CN112421479A - Power inspection robot, system and obstacle crossing method - Google Patents
Power inspection robot, system and obstacle crossing method Download PDFInfo
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- CN112421479A CN112421479A CN202011116713.6A CN202011116713A CN112421479A CN 112421479 A CN112421479 A CN 112421479A CN 202011116713 A CN202011116713 A CN 202011116713A CN 112421479 A CN112421479 A CN 112421479A
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- inspection robot
- ground wire
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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 relates to an electric power inspection robot, an electric power inspection system and an obstacle crossing method, wherein the electric power inspection robot comprises a horizontally arranged bottom plate, the upper surface of the bottom plate is provided with a row of parallel sliding grooves, each sliding groove is internally provided with a sliding block, the sliding blocks can slide and be positioned along the sliding grooves under the driving of a horizontal linear driving component, the upper parts of the sliding blocks are provided with vertical rods, and the vertical rods are vertical to the bottom plate; the upper portion of pole setting is rotated and is installed last gyro wheel and lower gyro wheel, forms the ground wire space between last gyro wheel and the lower gyro wheel, and the ground wire space is used for passing the ground wire, and lower gyro wheel passes through the drive of rotary driving part in order to realize rotating, and it can be fixed along pole setting vertical movement to go up the gyro wheel to change the size in ground wire space. The upper surface of the sliding block is fixed with a supporting plate, the upper surface of the supporting plate is fixed with a rod sleeve, and the lower part of the vertical rod is inserted in the rod sleeve. The electric power inspection robot can conveniently walk along the overhead ground wire to complete inspection of the power transmission line.
Description
Technical Field
The disclosure belongs to the technical field of power equipment, and particularly relates to a power inspection robot, a power inspection system and an obstacle crossing method.
Background
The statements herein merely provide background related to the present disclosure and may not necessarily constitute prior art.
The overhead transmission line is a power line which is erected above the ground and insulated by insulators and air, and generally comprises a lead, an overhead ground wire, an insulator string, a grounding device and the like. The overhead ground wire is mainly used for preventing the overhead line from accidents caused by lightning attack, and plays a role of lightning protection together with the grounding device.
The inventor knows that in the current overhead transmission line in China, the overhead ground wire is erected above the transmission line, but the shockproof hammer and the vertical wire clamp are installed along the extending direction of the overhead ground wire, and the overhead ground wire is divided into a plurality of sections by the tower. The existing obstacle crossing tracks which are generally distributed along a curve are arranged at a tower so as to be passed by a power patrol robot. However, the existing power inspection robot with the obstacle crossing function has a complex obstacle crossing structure and low obstacle crossing efficiency; when the walking wheels are too many, the walking wheels of the multiple groups block the inspection robot to walk along the obstacle crossing track in a mode of being distributed along the fixed track.
Disclosure of Invention
The present disclosure is directed to a power inspection robot, a system and an obstacle crossing method, which can solve at least one of the above technical problems.
In order to achieve the above object, a first aspect of the present disclosure provides an electric power inspection robot, and this embodiment provides an electric power inspection robot, including a horizontally arranged bottom plate, an upper surface of the bottom plate is provided with a row of parallel sliding chutes, each sliding chute is provided with a sliding block, the sliding block can slide and be positioned along the sliding chute under the driving of a horizontal linear driving component, an upright rod is installed on an upper portion of the sliding block, and the upright rod is perpendicular to the bottom plate;
the upper portion of pole setting is rotated and is installed last gyro wheel and lower gyro wheel, forms the ground wire space between last gyro wheel and the lower gyro wheel, and the ground wire space is used for passing the ground wire, and lower gyro wheel passes through the drive of rotary driving part in order to realize rotating, and it can be fixed along pole setting vertical movement to go up the gyro wheel to change the size in ground wire space.
Furthermore, a supporting plate is fixed on the upper surface of the sliding block, a rod sleeve is fixed on the upper surface of the supporting plate, the lower portion of the vertical rod is inserted into the rod sleeve, a return spring is arranged between the vertical rod and the rod sleeve, and the return spring is sleeved between the inner wall of the rod sleeve and the outer wall of the vertical rod.
Furthermore, the upper portion of pole setting is equipped with vertical guide slot, and the lateral surface department of pole setting is seted up to the guide slot, is equipped with the guide block in the guide slot, and the guide block can slide and fix a position along the guide slot under vertical linear driving mechanism's drive, the guide block rotates with the pivot of last gyro wheel to be connected, and vertical linear driving part is equipped with pressure sensor with the contact surface department of guide block.
The second aspect of the disclosure provides a robot system is patrolled and examined to electric power, patrols and examines the robot including foretell electric power, still includes the host computer, the host computer can communicate with the controller to receive the image information that the robot was patrolled and examined to electric power, and the motion of robot is patrolled and examined to remote control electric power.
A third aspect of the present disclosure provides an obstacle crossing method for a power inspection robot, including the following steps:
when walking along the straight line segment of the ground wire: a plurality of upright posts of the power inspection robot are distributed on the same straight line, and a ground wire is positioned in a ground wire space between the upper roller and the lower roller;
when the straight line section of the electric power inspection machine meets an obstacle formed by a vertical wire clamp and a vibration damper at a tower, the robot stops moving, then the distance between an upper roller and a lower roller at the position of a front part of upright rods close to the obstacle is increased, and then the upright rods slide along with the sliding blocks and are far away from the ground wire;
the upper roller and the lower roller at the vertical rod of the latter part continue to move to the position of the obstacle and stop;
the front part of upright post resets along with the slide block, and the size of the ground wire space is adjusted, so that the upper roller and the lower roller of the front part clamp the ground wire again;
the distance between the upper roller and the lower roller at the latter part is increased, and then the upright rod slides along with the sliding block and is far away from the ground wire;
the upper roller and the lower roller at the upright stanchion of the former part continue to move until all upright stanchions cross the barrier and stop;
the rear part of upright post resets along with the slide block, and the size of the ground wire space is adjusted, so that the upper roller and the lower roller of the rear part clamp the ground wire again;
the power inspection robot continues to walk along the straight line segment of the ground wire.
When the electric power patrols and examines the obstacle crossing track that the robot marchd to electric power tower department:
the camera assembly shoots pictures of the obstacle crossing track and transmits the pictures back to the upper computer, and the upper computer synthesizes a three-dimensional graph through a plurality of pictures and completes three-dimensional modeling when the power inspection robot walks along the obstacle crossing track;
the three-dimensional simulation shows that when the power inspection robot is located at different positions of the obstacle crossing track, the positions of different sliding blocks are different;
when the power inspection robot walks along the cross-track, the controller adjusts the horizontal linear driving unit according to the position of the sliding block input by the upper computer, the power inspection robot and the position relation of the cross-obstacle track; the distribution tracks of the upper rollers and the lower rollers at the vertical rods are fitted with the curve of the obstacle crossing track at any time.
The beneficial effects of one or more technical schemes are as follows:
according to the ground wire clamping device, the upper idler wheel and the lower idler wheel are arranged on the upper portion of the vertical rod, the upper idler wheel can move vertically, and clamping and releasing of a ground wire are facilitated; the characteristic that the vertical rod can slide along with the sliding block and be positioned enables the vertical rod to be far away from the barrier after the clamping of the ground wire is loosened, so that the obstacle crossing is realized.
Adopt the mode of a plurality of pole settings, a plurality of gyro wheels and lower gyro wheel for the centre gripping of ground wire can be realized in turn with lower gyro wheel to a plurality of last gyro wheels, avoids crossing the barrier in-process, patrols and examines the unable effectively fixed condition of robot.
The mode that the vertical rods can slide along with the sliding blocks and are positioned is adopted, and each sliding block is convenient to control independently, so that the distribution tracks of the plurality of vertical rods fit the curved surface shape of the obstacle crossing track in the moving process of the electric power inspection robot, and the walking conversion of the electric power inspection robot between a straight line section and a curved section of the obstacle crossing track is convenient to realize.
Adopt the combination of rod cover and pole setting for the pole setting can take place limited rotation under reset spring's spacing, the slip of supplementary slider makes every pole setting department go up the gyro wheel and can further fit the curved shape of obstacle crossing track with lower gyro wheel.
The structure of the pressure sensor is adopted, so that the size of the ground wire space can be conveniently adjusted by matching with the vertical movement of the upper roller; whether clamping is finished between the upper roller and the lower roller is determined through pressure numerical value feedback of the pressure sensor, and the phenomenon that walking is influenced due to too high clamping degree can be avoided; meanwhile, the power inspection robot can adapt to ground wires with different wire diameter specifications.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
FIG. 1 is a schematic side view of the overall structure in example 1 of the present disclosure;
fig. 2 is a schematic top view of a partial structure in embodiment 1 of the present disclosure.
1. A storage battery; 2. a base plate; 3. a mounting seat; 4. a camera assembly; 5. a controller; 6. a communication component; 7. a rod sleeve; 8. an overhang plate; 9. a limiting rod; 10. a motor; 11. erecting a rod; 12. a vertical electric push rod; 13. an upper roller; 14. a ground wire; 15. a lower roller; 16. a return spring; 17. a support plate; 18. a slider; 19. a horizontal electric push rod; 20. a chute.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
For convenience of description, the words "up, down, left and right" in this disclosure, if any, merely indicate correspondence with the up, down, left and right directions of the drawings themselves, and do not limit the structure, but merely facilitate description of the disclosure and simplify description, rather than indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the disclosure. The figures show that the filling can be used with the invention, the voids in the examples being underground, but in other cases the voids can be areas above ground.
Example 1
As shown in fig. 1-2, the embodiment provides an electric power inspection robot, which includes a bottom plate 2 horizontally arranged, a row of parallel sliding grooves 20 are formed on the upper surface of the bottom plate 2, a sliding block 18 is arranged in each sliding groove 20, the sliding block 18 can slide and be positioned along the sliding groove 20 under the driving of a horizontal linear driving component, a vertical rod 11 is installed on the upper portion of the sliding block 18, and the vertical rod 11 is vertically arranged with the bottom plate 2;
the upper portion of the vertical rod 11 is rotatably provided with an upper roller 13 and a lower roller 15, a ground wire space is formed between the upper roller 13 and the lower roller 15 and is used for penetrating a ground wire 14, the lower roller 15 is driven by a rotary driving part to rotate, and the upper roller 13 can vertically move and be fixed along the vertical rod 11 so as to change the size of the ground wire space.
Further, a supporting plate 17 is fixed on the upper surface of the sliding block 18, a rod sleeve 7 is fixed on the upper surface of the supporting plate 17, the lower portion of the vertical rod 11 is inserted into the rod sleeve 7, a return spring 16 is arranged between the vertical rod 11 and the rod sleeve 7, and the return spring 16 is sleeved between the inner wall of the rod sleeve 7 and the outer wall of the vertical rod 11.
Further, the outer surface of the vertical rod 11 is provided with an outward extending plate 8, the upper end of the rod sleeve 7 is provided with a limiting rod 9, and the limiting rod 9 and the outward extending plate 8 can be matched for use to limit the rotation range of the vertical rod 11 along the rod sleeve 7.
Furthermore, the upper portion of pole setting 11 is equipped with vertical guide slot, and the lateral surface department of pole setting 11 is seted up to the guide slot, is equipped with the guide block in the guide slot, and the guide block can slide and fix a position along the guide slot under vertical linear driving mechanism's drive, the guide block rotates with the pivot of last gyro wheel 13 to be connected, and vertical linear driving part is equipped with pressure sensor with the contact surface department of guide block.
In this embodiment, the guide groove and the sliding groove can adopt dovetail grooves, and the guide block and the sliding block adopt dovetail-shaped sliding blocks; in other embodiments, a T-shaped chute and a slider may be used.
Further, 2 lower surfaces of bottom plate are equipped with mount pad 3, and camera subassembly 4 is installed to the lower part of mount pad 3, and bottom plate 2 has the inner chamber for assembling the structure in bottom plate 2, installs battery 1 and controller 5 in the inner chamber, controller 5 is used for controlling the motion of horizontal linear drive part, vertical linear drive part and rotation driving part.
Further, the horizontal linear driving component comprises a horizontal electric push rod 19, and the vertical linear driving component comprises a vertical electric push rod 12; the driving direction of the horizontal electric push rod 19 is horizontal, and the driving direction of the vertical electric push rod 12 is vertical.
Further, the rotation driving part comprises a motor 10, a shell of the motor 10 is fixed through a vertical rod 11, and a rotating shaft of the motor 10 is coaxially fixed with a rotating shaft of the lower roller 15.
Example 2
The embodiment provides a robot system is patrolled and examined to electric power, patrols and examines the robot including foretell electric power, still includes the host computer, the host computer can with 5 communications of controller to receive the image information that the robot was patrolled and examined to electric power, and the motion of robot is patrolled and examined to remote control electric power.
It should be noted that, in this embodiment, a communication component is disposed in the inner cavity of the base plate, and the communication component is used for implementing communication between the controller and the upper computer.
Example 3
The embodiment provides an obstacle crossing method for a power inspection robot, which comprises the following steps:
while walking along the straight segment of the ground line 14: a plurality of upright posts 11 of the power inspection robot are distributed on the same straight line, and a ground wire 14 is positioned in a ground wire space between an upper roller 13 and a lower roller 15;
when the straight line section of the electric power inspection machine meets an obstacle formed by a vertical wire clamp and a vibration damper at a tower, the robot stops moving, then the distance between an upper roller 13 and a lower roller 15 at the position of a front part of a vertical rod 11 close to the obstacle is increased, and then the vertical rod 11 slides along with a sliding block 18 and is far away from a ground wire 14;
the upper roller 13 and the lower roller 15 at the vertical rod 11 of the latter part continue to move to the position of the obstacle and stop;
the front part upright rod 11 is reset along with the sliding block 18, and the size of the ground wire space is adjusted, so that the upper roller 13 and the lower roller 15 of the front part clamp the ground wire 14 again;
the distance between the upper roller 13 and the lower roller 15 at the latter part increases, and then the upright 11 slides with the slider 18, away from the ground wire 14;
the upper roller 13 and the lower roller 15 at the upright stanchion 11 of the former part continue to move until all upright stanchions 11 cross the obstacle and stop;
the rear part of the upright rod 11 is reset along with the slide block 18, and the size of the ground wire space is adjusted, so that the upper roller 13 and the lower roller 15 of the rear part clamp the ground wire 14 again;
the power patrol robot continues to travel along the straight line segment of the ground wire 14.
It should be noted that the front part of the uprights and the rear part of the uprights in the present embodiment are a relative change, and as shown in fig. 2 of the present disclosure, the left side is set as the walking direction, and then the left two uprights are the front part of uprights, and the rear two uprights are the rear part of uprights. In other embodiments, there are, for example, five uprights, the first three or the first two being the first partial upright. As long as the number of the uprights of the previous part is equal to or differs by one or two, it can be set by the person skilled in the art.
When the electric power patrols and examines the obstacle crossing track that the robot marchd to electric power tower department:
the camera assembly 4 shoots pictures of the obstacle crossing track and transmits the pictures back to the upper computer, and the upper computer synthesizes a three-dimensional graph through a plurality of pictures and completes three-dimensional modeling when the electric power inspection robot walks along the obstacle crossing track;
the three-dimensional simulation shows that when the electric power inspection robot is positioned at different positions of the obstacle crossing track, the positions of different sliding blocks 18 are different;
when the power inspection robot walks along the obstacle crossing track, the controller 5 adjusts the horizontal linear driving unit according to the position of the slide block 18 input by the upper computer, the power inspection robot and the position relation of the obstacle crossing track; so that the distribution tracks of the upper rollers 13 and the lower rollers 15 at the upright rods 11 are fitted with the curve of the obstacle crossing track at the moment.
Although the present disclosure has been described with reference to specific embodiments, it should be understood that the scope of the present disclosure is not limited thereto, and those skilled in the art will appreciate that various modifications and changes can be made without departing from the spirit and scope of the present disclosure.
Claims (10)
1. The electric power inspection robot is characterized by comprising a horizontally arranged bottom plate, wherein the upper surface of the bottom plate is provided with a row of parallel sliding grooves, each sliding groove is internally provided with a sliding block, the sliding blocks can slide and be positioned along the sliding grooves under the driving of a horizontal linear driving component, the upper parts of the sliding blocks are provided with vertical rods, and the vertical rods are perpendicular to the bottom plate;
the upper portion of pole setting is rotated and is installed last gyro wheel and lower gyro wheel, forms the ground wire space between last gyro wheel and the lower gyro wheel, and the ground wire space is used for passing the ground wire, and lower gyro wheel passes through the drive of rotary driving part in order to realize rotating, and it can be fixed along pole setting vertical movement to go up the gyro wheel to change the size in ground wire space.
2. The electric inspection robot according to claim 1, wherein a support plate is fixed to the upper surface of the slider, a rod sleeve is fixed to the upper surface of the support plate, the lower portion of the upright rod is inserted into the rod sleeve, a return spring is arranged between the upright rod and the rod sleeve, and the return spring is sleeved between the inner wall of the rod sleeve and the outer wall of the upright rod.
3. The power inspection robot according to claim 2, wherein an outward extending plate is disposed on an outer surface of the upright, a limiting rod is disposed at an upper end of the rod sleeve, and the limiting rod and the outward extending plate can be used in cooperation to limit a rotation range of the upright along the rod sleeve.
4. The electric power inspection robot according to claim 1, wherein a vertical guide groove is formed in the upper portion of the vertical rod, the outer side face of the vertical rod is formed in the guide groove, a guide block is arranged in the guide groove and can slide and be positioned along the guide groove under the driving of a vertical linear driving mechanism, the guide block is rotatably connected with a rotating shaft of the upper roller, and a pressure sensor is arranged on the contact surface of the vertical linear driving component and the guide block.
5. The electric power inspection robot according to claim 4, wherein the mounting seat is arranged on the lower surface of the base plate, the camera assembly is mounted on the lower portion of the mounting seat, the base plate is of an assembled structure and is provided with an inner cavity, a storage battery and a controller are mounted in the inner cavity, and the controller is used for controlling the movement of the horizontal linear driving component, the vertical linear driving component and the rotary driving component.
6. The power inspection robot according to claim 4, wherein the horizontal linear drive component includes a horizontal electric putter and the vertical linear drive component includes a vertical electric putter; the driving direction of the horizontal electric push rod is horizontal, and the driving direction of the vertical electric push rod is vertical.
7. The power inspection robot according to claim 1, wherein the rotary drive component includes a motor, a housing of the motor is fixed by a vertical rod, and a rotating shaft of the motor is coaxially fixed with a rotating shaft of the lower roller.
8. The power inspection robot system comprises the power inspection robot according to any one of claims 1 to 7, and is characterized by further comprising an upper computer, wherein the upper computer can communicate with the controller to receive image information shot by the power inspection robot and remotely control the motion of the power inspection robot.
9. An obstacle crossing method of a power inspection robot is characterized by comprising the following steps:
when the electric power inspection robot walks along the straight line segment of the ground wire, a plurality of upright posts of the electric power inspection robot are distributed on the same straight line, and the ground wire is positioned in a ground wire space between the upper roller and the lower roller;
when the straight line section of the electric power inspection machine meets an obstacle formed by a vertical wire clamp and a vibration damper at a tower, the robot stops moving, then the distance between an upper roller and a lower roller at the position of a front part of upright rods close to the obstacle is increased, and then the upright rods slide along with the sliding blocks and are far away from the ground wire;
the upper roller and the lower roller at the vertical rod of the latter part continue to move to the position of the obstacle and stop;
the front part of upright post resets along with the slide block, and the size of the ground wire space is adjusted, so that the upper roller and the lower roller of the front part clamp the ground wire again;
the distance between the upper roller and the lower roller at the latter part is increased, and then the upright rod slides along with the sliding block and is far away from the ground wire;
the upper roller and the lower roller at the upright stanchion of the former part continue to move until all upright stanchions cross the barrier and stop;
the rear part of upright post resets along with the slide block, and the size of the ground wire space is adjusted, so that the upper roller and the lower roller of the rear part clamp the ground wire again;
the power inspection robot continues to walk along the straight line segment of the ground wire.
10. The power inspection robot obstacle crossing method according to claim 9, wherein when the power inspection robot travels to an obstacle crossing track at a power tower:
the camera assembly shoots pictures of the obstacle crossing track and transmits the pictures back to the upper computer, and the upper computer synthesizes a three-dimensional graph through a plurality of pictures and completes three-dimensional modeling when the power inspection robot walks along the obstacle crossing track;
the three-dimensional simulation shows that when the power inspection robot is located at different positions of the obstacle crossing track, the positions of different sliding blocks are different;
when the power inspection robot walks along the cross-track, the controller adjusts the horizontal linear driving unit according to the position of the sliding block input by the upper computer, the power inspection robot and the position relation of the cross-obstacle track; the distribution tracks of the upper rollers and the lower rollers at the vertical rods are fitted with the curve of the obstacle crossing track at any time.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011116713.6A CN112421479B (en) | 2020-10-19 | 2020-10-19 | Power inspection robot, system and obstacle crossing method |
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| CN202011116713.6A CN112421479B (en) | 2020-10-19 | 2020-10-19 | Power inspection robot, system and obstacle crossing method |
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|---|---|
| CN112421479B (en) | 2022-07-26 |
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