CN112038975A - Overhead working inspection robot wire feeding and discharging system - Google Patents
Overhead working inspection robot wire feeding and discharging system Download PDFInfo
- Publication number
- CN112038975A CN112038975A CN202010947342.XA CN202010947342A CN112038975A CN 112038975 A CN112038975 A CN 112038975A CN 202010947342 A CN202010947342 A CN 202010947342A CN 112038975 A CN112038975 A CN 112038975A
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- Prior art keywords
- line
- inspection robot
- tower pole
- hanging basket
- overhead working
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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Abstract
The invention discloses an overhead working inspection robot wire loading and unloading system which comprises a tower pole and a hanging basket, wherein the hanging basket is hung on the tower pole through a hoisting device, the hanging basket comprises a box body, a supporting rod is installed at the top of the box body, and an equipotential device is installed on the outer side of the box body of the hanging basket. According to the invention, the equipotential device is arranged, before the inspection robot reaches the line of the phase line, the insulating rod of the equipotential device contacts the phase line first, so that the whole device and the phase line are in an equal phase state, and the inspection robot is prevented from being blocked from reaching the line.
Description
Technical Field
The invention belongs to the technical field of power system inspection, and particularly relates to an overhead working inspection robot on-line and off-line system.
Background
With the development of society, the laying area of the power transmission line in China is gradually increased, however, for a longer power transmission line, the manual maintenance difficulty is high, and therefore the overhead line inspection is finished by adopting the overhead inspection robot moving along the phase line of the overhead power transmission line. The high-altitude inspection robot is lifted to the phase line height from the ground, and is hung on the phase line to be inspected, or the high-altitude inspection robot with the inspection task completed is taken down from the inspection phase line and is safely lowered to the ground.
At present, the high-altitude inspection robot is mainly used for an upper line and a lower line of a ground wire, and the robot inspects an overhead line on the ground wire. The phase line is different from the ground line, the ground line of the traditional high-voltage line is erected at the top end of the tower and used for protecting the phase line, interference of thunder and lightning on the phase line is reduced, the ground line does not bear a power transmission line, and therefore influences of an electric field around the phase line on the high-altitude inspection robot do not need to be considered in the process of going up and down the ground line. Because insulator chain, gold tools such as stockbridge damper all arrange on the phase line usually, the electric field has the interference to the high altitude patrols and examines robot about the phase line, adopts the last down line mode to the ground wire to no longer be suitable for this moment, easily makes the unable normal work of robot inner part device.
Disclosure of Invention
The invention aims to overcome the defect that the overhead inspection robot is difficult to get on and get off the line when performing phase line inspection, and provides an overhead operation inspection robot getting on and off the line system.
The invention adopts the following technical scheme:
the utility model provides an aerial work patrols and examines last offline system of robot, includes pylon and hanging flower basket, its key lies in: the hanging basket is hung on the tower pole through a hoisting device and comprises a box body, a supporting rod is installed at the top of the box body, and an equipotential device is installed on the outer side of the box body of the hanging basket.
By adopting the scheme, the hanging basket is used for loading the position of the inspection robot for sending the inspection robot to the phase line, the electric box of the inspection robot is placed in the box body of the hanging basket, and the mechanical arm of the inspection robot is fixed on the supporting rod of the hanging basket, so that the safety of the inspection robot in the ascending and descending processes of the hanging basket is ensured. When the inspection robot reaches the phase line position, the equipotential device contacts the phase line first, so that the inspection robot and the hanging basket are the same as the potential of the phase line, and the inspection robot can smoothly go on and off the line at the phase line.
Preferably, the equipotential device comprises a motor, a screw rod is coaxially installed on an output shaft of the motor, an insulating rod is movably installed on the screw rod, and a phase line contact end is arranged at the top end of the insulating rod.
By adopting the scheme, the motor is matched with the screw rod to control the insulating rod to ascend and descend. In the process of the inspection robot going on the line, the upper part of the insulating rod is firstly contacted with the phase line to guide arc discharge, so that the equipotential device, the hanging basket and the inspection robot reach the equipotential with the phase line.
Preferably, the lifting device comprises a lifting wire and a fixed pulley arranged at the top of the tower pole, the lifting wire is tied at the top end of the hanging basket, and the hanging basket is lifted through the fixed pulley at the top of the tower pole.
By adopting the scheme, the phase line is arranged in the middle position of the height of the tower pole, the fixed pulley is arranged at the top of the tower pole, the lifting wire is carried on the fixed pulley, and the fixed pulley is matched with the lifting wire, so that the hanging basket can easily reach the height position of the phase line.
Preferably, the lifting device further comprises a fixed pulley installed at the bottom of the tower pole, and the tail end of the lifting line is wound on the fixed pulley at the bottom of the tower pole.
By adopting the scheme, the fixed pulley is arranged at the bottom of the tower pole, so that the worker can save more labor and is more convenient in the process of lifting the hanging basket.
Preferably, the bottom of the hanging basket is provided with a protective rope, and the other end of the protective rope is hung to the bottom of the tower pole.
By adopting the scheme, the protection rope at the bottom of the hanging basket is operated by workers and used for controlling the ascending height of the inspection robot and avoiding collision with the tower pole in the ascending and descending processes.
Preferably, the support rod and the box body are supported and fixed through a bracket.
Adopt above-mentioned scheme, the bracing piece is used for carrying on patrols and examines the arm of robot, and the box is used for bearing the electric box of patrolling and examining the robot, and the vertical distance between bracing piece and the box should be greater than the minimum length of patrolling and examining the robot arm to enough patrolling and examining the robot arm and extending the space, conveniently patrolling and examining the whole hanging flower basket that breaks away from of robot, realize the process of getting on the production line or inserting the production line.
Has the advantages that: according to the equipotential device, before the inspection robot reaches the line of the phase line, the insulating rod of the equipotential device contacts the phase line first, so that the whole device and the phase line are in an equal phase state, and the inspection robot is prevented from being stopped from reaching the line.
Drawings
FIG. 1 is a schematic view of the assembly of a basket and an equipotential device;
FIG. 2 is a side view of the assembly of the basket and the equipotential device;
FIG. 3 is an overall schematic diagram of the process of the high-altitude inspection robot going on and off the line;
FIG. 4 is a schematic diagram of equipotential contact in the process of getting on the line of the high-altitude inspection robot;
FIG. 5 is a schematic diagram of the overhead inspection robot for completing the online process;
the device comprises a hanging basket, a motor, an insulating rod, a screw rod, a lifting wire, a main fixed pulley, a secondary fixed pulley, a supporting rod, a lifting wire, a lifting.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings:
example (b):
the utility model provides an aerial work patrols and examines last offline system of robot, includes pylon and hanging flower basket 1, its key lies in: the hanging basket 1 is hung on the tower pole through a hoisting device, the hanging basket 1 comprises a box body 11, a support rod 12 is installed at the top of the box body 11, and the support rod 12 and the box body 11 are supported and fixed through a support. And an equipotential device is arranged outside the box body 11 of the hanging basket 1. The equipotential device comprises a motor 2, a screw rod 4 is coaxially installed on an output shaft of the motor 2, an insulating rod 3 is movably installed on the screw rod 4, and a phase line contact end is arranged at the top end of the insulating rod 3.
The lifting device comprises a lifting wire 5 and a main fixed pulley 6 arranged at the top of the tower pole, wherein the lifting wire 5 is made of an insulating material. The lifting wire 5 is tied at the top end of the hanging basket 1 and lifts the hanging basket 1 through the main fixed pulley 6 at the top of the tower pole. The lifting device further comprises an auxiliary fixed pulley 7 arranged at the bottom of the tower pole, and the tail end of the lifting wire 5 is wound on the auxiliary fixed pulley 7 at the bottom of the tower pole. And a protective rope 8 is arranged at the bottom of the hanging basket 1, and the other end of the protective rope 8 is hung to the bottom of the tower pole.
The working principle is as follows: when the high-altitude inspection robot approaches (the vertical distance is less than 2m) a target wire, the equipotential device is prepared to be lifted, the insulating rod is lifted to contact the wire, arc discharge is actively guided, the hanging basket 1 and the high-altitude inspection robot enter an equipotential state together, and at the moment, the whole device completes equipotential contact. Adjusting the position of the high-altitude inspection robot in the air until a supporting rod 12 of a hanging basket 1 is parallel to a target lead, enabling two walking arms of the high-altitude inspection robot to contract to drive an electric box of the high-altitude inspection robot to be separated from a lower box body 11 of the hanging basket 1, hanging the high-altitude inspection robot on the supporting rod 12 of the hanging basket 1 at the moment, moving one walking arm of the high-altitude inspection robot to the middle position of the electric box, enabling the other mechanical arm to be separated from the supporting rod 12, moving the other mechanical arm to the target lead, hanging the high-altitude inspection robot on the lead, locking the high-altitude inspection robot and fixing the; the mechanical arm which is on line moves to the middle position of a box body 11 of the high-altitude inspection robot, the mechanical arm mounted on a supporting rod 12 of a hanging basket 1 is separated from the supporting rod 12, the mechanical arm moves towards a target wire and is locked after being mounted on the target wire, the state of the high-altitude inspection robot on the wire is adjusted at the moment, the hanging basket 1 is sent to the ground, and the high-altitude inspection robot is on line. When the high-altitude inspection robot goes off the line, the process is opposite to the process of going on the line.
Finally, it should be noted that the above-mentioned description is only a preferred embodiment of the present invention, and those skilled in the art can make various similar representations without departing from the spirit and scope of the present invention.
Claims (6)
1. The utility model provides an aerial work patrols and examines last offline system of robot, includes pylon and hanging flower basket (1), its characterized in that: hanging flower basket (1) is in through hoisting accessory carry on the tower pole, hanging flower basket (1) includes box (11) bracing piece (12) are installed to the top of box (11) the box outside of hanging flower basket (1) is installed the equipotential device.
2. The overhead working inspection robot on-line and off-line system according to claim 1, characterized in that: the equipotential device comprises a motor (2), a lead screw (4) is coaxially installed on an output shaft of the motor (2), an insulating rod (3) is movably installed on the lead screw (4), and the top end of the insulating rod (3) is a phase line contact end.
3. The overhead working inspection robot on-line and off-line system according to claim 1, characterized in that: the lifting device comprises a lifting wire (5) and a main fixed pulley (6) arranged at the top of the tower pole, wherein the lifting wire (5) is tied at the top end of the hanging basket (1), and the hanging basket (1) is lifted through the main fixed pulley (6) at the top of the tower pole.
4. The overhead working inspection robot on-line and off-line system according to claim 3, characterized in that: the lifting device further comprises an auxiliary fixed pulley (7) arranged at the bottom of the tower pole, and the tail end of the lifting wire (5) is wound on the auxiliary fixed pulley (7) at the bottom of the tower pole.
5. The overhead working inspection robot on-line and off-line system according to claim 1, characterized in that: and a protection rope (8) is arranged at the bottom of the hanging basket (1), and the other end of the protection rope (8) is drooped to the bottom of the tower pole.
6. The overhead working inspection robot on-line and off-line system according to claim 1, characterized in that: the supporting rod (12) and the box body are supported and fixed through a bracket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010947342.XA CN112038975A (en) | 2020-09-10 | 2020-09-10 | Overhead working inspection robot wire feeding and discharging system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010947342.XA CN112038975A (en) | 2020-09-10 | 2020-09-10 | Overhead working inspection robot wire feeding and discharging system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112038975A true CN112038975A (en) | 2020-12-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010947342.XA Pending CN112038975A (en) | 2020-09-10 | 2020-09-10 | Overhead working inspection robot wire feeding and discharging system |
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| Country | Link |
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| CN (1) | CN112038975A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114944617A (en) * | 2022-05-25 | 2022-08-26 | 广东冠能电力科技发展有限公司 | Equipotential device and lifting platform thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104993422A (en) * | 2015-06-29 | 2015-10-21 | 广东电网有限责任公司电力科学研究院 | Line inspection robot on-line and off-line device and line inspection robot on-line and off-line system provided with same |
| CN206004213U (en) * | 2016-08-01 | 2017-03-08 | 广东电网有限责任公司电力科学研究院 | A kind of for offline upper coil inserting apparatus on transmission line polling robot |
| CN107196233A (en) * | 2017-07-07 | 2017-09-22 | 国网湖南省电力公司带电作业中心 | A kind of hot line robot independently goes up coil inserting apparatus |
| CN107425463A (en) * | 2017-05-12 | 2017-12-01 | 广东科凯达智能机器人有限公司 | Coil inserting apparatus on a kind of new transmission line polling robot |
| CN111555185A (en) * | 2020-06-17 | 2020-08-18 | 国网湖南省电力有限公司 | Live working robot line loading and unloading device and method |
-
2020
- 2020-09-10 CN CN202010947342.XA patent/CN112038975A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104993422A (en) * | 2015-06-29 | 2015-10-21 | 广东电网有限责任公司电力科学研究院 | Line inspection robot on-line and off-line device and line inspection robot on-line and off-line system provided with same |
| CN206004213U (en) * | 2016-08-01 | 2017-03-08 | 广东电网有限责任公司电力科学研究院 | A kind of for offline upper coil inserting apparatus on transmission line polling robot |
| CN107425463A (en) * | 2017-05-12 | 2017-12-01 | 广东科凯达智能机器人有限公司 | Coil inserting apparatus on a kind of new transmission line polling robot |
| CN107196233A (en) * | 2017-07-07 | 2017-09-22 | 国网湖南省电力公司带电作业中心 | A kind of hot line robot independently goes up coil inserting apparatus |
| CN111555185A (en) * | 2020-06-17 | 2020-08-18 | 国网湖南省电力有限公司 | Live working robot line loading and unloading device and method |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114944617A (en) * | 2022-05-25 | 2022-08-26 | 广东冠能电力科技发展有限公司 | Equipotential device and lifting platform thereof |
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Application publication date: 20201204 |
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