CN112202104A - Auxiliary on-line and off-line system for overhead transmission line inspection robot - Google Patents
Auxiliary on-line and off-line system for overhead transmission line inspection robot Download PDFInfo
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- CN112202104A CN112202104A CN202011176389.7A CN202011176389A CN112202104A CN 112202104 A CN112202104 A CN 112202104A CN 202011176389 A CN202011176389 A CN 202011176389A CN 112202104 A CN112202104 A CN 112202104A
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- 238000007689 inspection Methods 0.000 title claims abstract description 87
- 230000005540 biological transmission Effects 0.000 title claims abstract description 36
- 230000007246 mechanism Effects 0.000 claims abstract description 21
- 230000009194 climbing Effects 0.000 claims abstract description 20
- 238000012546 transfer Methods 0.000 claims description 62
- 230000000670 limiting effect Effects 0.000 claims description 47
- 230000009467 reduction Effects 0.000 claims description 23
- 229910000831 Steel Inorganic materials 0.000 claims description 22
- 239000010959 steel Substances 0.000 claims description 22
- 230000009471 action Effects 0.000 claims description 6
- 238000004804 winding Methods 0.000 claims description 5
- 238000006073 displacement reaction Methods 0.000 claims 1
- 238000009434 installation Methods 0.000 abstract description 21
- 230000008859 change Effects 0.000 abstract description 3
- 230000032258 transport Effects 0.000 description 9
- 230000033001 locomotion Effects 0.000 description 6
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 229910000754 Wrought iron Inorganic materials 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 229910052742 iron Inorganic materials 0.000 description 2
- 230000008054 signal transmission Effects 0.000 description 2
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- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- WABPQHHGFIMREM-UHFFFAOYSA-N lead(0) Chemical compound [Pb] WABPQHHGFIMREM-UHFFFAOYSA-N 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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Abstract
The invention discloses an auxiliary on-off line system for an overhead power transmission line inspection robot, which relates to the technical field of power transmission line inspection and comprises a vertical tower climbing mechanism and a horizontal inspection mechanism connected with the top end of the vertical tower climbing mechanism. The system has the advantages of simple structure, light weight, no occupation of extra land resources due to the fact that the system is tightly attached to the tower, high installation speed, convenience for installation of constructors, no influence on the performance of the original tower after installation, and capability of enabling the inspection robot to finish operation of going up and down the tower without obstacles; the inspection robot climbs the tower without personnel to climb the tower for adjustment after the whole set of installation is completed, the burden of inspection personnel and constructors is reduced, the installation and deployment work of all inspection sections can be completed in one inspection period, and the effectiveness of the personnel is improved. Meanwhile, the invention does not need to change the original structure of the tower body when being installed, is suitable for the existing tower body structure and circuit installation, has the advantages of high universality, wide application range and convenient installation, can efficiently finish the laying of the whole circuit and has strong practicability.
Description
Technical Field
The invention relates to the technical field of power transmission line inspection, in particular to an auxiliary wire loading and unloading system for an overhead power transmission line inspection robot.
Background
Because the overhead line is exposed to the natural environment for a long time, the problem that equipment defects easily appear and the safety of the line is threatened due to the influence of the surrounding environment and natural change on the line and the tower is solved, and therefore, the effective mastering of the operation condition of the power transmission line becomes an important part for ensuring the power transmission. In the current stage, in order to master the line running condition, China mainly adopts a manual line patrol mode to master the line running condition. However, with the rapid development of ultrahigh voltage transmission lines in China in recent years, the coverage area of high voltage and ultrahigh voltage lines is wider and wider, the arrangement of wire nets is more and more dense and complex, the manual line patrol efficiency is low, the patrol period is long, the labor intensity of personnel is high, the personal safety is more and more prominent. The overhead line inspection robot is produced by the way of solving the problems.
The existing overhead line inspection robot generally only has the function of moving on an overhead ground wire or a lead wire, and still needs manual online operation during installation, maintenance and overhaul, so that the intelligence and convenience of the robot are limited. Therefore, the invention patent with the patent application number of CN201822227490.5 discloses an apparatus for installing and removing line on and from an overhead line and a power line iron tower, which solves the potential safety hazard existing when the inspection robot is used for installing and removing line, saves the labor cost, but still has the following two problems: the application area is small, the wire loading and unloading device must be matched with a matched power transmission line iron tower for use, and cannot be applied to a laid power transmission line; and (II) the modification work amount is large, the whole power line tower needs to be replaced when the device is arranged, the work amount is large, the construction period is long, the cost is relatively high, and the cost performance is low. In addition, the invention patent with the patent application number CN201620834452.4 discloses an up-and-down line device for an overhead line transmission line inspection robot, which solves the problem of high labor cost when the robot is on line, but still has the following two problems: the device has the advantages that (I) the occupied area is large, the structures such as a winch and the like arranged in the device need to be independently arranged on the ground surface near a tower, the conditions and the examination and approval of local use places need to be considered again, and the device is inconvenient to install; and (II) safety risk exists, the device arranged on the ground surface is not protected after being installed, the possibility of theft and damage exists, and the possibility of short circuit of the broken connecting lead of the flexible cable exists in a mode of connecting the device on the ground surface with the tower top by the flexible cable.
In summary, the present invention is directed to a system for automatically assisting a robot to climb a tower, which has the advantages of high safety, small floor space, small installation workload and wide application range.
Disclosure of Invention
The invention aims to provide an auxiliary up-down winding system for an overhead transmission line inspection robot, which is simple in structure and convenient to install, can assist the transmission line inspection robot to automatically run from the ground surface to the ground wire, realizes full-automatic up-down winding operation of the inspection robot, and greatly reduces the working strength.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides an auxiliary on-line and off-line system for an overhead transmission line inspection robot, which comprises a vertical tower climbing mechanism and a horizontal inspection mechanism connected with the top end of the vertical tower climbing mechanism;
the vertical tower climbing mechanism comprises a vertical guide rail assembly, a driver and a transfer bracket, wherein the vertical guide rail assembly is used for providing a climbing channel for the transfer bracket, the driver is used for providing climbing power for the transfer bracket, and the transfer bracket is used for lifting the inspection robot to a ground wire tower head from the ground surface;
the horizontal inspection mechanism comprises horizontal supports, inter-frame connecting pieces and obstacle crossing bridges, the horizontal supports are mounted on the ground wire cross arm, and adjacent horizontal supports are connected through the inter-frame connecting pieces to form an inspection track when the inspection robot moves horizontally; one end of the inspection track is connected with the transfer bracket and is used for transferring the inspection robot from the transfer bracket to an inspection line across a ground wire; the other end of the inspection track is connected with the obstacle crossing bridge and used for realizing the purpose that the inspection robot transfers the ground line from the inspection line.
Optionally, the vertical guide rail assembly comprises a vertical guide rail, a deceleration limiting block and a terminal limiting block, and the vertical guide rail is installed along the tower main column; the speed reduction limiting block is arranged on the inner side of the top end of the vertical guide rail, and the action surface of the speed reduction limiting block is parallel to the axis of the guide rail; the terminal limiting block is installed on the outer side of the top end of the vertical guide rail and is higher than the speed reduction limiting block, and the action face of the terminal limiting block is perpendicular to the axis of the guide rail.
Optionally, a distance between the terminal limiting block and the lower edge of the deceleration limiting block is greater than a braking distance of the driver.
Optionally, the driver is connected below the transfer bracket in a hinge mode; the driver is provided with a locking structure and can be locked on the guide rail when the speed is 0; the driver receives and/or transmits signals in a wireless data transmission mode.
Optionally, the transfer bracket is provided with a pinch roller, a guide wheel, an infrared sensor and a hall sensor; the infrared sensor is positioned on one side of the transfer bracket and used for detecting the speed reduction limiting block, and when the lower edge of the speed reduction limiting block is detected, the driver receives a speed reduction signal and decelerates; the Hall sensor is located the transportation bracket opposite side for detect and to terminal feedback bracket apart from the distance of terminal stopper.
Optionally, the horizontal bracket comprises an L-shaped mounting plate I, an L-shaped mounting plate II, an L-shaped mounting plate III, an L-shaped mounting plate IV and a middle bridge; the first L-shaped mounting plate and the second L-shaped mounting plate are mounted at one end of the third L-shaped mounting plate and used for fixing the whole support on the ground wire cross arm; the L-shaped mounting plate IV is mounted at the other end of the L-shaped mounting plate III and is used for connecting the middle part of the middle bridge; and two ends of the middle bridge are respectively provided with a connecting steel bar.
Optionally, the inter-frame connecting piece is a circular tube, and two ends of the circular tube are respectively sleeved into the connecting steel bars of the adjacent middle bridges to form a complete channel.
Optionally, bracket steel bars are respectively arranged at two ends of the top of the transfer bracket, and the inspection track is connected with the bracket steel bars through a starting point connecting section; the starting point connecting section is a straight round pipe, the tail part of the straight round pipe is sleeved into the connecting steel bar of the middle bridge, a groove with a downward opening direction is formed in the side wall of the head part of the straight round pipe, and the groove is used for embedding the bracket steel bar to form a complete channel.
Optionally, the inspection track is connected with the obstacle crossing bridge through a terminal connecting section; the end point connecting section is an arc-shaped circular tube, and two ends of the arc-shaped circular tube are sleeved into the steel bars of the middle bridge and the obstacle crossing bridge respectively to form a complete channel.
Optionally, the obstacle crossing bridge only needs to be installed on one side, and the other side of the obstacle crossing bridge is connected with the adjacent horizontal support.
Compared with the prior art, the invention has the following technical effects:
the auxiliary up-down line system for the overhead transmission line inspection robot is simple in structure and light in weight, the system is tightly attached to a pole tower, extra land resources are not occupied, the installation speed is high, the system is convenient for constructors to install, the performance of the original pole tower is not influenced after the system is installed, and the inspection robot can finish up-down tower operation without obstacles; the inspection robot climbs the tower without personnel to climb the tower for adjustment after the whole set of installation is completed, the burden of inspection personnel and constructors is reduced, the installation and deployment work of all inspection sections can be completed in one inspection period, and the effectiveness of the personnel is improved. Meanwhile, the invention does not need to change the original structure of the tower body when being installed, is suitable for the existing tower body structure and circuit installation, has the advantages of high universality, wide application range and convenient installation, can efficiently finish the laying of the whole circuit and has strong practicability.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an auxiliary up-down line system for an overhead transmission line inspection robot according to the present invention;
FIG. 2 is a schematic structural diagram of the vertical tower climbing mechanism of the present invention;
FIG. 3 is a schematic view of the structure of the vertical guide assembly of the present invention;
FIG. 4 is a schematic structural diagram of the actuator of the present invention;
FIG. 5 is a schematic view of the transfer carriage of the present invention;
FIG. 6 is a schematic view of the horizontal inspection mechanism of the present invention;
FIG. 7 is a schematic structural view of a horizontal support of the present invention;
wherein the reference numerals are: 1. a vertical tower climbing mechanism; 2. a horizontal inspection mechanism; 3. a vertical guide rail assembly; 4. a driver; 5. a transfer carriage; 6. a horizontal support; 7. an inter-frame connector; 8. an obstacle-crossing bridge; 9. a vertical guide rail; 10. a deceleration stop block; 11. a terminal limiting block; 12. a pinch roller; 13. a guide wheel; 14. an infrared sensor; 15. a Hall sensor; 16. an L-shaped mounting plate I; 17. a second L-shaped mounting plate; 18. an L-shaped mounting plate III; 19. the L-shaped mounting plate IV; 20. an intermediate bridge; 21. connecting a steel bar; 22. a bracket steel bar; 23. a terminal connecting section; 24. a pole tower; 25. a patrol robot; 26. a cushion pad; 27. and a ground line.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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.
The invention aims to provide an auxiliary up-down winding system for an overhead transmission line inspection robot, which is simple in structure and convenient to install, can assist the transmission line inspection robot to automatically run from the ground surface to the ground wire, realizes full-automatic up-down winding operation of the inspection robot, and greatly reduces the working strength.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
The first embodiment is as follows:
in order to realize the full-automatic operation of the upper line and the lower line of the inspection robot, the embodiment provides the auxiliary upper line and lower line system for the inspection robot of the overhead transmission line, which can be applied to various tower types such as a tangent tower or a corner tower, does not need to transform the original tower structure, has simple structure and convenient installation, and does not influence the performance of the original tower after installation.
As shown in fig. 1, the auxiliary line loading and unloading system for the overhead transmission line inspection robot comprises a vertical tower climbing mechanism 1 and a horizontal inspection mechanism 2 connected with the top end of the vertical tower climbing mechanism 1, and based on the auxiliary line loading and unloading system, the automatic tower climbing working section is structurally divided into a vertical working section and a horizontal working section.
In this embodiment, as shown in fig. 2, the wheel type inspection robot for the vertical section is lifted to the ground tower head from the ground surface, and mainly comprises a vertical guide rail assembly 3, a driver 4 and a transfer bracket 5. As shown in fig. 3, the vertical guide assembly 3 mainly comprises a vertical guide 9 and a limiting block. The vertical guide rail 9 provides a climbing passage for the driver 4 and the transfer bracket 5, is arranged along one of four main upright posts of the tower 24, and is fixed on the main upright posts of the tower in sections by bolts. The section of the vertical guide rail 9 is T-shaped and made of aluminum alloy. A1 mm gap is reserved when each section of vertical guide rail 9 is installed, the guide rails are guaranteed to deform due to expansion with heat and contraction with cold under different environmental conditions, and meanwhile, the normal operation of the driver 4 and the transfer bracket 5 is not influenced. The top end position of the vertical guide rail 9 is provided with a limiting block which is divided into a speed reduction limiting block 10 and a terminal limiting block 11 according to functions. The speed reduction limiting block 10 is located on the inner side of the guide rail, the action surface of the speed reduction limiting block is parallel to the axis of the guide rail, when the transportation bracket 5 and the driver 4 move to the speed reduction limiting block 10, the photoelectric sensor on the transportation bracket, namely the infrared sensor 14, detects the lower edge of the speed reduction limiting block 10 and transmits a wireless signal to the driver 4, and the driver power system starts to reduce the speed according to the preset acceleration. The terminal limit block 11 is located outside the guide rail, the acting surface of the terminal limit block is perpendicular to the axis of the guide rail and is higher than the speed reduction limit block, and the distance between the terminal limit block 11 and the lower edge of the speed reduction limit block 10 is slightly larger than the brake distance 200mm of the driver. When transporting bracket 5 and being close to terminal stopper 11, transport the hall proximity switch of bracket 5 top, hall sensor 15 incessantly measures the distance of bracket and terminal stopper 11 and feeds back to the driver through wireless signal promptly, thereby driver 4 gives control terminal with signal transmission again and obtains the concrete position of whole moving part. The sensor at control terminal can play the physical limiting action when the driver is malfunctioning simultaneously, namely when transporting 5 tops of bracket and can striking terminal limiting block 11, driver 4 transships and skids, prevents to transport bracket 5 and driver 4 and follow the guide rail departure.
In this embodiment, as shown in fig. 4, the driver 4 is used for providing climbing power for the transfer carriage, and is a conventional driver structure. The drive 4 moves along the vertical guide 9, is located below the transfer carriage 5, and is connected with the transfer carriage 5 in a hinge mode, so that the drive and the transfer carriage are allowed to swing along the guide within a certain range. Meanwhile, a wireless data transmission mode is adopted between the driver 4 and the transfer bracket 5, and signals of all sensors on the transfer bracket 5 are received, so that the actions of starting, decelerating, braking and the like of the driver are judged. The driver 4 is provided with a locking structure, when the transfer bracket 5 is pushed to reach the speed reduction limiting block 10, the driver 4 starts to decelerate and is locked on the guide rail when the speed is 0, so that the whole structure is kept fixed. The driver 4 has a signal transmission function, and can feed the motion parameters of the transfer bracket and the inspection robot back to the control terminal in real time in a wireless transmission mode.
In this embodiment, as shown in fig. 5, the transfer carriage 5 is a main supporting body when the inspection robot 25 vertically climbs, and has no power. Which is located above the driver 4 and is pushed by the driver 4. The transfer bracket 5 is provided with four groups of pinch rollers 12 and two groups of guide wheels 13. Each group of pinch rollers 12 consists of two rigid wheels, and the upper and lower groups of brackets are symmetrically arranged along the central line of the vertical guide rail; the two rigid wheels are respectively positioned at the inner side and the outer side of the guide rail and clamp the upper side and the lower side of the horizontal top-part of the T-shaped guide rail, so that the transfer bracket 5 is ensured not to be separated from the vertical guide rail. Each group of guide wheels 13 comprises two rigid wheels, and the two groups of guide wheels 13 are respectively positioned in the same horizontal plane with the upper and lower groups of pressing wheels 12; the two rigid wheels are symmetrically arranged along the central line of the guide rail and clamp the left side and the right side of the horizontal top part of the T-shaped guide rail, so that the transfer bracket 5 is ensured to move along the vertical guide rail all the time.
As shown in figure 5, the two sensors of infrared/Hall are arranged on the transferring bracket 5, the infrared sensor 14 is positioned on one side of the transferring bracket 5 and slightly deviated from the inner side of the vertical guide rail 9, the detecting head faces to the central line of the vertical guide rail 9 and is used for detecting the speed reducing limiting block 10 on the guide rail, and when the sensor detects the lower edge of the speed reducing limiting block 10, the sensor transmits the speed reducing limiting block to the driver in a wireless mode to enable the driver to perform speed reducing motion. Hall sensor 15 is located transports 5 opposite sides of bracket, and slightly to perpendicular guide rail 9 inboard, detects first direction and makes progress perpendicularly, when detecting terminal stopper 11 on the guide rail, gives the driver through wireless transmission signal to transport bracket and terminal stopper position relation are transported in the feedback to control terminal. Transport bracket 5 and lean on the guide rail outside to hold carrier for the robot, the top is for transporting the layer board, transports layer board middle part width, and both sides are along 10 orientation constrictions about the tip, and open the tip top surface has the recess, and welded bracket rod iron 22 in the recess, bracket rod iron 22 with transport the whole ring of light transition of layer board. A vertical protrusion is arranged at a position close to one side above the transfer supporting plate and used for limiting the movement of the robot, so that the robot can only move towards one side. When the robot is lifted vertically, the inspection robot 25 is tightly held on the transfer supporting plate, and the inspection robot 25 is guaranteed not to move horizontally through a brake system of the inspection robot 25. The middle wide part of the transfer supporting plate is a fixed point, and the movement of the robot is not influenced. A buffer pad 26 is arranged below the transfer bracket and used for ensuring that the robot cannot be scratched due to hard contact with the bracket during vertical lifting and horizontal movement of the robot.
In this embodiment, as shown in fig. 6, the horizontal section connects the vertical section and the ground wire 27, so that the inspection robot 25 can cross the ground wire and transfer from the transfer bracket to the inspection line, and mainly includes a horizontal bracket 6, a connecting section, an inter-frame connecting member 7, and an obstacle crossing bridge 8. The horizontal supports 6 are fixed on the ground wire cross arms and arranged along the horizontal main beams of the ground wire cross arms, the number of the horizontal supports is determined according to the total length of the actual cross arms on site, and the distance between every two adjacent horizontal supports 6 is not more than 3 m. As shown in fig. 7, the horizontal bracket 6 mainly comprises a first L-shaped mounting plate 16, a second L-shaped mounting plate 17, a third L-shaped mounting plate 18 and a fourth L-shaped mounting plate 19, wherein the first, second and third mounting plates are used for fixing the whole bracket on the cross arm, the fourth L-shaped mounting plate 19 is used for connecting the middle part of the intermediate bridge 20 with the first L-shaped mounting plate 16, and the four mounting plates can be processed and modulated according to the size of the tower and are suitable for tower types with different sizes. The middle bridge 20 middle part is wide, and both sides narrow along 10 directions about the tip, and both ends face is opened flutedly respectively, and the welding has the connection rod iron 21 in the recess, connects rod iron 21 and transports the whole smooth transition of layer board. The middle width of the middle bridge 20 is a fixed point for the most part, and the movement of the robot is not influenced.
In this embodiment, as shown in fig. 6, the inter-frame connecting members 7 are connected to the horizontal frames to form a track for the robot to move horizontally. The structure is a straight round tube structure, and two sides of the straight round tube structure are respectively sleeved into the connecting steel bars 21 of the middle bridge of the horizontal bracket at two sides and are crimped to form a complete channel. The length dimension of the straight circular tube structure is determined according to the total length of the ground wire cross arm and the number of the horizontal supports, and can be adjusted according to actual requirements to adapt to more tower types.
In this embodiment, the connection section is divided into a starting point connection section and an end point connection section 23, the starting point connection section is located on the side of the whole horizontal working section close to the vertical working section and is used for connecting the transfer bracket in the vertical working section, the structure of the transfer bracket is a straight circular tube, the tail part of the transfer bracket is sleeved in and pressed on a steel bar of a middle bridge of the horizontal support, the head part of the transfer bracket is cut open along the middle surface, the opening direction of the transfer bracket is downward, and the cutting length is slightly greater than the length. When the inspection robot 25 moves to a designated position along with the transfer bracket, the bracket steel bar 22 is just embedded and sleeved in the groove of the starting point connecting section to form a complete channel. The end point connecting section 23 is connected with the horizontal support and the obstacle crossing bridge 8 and is structurally an arc-shaped circular tube, the radius of the arc is not less than 600mm, and the turning angle is close to 90 degrees. Two ends of the terminal connecting section 23 are respectively sleeved into the horizontal bracket and the steel bar extending out of the obstacle crossing bridge 8 and are pressed and connected to form a complete channel. Because a certain angle exists between the ground wire cross arm and the main column of the tower body, the starting point connecting section and the end point connecting section need to be pre-bent before installation, the angle of the starting point connecting section is consistent with that of the ground wire cross arm, and the angle of the end point connecting section is complementary with that of the ground wire cross arm.
In this embodiment, the obstacle crossing bridge 8 is the obstacle crossing bridge disclosed in patent CN201811167828.0, and the specific structure and working principle are not described herein again. In the embodiment, the obstacle crossing bridge 8 only needs to be installed on one side, and the other side is connected with the horizontal support, so that the robot can be transferred to the ground from the horizontal working section.
The following describes the embodiment by taking actual engineering as an example.
Firstly, a first group of horizontal brackets 6 close to the vertical guide rail 9 side is installed, a starting point connecting section is well pressed close to the vertical guide rail 9 side, and pre-bending is completed on the starting point connecting section according to a tower drawing. And a plurality of groups of horizontal brackets 6 and inter-bracket connecting pieces 7 are arranged along the ground wire cross arm to form a complete channel to a final group of horizontal brackets. In order to ensure that the transfer bracket 5 keeps balance when running to a designated position, a group of horizontal brackets 6 and a starting point connecting section which are as high as the first group of horizontal brackets 6 can be added on the other side of the vertical guide rail 9, and the specific position is adjusted according to the bracket steel bar 22 on the other side of the transfer bracket.
And then a vertical working section is installed, the height from the vertical rail 9 to the cross arm of the ground wire is arranged along the main bearing column of the tower, a terminal limiting block 11 is installed at the top of the vertical guide rail 9, and the position of the terminal limiting block 11 is as high as the upper end face of the first group of horizontal supports 6. A speed-reducing limiting block 10 is arranged below the opposite side of the terminal limiting block 11, and the distance between the lower end face of the speed-reducing limiting block 10 and the lower end face of the terminal limiting block 11 is 200 mm. The pinch roller 12 on the inner side of the transfer bracket 5 is taken down, and after the transfer bracket 5 is installed on the guide rail, the pinch roller 12 is installed again. The drive 4 is mounted and then connected to the transfer carriage. And the trial operation makes the transfer bracket move to the tower top. And checking the brake position and distance.
And finally, installing the obstacle crossing bridge 8, selecting the obstacle crossing bridge with the corresponding specification according to different tower types, only installing the obstacle crossing bridge far away from the tower climbing mechanism side, and adjusting the height of a fixed support of the obstacle crossing bridge 8 according to the horizontal support to enable the obstacle crossing bridge 8 and the fixed support to be positioned in the same horizontal plane. Between which the terminal connecting piece 23 is mounted and crimped, thus forming a complete channel. The end connection 23 is required to be located below the ground line and have a height difference of more than 150mm with the ground line.
In practice the inspection robot 25 clamps under the tower on the transfer carriage 5 and brakes to lock. Then travels up the vertical guide 9 with the drive 4 and the transfer carriage 5. When the infrared sensor 14 on the transfer bracket 5 detects the speed reduction limiting block 10 on the vertical guide rail, the driver 4 decelerates; when the hall sensor 15 on the transfer bracket 5 detects the end limit block 11 on the vertical guide rail 9, the driver 4 stops and locks the vertical guide rail; at the moment, the bracket steel bar 22 on the transfer bracket just extends into the connection section of the starting point of the horizontal working section, the inspection robot 25 opens a self driving device to move to the horizontal guide rail on a single side and moves to the ground wire or the obstacle crossing bridge along the horizontal working section, and the tower loading operation is completed.
When getting off the tower, patrolling and examining robot 25 and returning along horizontal workshop section and transporting bracket 5, moving and transporting on bracket 5 and detecting the place ahead and transporting protruding spacing on the layer board and stopping and locking, driver 4 starts to drive and transports bracket and robot and get off the tower. When the vehicle approaches the ground, a ground detection sensor on the driver detects the distance to the ground, and finally the brake stop is finished. At this time, the inspection robot 25 can be taken down to complete the operation of getting off the tower.
Therefore, the original structure of the tower body does not need to be changed when the tower is installed, and the tower is suitable for being additionally installed on the existing tower body and a circuit. The universal device has the advantages of high universality, wide application range and convenience in installation, and can efficiently finish the laying of the whole line, so that the inspection robot can finish the operation of going up and down the tower without obstacles.
The invention has simple structure and light weight, the system is tightly attached to the pole tower, occupies no extra land resource, has high installation speed and is convenient for constructors to install; the robot climbs the tower after the whole set of installation is finished without the need of personnel to climb the tower for adjustment, the burdens of inspection personnel and constructors are reduced, the installation and deployment work of all inspection sections can be finished in one inspection period, and the effectiveness of the personnel is improved.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein, and any reference signs in the claims are not intended to be construed as limiting the claim concerned.
The principle and the implementation mode of the invention are explained by applying a specific example, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (10)
1. The utility model provides an overhead transmission line patrols and examines auxiliary system of inserting winding displacement for robot which characterized in that: the system comprises a vertical tower climbing mechanism and a horizontal inspection mechanism connected with the top end of the vertical tower climbing mechanism;
the vertical tower climbing mechanism comprises a vertical guide rail assembly, a driver and a transfer bracket, wherein the vertical guide rail assembly is used for providing a climbing channel for the transfer bracket, the driver is used for providing climbing power for the transfer bracket, and the transfer bracket is used for lifting the inspection robot to a ground wire tower head from the ground surface;
the horizontal inspection mechanism comprises horizontal supports, inter-frame connecting pieces and obstacle crossing bridges, the horizontal supports are mounted on the ground wire cross arm, and adjacent horizontal supports are connected through the inter-frame connecting pieces to form an inspection track when the inspection robot moves horizontally; one end of the inspection track is connected with the transfer bracket and is used for transferring the inspection robot from the transfer bracket to an inspection line across a ground wire; the other end of the inspection track is connected with the obstacle crossing bridge and used for realizing the purpose that the inspection robot transfers the ground line from the inspection line.
2. The overhead transmission line inspection robot auxiliary on-line and off-line system according to claim 1, characterized in that: the vertical guide rail assembly comprises a vertical guide rail, a speed reduction limiting block and a terminal limiting block, and the vertical guide rail is arranged along the main upright post of the tower; the speed reduction limiting block is arranged on the inner side of the top end of the vertical guide rail, and the action surface of the speed reduction limiting block is parallel to the axis of the guide rail; the terminal limiting block is installed on the outer side of the top end of the vertical guide rail and is higher than the speed reduction limiting block, and the action face of the terminal limiting block is perpendicular to the axis of the guide rail.
3. The overhead transmission line inspection robot auxiliary on-line and off-line system according to claim 2, characterized in that: the distance between the terminal limiting block and the lower edge of the speed reduction limiting block is larger than the braking distance of the driver.
4. The overhead transmission line inspection robot auxiliary on-line and off-line system according to claim 1, characterized in that: the driver is connected below the transfer bracket in a hinge mode; the driver is provided with a locking structure and can be locked on the guide rail when the speed is 0; the driver receives and/or transmits signals in a wireless data transmission mode.
5. The overhead transmission line inspection robot auxiliary on-line and off-line system according to claim 2, characterized in that: the transfer bracket is provided with a pinch roller, a guide wheel, an infrared sensor and a Hall sensor; the infrared sensor is positioned on one side of the transfer bracket and used for detecting the speed reduction limiting block, and when the lower edge of the speed reduction limiting block is detected, the driver receives a speed reduction signal and decelerates; the Hall sensor is located the transportation bracket opposite side for detect and feedback bracket apart from the distance of terminal stopper.
6. The overhead transmission line inspection robot auxiliary on-line and off-line system according to claim 1, characterized in that: the horizontal support comprises an L-shaped mounting plate I, an L-shaped mounting plate II, an L-shaped mounting plate III, an L-shaped mounting plate IV and a middle bridge; the first L-shaped mounting plate and the second L-shaped mounting plate are mounted at one end of the third L-shaped mounting plate and used for fixing the whole support on the ground wire cross arm; the L-shaped mounting plate IV is mounted at the other end of the L-shaped mounting plate III and is used for connecting the middle bridge; and two ends of the middle bridge are respectively provided with a connecting steel bar.
7. The overhead transmission line inspection robot auxiliary on-line and off-line system according to claim 6, characterized in that: the connecting pieces between the frames are round tubes, and two ends of each round tube are respectively sleeved into the connecting steel bars of the adjacent middle bridges to form a complete channel.
8. The overhead transmission line inspection robot auxiliary on-line and off-line system according to claim 6, characterized in that: bracket steel bars are respectively arranged at two ends of the top of the transfer bracket, and the inspection track is connected with the bracket steel bars through a starting point connecting section; the starting point connecting section is a straight round pipe, the tail part of the straight round pipe is sleeved with a steel bar of the middle bridge, the side wall of the head part of the straight round pipe is provided with a groove with a downward opening direction, and the groove is used for embedding the bracket steel bar to form a complete channel.
9. The overhead transmission line inspection robot auxiliary on-line and off-line system according to claim 6, characterized in that: the inspection track is connected with the obstacle crossing bridge through a terminal point connecting section; the end point connecting section is an arc-shaped circular tube, and two ends of the arc-shaped circular tube are sleeved into the steel bars of the middle bridge and the obstacle crossing bridge respectively to form a complete channel.
10. The overhead transmission line inspection robot auxiliary on-line and off-line system according to claim 1, characterized in that: the obstacle crossing bridge only needs to be installed on one side, and the other side of the obstacle crossing bridge is connected with the adjacent horizontal support.
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| US20210091544A1 (en) * | 2018-11-15 | 2021-03-25 | Shandong University Of Science And Technology | Climbing robot traveling along overhead line |
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