transmission line safety triggering device and use method thereof |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2016077070A (en) * | 2014-10-06 | 2016-05-12 | 株式会社日立ハイテクファインシステムズ | Movable machine travelling on aerial cable, and movement method therefor |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1873535A1 (en) * | 2006-06-29 | 2008-01-02 | ABB Research Ltd | A self-propelled inspection apparatus |
| CN102001089A (en) * | 2010-10-08 | 2011-04-06 | 四川大学 | Iron tower climbing articulated robot |
| CN102946067B (en) * | 2012-11-02 | 2016-03-30 | 北京国网富达科技发展有限责任公司 | The intelligence that a kind of intelligence is stepped on tower and had it steps on tower equipment |
| CN106025908B (en) * | 2015-03-16 | 2017-10-27 | 北京国网富达科技发展有限责任公司 | A kind of electric power line pole tower climbs inspecting robot |
| CN105196283B (en) * | 2015-10-30 | 2017-03-22 | 武汉大学 | Series-parallel two-foot iron-tower climbing robot |
-
2019
- 2019-12-19 CN CN201911319248.3A patent/CN110994455B/en not_active Expired - Fee Related
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2016077070A (en) * | 2014-10-06 | 2016-05-12 | 株式会社日立ハイテクファインシステムズ | Movable machine travelling on aerial cable, and movement method therefor |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110994455A (en) | 2020-04-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110994455B (en) | Inspection and maintenance robot for ultra-high voltage transmission line and operation method | |
| CN104993422B (en) | Line inspection robot on-line and off-line device and line inspection robot on-line and off-line system provided with same | |
| CN102938544B (en) | A kind of transmission line active obstacle travelling robot | |
| CN102941567B (en) | High-tension transmission line patrol and operation robot actuating arm | |
| CN106025922A (en) | Robot for inspection of overhead high-voltage power transmission line | |
| CN105305296A (en) | High-voltage line inspection robot | |
| CN103001151A (en) | Line robot drive arm with obstacle crossing function | |
| CN102922530B (en) | Inspection robot platform of 500kV split conductors | |
| CN102941570A (en) | Patrol robot for power transmission lines | |
| CN102946072B (en) | Bundle conductor inspection robot platform | |
| CN103151747A (en) | Vertical patrolling deicer for high-tension cable | |
| CN206126684U (en) | Electric installation is got in automation of overhead wiping line | |
| CN202917899U (en) | Line robot actuating arm with obstacle crossing function | |
| CN113001504A (en) | Self-walking X-ray visual live-line detection robot | |
| CN110768159B (en) | Auxiliary inspection robot and method for extra-high voltage transmission line inspection | |
| CN211468604U (en) | Walking mechanism of intelligent service robot of express delivery factory | |
| CN105397811A (en) | Self-lifting on-wire device for hot-line work robot | |
| CN113866567A (en) | Cable fault early warning quick positioning system | |
| CN201608465U (en) | Walking basket for power transmission line | |
| CN114055485A (en) | Cable trench inspection robot | |
| CN206417002U (en) | A kind of unmanned inspection car of electric railway | |
| CN203151041U (en) | Upright inspection tour deicing device of high voltage line | |
| CN102615407B (en) | Lift platform with moving wings | |
| CN106627613A (en) | Electrified railway unmanned inspection vehicle | |
| CN210061146U (en) | Transformer substation robot hanging and dismounting ground wire control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20201009 Termination date: 20211219 |