CN112531569B - Multi-foot switching type cable inspection robot and inspection method thereof - Google Patents
Multi-foot switching type cable inspection robot and inspection method thereof Download PDFInfo
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- CN112531569B CN112531569B CN202011592256.8A CN202011592256A CN112531569B CN 112531569 B CN112531569 B CN 112531569B CN 202011592256 A CN202011592256 A CN 202011592256A CN 112531569 B CN112531569 B CN 112531569B
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- 238000007689 inspection Methods 0.000 title claims abstract description 47
- 238000000034 method Methods 0.000 title claims description 19
- 239000003973 paint Substances 0.000 claims description 6
- 238000003384 imaging method Methods 0.000 claims description 5
- 238000012545 processing Methods 0.000 claims description 5
- 238000005507 spraying Methods 0.000 claims description 3
- 238000012423 maintenance Methods 0.000 description 6
- 238000001514 detection method Methods 0.000 description 4
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 239000002344 surface layer Substances 0.000 description 2
- 241000592274 Polypodium vulgare Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
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Classifications
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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 provides a multi-foot switching type cable inspection robot which is characterized by comprising a frame body, a connecting arm, a clamping device and a camera device, wherein the frame body is provided with a plurality of connecting arms; the cable fixing device comprises a frame body, a plurality of connecting arms and a clamping device, wherein a power device is arranged in the frame body, the connecting arms are fixedly arranged on the periphery of the frame body at equal intervals and are fixedly connected with the frame body, the connecting arms are provided with a plurality of rotating joints and can be flexibly bent or straightened, the other end of each connecting arm is provided with the clamping device, and the frame body is hung on a cable through two adjacent connecting arms; the straight connecting arms are separated from the cables through the opening of the travelling wheels, and the connecting arm adjacent to the other connecting arm is hung on the cables through the rotation of the frame body and the opening and closing of the travelling wheels, so that the frame body is kept balanced and moves along the extending direction of the cables. The invention discloses a multi-foot switching type cable inspection robot which is high in inspection efficiency, high in flexibility, free of influence of cable damage and very intelligent.
Description
Technical Field
The invention relates to the technical field of cable inspection equipment, in particular to a multi-foot switching type cable inspection robot and an inspection method thereof.
Background
The cable maintenance work has an extremely important position in the aspect of ensuring the safe operation of basic power equipment. Traditional cable maintenance task needs cable maintainer to climb to the high altitude cable on, carries out daily cable maintenance work. The whole maintenance process is carried out at high altitude, so that the maintenance process is very dangerous and low in efficiency. Some existing inspection robots hang through the pulley and on the cable, the pulley passes through power device and drives rotatoryly, and cable motion along the line sets up the camera on the inspection robot and shoots the cable image for whether the inspection cable has the damage, but this kind of robot pulley is complicated with the cable connection, need use special device to press from both sides tightly, prevents that pulley and cable from skidding and leading to the robot can't advance, and simultaneously in the damaged department of cable, the inspection can't continue to go on. When carrying out the cable maintenance, need artifical climbing to be connected robot and cable on the cable, at the in-process of patrolling and examining, need constantly install and the action of dismantling, very influence patrols and examines efficiency.
In view of the above, there is a need for an improved inspection device in the prior art to solve the above problems.
Disclosure of Invention
The invention aims to disclose a multi-foot switching type cable inspection robot which is high in inspection efficiency, high in flexibility, free of cable damage influence and very intelligent.
In order to achieve the purpose, the invention provides a multi-foot switching type cable inspection robot, which comprises a frame body, a connecting arm, a clamping device and a camera device, wherein the frame body is provided with a plurality of connecting arms;
the cable rack is characterized in that a power device is arranged in the rack body, a plurality of connecting arms are arranged in the rack body, are fixedly arranged on the periphery of the rack body at equal intervals and are fixedly connected with the rack body, each connecting arm is provided with a plurality of rotating joints and can be flexibly bent or straightened, a clamping device is arranged at the other end of each connecting arm, a walking wheel is arranged at the clamping end of each clamping device, each walking wheel is of a split structure, the opening and closing of the walking wheels are controlled through the clamping devices, and the rack body is hung on a cable through two adjacent connecting arms;
the power device control the support body rotates, hang in a linking arm on the cable is straightened through the rotation of support body, and with another hang in the adjacent linking arm of the linking arm of cable through the rotation of support body and towards the direction removal of cable, and self buckle towards the cable direction, the linking arm that is straightened opens through the walking wheel and breaks away from with the cable, the adjacent linking arm of another linking arm through the rotation of support body and the opening and shutting of walking wheel and hang in on the cable, make the support body keep balance and the direction removal that the cable extends along the line.
As a further development of the invention, three connecting arms are provided.
As a further improvement of the invention, the travelling wheels are a first plate wheel and a second plate wheel, the first plate wheel is provided with a groove, and the second plate wheel is provided with a straight shaft which can be inserted into the groove.
As a further improvement of the present invention, a marking device is provided in the frame body, and the marking device marks the damaged portion of the cable by observation of the imaging device.
As a further improvement of the invention, the marking device is used for marking by spraying colored paint or fluorescent paint.
As a further development of the invention, the holding device is a gripper.
As a further improvement of the invention, the clamp is provided with a magnetic pole switching device, and the opening and closing of the travelling wheels are controlled by changing the magnetic poles at the two clamping ends of the clamp.
As a further improvement of the invention, the camera devices are arranged on two sides of the frame body, and the camera devices are internally provided with infrared temperature detectors and have the function of recording the damaged position of the cable.
The invention also discloses a multi-foot switching type cable inspection robot inspection method, which comprises the following steps:
s1, two connecting arms are arranged on the frame body and are hung on the cable in a closed mode through the travelling wheels, and the camera device conducts positioning inspection;
and S2, the frame body is driven to rotate by a power device, and the two connecting arms hung on the cables are respectively switched in sequence along the reverse direction of the rotation direction of the frame body, so that the frame body moves along the extending direction of the cables.
And S3, in S2, the imaging device performs inspection, and the marking device performs marking processing on the damaged portion.
As a further improvement of the present invention, in S2, the connecting arm can be angularly adjusted by the rotary joint during switching by monitoring of the camera device, so as to change the position where the travelling wheel falls on the cable, thereby avoiding the damage of the cable.
Compared with the prior art, the invention has the beneficial effects that:
(1) robot is patrolled and examined to polypody switching formula cable, the direction of following the cable at power device drive support body rotates, the articulated linking arm that is equipped with a plurality of rotation joints is utilized in the rotation process, change the position of linking arm and cable, utilize clamping device and locate the walking wheel of clamping device exposed core, the switching of the linking arm that the realization hung mutually with the cable, and make the support body driven on the cable, and do the discontinuity towards the extending direction of cable and remove, avoided at the damaged department of cable, the problem of the unable stride across of robot is patrolled and examined.
(2) The split type walking wheels can slide on the cable, damage to the surface layer of the cable is reduced, and meanwhile, the opening and closing of the walking wheels can be flexibly controlled by the aid of the magnetic pole switching devices, so that flexible switching of the connecting arms is achieved.
(3) Through the observation of the camera device, the crossing type detection can be carried out on the damaged part of the cable, the damaged part is marked by the marking device, the data recording is carried out on the damaged part, and the detection effect and the processing capacity are improved.
Drawings
Fig. 1 is a schematic structural diagram of a multi-foot switching type cable inspection robot of the invention;
FIG. 2 is a schematic view of a multi-foot switching type cable inspection robot according to the present invention in a certain working state;
FIG. 3 shows the connection between the connection arm and the clamping device of the multi-foot switching type cable inspection robot according to the present invention
And then a schematic diagram is shown.
In the figure: 1. a frame body; 2. a connecting arm; 21. a revolute joint; 3. a clamping device; 31. a traveling wheel; 4. a camera device; 5. and a power device.
Detailed Description
The present invention is described in detail with reference to the embodiments shown in the drawings, but it should be understood that these embodiments are not intended to limit the present invention, and those skilled in the art should understand that functional, methodological, or structural equivalents or substitutions made by these embodiments are within the scope of the present invention.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be considered limiting of the scope of the present application. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the invention, the meaning of "a plurality" is two or more unless otherwise specified.
In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art through specific situations.
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Please refer to fig. 1 to 3, which illustrate an embodiment of a multi-foot switching type cable inspection robot according to the present invention.
A multi-foot switching type cable inspection robot comprises a frame body 1, a connecting arm 2, a clamping device 3 and a camera device 4; the power device 5 is arranged in the frame body 1, and the connecting arms 2 are provided with a plurality of strips which are fixedly arranged on the periphery of the frame body 1 at equal intervals and fixedly connected with the frame body 1; referring to fig. 3, the connecting arm 2 has a plurality of rotating joints 21 and can be flexibly bent or straightened, the other end of the connecting arm 2 is provided with a clamping device 3, a clamping end of the clamping device 3 is provided with a walking wheel 31, the walking wheel 31 is of a split structure, the opening and closing of the walking wheel 31 is controlled by the clamping device 3, and the frame body 1 is suspended on a cable through two adjacent connecting arms 2; the power device 5 controls the frame body 1 to rotate, one connecting arm 2 hung on a cable is straightened through the rotation of the frame body 1, the connecting arm 2 adjacent to the other connecting arm 2 hung on the cable moves towards the direction of the cable through the rotation of the frame body 1 and bends towards the direction of the cable, the straightened connecting arm 2 is opened through the travelling wheels 31 and is separated from the cable, the other connecting arm 2 adjacent to the connecting arm 2 is hung on the cable through the rotation of the frame body 1 and the opening and closing of the travelling wheels 31, and the frame body 1 is kept balanced and moves along the extending direction of the cable. Specifically, robot is patrolled and examined to polypod switching formula cable, the direction of driving support body 1 along the cable at power device 5 rotates, rotate articulated linking arm 2 that the in-process utilizes the multijoint that is equipped with a plurality of revolute joint 21, change the position of linking arm 2 and cable, utilize clamping device 3 and locate the walking wheel 31 of 3 exposed cores of clamping device, the realization is to the switching of linking arm 2 that hangs mutually with the cable, and make support body 1 driven on the cable, and do the discontinuity and remove towards the extending direction of cable, avoided at the damaged department of cable, the problem of the unable stride across of robot is patrolled and examined.
In this embodiment, referring to fig. 1, the connecting arm 2 is provided with three connecting arms, the clamping device 3 is a clamp, and the clamp is provided with a magnetic pole switching device, so that the opening and closing of the travelling wheel 31 are controlled by changing the magnetic poles at the two clamping ends of the clamp. The travelling wheels 31 are a first plate wheel and a second plate wheel, the first plate wheel is provided with a groove, and the second plate wheel is provided with a straight shaft which can be inserted into the groove. The split type walking wheels 31 can slide on the cable, damage to the surface layer of the cable is reduced, and meanwhile, the opening and closing of the walking wheels 31 can be flexibly controlled by the aid of the magnetic pole conversion devices, so that flexible switching of the connecting arms 2 is achieved. The frame body 1 is provided with a marking device, and the marking device marks the damaged part of the cable through observation of the camera device 4. The marking device adopts a mode of spraying colored paint or fluorescent paint for marking. Camera device 4 sets up in the both sides of support body 1, is equipped with infrared temperature detector in the camera device 4 to have the function with the damaged department record of cable. Through the observation of the camera device 4, the cable damage position can be subjected to leap-type detection, the damage position is marked by the marking device, and data recording is carried out on the damage position, so that the detection effect and the processing capacity are improved.
The invention also discloses a multi-foot switching type cable inspection robot inspection method, which comprises the following steps: s1, the frame body 1 is provided with two connecting arms 2 which are closed and hung on a cable through the travelling wheels 31, and the camera device 4 is used for positioning inspection; s2, the power device 5 drives the frame body 1 to rotate, and the two connecting arms 2 hung on the cables are respectively and sequentially switched along the reverse direction of the rotating direction of the frame body 1, so that the frame body 1 moves along the extending direction of the cables; at S3, at S2, the imaging device 4 performs inspection, and the marking device performs marking processing on the damaged portion. In S2, the link arm 2 can be angularly adjusted by the pivot joint 21 during switching by monitoring by the imaging device 4, and the position where the travel wheel 31 falls on the cable is changed so as to avoid the damaged portion of the cable. As shown with particular reference to fig. 2.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (8)
1. A multi-foot switching type cable inspection robot inspection method is characterized in that the inspection robot comprises a frame body, a connecting arm, a clamping device and a camera device;
the cable rack is characterized in that a power device is arranged in the rack body, a plurality of connecting arms are arranged in the rack body, are fixedly arranged on the periphery of the rack body at equal intervals and are fixedly connected with the rack body, each connecting arm is provided with a plurality of rotating joints and can be flexibly bent or straightened, a clamping device is arranged at the other end of each connecting arm, a walking wheel is arranged at the clamping end of each clamping device, each walking wheel is of a split structure, the opening and closing of the walking wheels are controlled through the clamping devices, and the rack body is hung on a cable through two adjacent connecting arms;
the power device controls the frame body to rotate, one connecting arm hung on the cable is straightened through the rotation of the frame body, the connecting arm adjacent to the other connecting arm hung on the cable moves towards the direction of the cable through the rotation of the frame body and bends towards the direction of the cable, the straightened connecting arm is separated from the cable through the opening of the travelling wheels, the connecting arm adjacent to the other connecting arm is hung on the cable through the rotation of the frame body and the opening and closing of the travelling wheels, and the frame body is kept in balance and moves along the extending direction of the cable;
three connecting arms are arranged;
the inspection method comprises the following steps:
s1, two connecting arms are arranged on the frame body and are hung on the cable in a closed mode through the travelling wheels, and the camera device conducts positioning inspection;
s2, the power device drives the frame body to rotate, and the two connecting arms hung on the cables are respectively and sequentially switched along the reverse direction of the rotation direction of the frame body, so that the frame body moves along the extending direction of the cables;
and S3, in S2, the imaging device performs inspection, and the marking device performs marking processing on the damaged portion.
2. The inspection method of the multi-foot switching type cable inspection robot according to claim 1, wherein the traveling wheels are a first sheet wheel and a second sheet wheel, the first sheet wheel is provided with a groove, and the second sheet wheel is provided with a straight shaft capable of being inserted into the groove.
3. The inspection method according to claim 1, wherein a marking device is provided in the frame body, and the marking device marks the damaged portion of the cable under observation of the camera.
4. The inspection method of the multi-foot switching cable inspection robot according to claim 3, wherein the marking device is marked by spraying colored paint or fluorescent paint.
5. The inspection method of the multi-foot switching cable inspection robot according to claim 1, wherein the clamping device is a clamp.
6. The inspection method according to claim 5, wherein the clamp is provided with a magnetic pole switching device, and the opening and closing of the travelling wheels are controlled by changing magnetic poles at two clamping ends of the clamp.
7. The inspection method according to claim 1, wherein the camera devices are arranged on two sides of the frame body, infrared temperature detectors are arranged in the camera devices, and the camera devices have a function of recording damaged cable positions.
8. The inspection method according to claim 1, wherein in the step S2, the connecting arm is monitored by a camera device, and the connecting arm can be angularly adjusted by a rotary joint during switching, so that the position of the travelling wheel on the cable is changed, and the damaged part of the cable is avoided.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011592256.8A CN112531569B (en) | 2020-12-29 | 2020-12-29 | Multi-foot switching type cable inspection robot and inspection method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011592256.8A CN112531569B (en) | 2020-12-29 | 2020-12-29 | Multi-foot switching type cable inspection robot and inspection method thereof |
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| CN112531569A CN112531569A (en) | 2021-03-19 |
| CN112531569B true CN112531569B (en) | 2022-05-20 |
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| CN115249957B (en) * | 2021-12-22 | 2023-08-01 | 张旭 | Power transmission line inspection device |
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| US8684333B2 (en) * | 2006-06-02 | 2014-04-01 | Quanta Associates, L.P. | Boom mountable robotic arm |
| CN103963043B (en) * | 2014-04-30 | 2015-12-02 | 湖南大学 | A kind of intelligent robot of patrolling and examining for power station and keep in repair and control system thereof |
| CN105730540B (en) * | 2016-02-05 | 2018-09-07 | 国家电网公司 | A kind of Intelligent Mobile Robot and its driving method with pole-climbing function |
| CN109346993B (en) * | 2018-12-07 | 2023-10-31 | 江苏迪伦智能科技有限公司 | Obstacle crossing device and obstacle crossing method for overhead transmission line inspection robot |
| CN210744604U (en) * | 2019-11-20 | 2020-06-12 | 齐齐哈尔大学 | Patrol and examine robot along walking of high voltage electric network |
| CN111682447A (en) * | 2020-06-15 | 2020-09-18 | 中铁建电气化局集团运营管理有限公司 | Contact net intelligent maintenance robot and working method thereof |
| CN112003187B (en) * | 2020-08-24 | 2022-01-28 | 南京云上自动化科技有限公司 | Joint type double-foot high-voltage line inspection robot |
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