CN112008687B - Stay tower robot, cross tower bypass and robot system of patrolling and examining - Google Patents
Stay tower robot, cross tower bypass and robot system of patrolling and examining Download PDFInfo
- Publication number
- CN112008687B CN112008687B CN202010998507.6A CN202010998507A CN112008687B CN 112008687 B CN112008687 B CN 112008687B CN 202010998507 A CN202010998507 A CN 202010998507A CN 112008687 B CN112008687 B CN 112008687B
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- tower
- guide rail
- power wheel
- bypass
- robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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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
Abstract
The invention discloses a tower-staying robot, a tower-passing bypass and a robot inspection system, wherein the tower-staying robot comprises a robot body; a walking wheel set comprising a linear power wheel; the linear power wheel is used for driving the robot body to move on the ground wire, the first bypass and the second bypass; the tower-passing wheel group comprises a guide rail power wheel; the guide rail power wheel is arranged above or below the line power wheel; the guide rail power wheel is used for driving the robot body to move on the tower-passing guide rail; the driving mechanism is used for driving the power wheel of the drive line and the power wheel of the guide rail to rotate; the tower-passing bypass comprises a first bypass, a second bypass and a tower-passing guide rail; the inspection system comprises the tower parking robot and the tower passing bypass; the tower-staying robot, the tower-passing bypass and the robot inspection system provided by the invention can ensure that the robot passes through the tower from the tower-passing bypass more safely, stably and reliably.
Description
Technical Field
The invention relates to the field of power transmission line inspection equipment, in particular to a tower-staying robot, a tower-passing bypass and a robot inspection system.
Background
The transmission line is divided into an overhead transmission line and a cable line, and is composed of a lead, an insulator, a line hardware fitting, a stay wire, a tower foundation, a grounding device and the like and is erected on the ground. However, overhead transmission lines are typically several kilometers to several hundred kilometers long. In such a narrow range, the line equipment is exposed to the environment of the nature for a long time and runs, and is attacked by various weather conditions (such as storm, lightning stroke and the like); in addition, the device is also damaged by other external forces (such as impact of farmland cultivation machinery on a tower, short circuit of ground caused by birds and beasts and the like). All these factors jeopardize the safe operation of the line at all times. Therefore, the line has more chances to fail, and once the line fails, the power transmission can be repaired for a long time, which causes different losses. In order to ensure the safe and reliable operation of the power transmission line, the power transmission line needs to be subjected to inspection tour, the operation condition of equipment needs to be inspected along the line in the inspection tour, the defects and fault points of the equipment are found in time, the hidden danger is eliminated, and the occurrence of power accidents is avoided.
Because the efficiency of manually inspecting the line is low, a tower-staying robot for inspecting the power transmission line is developed, and the tower-staying robot for the power transmission line generally walks on the ground wire of an inspection area to inspect the line without the need of cooperative operation of operators on site. The tower-standing robot generally walks on the ground wire by means of rollers, and when a tower is arranged in front of the robot, the robot needs to pass through the tower by a bypass and walk on the other ground wire after passing through the tower.
However, the existing tower-staying robot mainly walks on the ground wire through the V-shaped walking rollers, in order to match the walking rollers of the tower-staying robot, the tower-passing bypass mainly adopts a 'linear' line, and consists of a wire or rod with the diameter similar to that of the ground wire and other connecting components; the robot walks on the tower-passing bypass with certain potential safety hazard, and especially on a special road section with a large gradient, more turns and a large bending degree of the tower-passing bypass, the robot walks more difficultly and unstably.
Moreover, the height of the tower is generally 50-250 meters, the height of the tower is high, the influence of wind load on the tower bypass is large, and when the robot walks on a special road section passing the tower bypass, if the robot encounters high wind speed, the robot standing on the tower has a rollover risk.
Disclosure of Invention
One object of an embodiment of the present invention is to: provided is a tower-parking robot which can pass through a tower-passing bypass more safely, stably and reliably.
Another object of an embodiment of the present invention is to: provided is a tower-passing bypass which can make a robot pass through more safely, stably and reliably.
Another object of an embodiment of the present invention is to: the utility model provides a cross tower system of patrolling and examining, it is through staying tower robot and the cooperation of crossing the tower bypass, can make the robot safe, stable, reliable when walking on crossing the tower bypass.
In order to achieve the purpose, the invention adopts the following technical scheme:
a tower-resident robot, comprising:
a robot body;
a walking wheel set comprising a linear power wheel; the linear power wheel is used for driving the robot body to move on the ground wire, the first bypass and the second bypass;
the tower-passing wheel group comprises a guide rail power wheel; the guide rail power wheel is arranged above or below the wire power wheel; the guide rail power wheel is used for driving the robot body to move on the tower-passing guide rail;
and the driving mechanism is used for driving the wire power wheel and the guide rail power wheel to rotate.
Preferably, the wire drawing machine further comprises a transmission mechanism, and the guide rail power wheel is in transmission connection with the wire power wheel through the transmission mechanism; the driving mechanism is in driving connection with the linear power wheel.
Preferably, the tower crane staying robot comprises one or two or more supporting arms; when the number of the supporting arms is two or more, the supporting arms are arranged at intervals along a horizontal first direction; the supporting arm is provided with the line power wheel and the group of tower-passing wheel groups; each group of the tower-passing wheel groups comprises at least two guide rail power wheels which are arranged at intervals along a horizontal second direction; the horizontal first direction and the horizontal second direction are vertical; and the guide rail power wheel positioned on the same supporting arm is in transmission connection with the wire power wheel.
A through-tower bypass comprising:
the first bypass comprises a first branching device and a first ferry branch; the first branching device is used for connecting the first guiding branch with a ground wire positioned on one side of an obstacle;
the second bypass comprises a second branching device and a second transition branch; the second branching device is used for connecting the second guiding branch with a ground wire positioned on the other side of the barrier;
a tower-passing guide rail which is positioned above or below the first bypass and the second bypass in the height direction; the tower-passing guide rail comprises a walking plate, and a limiting plate is arranged on the walking plate; the limiting plate is used for limiting the degree of freedom of movement of the guide rail power wheel in the wheel axial direction and/or the degree of freedom of movement of the guide rail power wheel in the wheel height direction;
and the tower transition support is used for connecting the first transition branch, the second transition branch and the tower transition guide rail with the power transmission tower.
Preferably, the tower-passing guide rail is an i-shaped guide rail, an inverted T-shaped guide rail or a guide rail formed by combining an i-shaped guide rail section and an inverted T-shaped guide rail section.
Preferably, the first ferry branch is a flexible branch, or a flexible connecting branch is arranged between the first branching device and the first ferry branch; the second diversion branch is a flexible branch, or a flexible connecting branch is arranged between the second branching device and the second diversion branch.
Preferably, the tower transition support comprises a support body, a first transition support fixed with the support body, and a second transition support fixed with the support body;
the first ferry bracket comprises a first mounting end, and the first ferry branch is fixed at the first mounting end; the second guiding support comprises a second mounting end, and the second guiding branch is fixed at the second mounting end; the first mounting end is inclined upwards, downwards and/or horizontally and laterally relative to the first transition branch; the second mounting end is inclined upwards, and/or downwards, and/or horizontally and laterally relative to the second transition branch.
A tour inspection system for a tower-standing robot comprises the tower-standing robot and a tower-passing bypass;
the two ends of the tower-passing guide rail are respectively an upper rail end and a lower rail end; when the linear power wheel travels to the terminal of the first ferrying branch, the guide rail power wheel is in butt joint with the upper rail end, so that the robot is ferred to the tower guide rail from the first bypass; when the guide rail power wheel travels to the terminal of the lower rail end, the line power wheel is in butt joint with the second transition branch, so that the robot is transitioned to the second bypass from the tower guide rail.
Preferably, the guide rail power wheel is disposed above the wire power wheel, and the tower-passing guide rail is disposed above the first bypass and the second bypass.
Preferably, in the horizontal direction, a projection of the upper rail end and a projection of the first ferry branch have an overlapping portion; in the horizontal direction, the projection of the lower rail end and the projection of the second guiding branch have an overlapped part;
the part of the linear power wheel supported by the ground wire during working is a linear contact part;
the height difference between the terminal of the transition branch and the upper rail end is less than or equal to the height difference between the line contact part and the bottom of the guide rail power wheel; and the height difference between the lower rail end and the head end of the second guiding branch is smaller than or equal to the height difference between the line contact part and the bottom of the guide rail power wheel.
The invention has the beneficial effects that: the tower-staying robot can pass through the tower-passing bypass more safely, stably and reliably; the tower-passing bypass can ensure that the robot passes through the tower-passing bypass more safely, stably and reliably; the tower-passing inspection system is safe, stable and reliable when the robot walks on the tower-passing bypass through the cooperation of the tower-standing robot and the tower-passing bypass.
Drawings
The invention is explained in more detail below with reference to the figures and examples.
Fig. 1 is a schematic perspective view of a tower crane robot according to an embodiment of the present invention;
FIG. 2 is a side view of a tower crane robot according to an embodiment of the present invention;
FIG. 3 is a schematic view of an angle of a tower bypass according to an embodiment of the present invention;
FIG. 4 is a schematic structural view of another angle of the tower bypass according to the embodiment of the present invention;
FIG. 5 is a schematic view of another angle of the tower bypass according to the embodiment of the present invention;
FIG. 6 is a schematic view of another angle of the tower bypass according to the embodiment of the present invention;
fig. 7 is a schematic diagram illustrating a matching relationship between a tower-standing robot and a tower-passing bypass in the inspection system according to an embodiment of the present invention;
fig. 8 is a schematic diagram illustrating a matching relationship between a tower-standing robot and a tower-passing bypass in the inspection system according to another embodiment of the present invention;
in the figure: 10. a robot; 11. a robot body; 12. a linear power wheel; 121. a first rotating shaft; 13. a rail power wheel; 131. a second rotating shaft; 14. a transmission mechanism; 15. a support arm; 20. a tower-passing bypass; 21. a first bypass; 211. a first splitter; 212. a first ferry branch; 22. a tower-passing guide rail; 221. a walking board; 222. a limiting plate; 23. a second bypass; 231. a second splitter; 232. a second ferry branch; 24. a tower passing bracket; 241. a stent body; 242. a first ferry stand; 2421. a first mounting end; 243. a second ferry stand; 2431. a second mounting end; 91. a pole tower; 92. and a ground line.
Detailed Description
In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present invention clearer, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, unless otherwise explicitly specified or limited, the terms "connected" and "fixed" are to be understood broadly, e.g., as being fixedly connected, detachably connected, or integrated; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
The invention provides a tower-staying robot 10, which is characterized in that a guide rail power wheel 13 matched with a tower-passing bypass 20 is added to the tower-staying robot 10; the invention also provides a tower-passing bypass 20, and the tower-passing bypass 20 can enable the tower-standing robot 10 to pass through the tower more stably and reliably through the cooperation of the first bypass 21, the tower-passing guide rail 22 and the second bypass 23; the invention also provides a robot inspection system, wherein the tower-staying robot 10 in the inspection system can pass through the tower-passing bypass 20, so that the robot can pass through the tower more safely, stably and reliably.
As shown in fig. 1-8, in one embodiment of the inspection system of the present invention, the inspection system includes a tower-resident robot 10 and a tower-bypass 20 that mates with the tower-resident robot 10.
Specifically, the tower-parking robot 10 in the present embodiment includes:
a robot body 11;
the walking wheel set comprises a linear power wheel 12 which is rotationally connected with the robot body 11; the linear power wheel 12 can drive the robot body 11 to move on the ground wire 92, the first bypass 21 and the second bypass 23 through rotation;
the tower-passing wheel set comprises a guide rail power wheel 13 which is rotationally connected with the robot body 11; the guide rail power wheel 13 is arranged above or below the line power wheel 12; the guide rail power wheel 13 can drive the robot body 11 to move on the tower-passing guide rail 22 through rotation;
and the driving mechanism is used for driving the line power wheel 12 and the guide rail power wheel 13 to rotate.
It can be understood that different driving mechanisms can be used for respectively providing power for the line power wheel 12 and the guide rail power wheel 13, and the same driving mechanism can also be used for simultaneously providing power for the line power wheel 12 and the guide rail power wheel 13.
Specifically, the tower bypass 20 in the present embodiment includes:
a first bypass 21 including a first branching device 211 and a first transition branch 212; the first branch 211 is used to connect the first ferry branch 212 with the ground line 92 on the side of the obstacle; first splitter 211 is for directing robot 10 from ground line 92 to tower bypass 20;
a second bypass 23 comprising a second branch 231 and a second transition branch 232; the second branch 231 is used for connecting the second transition branch 232 with the ground wire 92 positioned on the other side of the obstacle; a second leg 231 for robot 10 to be led from tower bypass 20 to ground 92;
a cross-tower guide rail 22 located above or below the first bypass 21 and the second bypass 23 in the height direction; horizontally, between the first bypass 21 and the second bypass 23; the tower-passing guide rail 22 comprises a walking plate 221, and a limit plate 222 is arranged on the walking plate 221; the limiting plate 222 is used for limiting the freedom degree of movement of the guide rail power wheel 13 in the wheel axial direction and/or the wheel height direction;
and a tower bracket 24 for connecting the first and second ferry branches 212 and 232 and the tower rail 22 to the transmission tower.
Specifically, the tower passing bracket 24 is fixed to the tower head of the tower 91.
The obstacle refers to an obstacle that prevents the tower-standing robot 10 from continuing to travel on the ground wire 92, such as a cross arm of the tower 91 or a joint between the cross arm of the tower 91 and the ground wire 92.
In the preset walking direction of the robot 10, the first bypass 21 is provided at the rear end of the obstacle, and the second bypass 23 is provided at the front end of the obstacle, that is, the robot 10 passes through the obstacle by the following paths: ground 92 at the rear end of the barrier, to first bypass 21, to tower rail 22, to second bypass 23, to ground 92 at the front end of the barrier.
Specifically, in the inspection system of the present embodiment, the matching relationship between the tower-standing robot 10 and the tower-passing bypass 20 is as follows:
the line power wheel 12 is adapted to travel on the first bypass 21 and the second bypass 23, the rail power is adapted to travel on the tower-crossing rail 22;
the two ends of the tower-passing guide rail 22 are an upper rail end and a lower rail end respectively; between the first ferry leg 212 and the head rail end is configured to: when the linear power wheel 12 travels to the terminal of the first transition branch 212, the guide rail power wheel 13 is in butt joint with the upper rail end, so that the robot 10 is transitioned to the tower guide rail 22 from the first bypass 21; between the lower rail end and the second ferry leg 232 are configured: when the guide rail power wheel 13 travels to the terminal of the lower rail end, the line power wheel 12 is in butt joint with the second transition branch 232, so that the robot 10 is transitioned from the tower guide rail 22 to the second bypass 23;
the first bypass 21 includes an obstacle avoidance segment inclined upward or sideward relative to the ground line 92, and the tower-passing guide rail 22 is located beside, above or below the obstacle, so that the robot 10 is not affected by the obstacle when the guide rail power wheels 13 of the robot 10 walk on the tower-passing guide rail 22.
In this embodiment, the terminal of a certain component is the terminal of the component along the preset walking direction of the robot 10; the first ferry branch 212 terminates at an end distal from the first branch 211; the terminal of the lower rail end is a terminal far away from the upper rail end.
Specifically, when installing the tower bypass 20, an obstacle is located between the upper rail end and the lower rail end of the tower guide rail 22 in the extending direction of the ground wire 92, that is, in the traveling direction of the robot 10.
In the inspection system of the present invention, the tower-passing process of the tower-standing robot 10 is as follows:
when the tower-staying robot 10 walks on the ground wire 92 by the line power wheel 12 when being flat, when the front side has a tower, the tower-passing bypass 20 needs to pass through the tower. When the robot 10 transitions to the tower, the first branching device 211 is guided to the first guiding branch 212 from the ground line 92, the first guiding branch 212 is guided to the tower guide rail 22, the tower guide rail 22 is guided to the second guiding branch 232, and the second branching device 231 is guided to the ground line 92 from the second guiding branch 232, so that the robot 10 transitions to the tower.
Specifically, the linear power wheel 12 of the robot 10 firstly goes to the first branch device 211 from the ground wire 92, and then goes to the first transition branch 212; when the line power wheel 12 travels to the terminal of the first transition branch 212, the guide rail power wheel 13 is in butt joint with the upper rail end of the tower guide rail 22, the bottom of the guide rail power wheel 13 contacts the tower guide rail 22, the tower guide rail 22 supports the guide rail power wheel 13, at this time, the guide rail power wheel 13 rotates, the robot 10 moves forward, and the line power wheel 12 is suspended, so that the robot 10 is transitioned to the tower guide rail 22 through the first bypass 21. On the tower-passing guide 22, the robot 10 travels forward by the guide power wheels 13. Then, when the guide rail power wheel 13 travels to the end of the lower rail end of the tower guide rail 22, the line power wheel 12 contacts the second transition branch 232, at this time, the line power wheel 12 rotates, the robot 10 moves forward, and the guide rail power wheel 13 leaves the tower guide rail 22, so that the robot 10 is transitioned from the tower guide rail 22 to the second bypass 23. The robot 10 walks to the second branching device 231 from the second guiding branch 232 by the power wheel 12 on the second bypass 23, and is guided to the ground wire 92 by the second branching device 231, and finally the robot 10 passes through the tower.
Importantly, when the guide rail power wheel 13 runs on the tower-passing guide rail 22, a wider running plate 221 is provided for the tower-passing guide rail 22 so as to enable the guide rail power wheel 13 to run; in addition, the tower-passing guide rail 22 is further provided with a limiting plate 222, the guide rail power wheel 13 is prevented from falling off from the side of the tower-passing guide rail 22 through the limiting plate 222, and the guide rail power wheel 13 can only move back and forth along the length direction of the tower-passing guide rail 22, so that the robot 10 can walk more safely, stably and reliably.
At the tower 91 with the types of crossing tower, strain tower, corner tower and the like, the tower-passing guide rail 22 can be designed into an ascending section, and/or a descending section, and/or a curve section according to different types of the tower 91 so as to be matched with the trend of the power transmission line; when the robot 10 walks through the slope section or the curve section of the tower guide rail 22, the robot is not easy to fall off, and the robot can move more stably through the tower.
According to the tower-staying robot 10, the guide rail power wheel 13 with the height difference with the linear power is arranged, so that the tower-staying robot 10 can be matched with the tower-passing bypass 20 to more stably and reliably pass through the tower. The tower-passing bypass 20 of the present invention is provided with the tower-passing guide rail 22 having a height difference with the first bypass 21 and the second bypass 23, so that the tower-standing robot 10 can pass through the tower more stably and reliably. The inspection system of the invention, through the design of the tower-passing guide rail 22 of the tower-passing bypass 20 and the design of the guide rail power wheel 13 of the robot 10, the tower-passing guide rail 22 provides more safety, stability and reliability for the robot 10 to pass through the tower.
Further, in still another embodiment of the tower-parking robot 10 of the present invention, the "driving mechanism drives the wire power wheel 12 and the guide rail power wheel 13 to rotate" is realized by:
the robot 10 further comprises a transmission mechanism 14, and the guide rail power wheel 13 is in transmission connection with the line power wheel 12 through the transmission mechanism 14; the driving mechanism is in driving connection with the linear power wheel 12; the linear power wheel 12 is driven by the driving mechanism to rotate, and the linear power wheel 12 drives the guide rail power wheel 13 to rotate when rotating; so set up, reducible actuating mechanism's quantity, reduce cost.
In another embodiment of the tower-parking robot 10 of the present invention, "the driving mechanism drives the wire power wheel 12 and the guide rail power wheel 13 to rotate" is realized by: the line power wheel 12 and the guide rail power wheel 13 are driven to rotate by independent driving mechanisms respectively.
In another embodiment of the tower-parking robot 10 of the present invention, "the driving mechanism drives the wire power wheel 12 and the guide rail power wheel 13 to rotate" is realized by: the guide rail power wheel 13 is in transmission connection with the line power wheel 12 through the transmission mechanism 14; the driving mechanism is in driving connection with the guide rail power wheel 13.
Further, in another embodiment of the tower-parking robot 10 of the present invention, the tower-parking robot 10 includes two supporting arms 15 arranged at intervals along a horizontal first direction, and each supporting arm 15 is provided with one line power wheel 12 and one group of tower-passing wheel groups; each group of the tower-passing wheel groups comprises at least two guide rail power wheels 13 which are arranged at intervals along a horizontal second direction; the horizontal first direction and the horizontal second direction are vertical; the guide rail power wheel 13 positioned on the same supporting arm 15 is in transmission connection with the wire power wheel 12.
Wherein the horizontal second direction is parallel to the wheel axle direction of the power wheel.
In the drawings of the specification of the present invention, the y direction is a first direction, the x direction is a second direction, and the z direction is a height direction.
Of course, in other embodiments, the number of the supporting arms 15 may be one or more.
The tower-parking robot 10 of the embodiment is suitable for being matched with an i-shaped or inverted-T-shaped tower-passing guide rail 22, and the i-shaped guide rail and the inverted-T-shaped guide rail both comprise a walking bottom plate and a ribbed plate positioned in the middle of the walking bottom plate, and the ribbed plate is a limiting plate 222; when the tower wheel group is matched with the tower guide rail 22, the rib plate is positioned between the two guide rail power wheels 13, so that the rib plate can prevent the robot 10 from falling down from the left side or the right side to pass through the tower guide rail 22, and the robot 10 can walk more safely.
When the robot 10 travels on the i-shaped guide rail, the top plate of the i-shaped guide rail can also prevent the robot 10 from separating from the tower guide rail 22 from above, and the robot 10 is prevented from falling.
Further, in this embodiment, the walking wheel set includes a first rotating shaft 121 fixed to the linear power wheel 12, and the linear power wheel 12 is rotatably connected to the mechanical arm through the first rotating shaft 121; the tower-passing wheel set comprises a second rotating shaft 131 fixed with the guide rail power wheel 13, and the guide rail power wheel 13 is rotatably connected with the mechanical arm through the second rotating shaft 131;
the transmission mechanism 14 is a transmission belt, and the first rotating shaft 121 and the second rotating shaft 131 are in transmission connection through the transmission belt; the driving mechanism is a driving motor, the driving motor is connected with the first rotating shaft 121, the driving motor drives the first rotating shaft 121 to rotate, and the first rotating shaft 121 rotates and then drives the second rotating shaft 131 to rotate through a transmission belt.
In another embodiment, the line power wheel 12 and the guide rail power wheel 13 are in transmission connection through a chain transmission mode.
Specifically, the transmission mechanism 14 includes a driving gear coaxially connected to the first rotating shaft 121, and the transmission mechanism 14 includes a driven gear coaxially connected to the second rotating shaft 131, and further includes a transmission chain; the driving gear is in transmission connection with the transmission gear through a transmission chain.
In another embodiment, the line power wheel 12 and the guide rail power wheel 13 are in transmission connection through a gear transmission mode.
Specifically, the transmission mechanism 14 includes a driving gear coaxially connected to the first rotating shaft 121, the transmission mechanism 14 further includes a driven gear coaxially connected to the second rotating shaft 131, and the driving gear is engaged with the driven gear to realize the transmission connection between the linear power wheel 12 and the guide rail power wheel 13.
In other embodiments, other transmission connection modes can be adopted, and the transmission connection mode is not limited to the transmission mode described in the specification of the invention.
Further, in another embodiment of the tower-passing bypass 20 of the present invention, the tower-passing guide rail 22 is an i-shaped guide rail, an inverted T-shaped guide rail, or a guide rail formed by combining an i-shaped guide rail section and an inverted T-shaped guide rail section; the I-shaped guide rail is a guide rail with an I-shaped cross section, and the inverted T-shaped guide rail is a guide rail with an inverted T-shaped cross section.
Specifically, the i-shaped guide rail includes a bottom traveling plate 221, a middle upright rib plate, and a top plate, where the rib plate and the top plate are limiting plates 222, the rib plate is used to prevent the robot 10 from falling from the left and right sides when the guide rail power wheel 13 travels on the tower guide rail 22, and the top plate is used to prevent the robot 10 from falling off the tower guide rail 22 from the top.
Specifically, the inverted T-shaped guide includes a bottom traveling plate 221 and a middle upright rib plate, which is a limiting plate 222, and can prevent the robot 10 from falling off from the left and right sides.
In other embodiments, the tower-passing guide 22 may be a square-shaped guide or a U-shaped guide, which can prevent the robot 10 from falling off from the left and right sides.
Further, horizontal or oblique upward or oblique downward or combined type guiding devices are additionally arranged at two ends of the tower guide rail 22, so that the robot 10 is guided to the tower guide rail 22 from the first bypass 21 and guided to the second bypass 23 from the tower guide rail 22.
Further, in another embodiment of the tower bypass 20 of the present invention, the first transition branch 212 is a flexible branch, or a flexible connecting branch is provided between the first splitter 211 and the first transition branch 212; that is, need set up one section flexible section on first bypass 21 and the second bypass 23, so, can avoid the vibration of ground wire 92 to cross tower support 24 and transmit to shaft tower 91 tower body through first bypass 21, second bypass 23, reduce the influence of wind vibration to shaft tower 91 structure.
Specifically, in some embodiments, the first guiding branch 212 is made of a hard rod, so a softer connecting line must be additionally arranged between the first splitter 211 and the first guiding branch 212; in other embodiments, a softer wire is used directly as the first ferry branch 212.
Further, the first branch device 211 includes a first branch frame and a first branch line fixed on the first branch frame, and the first branch line is connected to the first transition branch 212; the first bypass 21 further comprises a first rigid rod connecting the first branch line with the first ferry branch 212; the second branching device 231 comprises a second branch bracket and a second branch line fixed on the second branch bracket, and the second branch line is connected with the second diversion branch 232; the second bypass 23 further comprises a second stiff rod connecting the second branch line with the second ferry branch 232.
Further, in another embodiment of the tower bypass 20 of the present invention, the tower bracket 24 includes a bracket body 241, a first transition bracket 242 fixed to the bracket body 241, and a second transition bracket 243 fixed to the bracket body 241; the first guiding support 242 is used for supporting the first guiding branch 212, and the second guiding support 243 is used for supporting the second guiding branch 232;
the first transition bracket 242 includes a first mounting end 2421, the first transition leg 212 is fixed to the first mounting end 2421; the second transition leg 243 includes a second mounting end 2431, and the second transition leg 232 is fixed to the second mounting end 2431; said first mounting end 2421 slopes upwardly, and/or downwardly, and/or horizontally laterally relative to said first ferry leg 212; the second mounting end 2431 is inclined upwardly, and/or downwardly, and/or horizontally laterally with respect to the second ferry leg 232.
By arranging first and second mounting ends 2421, 2431 to be horizontal or angled up or in combination, the ferry stand cooperates with the ferry line to more safely ferry robot 10 to tower rail 22.
Further, in another embodiment of the inspection system of the present invention, the guide rail power wheel 13 is disposed above the wire power wheel 12, and the tower passing guide rail 22 is disposed above the first bypass 21 and the second bypass 23.
In this embodiment, the guide rail power wheel 13 is disposed above the line power wheel 12, so that when the guide rail power wheel 13 travels on the tower-passing guide rail 22, the robot body 11 is hung on the tower-passing guide rail 22, and the robot body 11 can provide certain gravity to the guide rail power wheel 13, so that the guide rail power wheel 13 can travel on the tower-passing guide rail 22 more stably.
Specifically, the tower guide rail 22 is provided above the first bypass 21 and the second bypass 23 in order to match the positional relationship of the guide rail power wheel 13 and the wire power wheel 12.
Further, in another embodiment of the inspection system of the present invention, in the horizontal direction, a projection of the upper rail end and a projection of the first ferry branch 212 have an overlapping portion; in the horizontal direction, the projection of the lower rail end and the projection of the second guiding branch 232 have an overlapping portion;
the part of the linear power wheel 12 supported by the ground wire 92 when in work is a linear contact part;
the height difference between the terminal of the transition branch and the upper rail end is less than or equal to the height difference between the line contact part and the bottom of the guide rail power wheel 13; the height difference between the lower rail end and the head end of the second transition branch 232 is smaller than or equal to the height difference between the line contact part and the bottom of the guide rail power wheel 13.
With the above arrangement, it can be ensured that the robot 10 can be safely guided to the tower rail 22 by the first guiding branch 212 and the second guiding branch 232 by the tower rail 22; to ensure that the tower-crossing guide rail 22 supports the guide rail power wheel 13 before the line power wheel 12 leaves the first ferry branch 212; to ensure that the second transition leg 232 supports the line power wheel 12 before the guide power wheel 13 leaves the tower guide 22.
Further, in another embodiment of the inspection system of the present invention, the tower-passing wheel set at least includes left guide rail power wheels 13 and right guide rail power wheels 13 arranged at intervals along the wheel axle direction;
the tower-crossing guide rail 22 comprises a walking plate 221 and a rib plate arranged on the walking plate 221; when the tower-passing robot 10 walks on the tower-passing guide rail 22, the left guide rail power wheel 13 is located on one side of the ribbed plate, and the right guide rail power wheel 13 is located on the other side of the ribbed plate.
In this manner, the robot 10 is prevented from falling from the left or right side by the rib.
In the description herein, it is to be understood that the terms "upper", "lower", "left", "right", and the like are used in an orientation or positional relationship based on that shown in the drawings, and are used for convenience of description and simplicity of operation only, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used merely for descriptive purposes and are not intended to have any special meaning.
In the description herein, references to the description of "an embodiment," "an example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be appropriately combined to form other embodiments as will be appreciated by those skilled in the art.
The technical principle of the present invention is described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without inventive effort, which would fall within the scope of the present invention.
Claims (10)
1. A tower-resident robot (10), comprising:
a robot body (11);
a walking wheel set comprising a linear power wheel (12); the linear power wheel (12) is used for driving the robot body (11) to move on the ground wire (92), the first bypass (21) and the second bypass (23);
the tower-passing wheel group comprises a guide rail power wheel (13); the guide rail power wheel (13) is arranged above or below the line power wheel (12); the guide rail power wheel (13) is used for driving the robot body (11) to move on the tower-passing guide rail (22);
the driving mechanism is used for driving the wire power wheel (12) and the guide rail power wheel (13) to rotate; the linear power wheel (12) can drive the robot body (11) to move on the ground wire (92), the first bypass (21) and the second bypass (23) through rotation; the guide rail power wheel (13) can rotate to drive the robot body (11) to move on the tower-passing guide rail (22).
2. The tower-parking robot (10) according to claim 1, further comprising a transmission mechanism (14), wherein the guide rail power wheel (13) is in transmission connection with the line power wheel (12) through the transmission mechanism (14); the driving mechanism is in driving connection with the linear power wheel (12).
3. The tower-standing robot (10) according to claim 2, characterized in that the tower-standing robot (10) comprises one or two or more support arms (15); when the number of the supporting arms (15) is two or more, the supporting arms (15) are arranged at intervals along a horizontal first direction; the supporting arm (15) is provided with the line power wheel (12) and a group of tower-passing wheel groups; each group of the tower-passing wheel groups comprises at least two guide rail power wheels (13) arranged at intervals along a horizontal second direction; the horizontal first direction and the horizontal second direction are vertical; the guide rail power wheel (13) positioned on the same supporting arm (15) is in transmission connection with the wire power wheel (12).
4. A through-tower bypass (20), comprising:
a first bypass (21) comprising a first branching device (211) and a first transition branch (212); the first branching device (211) is used for connecting the first guiding branch (212) with a ground wire (92) positioned on one side of an obstacle;
a second bypass (23) comprising a second branch (231) and a second transition branch (232); the second branching device (231) is used for connecting the second guiding branch (232) with the ground wire (92) positioned on the other side of the obstacle;
-a cross-tower guide (22) located, in the height direction, above or below the first bypass (21) and the second bypass (23); the tower-passing guide rail (22) comprises a walking plate (221), and a limit plate (222) is arranged on the walking plate (221); the limiting plate (222) is used for limiting the freedom degree of the guide rail power wheel (13) in the wheel axial direction and/or the freedom degree of the guide rail power wheel in the wheel height direction;
a tower mount (24) for connecting the first transition leg (212), the second transition leg (232), and the tower rail (22) to a transmission tower.
5. The tower bypass (20) according to claim 4, wherein the tower guide rail (22) is an I-shaped rail, an inverted T-shaped rail, or a rail formed by combining an I-shaped rail section and an inverted T-shaped rail section.
6. The tower bypass (20) according to claim 4, characterized in that the first ferry branch (212) is a flexible branch or a flexible connecting branch is provided between the first splitter (211) and the first ferry branch (212); the second guiding branch (232) is a flexible branch, or a flexible connecting branch is arranged between the second branching device (231) and the second guiding branch (232).
7. A tower bypass (20) according to claim 4, characterized in that the tower bracket (24) comprises a bracket body (241), a first transition bracket (242) fixed with the bracket body (241), a second transition bracket (243) fixed with the bracket body (241);
the first ferry bracket (242) comprises a first mounting end (2421), the first ferry leg (212) being secured to the first mounting end (2421); the second ferry stand (243) comprises a second mounting end (2431), the second ferry leg (232) being fixed to the second mounting end (2431); the first mounting end (2421) is inclined laterally upwards, and/or downwards, and/or to the horizontal, with respect to the first ferry branch (212); the second mounting end (2431) is inclined laterally upwardly, and/or downwardly, and/or horizontally relative to the second transition leg (232).
8. A robot inspection system, comprising a robot (10) according to any of claims 1-3, further comprising a tower bypass (20) according to any of claims 4-7;
the two ends of the tower-passing guide rail (22) are an upper rail end and a lower rail end respectively; when the line power wheel (12) travels to the terminal end of the first transition branch (212), the guide rail power wheel (13) is in butt joint with the upper rail end, so that the robot (10) is guided to the tower guide rail (22) through the first bypass (21); when the guide rail power wheel (13) travels to the terminal of the lower rail end, the wire power wheel (12) is in butt joint with the second transition branch (232), so that the robot (10) is guided to the second bypass (23) by the tower guide rail (22).
9. The robot inspection system according to claim 8, wherein the rail power wheel (13) is disposed above the wire power wheel (12), and the tower-passing rail (22) is disposed above the first bypass (21) and the second bypass (23).
10. The robotic inspection system according to claim 8, wherein a projection of the upper rail end has an overlapping portion with a projection of the first ferry branch (212) in a horizontal direction; in the horizontal direction, the projection of the lower rail end and the projection of the second guiding branch (232) have an overlapping part;
the part of the linear power wheel (12) supported by the ground wire (92) is a linear contact part when in work;
the height difference between the terminal of the transition branch and the upper rail end is less than or equal to the height difference between the line contact part and the bottom of the guide rail power wheel (13); the height difference between the lower rail end and the head end of the second guiding branch (232) is smaller than or equal to the height difference between the line contact part and the bottom of the guide rail power wheel (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010998507.6A CN112008687B (en) | 2020-09-21 | 2020-09-21 | Stay tower robot, cross tower bypass and robot system of patrolling and examining |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010998507.6A CN112008687B (en) | 2020-09-21 | 2020-09-21 | Stay tower robot, cross tower bypass and robot system of patrolling and examining |
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| CN112008687B true CN112008687B (en) | 2022-04-19 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR101486009B1 (en) * | 2013-01-29 | 2015-01-28 | 한국과학기술연구원 | Driving Wheel of Robot moving along the wire and Robot having the same |
| CN104362547B (en) * | 2014-11-26 | 2018-01-26 | 国网重庆市电力公司电力科学研究院 | A kind of inspection robot and its folding wheel are grabbed |
| CN104608112B (en) * | 2014-12-03 | 2017-01-25 | 上海交通大学 | Power line inspection robot and obstacle surmounting method thereof |
| CN108551116B (en) * | 2018-04-19 | 2020-01-07 | 湖北工业大学 | Driving force control system and method for magnetic robot of high-voltage direct-current transmission line |
| CN209158373U (en) * | 2018-12-13 | 2019-07-26 | 中科开创（广州）智能科技发展有限公司 | A kind of rail mounted crusing robot |
| CN111515966B (en) * | 2020-04-17 | 2022-04-19 | 中科开创（广州）智能科技发展有限公司 | Lightweight inspection robot with multiple degrees of freedom |
| CN111600238A (en) * | 2020-06-11 | 2020-08-28 | 云南电网有限责任公司昆明供电局 | Full-working-condition wiring robot for 500kV power transmission line |
| CN111571564A (en) * | 2020-06-16 | 2020-08-25 | 福建省海峡智汇科技有限公司 | A hang rail robot for patrolling and examining |
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