CN112713544A - Power grid inspection robot and using method thereof - Google Patents
Power grid inspection robot and using method thereof Download PDFInfo
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- CN112713544A CN112713544A CN202011524602.9A CN202011524602A CN112713544A CN 112713544 A CN112713544 A CN 112713544A CN 202011524602 A CN202011524602 A CN 202011524602A CN 112713544 A CN112713544 A CN 112713544A
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- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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Abstract
The invention belongs to the technical field of power grid inspection, and particularly relates to a power grid inspection robot which comprises an adjusting assembly, a connecting assembly, a fixing assembly, a driving cylinder assembly and a buckling assembly, wherein the connecting assembly is movably connected with the fixing assembly, and the buckling assembly is arranged on an electric pile. The invention has stable connection, high structural strength, convenient disassembly, assembly and maintenance, convenient operation, stability, reliability and long service life, and can ensure that a machine can be buckled on the buckling component through the fixing component by buckling the fixing component and the buckling component mutually, and then the machine is driven to rotate through the rotation of the buckling component, so that the machine can pass through the electric pile, the inspection of the machine cannot be influenced, and the applicability of the device is increased; the operation is simple, and each step can work independently, so that the operability of the method is improved.
Description
Technical Field
The invention belongs to the technical field of power grid inspection, and particularly relates to a power grid inspection robot and a using method thereof.
Background
After the distribution equipment is used as the basis of a power grid and put into operation, the distribution equipment is subjected to combined action of various internal or external factors such as aging, weather and manual operation, the performance of the distribution equipment is generally reduced, various faults of the distribution equipment are caused to quit operation, the equipment faults quit operation, and great harm is brought to safe and reliable operation of the power grid, so that the distribution equipment is overhauled in time, and the maintenance becomes indispensable work for daily production management of the power grid; the current power distribution equipment is mainly patrolled and examined by manpower, namely, the patrolling and examining personnel are expanded on site, the quality and the effect of the patrolling and examining are greatly influenced by human factors in the mode, so that the quality of the patrolling and examining is different, meanwhile, data analysis and processing are also needed in the patrolling and examining process to determine the type and the processing mode of a fault, the fault processing is not timely due to the defects of the equipment and the like of the field patrolling and examining personnel, the normal work of a transformer substation is possibly influenced, and the intellectualization of the distribution network patrolling and examining is particularly important.
Chinese patent publication No. CN110666814A discloses a power distribution network inspection robot, which includes: the robot comprises a robot body, a driving module, a control module, a camera module, a temperature monitoring module and an alarm module; the driving module is arranged on the robot body, and the control module is respectively and electrically connected with the driving module, the camera module, the temperature monitoring module and the alarm module; the driving module is used for driving the robot body to move; the camera module is used for acquiring image information of equipment to be tested and sending the image information to the control module; the temperature monitoring module is used for acquiring temperature information of the equipment to be tested and sending the temperature information to the control module; the control module is used for controlling the driving module to work and controlling the alarm module to send out an alarm prompt according to the image information and the temperature information.
However, the following problems still exist:
1. under the severe meteorological conditions of high voltage, ultrahigh voltage, rain, snow, fog and the like, the safety of inspection personnel is harmed, meanwhile, certain hidden danger is brought to the safe operation of a power grid, and the possibility of pre-maintenance is lost often caused by the fact that the failure of equipment cannot be known in time;
2. the robot can not cross when encountering obstacles such as telegraph poles and the like in the inspection process, so that the inspection work is suspended and is unfavorable for inspection.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the power grid inspection robot, which is used for solving the problems of time and labor waste, low efficiency, unstable connection and low structural strength in the prior art during assembly and maintenance; under the severe meteorological conditions of high voltage, ultrahigh voltage, rain, snow, fog and the like, the safety of inspection personnel is harmed, meanwhile, certain hidden danger is brought to the safe operation of a power grid, and the possibility of pre-maintenance is lost often caused by the fact that the failure of equipment cannot be known in time; the invention also provides a using method of the power grid inspection robot, which is convenient to operate, simple and understandable, and can be mastered by operators through simple training; the operation is simple, and each step can work independently, so that the operability of the method is improved.
In order to solve the technical problems, the invention adopts the following technical scheme:
the utility model provides a power grid inspection robot, includes adjusting part, coupling assembling, fixed subassembly, drive cylinder subassembly and lock subassembly, the adjusting part is equipped with two, and two adjusting part locate and drive cylinder subassembly both ends, two the adjusting part with drive cylinder subassembly both ends and be connected, coupling assembling and adjusting part swing joint, the coupling assembling port is located to fixed subassembly, coupling assembling and fixed subassembly swing joint, the lock subassembly is located on the electric pile.
Preferably, the fixing component comprises a fixed connecting shell, a lower connecting plate, a fixed transmission plate, a first fixed transmission rod, a second fixed transmission rod, a connecting joint, a fixed rod, a cylinder transmission rod, a cylinder fixing seat, a fixed partition plate, a fixing clamp and a fixed connecting structure, the fixed connecting shell is fixedly connected with the lower connecting plate, the fixed transmission plate and the first fixed transmission rod are both arranged in the fixed connecting shell, the lower connecting plate is movably connected with the fixed transmission plate, the fixed transmission plate is fixedly connected with the first fixed transmission rod, the first fixed transmission rod is fixedly connected with the second fixed transmission rod, the connecting joint is arranged at the port of the second fixed transmission rod, the second fixed transmission rod is fixedly connected with the connecting joint, the connecting joint is sleeved on the fixed rod, and the cylinder transmission rod is sleeved on the fixed rod, the fixing rod is fixedly connected with the air cylinder transmission rod, the air cylinder transmission rod is fixedly connected with the air cylinder fixing seat, the air cylinder rod and two sides of the air cylinder are fixedly connected with the air cylinder fixing seat, the fixing partition plate is fixedly connected with the air cylinder fixing seat, the fixing clamp is sleeved on the fixing rod, and the fixing connection structure is movably connected with the lower side of the fixing clamp.
Preferably, fixed connection structure includes solid connecting axle, mounting fixture, first dead lever and second dead lever, solid connecting axle and fixation clamp downside swing joint, it locates in the middle of the mounting fixture to link firmly the connecting axle, solid connecting axle and mounting fixture fixed connection, mounting fixture both ends are located to first dead lever and second dead lever, first dead lever and second dead lever and mounting fixture fixed connection.
Preferably, the buckling assembly comprises a female buckling structure and a buckling power structure, the female buckling structure is arranged on the upper side of the buckling power structure, the lower side of the female buckling structure is meshed with the upper side of the buckling power structure, the female buckling structure comprises a buckling block, a first fixing hole, a second fixing hole, a buckling connecting block, a buckling rotating shaft shell, an upper outer ferrule, an upper rolling ball, an upper inner ferrule, a buckling structure rotating shaft, a lower outer ferrule, a lower rolling ball, a lower inner ferrule and a first gear, the first fixing hole and the second fixing hole are arranged on the buckling block, the lower side of the buckling block is fixedly connected with the upper side of the buckling connecting block, the lower side of the buckling connecting block is fixedly connected with the upper side of the buckling rotating shaft shell, the upper outer ferrule is connected with the upper ferrule through the upper rolling ball, the lower outer ferrule is connected with the lower inner ferrule through the lower rolling ball, and the upper ferrule is fixedly connected with the lower inner ferrule, the lower side of the lower inner ring is fixedly connected with the first gear.
Preferably, lock power structure includes motor power, motor shaft, axle stopper, actuator axle, power connecting axle, reduction gear pivot and second gear, motor power and motor shaft fixed connection, the motor shaft outer wall is located to the axle stopper cover, motor shaft and actuator hub connection, the actuator axle is located in the actuator, actuator axle and power connecting axle fixed connection, the power connecting axle is connected with the reduction gear pivot, in the reduction gear is located to the reduction gear pivot, reduction gear pivot upside and second gear fixed connection, second gear and first gear engagement.
Preferably, the adjusting part includes adjusting pole fixing base, regulation pole, adjusting screw, connection fixed block, adjusting screw stopper, lead screw gear connecting block, first lead screw gear, second lead screw gear and gear connecting axle, adjust pole fixing base and regulation pole fixed connection, adjusting screw is connected with adjusting the pole fixing base, connect fixed block and adjusting screw stopper fixed connection, connect fixed block and adjusting screw stopper cover and locate on adjusting screw, lead screw gear connecting block cover is located on adjusting screw, first lead screw gear is connected with adjusting screw, first lead screw gear and second lead screw gear meshing, second lead screw gear inner wall is located to the gear connecting axle.
Preferably, coupling assembling includes anchor clamps fixed plate, anchor clamps connecting axle, connection driver, regulation connecting rod fixing base, regulation connecting rod and connecting rod fixing base, the anchor clamps fixed plate is equipped with two, two the anchor clamps fixed plate passes through the anchor clamps connecting axle and connects, it locates in the middle of the anchor clamps fixed plate to connect the driver, the anchor clamps fixed plate side is located to the regulation connecting rod fixing base, adjust connecting rod fixing base and regulation connecting rod swing joint, anchor clamps fixed plate and connecting rod fixing base swing joint.
Preferably, the connecting driver comprises a driving base, a driver shell, a driving coil, a driving driver, a driving shaft limiter, a first driving gear and a second driving gear, the driving base is fixedly connected with the driver shell, the driving coil is arranged in the driver shell, the driver shell is fixedly connected with the driving driver, the driving shaft penetrates through the driving driver, the driving shaft limiter is sleeved on the driving shaft, the driving shaft is fixedly connected with the first driving gear, and the first driving gear is meshed with the second driving gear.
Preferably, the driving cylinder assembly comprises a driving cylinder shaft, a cylinder coil, a driving cylinder, a connecting cylinder and a cylinder driver, the driving cylinder shaft is fixedly connected with the driving cylinder, the cylinder coil is arranged in the driving cylinder, the driving cylinder is fixedly connected with the connecting cylinder, and the connecting cylinder is fixedly connected with the cylinder driver.
The use method of the power grid inspection robot comprises the following steps:
s1, the driving shaft is rotated through connecting the driver to drive the first driving gear to rotate so as to drive the second driving gear to rotate, and the fixed rod is rotated through the fixed transmission plate and the first fixed transmission rod through the rotation of the second driving gear;
s2, enabling the air cylinder rod and the air cylinder transmission rod to work through the work of the air cylinder, enabling the fixing rod to move and further drive the fixing clamp to contract, enabling the first fixing rod and the second fixing rod to be buckled with the first fixing hole and the second fixing hole through the contraction of the fixing clamp, and further enabling the machine to be fixed on the buckling assembly;
s3, the buckling component is arranged on the electric pile, when the robot meets the electric pile again, the fixing component and the buckling component of the robot are buckled through the two steps, after the fixing component and the buckling component are buckled, the power motor works to enable the motor shaft to rotate and further enable the driver to work, then the driver works to enable the rotating shaft of the speed reducer to rotate, further the second gear rotates, the buckling structure rotating shaft rotates through the first gear, the buckling block rotates, and the robot rotates through the buckling block;
s4, when the robot walks around the electric pile, the driving cylinder assembly works, the adjusting assembly is extended, the adjusting connecting rod fixing seat drives the clamp fixing plate to move, the clamp fixing plate moves to the upper side of the electric wire, then the fixing assembly clamps the electric wire again, and the inspection work is continued.
Compared with the prior art, the invention has the following beneficial effects:
the power grid inspection robot is stable in connection, high in structural strength, convenient to disassemble, assemble and maintain, convenient to operate, stable, reliable and long in service life, the machine can be buckled on the buckling component through the fixing component through mutual buckling of the fixing component and the buckling component, the machine is driven to rotate through rotation of the buckling component, the inspection of the machine cannot be influenced through the electric pile, a plurality of overlapping angles are arranged, after one of the overlapping angles is broken, the other overlapping angle is overlapped on a power line again through rotation of the machine, inspection work is not influenced, and the applicability of the device is improved.
Drawings
FIG. 1 is a schematic front view of a power grid inspection robot according to an embodiment of the present invention; (State one)
FIG. 2 is a schematic perspective view of an embodiment of a power grid inspection robot according to the present invention; (State two)
FIG. 3 is an enlarged schematic view at C of FIG. 2;
FIG. 4 is a schematic structural diagram of a fixing component in an embodiment of the power grid inspection robot of the invention;
FIG. 5 is a schematic diagram of a front view structure of a fastening component in an embodiment of the power grid inspection robot according to the present invention;
FIG. 6 is a schematic perspective view of a fastening assembly in an embodiment of the power grid inspection robot according to the present invention;
reference numerals referred to in the drawings are: the adjusting assembly 1, the adjusting rod fixing seat 101, the adjusting rod 102, the adjusting screw 103, the connecting fixing block 104, the adjusting screw stopper 105, the screw gear connecting block 106, the first screw gear 107, the second screw gear 108, the gear connecting shaft 109, the connecting assembly 2, the clamp fixing plate 201, the clamp connecting shaft 202, the connecting driver 203, the adjusting link fixing seat 204, the adjusting link 205, the connecting rod fixing seat 206, the driving seat 207, the driver housing 208, the driving coil 209, the driving driver 210, the driving shaft 211, the driving shaft stopper 212, the first driving gear 213, the second driving gear 214, the fixing assembly 3, the fixed connecting housing 301, the lower connecting plate 302, the fixed driving plate 303, the first fixed driving rod 304, the second fixed driving rod 305, the connecting joint 306, the fixing rod 307, the cylinder driving rod 308, the cylinder rod 309, the cylinder 310, the cylinder fixing seat 311, The fixing device comprises a fixing partition plate 312, a fixing clamp 313, a fixing connection structure 314, a fixing connection shaft 315, a fixing clamp 316, a first fixing rod 317, a second fixing rod 318, a driving cylinder assembly 4, a driving cylinder shaft 401, a cylinder coil 402, a driving cylinder 403, a connection cylinder 404, a cylinder driver 405, a buckling assembly 5, a female buckling structure 501, a buckling power structure 502, a buckling block 503, a first fixing hole 504, a second fixing hole 505, a buckling connection block 506, a buckling rotating shaft housing 507, an upper outer ring 508, an upper ball 509, an upper inner ring 510, a buckling structure rotating shaft 511, a lower outer ring 512, a lower ball 513, a lower inner ring 514, a first gear 515, a power motor 516, a motor shaft 517, a shaft limiting block 518, a driver 519, a driver shaft 520, a power connection shaft 521, a speed reducer 522, a speed reducer rotating shaft 523 and a second gear 524.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are 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" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
Detailed Description
In order that those skilled in the art can better understand the present invention, the following technical solutions are further described with reference to the accompanying drawings and examples.
Example one
As shown in fig. 1-6, a robot is patrolled and examined to electric wire netting, including adjusting part 1, coupling assembling 2, fixed subassembly 3, drive actuating cylinder subassembly 4 and lock subassembly 5, adjusting part 1 is equipped with two, two adjusting part 1 are located and are driven actuating cylinder subassembly 4 both ends, two adjusting part 1 are connected with driving actuating cylinder subassembly 4 both ends, coupling assembling 2 and 1 swing joint of adjusting part, coupling assembling 2 port is located to fixed subassembly 3, coupling assembling 2 and 3 swing joint of fixed subassembly, lock subassembly 5 is located on the electric pile.
The fixed component 3 comprises a fixed connection shell 301, a lower connection plate 302, a fixed transmission plate 303, a first fixed transmission rod 304, a second fixed transmission rod 305, a connection joint 306, a fixed rod 307, an air cylinder transmission rod 308, an air cylinder rod 309, an air cylinder 310, an air cylinder fixing seat 311, a fixed baffle 312, a fixing clamp 313 and a fixed connection structure 314, wherein the fixed connection shell 301 is fixedly connected with the lower connection plate 302, the fixed transmission plate 303 and the first fixed transmission rod 304 are both arranged in the fixed connection shell 301, the lower connection plate 302 is movably connected with the fixed transmission plate 303, the fixed transmission plate 303 is fixedly connected with the first fixed transmission rod 304, the first fixed transmission rod 304 is fixedly connected with the second fixed transmission rod 305, the connection joint 306 is arranged at the second fixed transmission rod 305, the second fixed transmission rod 305 is fixedly connected with the connection joint 306, and the connection joint 306 is sleeved on the fixed rod 307, the air cylinder transmission rod 308 is sleeved on the fixing rod 307, the fixing rod 307 is fixedly connected with the air cylinder transmission rod 308, the air cylinder transmission rod 308 is fixedly connected with the air cylinder fixing seat 311, two sides of the air cylinder rod 309 and the air cylinder 310 are fixedly connected with the air cylinder fixing seat 311, the fixing partition plate 312 is fixedly connected with the air cylinder fixing seat 311, the upper side of the fixing clamp 313 is sleeved on the fixing rod 307, and the fixing connection structure 314 is movably connected with the lower side of the fixing clamp 313. Further, two cylinder rods 309, two cylinders 310, two cylinder holders 311, two fixed spacers 312 and two fixed clamps 313 are provided, the two cylinder rods 309, the two cylinders 310, the two cylinder holders 311 and the two fixed spacers 312 are respectively provided at two sides of the two fixed clamps 313, the cylinder 310 is operated to operate the cylinder rods 309 and the two cylinder transmission rods 308, the fixed rod 307 is moved to drive the fixed clamps 313 to contract, the fixed clamp 313 contracts to enable the first fixed rod 317 and the second fixed rod 318 to be buckled with the first fixed hole 504 and the second fixed hole 505, so that the machine is fixed on the buckling component 5, the fixed component 3 is used as a male structure of the buckling structure, the fixed component 3 is provided at one section of each clamp fixing plate 201, and when one of the fixed components is damaged, the cylinder component 4 is driven to drive the adjusting component 1 to rotate, the position of the connecting component 2 is changed, so that the other two fixed components 3 are buckled on the electric wire again, and the inspection work is continued, so that the normal operation of the inspection work cannot be influenced by the machine fault.
The fixed connection structure 314 includes a fixed connection shaft 315, a fixed clamp 316, a first fixed rod 317 and a second fixed rod 318, the fixed connection shaft 315 is movably connected with the lower side of the fixed clamp 313, the fixed connection shaft 315 is disposed in the middle of the fixed clamp 316, the fixed connection shaft 315 is fixedly connected with the fixed clamp 316, the first fixed rod 317 and the second fixed rod 318 are disposed at two ends of the fixed clamp 316, and the first fixed rod 317 and the second fixed rod 318 are fixedly connected with the fixed clamp 316. Further, when the robot patrols and examines the electric pile, the first fixing rod 317 and the second fixing rod 318 are respectively buckled in the first fixing hole 504 and the second fixing hole 505, at the moment, the robot stops working, obstacle avoidance is achieved through the buckling assembly 5, when no obstacle exists, the two first fixing rods 317 and the second fixing rod 318 are close to each other and are fixed on the electric wire, the robot is enabled to be capable of being connected with the electric wire through the first fixing rod 317 and the second fixing rod 318 in a rotating mode, and the robot is enabled not to fall off.
Example two
This embodiment is as the further improvement of last embodiment, as shown in fig. 1-6, a robot is patrolled and examined to electric wire netting, including adjusting part 1, coupling assembling 2, fixed subassembly 3, drive actuating cylinder subassembly 4 and lock subassembly 5, adjusting part 1 is equipped with two, two adjusting part 1 are located and are driven actuating cylinder subassembly 4 both ends, two adjusting part 1 are connected with drive actuating cylinder subassembly 4 both ends, coupling assembling 2 and adjusting part 1 swing joint, coupling assembling 2 port is located to fixed subassembly 3, coupling assembling 2 and fixed subassembly 3 swing joint, lock subassembly 5 is located on the electric pile.
The fixed component 3 comprises a fixed connection shell 301, a lower connection plate 302, a fixed transmission plate 303, a first fixed transmission rod 304, a second fixed transmission rod 305, a connection joint 306, a fixed rod 307, an air cylinder transmission rod 308, an air cylinder rod 309, an air cylinder 310, an air cylinder fixing seat 311, a fixed baffle 312, a fixing clamp 313 and a fixed connection structure 314, wherein the fixed connection shell 301 is fixedly connected with the lower connection plate 302, the fixed transmission plate 303 and the first fixed transmission rod 304 are both arranged in the fixed connection shell 301, the lower connection plate 302 is movably connected with the fixed transmission plate 303, the fixed transmission plate 303 is fixedly connected with the first fixed transmission rod 304, the first fixed transmission rod 304 is fixedly connected with the second fixed transmission rod 305, the connection joint 306 is arranged at the second fixed transmission rod 305, the second fixed transmission rod 305 is fixedly connected with the connection joint 306, and the connection joint 306 is sleeved on the fixed rod 307, the air cylinder transmission rod 308 is sleeved on the fixing rod 307, the fixing rod 307 is fixedly connected with the air cylinder transmission rod 308, the air cylinder transmission rod 308 is fixedly connected with the air cylinder fixing seat 311, two sides of the air cylinder rod 309 and the air cylinder 310 are fixedly connected with the air cylinder fixing seat 311, the fixing partition plate 312 is fixedly connected with the air cylinder fixing seat 311, the upper side of the fixing clamp 313 is sleeved on the fixing rod 307, and the fixing connection structure 314 is movably connected with the lower side of the fixing clamp 313. Further, two cylinder rods 309, two cylinders 310, two cylinder holders 311, two fixed spacers 312 and two fixed clamps 313 are provided, the two cylinder rods 309, the two cylinders 310, the two cylinder holders 311 and the two fixed spacers 312 are respectively provided at two sides of the two fixed clamps 313, the cylinder 310 is operated to operate the cylinder rods 309 and the two cylinder transmission rods 308, the fixed rod 307 is moved to drive the fixed clamps 313 to contract, the fixed clamp 313 contracts to enable the first fixed rod 317 and the second fixed rod 318 to be buckled with the first fixed hole 504 and the second fixed hole 505, so that the machine is fixed on the buckling component 5, the fixed component 3 is used as a male structure of the buckling structure, the fixed component 3 is provided at one section of each clamp fixing plate 201, and when one of the fixed components is damaged, the cylinder component 4 is driven to drive the adjusting component 1 to rotate, the position of the connecting component 2 is changed, so that the other two fixed components 3 are buckled on the electric wire again, and the inspection work is continued, so that the normal operation of the inspection work cannot be influenced by the machine fault.
The fixed connection structure 314 includes a fixed connection shaft 315, a fixed clamp 316, a first fixed rod 317 and a second fixed rod 318, the fixed connection shaft 315 is movably connected with the lower side of the fixed clamp 313, the fixed connection shaft 315 is disposed in the middle of the fixed clamp 316, the fixed connection shaft 315 is fixedly connected with the fixed clamp 316, the first fixed rod 317 and the second fixed rod 318 are disposed at two ends of the fixed clamp 316, and the first fixed rod 317 and the second fixed rod 318 are fixedly connected with the fixed clamp 316. Further, when the robot patrols and examines the electric pile, the first fixing rod 317 and the second fixing rod 318 are respectively buckled in the first fixing hole 504 and the second fixing hole 505, at the moment, the robot stops working, obstacle avoidance is achieved through the buckling assembly 5, when no obstacle exists, the two first fixing rods 317 and the second fixing rod 318 are close to each other and are fixed on the electric wire, the robot is enabled to be capable of being connected with the electric wire through the first fixing rod 317 and the second fixing rod 318 in a rotating mode, and the robot is enabled not to fall off.
The buckling component 5 comprises a female buckling structure 501 and a buckling power structure 502, the female buckling structure 501 is arranged on the upper side of the buckling power structure 502, the lower side of the female buckling structure 501 is engaged with the upper side of the buckling power structure 502, the female buckling structure 501 comprises a buckling block 503, a first fixing hole 504, a second fixing hole 505, a buckling connecting block 506, a buckling rotating shaft housing 507, an upper outer ring 508, an upper ball 509, an upper inner ring 510, a buckling structure rotating shaft 511, a lower outer ring 512, a lower ball 513, a lower inner ring 514 and a first gear 515, the first fixing hole 504 and the second fixing hole 505 are arranged on the buckling block 503, the lower side of the buckling block 503 is fixedly connected with the upper side of the buckling connecting block 506, the lower side of the buckling connecting block 507 is fixedly connected with the upper side of the buckling rotating shaft housing, the upper outer ring 508 is connected with the upper inner ring 510 through the upper ball 509, the lower outer ring 512 is connected with the lower inner ring, the upper inner ferrule 510 and the lower inner ferrule 514 are fixedly connected through a rotating shaft 511 of a buckling structure, and the lower side of the lower inner ferrule 514 is fixedly connected with a first gear 515. Further, the second gear 524 is meshed with the first gear 515, the first gear 515 rotates through the rotation of the buckling structure rotating shaft 511, the buckling structure rotating shaft 511 further rotates, the buckling block 503 rotates through the buckling connecting block 506, the robot buckled on the buckling block 503 rotates through the rotation of the buckling block 503, the obstacle avoidance function is achieved, the design serves as a main structure of the robot in the obstacle avoidance, and the obstacle avoidance of the robot is achieved through the buckling of the buckling component 5 and the fixing component 3.
The buckling power structure 502 comprises a power motor 516, a motor shaft 517, a shaft limiting block 518, an actuator 519, an actuator shaft 520, a power connecting shaft 521, a speed reducer 522, a speed reducer rotating shaft 523 and a second gear 524, wherein the power motor 516 is fixedly connected with the motor shaft 517, the shaft limiting block 518 is sleeved on the outer wall of the motor shaft 517, the motor shaft 517 is connected with the actuator shaft 520, the actuator shaft 520 is arranged in the actuator 519, the actuator shaft 520 is fixedly connected with the power connecting shaft 521, the power connecting shaft 521 is connected with the speed reducer rotating shaft 523, the speed reducer rotating shaft 523 is arranged in the speed reducer 522, the upper side of the speed reducer rotating shaft 523 is fixedly connected with the second gear 524, and the second gear. Further, the power motor 516 is used for realizing power output of obstacle avoidance of the robot after the robot is fixed on the buckling component 5, the speed reducer 522 is used for reducing the power output to avoid falling off of the robot due to too high rotating speed, the motor shaft 517 rotates through the work of the power motor 516, the driver 519 works to enable the speed reducer rotating shaft 523 to rotate, the second gear 524 rotates, and the buckling structure rotating shaft 511 rotates through the first gear 515.
The adjusting assembly 1 comprises an adjusting rod fixing seat 101, an adjusting rod 102, an adjusting screw 103, a connecting fixing block 104, an adjusting screw stopper 105, a screw rod gear connecting block 106, a first screw rod gear 107, a second screw rod gear 108 and a gear connecting shaft 109, the adjusting rod fixing seat 101 is fixedly connected with the adjusting rod 102, the adjusting screw 103 is connected with the adjusting rod fixing seat 101, the connecting fixing block 104 is fixedly connected with the adjusting screw stopper 105, the connecting fixing block 104 and the adjusting screw stopper 105 are sleeved on the adjusting screw 103, the screw rod gear connecting block 106 is sleeved on the adjusting screw 103, the first screw rod gear 107 is connected with the adjusting screw 103, the first screw rod gear 107 is meshed with the second screw rod gear 108, and the gear connecting shaft 109 is arranged on the inner wall of the second screw rod gear 108. Further, the driving cylinder assembly 4 works to drive the adjusting screw 103 to rotate, so that the connecting fixing block 104 moves, the adjusting rod 102 moves through the first lead screw gear 107 and the second lead screw gear 108 while the connecting fixing block 104 moves, the alignment of the robot can be further ensured after the robot keeps away an obstacle, the robot can be accurately landed on a wire, and the smooth inspection work is ensured.
Coupling assembling 2 includes anchor clamps fixed plate 201, anchor clamps connecting axle 202, connect driver 203, adjust connecting rod fixing base 204, adjust connecting rod 205 and connecting rod fixing base 206, anchor clamps fixed plate 201 is equipped with two, two anchor clamps fixed plate 201 pass through anchor clamps connecting axle 202 and connect driver 203 and locate in the middle of anchor clamps fixed plate 201, adjust connecting rod fixing base 204 and locate anchor clamps fixed plate 201 side, adjust connecting rod fixing base 204 and adjust connecting rod 205 swing joint, anchor clamps fixed plate 201 and connecting rod fixing base 206 swing joint. Further, the adjusting connecting rod fixing seat 204 is movably connected with the adjusting connecting rod 205, the other end of the adjusting connecting rod fixing seat 204 is further connected with the adjusting rod 102, the adjusting rod 102 stretches and retracts to drive the adjusting connecting rod fixing seat 204 to move, the clamp fixing plate 201 is further made to rotate, the connecting assembly 2 can adjust the position and align the electric wire, and the robot can be guaranteed to be fixed to the electric wire again after avoiding obstacles.
The connecting driver 203 comprises a driving base 207, a driver shell 208, a driving coil 209, a driving driver 210, a driving shaft 211, a driving shaft limiter 212, a first driving gear 213 and a second driving gear 214, the driving base 207 is fixedly connected with the driver shell 208, the driving coil 209 is arranged in the driver shell 208, the driver shell 208 is fixedly connected with the driving driver 210, the driving shaft 211 penetrates through the driving driver 210, the driving shaft limiter 212 is sleeved on the driving shaft 211, the driving shaft 211 is fixedly connected with the first driving gear 213, and the first driving gear 213 is meshed with the second driving gear 214. Further explain, make drive shaft 211 rotate through connecting driver 203, drive first drive gear 213 and rotate, and then drive second drive gear 214 and rotate, rotate through second drive gear 214, make dead lever 307 rotate through fixed driving plate 303 and first fixed transfer line 304, after the barrier needs rule to keep away to the robot, make the robot can move on the electric wire through this design, the robot of being convenient for accomplishes the work of patrolling and examining, increases the practicality of patrolling and examining the robot.
The driving cylinder assembly 4 comprises a driving cylinder shaft 401, a cylinder coil 402, a driving cylinder 403, a connecting cylinder 404 and a cylinder driver 405, the driving cylinder shaft 401 is fixedly connected with the driving cylinder 403, the cylinder coil 402 is arranged in the driving cylinder 403, the driving cylinder 403 is fixedly connected with the connecting cylinder 404, and the connecting cylinder 404 is fixedly connected with the cylinder driver 405. Further, the driving cylinder 403 drives the connecting cylinder 404 and the cylinder driver 405 to work, the connecting rod fixing seat 206 slides to enable the connecting component 2 to adjust the angle, the robot is used as an adjusting driving structure for fixing the robot on an electric wire, the robot can fall on the electric wire on the other side after avoiding obstacles, and the applicability of the inspection robot is improved.
The advantages of the second embodiment over the first embodiment are: connect stably, structural strength is high, be convenient for dismouting and maintenance, convenient operation, reliable and stable, long service life through the mutual lock of fixed subassembly and lock subassembly for the machine can be through on the fixed subassembly lock to the lock subassembly, and the rotation of rethread lock subassembly drives the rotation of machine, makes the machine can pass through the electric pile, can not influence patrolling and examining of machine, has increased the suitability of device.
The use method of the power grid inspection robot comprises the following steps:
s1, the driving shaft 211 is rotated by connecting the driver 203, the first driving gear 213 is rotated, and the second driving gear 214 is rotated, and the fixing rod 307 is rotated by the second driving gear 214 and the fixing transmission plate 303 and the first fixing transmission rod 304;
s2, operating the cylinder 310 to operate the cylinder rod 309 and the cylinder transmission rod 308, moving the fixing rod 307 to drive the fixing clamp 313 to contract, and contracting the fixing clamp 313 to fasten the first fixing rod 317 and the second fixing rod 318 with the first fixing hole 504 and the second fixing hole 505, so as to fix the machine on the fastening assembly 5;
s3, the buckling component 5 is arranged on the electric pile, when the robot meets the electric pile again, the fixing component 3 and the buckling component 5 of the robot are buckled through the two steps, after the fixing component 3 and the buckling component 5 are buckled, the power motor 516 works to enable the motor shaft 517 to rotate and further enable the driver 519 to work, then the driver 519 works to enable the speed reducer rotating shaft 523 to rotate, further enable the second gear 524 to rotate, enable the buckling structure rotating shaft 511 to rotate through the first gear 515, enable the buckling block 503 to rotate, and enable the robot to rotate through the buckling block 503 to rotate;
s4, when the robot bypasses the electric pile, the driving cylinder assembly 4 works, the adjusting assembly 1 is extended, the adjusting connecting rod fixing seat 204 drives the clamp fixing plate 201 to move, the clamp fixing plate 201 moves to the upper side of the electric wire, then the fixing assembly 3 clamps the electric wire again, and the inspection work is continued.
The foregoing is merely an example of the present invention, and common general knowledge in the field of known specific structures and characteristics is not described herein in any greater extent than that known in the art at the filing date or prior to the priority date of the application, so that those skilled in the art can now appreciate that all of the above-described techniques in this field and have the ability to apply routine experimentation before this date can be combined with one or more of the present teachings to complete and implement the present invention, and that certain typical known structures or known methods do not pose any impediments to the implementation of the present invention by those skilled in the art. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent.
Claims (10)
1. The utility model provides a robot is patrolled and examined to electric wire netting which characterized in that: the electric pile fixing device is characterized by comprising two adjusting assemblies (1), two connecting assemblies (2), two fixing assemblies (3), two driving air cylinder assemblies (4) and two buckling assemblies (5), wherein the two adjusting assemblies (1) are arranged at two ends of each driving air cylinder assembly (4), the two adjusting assemblies (1) are connected with two ends of each driving air cylinder assembly (4), the two connecting assemblies (2) are movably connected with the two adjusting assemblies (1), ports of the two connecting assemblies (2) are arranged on the two fixing assemblies (3), the two connecting assemblies (2) are movably connected with the two fixing assemblies (3), and the buckling assemblies (5) are arranged on an electric pile.
2. The power grid inspection robot according to claim 1, wherein: the fixing component (3) comprises a fixed connecting shell (301), a lower connecting plate (302), a fixed transmission plate (303), a first fixed transmission rod (304), a second fixed transmission rod (305), a connecting joint (306), a fixing rod (307), an air cylinder transmission rod (308), an air cylinder rod (309), an air cylinder (310), an air cylinder fixing seat (311), a fixing partition plate (312), a fixing clamp (313) and a fixed connecting structure (314), wherein the fixed connecting shell (301) is fixedly connected with the lower connecting plate (302), the fixed transmission plate (303) and the first fixed transmission rod (304) are both arranged in the fixed connecting shell (301), the lower connecting plate (302) is movably connected with the fixed transmission plate (303), the fixed transmission plate (303) is fixedly connected with the first fixed transmission rod (304), and the first fixed transmission rod (304) is fixedly connected with the second fixed transmission rod (305), the connecting joint (306) is arranged at the port of the second fixed transmission rod (305), the second fixed transmission rod (305) is fixedly connected with the connecting joint (306), the connecting joint (306) is sleeved on the fixing rod (307), the cylinder transmission rod (308) is sleeved on the fixing rod (307), the fixing rod (307) is fixedly connected with the cylinder transmission rod (308), the cylinder transmission rod (308) is fixedly connected with the cylinder fixing seat (311), two sides of the cylinder rod (309) and the cylinder (310) are fixedly connected with the cylinder fixing seat (311), the fixed partition plate (312) is fixedly connected with the cylinder fixing seat (311), the fixing clamp (313) is sleeved on the fixing rod (307), and the fixed connecting structure (314) is movably connected with the lower side of the fixing clamp (313).
3. The power grid inspection robot according to claim 2, wherein: fixed connection structure (314) are including solid connecting axle (315), mounting fixture (316), first dead lever (317) and second dead lever (318), gu connecting axle (315) and mounting fixture (313) downside swing joint, gu in the middle of mounting fixture (316) is located in connecting axle (315), gu connecting axle (315) and mounting fixture (316) fixed connection, mounting fixture (316) both ends are located in first dead lever (317) and second dead lever (318), first dead lever (317) and second dead lever (318) and mounting fixture (316) fixed connection.
4. The power grid inspection robot according to claim 3, wherein: the buckling assembly (5) comprises a female buckling structure (501) and a buckling power structure (502), the female buckling structure (501) is arranged on the upper side of the buckling power structure (502), the lower side of the female buckling structure (501) is meshed with the upper side of the buckling power structure (502), the female buckling structure (501) comprises a buckling block (503), a first fixing hole (504), a second fixing hole (505), a buckling connecting block (506), a buckling rotating shaft shell (507), an upper outer ring (508), an upper ball (509), an upper inner ring (510), a buckling structure rotating shaft (511), a lower outer ring (512), a lower ball (513), a lower inner ring (514) and a first gear (515), the first fixing hole (504) and the second fixing hole (505) are arranged on the buckling block (503), and the lower side of the buckling block (503) is fixedly connected with the upper side of the buckling connecting block (506), lock connecting block (506) downside and lock pivot shell (507) upside fixed connection, it is connected through last ball (509) with last inner race (510) to go up outer race (508), outer race (512) is connected through ball (513) down with lower inner race (514) down, go up inner race (510) and pass through lock structure pivot (511) fixed connection with lower inner race (514), inner race (514) downside and first gear (515) fixed connection down.
5. The power grid inspection robot according to claim 4, wherein: the buckling power structure (502) comprises a power motor (516), a motor shaft (517), a shaft limiting block (518), a driver (519), a driver shaft (520), a power connecting shaft (521), a speed reducer (522), a speed reducer rotating shaft (523) and a second gear (524), the power motor (516) is fixedly connected with the motor shaft (517), the shaft limiting block (518) is sleeved on the outer wall of the motor shaft (517), the motor shaft (517) is connected with a driver shaft (520), the driver shaft (520) is arranged in a driver (519), the driver shaft (520) is fixedly connected with a power connecting shaft (521), the power connecting shaft (521) is connected with a rotating shaft (523) of a speed reducer, the reducer rotating shaft (523) is arranged in the reducer (522), the upper side of the reducer rotating shaft (523) is fixedly connected with the second gear (524), and the second gear (524) is meshed with the first gear (515).
6. The power grid inspection robot according to claim 5, wherein: the adjusting assembly (1) comprises an adjusting rod fixing seat (101), an adjusting rod (102), an adjusting screw rod (103), a connecting fixing block (104), an adjusting screw rod limiter (105), a screw rod gear connecting block (106), a first screw rod gear (107), a second screw rod gear (108) and a gear connecting shaft (109), wherein the adjusting rod fixing seat (101) is fixedly connected with the adjusting rod (102), the adjusting screw rod (103) is connected with the adjusting rod fixing seat (101), the connecting fixing block (104) is fixedly connected with the adjusting screw rod limiter (105), the connecting fixing block (104) and the adjusting screw rod limiter (105) are sleeved on the adjusting screw rod (103), the screw rod gear connecting block (106) is sleeved on the adjusting screw rod (103), the first screw rod gear (107) is connected with the adjusting screw rod (103), the first screw rod gear (107) is meshed with the second screw rod gear (108), the gear connecting shaft (109) is arranged on the inner wall of the second screw rod gear (108).
7. The power grid inspection robot according to claim 6, wherein: coupling assembling (2) are including anchor clamps fixed plate (201), anchor clamps connecting axle (202), connection driver (203), regulation connecting rod fixing base (204), regulation connecting rod (205) and connecting rod fixing base (206), anchor clamps fixed plate (201) are equipped with two, two anchor clamps fixed plate (201) are connected through anchor clamps connecting axle (202), it locates in the middle of anchor clamps fixed plate (201) to connect driver (203), anchor clamps fixed plate (201) side is located in regulation connecting rod fixing base (204), adjust connecting rod fixing base (204) and regulation connecting rod (205) swing joint, anchor clamps fixed plate (201) and connecting rod fixing base (206) swing joint.
8. The power grid inspection robot according to claim 7, wherein: the connecting driver (203) comprises a driving base (207), a driver shell (208), a driving coil (209), a driving driver (210), a driving shaft (211), a driving shaft limiter (212), a first driving gear (213) and a second driving gear (214), wherein the driving base (207) is fixedly connected with the driver shell (208), the driving coil (209) is arranged in the driver shell (208), the driver shell (208) is fixedly connected with the driving driver (210), the driving shaft (211) penetrates through the driving driver (210), the driving shaft limiter (212) is sleeved on the driving shaft (211), the driving shaft (211) is fixedly connected with the first driving gear (213), and the first driving gear (213) is meshed with the second driving gear (214).
9. The power grid inspection robot according to claim 8, wherein: the driving air cylinder assembly (4) comprises a driving air cylinder shaft (401), an air cylinder coil (402), a driving air cylinder (403), a connecting air cylinder (404) and an air cylinder driver (405), the driving air cylinder shaft (401) is fixedly connected with the driving air cylinder (403), the air cylinder coil (402) is arranged inside the driving air cylinder (403), the driving air cylinder (403) is fixedly connected with the connecting air cylinder (404), and the connecting air cylinder (404) is fixedly connected with the air cylinder driver (405).
10. The method for using the power grid inspection robot according to claim 9, comprising the steps of:
s1, the driving shaft (211) is rotated through the connecting driver (203), the first driving gear (213) is driven to rotate, the second driving gear (214) rotates, and the fixing rod (307) rotates through the fixing transmission plate (303) and the first fixing transmission rod (304);
s2, operating the air cylinder (310) to enable the air cylinder rod (309) and the air cylinder transmission rod (308) to operate, enabling the fixing rod (307) to move and further drive the fixing clamp (313) to contract, enabling the first fixing rod (317) and the second fixing rod (318) to be buckled with the first fixing hole (504) and the second fixing hole (505) through contraction of the fixing clamp (313), and further enabling the machine to be fixed on the buckling assembly (5);
s3, the buckling component (5) is arranged on the electric pile, when the robot meets the electric pile again, the fixing component (3) and the buckling component (5) of the robot are buckled through the two steps, after the fixing component (3) and the buckling component (5) are buckled, the power motor (516) works to enable the motor shaft (517) to rotate, the driver (519) works to enable the speed reducer rotating shaft (523) to rotate through the driver (519) working, the second gear (524) rotates, the buckling structure rotating shaft (511) rotates through the first gear (515), the buckling block (503) rotates, and the robot rotates through the buckling block (503) rotating;
s4, when the robot bypasses the electric pile, the air cylinder assembly (4) is driven to work, the adjusting assembly (1) is extended, the clamp fixing plate (201) is driven to move through the adjusting connecting rod fixing seat (204), the clamp fixing plate (201) moves to the position above the electric wire, then the fixing assembly (3) clamps the electric wire again, and the inspection work is continued.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011524602.9A CN112713544A (en) | 2020-12-22 | 2020-12-22 | Power grid inspection robot and using method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011524602.9A CN112713544A (en) | 2020-12-22 | 2020-12-22 | Power grid inspection robot and using method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112713544A true CN112713544A (en) | 2021-04-27 |
Family
ID=75545022
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011524602.9A Withdrawn CN112713544A (en) | 2020-12-22 | 2020-12-22 | Power grid inspection robot and using method thereof |
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| Country | Link |
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| CN (1) | CN112713544A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115249957A (en) * | 2021-12-22 | 2022-10-28 | 张旭 | Transmission line inspection device |
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|---|---|---|---|---|
| KR20110079097A (en) * | 2009-12-31 | 2011-07-07 | 한국전력공사 | Robot for inspecting distribution power line |
| KR20130025690A (en) * | 2011-09-02 | 2013-03-12 | 삼성중공업 주식회사 | Maintenance robot for wind power generator |
| CN107448730A (en) * | 2017-08-08 | 2017-12-08 | 浙江海洋大学 | A kind of crusing robot for gas pipeline |
| CN210323884U (en) * | 2019-06-13 | 2020-04-14 | 重庆市信息通信咨询设计院有限公司 | Inspection robot |
| CN111605572A (en) * | 2020-07-17 | 2020-09-01 | 合肥科大智能机器人技术有限公司 | Rail mounted patrols and examines robot with autonomic become rail function |
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2020
- 2020-12-22 CN CN202011524602.9A patent/CN112713544A/en not_active Withdrawn
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20110079097A (en) * | 2009-12-31 | 2011-07-07 | 한국전력공사 | Robot for inspecting distribution power line |
| KR20130025690A (en) * | 2011-09-02 | 2013-03-12 | 삼성중공업 주식회사 | Maintenance robot for wind power generator |
| CN107448730A (en) * | 2017-08-08 | 2017-12-08 | 浙江海洋大学 | A kind of crusing robot for gas pipeline |
| CN210323884U (en) * | 2019-06-13 | 2020-04-14 | 重庆市信息通信咨询设计院有限公司 | Inspection robot |
| CN111605572A (en) * | 2020-07-17 | 2020-09-01 | 合肥科大智能机器人技术有限公司 | Rail mounted patrols and examines robot with autonomic become rail function |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115249957A (en) * | 2021-12-22 | 2022-10-28 | 张旭 | Transmission line inspection device |
| CN115249957B (en) * | 2021-12-22 | 2023-08-01 | 张旭 | Power transmission line inspection device |
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Application publication date: 20210427 |