CN112909821A - Power transmission line inspection robot capable of automatically crossing power line tower - Google Patents
Power transmission line inspection robot capable of automatically crossing power line tower Download PDFInfo
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- CN112909821A CN112909821A CN202110137431.2A CN202110137431A CN112909821A CN 112909821 A CN112909821 A CN 112909821A CN 202110137431 A CN202110137431 A CN 202110137431A CN 112909821 A CN112909821 A CN 112909821A
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- gear
- transmission line
- movable block
- inspection robot
- wheel
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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Abstract
The invention discloses a power transmission line inspection robot capable of automatically crossing a power transmission line tower, relates to the field of inspection robots, and comprises a body and rollers, wherein the body is rotatably connected above the body, and the rollers comprise first half wheels and second half wheels. According to the invention, the roller is opened into the first half wheel and second half wheel structure in a separated state through the adjusting device, and the first half wheel and the second half wheel in the separated state are combined into the complete roller structure through the adjusting device, so that the roller on the body successively passes through the obstacle, and the body passes through the obstacle.
Description
Technical Field
The invention relates to the field of inspection robots, in particular to a power transmission line inspection robot capable of automatically crossing a power tower.
Background
The inspection robot is a set of intelligent system and comprises an autonomous inspection robot body, a ground base station and background analysis, diagnosis and management software. The inspection robot body takes a mobile robot as a carrier, carries a visible light camera, an infrared thermal imager and other detection instruments, automatically runs along a lead or a ground wire, automatically crosses a linear tower and a strain tower, automatically inspects and inspects various structures of a line and electric appliances of the line, inspects and inspects a line corridor and supplies electric energy on line in real time. And the ground base station receives the image and data of the body inspection in real time and remotely monitors the running state of the body. The background analysis and diagnosis management system manages the routing inspection, the routing inspection images and data, the routing inspection operation and the like, and automatically analyzes and diagnoses the routing inspection images;
the power transmission line is generally hung and fixed in the high altitude through the electric wire tower, the inspection robot rolls through the gyro wheel and walks on the power transmission line, because can cause the obstacle on the power transmission line when the electric wire tower is connected fixed power transmission line, influence the current of inspection robot, install idle gyro wheel on the current inspection robot, usually through the power transmission line of arm moving mode with idle gyro wheel connection to obstacle another side, utilize idle gyro wheel drive inspection robot to make the robot pass through the obstacle, be difficult to aim at the position of idle gyro wheel and power transmission line when the idle gyro wheel of arm operation, lead to the connection time of idle gyro wheel and power transmission line longer, consequently, current inspection robot exists and patrols the robot and passes through the longer problem of obstacle when consuming.
Disclosure of Invention
The invention aims to provide a power transmission line inspection robot capable of automatically crossing a power transmission line tower, so as to solve the problem that the conventional inspection robot in the background art consumes a long time when passing through an obstacle.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a can cross transmission line inspection robot of electric wire tower by oneself, includes body and gyro wheel, the body rotates the top of connecting at the body, the gyro wheel includes first half round and second half round, first half round and second half round pass through the mutual joint of latch device, the top of body is provided with adjusting device, first half round and second half round are all rotated and are connected in adjusting device's top, are located the adjusting device of the top both sides of body passes through rotating device and body and rotates the connection, is located adjusting device fixed connection in the middle of the top of body is in the top of body.
In a further embodiment, latch device includes locating piece, fixture block and constant head tank, locating piece fixed mounting is in one side that first half wheel is close to second half wheel, the constant head tank is seted up in one side that second half wheel is close to first half wheel, fixture block difference fixed connection is in the side of locating piece and the medial surface of constant head tank, the locating piece passes through the fixture block joint in the inside of constant head tank.
In a further embodiment, the adjusting device comprises a mounting block, a movable block, a main gear, a secondary gear, a driven gear, an inner groove and a first motor, wherein the inner groove is formed in the mounting block, the movable block is slidably connected in the inner groove, the main gear is rotatably connected in the middle of the inner groove, the secondary gear is fixedly installed in the middle of the side surface of the main gear, the driven gear is rotatably connected in the inner side of the inner groove, the main gear is in bonding engagement with one side of the movable block, the driven gear is in bonding engagement with the other side of the movable block, the secondary gear is in engagement with the driven gear, the first motor is fixedly installed in the side surface of the mounting block, and the output end of the first motor penetrates through the mounting block and is rotatably connected with the main gear.
In a further embodiment, the rotating device comprises a second motor, a first gear, a second gear and a fixed shaft, the fixed shaft is rotatably connected to the edge above the body, the second motor is fixedly installed inside the body, the first gear is fixedly installed at the output end of the second motor, the second gear is fixedly installed on the side surface of the fixed shaft, the first gear and the second gear are meshed with each other, and an installation block located above the body is fixedly connected with the corresponding fixed shaft above the body.
In a further embodiment, the first half wheel is rotatably connected with one of the movable blocks, the second half wheel is rotatably connected with the movable block, a third motor is fixedly mounted on the side surface of the movable block, and the third motor is rotatably connected with the first half wheel.
In a further embodiment, a limiting groove is formed in the mounting block, and a limiting rod connected with the limiting groove in a sliding manner is fixedly mounted on the side surface of the movable block.
In a further embodiment, tooth grooves are formed in two sides of the lower end of the movable block, the main gear and the driven gear are respectively meshed and connected with the movable block through the tooth grooves, a through hole is formed in the movable block, and the secondary gear penetrates through the through hole and is meshed and connected with the driven gear.
In a further embodiment, the latch has an arrow structure.
In a further embodiment, the fixed shaft is composed of a cylindrical structure and a U-shaped structure.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, the height of the body is changed through the rotating device, so that the roller on the adjusting device positioned in the middle position above the body is just pressed on the power transmission line, the roller is opened into the first half wheel and the second half wheel structure in a separated state through the adjusting device, and the first half wheel and the second half wheel in the separated state are combined into the complete roller structure through the adjusting device, so that the roller on the body successively passes through the obstacle, so that the body passes through the obstacle.
Drawings
FIG. 1 is a schematic sectional front view of the present invention;
FIG. 2 is a side cross-sectional structural view of the roller, clamping device and adjustment device of the present invention;
FIG. 3 is a front sectional structural view of the adjusting device of the present invention;
FIG. 4 is a schematic top view of the present invention.
In the figure: 1. a body; 2. a roller; 21. a first half wheel; 22. a second half wheel; 3. a clamping device; 31. positioning blocks; 32. a clamping block; 33. positioning a groove; 4. an adjustment device; 41. mounting blocks; 42. a movable block; 43. a main gear; 44. a pinion gear; 45. a driven wheel; 46. an inner tank; 47. a first motor; 5. a rotating device; 51. a second motor; 52. a first gear; 53. a second gear; 54. a fixed shaft; 6. a third motor; 7. a limiting groove; 8. a limiting rod; 9. a tooth socket; 10. and (6) a port.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.
Example 1
Referring to fig. 1-4, the present embodiment provides a power transmission line inspection robot capable of automatically crossing a power tower, including a body 1 and a roller 2, the body 1 is rotatably connected above the body 1, the roller 2 includes a first half wheel 21 and a second half wheel 22, the first half wheel 21 and the second half wheel 22 are mutually clamped by a clamping device 3, an adjusting device 4 is arranged above the body 1, the first half wheel 21 and the second half wheel 22 are both rotatably connected above the adjusting device 4, the adjusting devices 4 positioned at two sides above the body 1 are rotatably connected with the body 1 by a rotating device 5, and the adjusting device 4 positioned at the middle of the upper part of the body 1 is fixedly connected above the body 1;
in order to solve the problem that the power transmission line of the inspection robot consumes long time when passing through an obstacle at a power tower, the roller 2 is arranged into a combined structure formed by combining a first half wheel 21 and a second half wheel 22;
in this embodiment, as shown in fig. 1 of the attached drawings of the specification, when the inspection robot body 1 encounters an obstacle at a power tower, the rotating devices 5 on both sides of the body 1 rotate, at this time, an included angle between the adjusting device 4 and the horizontal direction changes, so that the height of the body 1 is changed, the roller 2 on the adjusting device 4 located at the middle position above the body 1 is just pressed on the power transmission line, the adjusting device 4 located at the right side of the body 1 adjusts the roller 2 thereon, the first half wheel 21 and the second half wheel 22 on the roller 2 located at the right side are away from each other, and the gap between the first half wheel 21 and the second half wheel 22 can accommodate the obstacle to pass through, at this time, the roller 2 located at the left side and the middle position above the body 1 drives the body 1 to move rightwards on the power transmission line until the first half wheel 21 and the second half wheel 22 located at the right side of the body 1 pass through the obstacle rear adjusting device 4, and the first half wheel 21 and the second half wheel 22 are combined with the obstacle Synthesizing a complete roller 2, pressing the complete roller 2 on the right side on a power transmission line under the rotating action of a rotating device 5 to drive a body 1 to move rightwards continuously, opening the roller 2 into a first half wheel 21 and second half wheel 22 structure in a separated state through an adjusting device 4, and combining the first half wheel 21 and the second half wheel 22 structure in the separated state into the complete roller 2 structure through the adjusting device 4, so that the roller 2 in the middle of the body 1 and the roller 2 on the left side of the body 1 pass through obstacles in sequence, so that the body 1 passes through the obstacles, in the embodiment, a clamping device 3 is used for combining and connecting the first half wheel 21 and the second half wheel 22, and when the first half wheel 21 and the second half wheel 22 are combined into the roller 2, the first half wheel 21 and the second half wheel 22 cannot slide relatively, so that the roller 2 rolls on the power transmission line, in this embodiment, adjusting device 4's regulation convenient and fast for the separation and the combination efficiency of gyro wheel 2 are high, have saved the time, make body 1 through the holistic time spent of barrier short, have improved the efficiency that patrols and examines the robot and pass through the electric wire tower, have solved the current robot that patrols and examines that exists of patrolling and examining the robot and have consumed the time longer problem through the barrier.
Example 2
Referring to fig. 1-4, a further improvement is made on the basis of embodiment 1:
in order to facilitate the clamping connection of the first half wheel 21 and the second half wheel 22 into the roller 2, the clamping device 3 comprises a positioning block 31, a clamping block 32 and a positioning groove 33, the positioning block 31 is fixedly installed on one side of the first half wheel 21 close to the second half wheel 22, the positioning groove 33 is formed in one side of the second half wheel 22 close to the first half wheel 21, the clamping block 32 is respectively and fixedly connected to the side surface of the positioning block 31 and the inner side surface of the positioning groove 33, and the positioning block 31 is clamped inside the positioning groove 33 through the clamping block 32;
in this embodiment, one end of the fixture block 32 is a tip structure, a tip of the fixture block 31 is close to the positioning slot 33, a tip of the fixture block 32 on the positioning slot 33 is close to the positioning block 31, when the first half wheel 21 and the second half wheel 22 are close to each other, under an effect of the tip of the fixture block 32, the positioning block 31 moves to an inner side of the positioning slot 33, so that the positioning block 31 and the positioning slot 33 cannot be connected together due to mutual abutting of the fixture blocks 32 on the first half wheel 21 and the second half wheel 22, and meanwhile, when one of the first half wheel 21 and the second half wheel 22 rotates, the other rotates simultaneously under an effect of the fixture block 32, thereby facilitating rolling of the roller 2 on the power transmission.
In order to facilitate the adjusting device 4 to adjust the roller 2, the adjusting device 4 comprises a mounting block 41, a movable block 42, a main gear 43, a secondary gear 44, a driven wheel 45, an inner groove 46 and a first motor 47, wherein the inner groove 46 is arranged inside the mounting block 41, the movable block 42 is slidably connected inside the inner groove 46, the main gear 43 is rotatably connected in the middle of the inner part of the inner groove 46, the secondary gear 44 is fixedly mounted in the middle of the side surface of the main gear 43, the driven wheel 45 is rotatably connected inside the inner groove 46, the main gear 43 is in bonding engagement with one side of the movable block 42, the driven wheel 45 is in bonding engagement with the other side of the movable block 42, the secondary gear 44 is in engagement with the driven wheel 45, the first motor 47 is fixedly mounted on the side surface of the mounting block 41, and the output end of the first motor 47 penetrates;
in this embodiment, when the first motor 47 drives the main gear 43 to rotate, the main gear 43 simultaneously drives one side surface of the movable block 42 to move, the main gear 43 drives the driven wheel 45 to rotate through the secondary gear 44, the driven wheel 45 simultaneously drives the other side surface of the movable block 42 to move, under the action of the main gear 43 and the driven wheel 45, the movable block 42 is conveniently driven to move, friction between the movable block 42 and the inner groove 46 is greatly reduced, so that the movable block 42 is better moved, and the roller 2 is more conveniently disassembled and assembled.
In order to facilitate the rotation of the adjusting device 4 and the roller 2 which are positioned at two sides above the body 1, the rotating device 5 comprises a second motor 51, a first gear 52, a second gear 53 and a fixed shaft 54, the fixed shaft 54 is rotatably connected at the edge above the body 1, the second motor 51 is fixedly arranged inside the body 1, the first gear 52 is fixedly arranged at the output end of the second motor 51, the second gear 53 is fixedly arranged at the side surface of the fixed shaft 54, the first gear 52 and the second gear 53 are mutually meshed, and the mounting block 41 positioned above the body 1 is fixedly connected with the corresponding fixed shaft 54 above the body 1;
in this embodiment, the second motor 51 drives the second gear 53 to rotate through the first gear 52, so that the fixing shaft 54 rotates simultaneously, the adjusting device 4 and the roller 2 rotate, and the roller 2 located in the middle of the upper portion of the body 1 can roll on the power transmission line to drive the body 1 to move.
In order to facilitate the connection between the roller 2 and the adjusting device 4 and the rotation of the roller 2, the first half wheel 21 is rotatably connected with one of the movable blocks 42, the second half wheel 22 is rotatably connected with the movable block 42, the side surface of the movable block 42 is fixedly provided with a third motor 6, and the third motor 6 is rotatably connected with the first half wheel 21;
in this embodiment, the third motor 6 drives the first half wheel 21 to rotate, so that when the first gear 52 and the second gear 53 are combined into the whole roller 2, the whole roller 2 is conveniently rotated, so that the whole roller 2 rolls on the power transmission line.
In order to improve the moving effect of the movable block 42, the mounting block 41 is internally provided with a limiting groove 7, and the side surface of the movable block 42 is fixedly provided with a limiting rod 8 which is in sliding connection with the limiting groove 7;
in this embodiment, the structure of the limiting groove 7 and the limiting rod 8 limits the movable block 42, so that the movable block 42 is not clamped during movement.
In order to facilitate the meshing connection among the main gear 43, the secondary gear 44, the driven gear 45 and the movable block 42, tooth grooves 9 are formed in both sides of the lower end of the movable block 42, the main gear 43 and the driven gear 45 are respectively meshed and connected with the movable block 42 through the tooth grooves 9, a through hole 10 is formed in the movable block 42, and the secondary gear 44 penetrates through the through hole 10 and is meshed and connected with the driven gear 45.
In the process that the second motor 51 drives the second gear 53 to rotate through the first gear 52, in order to prevent a gap from being formed between the first gear 52 and the second gear 53 due to stress, the fixture block 32 has an arrow structure;
in this embodiment, in the process that the first gear 52 drives the second gear 53 to rotate, the two fastening blocks 32 are fastened together at the arrow of the fastening block 32 under stress, so that the first gear 52 and the second gear 53 are connected more tightly and cannot be separated from each other.
In order to make the connection effect to the body 1 better, the fixing shaft 54 is formed in a cylindrical structure and a U-shaped structure.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. The utility model provides a can cross transmission line inspection robot of electric wire tower by oneself, includes body (1) and gyro wheel (2), body (1) rotates the top of connecting at body (1), its characterized in that: gyro wheel (2) are including first half round (21) and second half round (22), first half round (21) and second half round (22) are connected through latch device (3) each other joint, the top of body (1) is provided with adjusting device (4), first half round (21) and second half round (22) are all rotated and are connected in the top of adjusting device (4), are located adjusting device (4) of the top both sides of body (1) are rotated through rotating device (5) and body (1) and are connected, are located adjusting device (4) fixed connection in the middle of the top of body (1) is in the top of body (1).
2. The transmission line inspection robot capable of automatically crossing a power line tower according to claim 1, characterized in that: clamping device (3) are including locating piece (31), fixture block (32) and constant head tank (33), locating piece (31) fixed mounting is in one side that first half round (21) is close to second half round (22), one side that second half round (22) is close to first half round (21) is seted up in constant head tank (33), fixture block (32) fixed connection is respectively in the side of locating piece (31) and the medial surface of constant head tank (33), locating piece (31) pass through the inside of fixture block (32) joint at constant head tank (33).
3. The transmission line inspection robot capable of automatically crossing a power line tower according to claim 2, characterized in that: the adjusting device (4) comprises a mounting block (41), a movable block (42), a main gear (43), a secondary gear (44), a driven wheel (45), an inner groove (46) and a first motor (47), wherein the inner groove (46) is formed in the mounting block (41), the movable block (42) is connected in the inner groove (46) in a sliding mode, the main gear (43) is connected in the middle of the inner part of the inner groove (46) in a rotating mode, the secondary gear (44) is fixedly mounted in the middle of the side face of the main gear (43), the driven wheel (45) is connected in the inner side of the inner groove (46) in a rotating mode, the main gear (43) is connected with one side face of the movable block (42) in an adhering and meshing mode, the driven wheel (45) is connected with the other side face of the movable block (42) in an adhering and meshing mode, the secondary gear (44) is connected with the driven wheel (45) in a meshing mode, and the first, the output end of the first motor (47) penetrates through the mounting block (41) and is rotatably connected with the main gear (43).
4. The power transmission line inspection robot capable of automatically crossing a power transmission line tower according to claim 3, characterized in that: rotating device (5) include second motor (51), first gear (52), second gear (53) and fixed axle (54), fixed axle (54) rotate to be connected in body (1) top edge department, second motor (51) fixed mounting is in the inside of body (1), first gear (52) fixed mounting is in the output of second motor (51), second gear (53) fixed mounting is in the side of fixed axle (54), first gear (52) and second gear (53) intermeshing are located installation piece (41) and the fixed axle (54) fixed connection that corresponds above body (1) of the top of body (1).
5. The transmission line inspection robot capable of automatically crossing a power line tower according to claim 4, characterized in that: first half wheel (21) and one of them movable block (42) rotate to be connected, second half wheel (22) and movable block (42) rotate to be connected, the side fixed mounting of movable block (42) has third motor (6), third motor (6) and first half wheel (21) rotate to be connected.
6. The power transmission line inspection robot capable of automatically crossing a power transmission line tower according to claim 3, characterized in that: the limiting groove (7) is formed in the mounting block (41), and the limiting rod (8) which is connected with the limiting groove (7) in a sliding mode is fixedly mounted on the side face of the movable block (42).
7. The power transmission line inspection robot capable of automatically crossing a power transmission line tower according to claim 3, characterized in that: tooth's socket (9) have all been seted up to the both sides of movable block (42) lower extreme, master gear (43) and follow driving wheel (45) carry out the meshing through tooth's socket (9) and movable block (42) respectively and connect, opening (10) have been seted up to the inside of movable block (42), pinion (44) pass opening (10) and follow driving wheel (45) and carry out the meshing connection.
8. The transmission line inspection robot capable of automatically crossing a power line tower according to claim 2, characterized in that: the fixture block (32) is in an arrow structure.
9. The transmission line inspection robot capable of automatically crossing a power line tower according to claim 4, characterized in that: the fixed shaft (54) is composed of a cylindrical structure and a U-shaped structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110137431.2A CN112909821A (en) | 2021-02-01 | 2021-02-01 | Power transmission line inspection robot capable of automatically crossing power line tower |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110137431.2A CN112909821A (en) | 2021-02-01 | 2021-02-01 | Power transmission line inspection robot capable of automatically crossing power line tower |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112909821A true CN112909821A (en) | 2021-06-04 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110137431.2A Withdrawn CN112909821A (en) | 2021-02-01 | 2021-02-01 | Power transmission line inspection robot capable of automatically crossing power line tower |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112909821A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114193476A (en) * | 2021-12-23 | 2022-03-18 | 株洲高新电业集团有限公司 | Electric power inspection robot |
-
2021
- 2021-02-01 CN CN202110137431.2A patent/CN112909821A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114193476A (en) * | 2021-12-23 | 2022-03-18 | 株洲高新电业集团有限公司 | Electric power inspection robot |
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Application publication date: 20210604 |