CN114006445B - Charging station for large-span overhead line inspection robot - Google Patents
Charging station for large-span overhead line inspection robot Download PDFInfo
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- CN114006445B CN114006445B CN202111485594.6A CN202111485594A CN114006445B CN 114006445 B CN114006445 B CN 114006445B CN 202111485594 A CN202111485594 A CN 202111485594A CN 114006445 B CN114006445 B CN 114006445B
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- 238000007689 inspection Methods 0.000 title claims abstract description 121
- 210000000078 claw Anatomy 0.000 claims description 9
- 230000009471 action Effects 0.000 claims description 8
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 6
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 6
- 229910052799 carbon Inorganic materials 0.000 claims description 6
- 229910052802 copper Inorganic materials 0.000 claims description 6
- 239000010949 copper Substances 0.000 claims description 6
- 230000033001 locomotion Effects 0.000 claims description 6
- 235000014676 Phragmites communis Nutrition 0.000 claims description 5
- 230000004323 axial length Effects 0.000 claims description 5
- 210000001503 joint Anatomy 0.000 claims description 5
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 230000007774 longterm Effects 0.000 abstract description 3
- 230000009466 transformation Effects 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 description 10
- 238000000034 method Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 4
- 235000017491 Bambusa tulda Nutrition 0.000 description 4
- 241001330002 Bambuseae Species 0.000 description 4
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 4
- 239000011425 bamboo Substances 0.000 description 4
- 239000003990 capacitor Substances 0.000 description 4
- 230000000087 stabilizing effect Effects 0.000 description 4
- 230000008602 contraction Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000003381 stabilizer Substances 0.000 description 1
Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/005—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators using batteries, e.g. as a back-up power source
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0066—Means or methods for maintaining or repairing manipulators
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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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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/35—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering with light sensitive cells
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention discloses a charging station for a large-span overhead line inspection robot, which comprises a charging device and an energy supply device, wherein the charging device is used for charging the inspection robot in the form of an external charging station, the charging device and the inspection robot are arranged on the same ground lead through a fixed assembly, and when the inspection robot needs to be charged, the charging device returns to the position of the charging device along the ground lead and is electrically connected with the charging device to finish the charging. The scheme solves the problem that the current external charging station cannot meet the inspection requirement of the inspection robot on the large-span overhead line because the inspection robot is arranged on the high-voltage bus and the ground wire. The intelligent inspection system is simple in integral structure, ingenious in design and easy to install, is suitable for transformation of intelligent inspection of large-area lines, enables the inspection system of the large-span overhead line to be more intelligent and reliable, and provides support for intelligent charging of the inspection robot, long-time inspection and long-term stay lines.
Description
Technical Field
The invention belongs to the field of power cable maintenance, relates to a line inspection technology, and particularly relates to a charging station for a large-span overhead line inspection robot.
Background
Because the overhead line is exposed to the natural environment for a long time, the line and the pole tower are easily affected by the surrounding environment and natural change, and the problems of equipment defect and line safety threat are very easy to occur. Therefore, the effective grasp of the running condition of the transmission line becomes an important ring for ensuring the power transmission, and the manual line inspection mode is mainly adopted to grasp the running condition of the line at the present stage. But with the rapid development of ultra-high voltage transmission lines in China in recent years, large-span transmission lines such as cross-sea transmission lines, cross-river transmission lines and cross-valley transmission lines are becoming popular. The large-span overhead transmission line has the characteristics of high tower height and large span, and the manual line inspection mode is time-consuming and labor-consuming, and has extremely high safety risk. To solve these problems, a large-span overhead line inspection robot has been developed.
The large-span overhead line inspection robot is mostly powered by a battery carried by the robot, and is influenced by the performance of the battery at the present stage, so that the inspection robot cannot work continuously for a long time. If the inspection robot can stay on the line for a long time, the autonomous inspection is realized, and the energy problem must be solved.
At present, the technology of charging the inspection robot is mainly divided into two types: the robot carries the charging equipment and the external device charges the battery of the robot. The inspection robot belongs to a high-altitude special operation robot, has certain requirements on reliability and weight, and can charge at any time without being limited by position when carrying charging equipment, but the scheme is generally that the inspection robot is provided with a flexible solar panel, solar energy is converted into electric energy, and the electric energy is stored in a battery through a voltage stabilizer and a corresponding charging device of the robot. The flexible solar panel is influenced by the shape and the size of the outer surface of the robot, the solar energy which is received and converted is limited, the charging efficiency is low, and the charging current is easy to be unstable, so that the service life of the battery is reduced; meanwhile, the voltage and current stabilizing device for adjusting the charging current is additionally arranged, so that the whole effective space of the robot is occupied, the whole robot is huge and complex, and the reliability of the robot is reduced.
When the robot charges the battery of the robot by the external device, the charging position is fixed, and corresponding control elements and the like can be arranged outside the robot, so that the robot is relatively more reliable. For example, in the capacitive energy taking scheme, the parallel capacitor voltage divider connected in parallel on the bus is used for charging, namely, a parallel capacitor is additionally arranged near the high-voltage transmission line, the capacitor is charged through an electromagnetic induction principle, and then the capacitor charging system is used for charging the robot. The large-span power transmission line generally adopts a damping wire clamp as a shockproof measure, and a robot cannot span, so that the inspection robot generally operates on a ground wire; the traditional capacitive voltage divider has higher manufacturing process requirements and needs to be installed on a high-voltage bus, so that the traditional external charging station can meet the inspection requirement of an inspection robot on a large-span overhead line.
Disclosure of Invention
The invention aims to provide a charging station for a large-span overhead line inspection robot, which is used for charging the inspection robot through an external charging station so as to solve the problem that the current external charging station cannot meet the inspection requirement of the inspection robot on the large-span overhead line due to the fact that the external charging station is arranged on a high-voltage bus.
In order to achieve the above object, the present invention provides the following solutions:
The invention provides a charging station for a large-span overhead line inspection robot, which comprises the following components:
The charging device comprises a fixing component, a resetting component and a grabbing component; the fixed component is used for being connected with a ground wire for installing the inspection robot; the resetting assembly comprises a fixed cylinder, a first guide sleeve, a second guide sleeve, a guide shaft and a resetting spring, wherein the fixed cylinder is connected with the fixed assembly, the first guide sleeve and the second guide sleeve are sequentially arranged in the fixed cylinder along the axial direction of the fixed cylinder, the first guide sleeve and the second guide sleeve are arranged at intervals, a first guide groove and a second guide groove with different lengths are formed in the first guide sleeve, and the first guide groove and the second guide groove are all open towards the second guide sleeve; the second guide sleeve is provided with a third guide groove with an opening facing the first guide sleeve; the guide shaft is sleeved in the first guide sleeve in a sliding manner, one end of the guide shaft is fixedly provided with a protruding block, and the protruding block is positioned between the first guide sleeve and the second guide sleeve and can be in sliding fit with the first guide groove, the second guide groove and the third guide groove; the third guide groove is positioned between the first guide groove and the second guide groove along the circumferential direction of the fixed cylinder, and when the lug moves axially between one of the first guide groove and the second guide groove and the third guide groove, the lug can drive the guide shaft to rotate; the reset spring is arranged in the second guide sleeve, and is positioned between one end of the guide shaft, where the lug is arranged, and one end of the fixed cylinder, which is far away from the first guide sleeve, so as to provide power for axial movement of the guide shaft towards the first guide sleeve; the grabbing component comprises a first arm, a second arm and a charging arm, one end of the first arm is hinged to the fixed cylinder, one end of the second arm is connected to the other end of the guide shaft, one end of the charging arm is hinged to the other end of the first arm, one of a charging positive electrode and a charging negative electrode is arranged at the other end of the charging arm, and the other end of the second arm is hinged between two ends of the charging arm; the other one of the charging positive electrode and the charging negative electrode and the second arm are arranged at the same end of the guide shaft; the inspection robot is provided with an anode and a cathode which can be matched with the charging anode and the charging cathode, the inspection robot can push the guide shaft towards the second guide sleeve so as to gather the charging arm from an open state, the inspection robot enters a charging state, then the charging arm is opened from a gathering state, and the inspection robot is charged and is far away from the charging device;
the energy supply device is arranged on a pole tower for erecting a line and is electrically connected with the charging anode and the charging cathode so as to supply power for the charging device.
Optionally, the fixed subassembly is split type staple bolt structure, and it is formed by two staple bolts butt joint.
Optionally, the outer wall of the fixed cylinder radially extends to form a ridge structure, and the ridge structure is rotationally connected with the outer ring of the fixed assembly.
Optionally, the fixed section of thick bamboo is on a parallel with the earth connection sets up, the fixed section of thick bamboo includes open end and closed end, the open end is used for the guiding axle slides, closed end sets up an adjust knob, adjust knob with closed end threaded connection, and with reset spring links to each other, adjusts adjust knob precession the length of fixed section of thick bamboo can adjust reset spring's elasticity.
Optionally, the one end that keeps away from of guiding axle the second uide bushing sets up the carbon pole in order to form the guiding axle and charge anodal, the one end that keeps away from of charging arm fixed section of thick bamboo sets up copper reed in order to form the charging arm negative pole that charges.
Optionally, the robot further comprises a charging contact which is arranged on one side of the inspection robot facing the guide shaft, wherein the charging contact is a cylindrical charging contact, and a carbon electrode is arranged in the charging contact to form a robot charging positive electrode which is used for being in butt joint with the guide shaft charging positive electrode; and one end of the cylindrical charging contact, which is close to the guide shaft, is provided with a wedge-shaped head, and the outer side of the other end of the cylindrical charging contact is sleeved with a layer of copper skin to form a robot charging negative electrode, and the cylindrical charging contact is used for being connected with the charging negative electrode of the charging arm.
Optionally, the grabbing assembly further includes a third arm, a fourth arm and a grabbing arm, one end of the third arm is hinged to the fixed cylinder, one end of the fourth arm is connected to the other end of the guide shaft, one end of the grabbing arm is hinged to the other end of the third arm, a claw is arranged at the other end of the grabbing arm, and the other end of the fourth arm is hinged between two ends of the grabbing arm; the grabbing arms and the charging arms are synchronous in action, and when the inspection robot enters a charging state, the grabbing arms gather together to fix the wedge-shaped head through the claw, so that the inspection robot is prevented from being separated from the charging device.
Optionally, the third arm, the fourth arm and the grabbing arm are used as a group of grabbing parts, the first arm, the second arm and the charging arm are used as a group of charging parts, at least two groups of grabbing parts and at least two groups of charging parts are arranged in the grabbing assembly, and at least two groups of grabbing parts and at least two groups of charging parts are uniformly distributed in a crossing way at intervals.
Optionally, the grabbing parts and the charging parts are all provided with three groups, and the three groups of grabbing parts and the three groups of charging parts are uniformly distributed at intervals in a crossing way. Wherein, any one of the first arms and any one of the third arms are positioned on the same mounting surface, and the mounting surface is perpendicular to the axial direction of the fixed cylinder. Any one second arm and any one fourth arm are located on the same mounting frame, the mounting frame is vertically mounted on the guide shaft, the mounting frame can only axially move along with the guide shaft, and when the guide shaft rotates, the mounting frame is kept stationary.
Optionally, the length of the grabbing arm is smaller than the length of the charging arm.
Optionally, the first guide sleeve and the second guide sleeve are cylindrical guide sleeves, and the inner diameters of the first guide sleeve and the second guide sleeve are the same and are coaxially arranged; the first guide groove and the second guide groove are formed along the axial direction of the first guide sleeve, the third guide groove is formed along the axial direction of the second guide sleeve, and the circumferential widths of the first guide groove, the second guide groove and the third guide groove are the same;
One sides of the notch of the first guide groove and the notch of the second guide groove are outwards inclined along the circumferential direction and the axial direction of the first guide sleeve to form a first spiral guide section; one side of the notch of the third guide groove is inclined outwards along the circumferential direction and the axial direction of the second guide sleeve to form a second spiral guide section; the second spiral guide section has a direction of rotation opposite to that of the first spiral guide section;
the convex blocks are arranged to be plane along one side of the circumference of the first guide sleeve;
The convex blocks are obliquely arranged along one end, close to the first guide sleeve, of the other circumferential side of the first guide sleeve, and a first spiral inclined surface which can be matched with the first spiral guide section in a sliding manner is formed; one end deviating from the first guide sleeve is obliquely arranged to form a second spiral inclined plane which can be matched with the second spiral guide section in a sliding way.
Optionally, the axial distance between the first guide sleeve and the second guide sleeve is equal to the longest axial length of the protruding block, so that when one axial end of the protruding block is separated from the third guide groove, the other axial end of the protruding block is engaged with the first guide sleeve or the second guide sleeve.
Optionally, the energy supply assembly comprises a solar panel and a power supply box, the solar panel is installed towards the sun, and a storage battery electrically connected with the solar panel is arranged in the power supply box; the storage battery is electrically connected with the charging device.
Optionally, the box body of the power supply box is of a dustproof and waterproof structure.
Optionally, a voltage stabilizing device and overload protection are also arranged in the power supply box.
Compared with the prior art, the invention has the following technical effects:
The charging station for the large-span overhead line inspection robot provided by the invention has the advantages that the external charging station is used for charging the inspection robot, the energy supply device is arranged on the tower for erecting the line, the charging device and the inspection robot are arranged on the same ground wire through the fixing component, the positions of the charging device and the ground wire are relatively fixed, and when the inspection robot needs to be charged, the charging device returns to the position of the charging device along the ground wire and is electrically connected with the charging device to finish charging. The scheme solves the problem that the current external charging station cannot meet the inspection requirement of the inspection robot on the large-span overhead line because the inspection robot is arranged on the high-voltage bus and the ground wire. The intelligent line inspection device is simple in integral structure, ingenious in design and easy to install, is suitable for transformation of intelligent line inspection in a large area, adopts a charging claw structure, realizes on-off of a charging circuit by opening and closing, and is small in size and free of line damage; and the distance between the charging anode and the charging cathode on the charging device is far, so that the possibility of short circuit is greatly reduced, the charging device is safer, the long-span overhead line inspection system is more intelligent and reliable, and support is provided for realizing intelligent charging of the inspection robot, long-time inspection and long-term stay on line.
In addition, in some schemes disclosed by the invention, the energy supply assembly adopts an external storage battery to provide a charging power supply for the inspection robot, so that the current stabilizing structure is reliable, the complexity of the inspection robot is reduced, and the reliability of the inspection robot is improved; meanwhile, the solar panel of the energy supply assembly is fixedly arranged at a fixed position, does not move along with the robot, is kept in a south-facing arrangement, has high solar energy conversion efficiency, can supply power for the storage battery for a long time, and meets the requirement of power consumption of long-term running of the inspection robot.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of the overall structure of a charging station for a large-span overhead line inspection robot according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of a fixing assembly according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an external configuration of a reset assembly according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating an internal structure of a reset assembly according to an embodiment of the present invention;
FIG. 5 is a schematic view of the structure of a first guide sleeve and a second guide sleeve according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of the installation of a first guide sleeve and a second guide sleeve in accordance with an embodiment of the present invention;
FIG. 7 is a schematic view of a grabbing assembly according to an embodiment of the present invention;
FIG. 8 is a schematic view of a mounting frame according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of a charging contact according to an embodiment of the present invention;
Fig. 10 is a schematic structural diagram of a charging device according to an embodiment of the present invention when the charging device contacts a charging contact (before charging);
Fig. 11 is a schematic structural diagram of a grabbing assembly according to an embodiment of the present invention when locking a charging contact (during charging);
fig. 12 is a schematic view of a grabbing assembly according to an embodiment of the present invention when the grabbing assembly is disengaged from the charging contact (after charging is completed).
Wherein, the reference numerals are as follows: 100. charging station for large-span overhead line inspection robot;
1. A fixing assembly; 11. a first sheet of anchor ear; 12. a second piece of anchor ear; 13. a groove;
2.A reset assembly; 21. a fixed cylinder; 211. a ridge structure; 212. an adjustment knob; 22. a first guide sleeve; 221. a first guide groove; 222. a second guide groove; 23. a second guide sleeve; 231. a third guide groove; 24. a guide shaft; 241. a bump; 242. the guide shaft charges the positive electrode; 25. a return spring; 26. a first helical guide section; 27. a second helical guide section; 28. a first helical ramp; 29. a second helical ramp; 30. a clamping block;
3. A grabbing component; 31. a first arm; 32. a second arm; 33. a charging arm; 331. the charging arm charges the negative electrode; 34. a third arm; 35. a fourth arm; 36. a grasping arm; 361. a claw; 37. a mounting frame;
4. a charging contact; 41. the robot charges the positive pole; 42. a wedge head; 43. the robot charges the negative pole.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide a charging station for a large-span overhead line inspection robot, which is used for charging the inspection robot through an external charging station so as to solve the problem that the current external charging station cannot meet the inspection requirement of the inspection robot on the large-span overhead line due to the fact that the external charging station is arranged on a high-voltage bus.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Example 1
As shown in fig. 1 to 12, the present embodiment provides a charging station 100 for a large-span overhead line inspection robot, which mainly includes a charging device and an energy supply device. The charging device mainly comprises a fixing component 1, a resetting component 2 and a grabbing component 3; the fixed component 1 is used for being connected with a ground wire for installing the inspection robot; the reset assembly 2 comprises a fixed cylinder 21, a first guide sleeve 22, a second guide sleeve 23, a guide shaft 24 and a reset spring 25, wherein the fixed cylinder 21 is connected with the fixed assembly 1, the first guide sleeve 22 and the second guide sleeve 23 are sequentially arranged in the fixed cylinder 21 along the axial direction of the fixed cylinder 21, the first guide sleeve 22 and the second guide sleeve 23 are arranged at intervals, a first guide groove 221 and a second guide groove 222 with different lengths are arranged on the first guide sleeve 22, and the first guide groove 221 and the second guide groove 222 are both opened towards the second guide sleeve 23; the second guide sleeve 23 is provided with a third guide groove 231 with an opening facing the first guide sleeve 22; the guide shaft 24 is slidably sleeved in the first guide sleeve 22, one end of the guide shaft 24 is fixedly provided with a protruding block 241, and the protruding block 241 is positioned between the first guide sleeve 22 and the second guide sleeve 23 and can be slidably matched with the first guide groove 221, the second guide groove 222 and the third guide groove 231; the third guide groove 231 is located between the first guide groove 221 and the second guide groove 222 along the circumferential direction of the fixed cylinder 21, and can drive the guide shaft 24 to rotate when the boss 241 moves axially between one of the first guide groove 221 and the second guide groove 222 and the third guide groove 231; the return spring 25 is arranged in the second guide sleeve 23, and the return spring 25 is positioned between one end of the guide shaft 24, where the projection 241 is arranged, and one end of the fixed cylinder 21, which is far away from the first guide sleeve 22, so as to power the axial movement of the guide shaft 24 towards the first guide sleeve 22; the grabbing component 3 comprises a first arm 31, a second arm 32 and a charging arm 33, wherein one end of the first arm 31 is hinged to the fixed cylinder 21, one end of the second arm 32 is fixed to the other end of the guide shaft 24, one end of the charging arm 33 is hinged to the other end of the first arm 31, one of a charging positive electrode and a charging negative electrode is arranged at the other end of the charging arm 33, and the other end of the second arm 32 is hinged between the two ends of the charging arm 33; the other of the charging positive electrode and the charging negative electrode is provided at the same end of the guide shaft 24 as the second arm 32; the inspection robot is provided with an anode and a cathode which can be matched with the charging anode and the charging cathode, the inspection robot can push the guide shaft 24 towards the second guide sleeve 23 so as to gather the charging arm 33 from an open state, the inspection robot enters a charging state, the charging arm 33 is opened from the gathered state, and the inspection robot is charged and is far away from the charging device. The energy supply device is arranged on a pole tower for erecting a line and is electrically connected with the charging anode and the charging cathode so as to supply power for the charging device. Preferably, the energy supply device is fixedly arranged on a pole tower for erecting a line, is positioned at a relatively safe position, is firmly arranged and is prevented from falling off.
In this embodiment, the fixing component 1 is preferably a split type anchor ear structure, as shown in fig. 2, and includes a first anchor ear 11 and a second anchor ear 12, where the first anchor ear 11 and the second anchor ear 12 are arranged up and down and are abutted by bolts to fix themselves on a ground wire, an inner hole formed after the first anchor ear 11 and the second anchor ear 12 are abutted is used for accommodating a ground wire, and the aperture of the inner hole can be adjusted according to the diameter of the ground wire, such as changing the first anchor ear 11 and the second anchor ear 12 with different sizes to adapt to the ground wires with different diameters. In this embodiment, an approximately circular groove 13 is formed on the outer ring of the middle part of the second anchor ear 12 located below, so as to be connected with the reset assembly 2, and the reset assembly 2 can be rotated around the axis of the conductive wire while the reset assembly 2 is fixed.
In this embodiment, the outer wall of the fixing cylinder 21 radially extends to form a ridge structure 211, and the ridge structure 211 is rotatably connected with the outer ring of the fixing assembly 1, i.e. the groove 13.
In this embodiment, the fixed cylinder 21 is generally parallel to the ground wire, the fixed cylinder 21 includes an open end and a closed end, the open end is used for sliding the guide shaft 24, the closed end is provided with an adjusting knob 212, the adjusting knob 212 is in threaded connection with the closed end and is connected with the return spring 25 (including connection and offset), the length of the adjusting knob 212 screwed into the fixed cylinder 21 can be adjusted, the elastic force of the return spring 25 can be adjusted, taking the initial state of the return spring 25 as shown in fig. 10 as an example, under the condition that the guide shaft 24 is not pushed by the inspection robot, the position of the guide shaft 24 is relatively fixed due to the fact that the second guide groove 222 and the longer one of the first guide grooves 221 limit the axial direction of the protruding block 241, if the adjusting knob 212 is screwed in, the length of the return spring 25 can be shortened, and if the adjusting knob 212 is screwed out, the length of the return spring 25 is increased, thereby achieving the effect of controlling the return force applied by the return spring 25 to the guide shaft 24.
In this embodiment, a carbon electrode is disposed at one end of the guide shaft 24 far from the second guide sleeve 23 to form a guide shaft charging anode 242, and a copper reed is disposed at one end of the charging arm 33 far from the fixed cylinder 21 to form a charging arm charging cathode 331. Based on this, the present embodiment further provides a charging contact 4 for being mounted on the side of the inspection robot facing the guide shaft 24, the charging contact 4 is a cylindrical charging contact, and a carbon electrode is mounted inside the cylindrical charging contact to form a robot charging positive electrode 41 for being in butt joint with the guide shaft charging positive electrode 242; the cylindrical charging contact 4 is provided with a wedge-shaped head 42 at one end close to the guide shaft 24, and a layer of copper skin is sleeved (laid) on the outer side of the other end to form a robot charging anode 43 for being connected with the charging arm charging anode 331, and when the robot charging anode 41 and the robot charging anode 43 are respectively in butt joint with the guide shaft charging anode 242 and the charging arm charging anode 331, a charging loop is formed.
In this embodiment, the grabbing assembly 3 further includes a third arm 34, a fourth arm 35 and a grabbing arm 36, where one end of the third arm 34 is hinged on the fixed cylinder 21, one end of the fourth arm 35 is fixed on the other end of the guide shaft 24, one end of the grabbing arm 36 is hinged with the other end of the third arm 34, the other end of the grabbing arm 36 is provided with a claw 361, and the other end of the fourth arm 35 is hinged between two ends of the grabbing arm 36; the gripping arm 36 and the charging arm 33 are synchronized in motion, and when the inspection robot enters a charged state, the gripping arm 36 gathers together to fix the wedge head 42 by the claw 361, preventing the inspection robot from being separated from the charging device.
In this embodiment, the third arm 34, the fourth arm 35 and the grabbing arm 36 are used as a group of grabbing members, the first arm 31, the second arm 32 and the charging arm 33 are used as a group of charging members, at least two groups of grabbing members and at least two groups of charging members are arranged in the grabbing assembly 3, and at least two groups of grabbing members and at least two groups of charging members are uniformly distributed at intervals in a crossing manner. In this embodiment, preferably, three groups of gripping members and charging members are provided, and the three groups of gripping members and the three groups of charging members are uniformly distributed along the circumferential direction of the guide shaft 24 at intervals. Wherein, any one of the first arms 31 and any one of the third arms 34 are located on the same mounting surface, which is disposed perpendicular to the axial direction of the fixed cylinder 21. Any one of the second arms 32 and any one of the fourth arms 35 are located on the same mounting frame 37, the mounting frame 37 is in a six-claw shape and is vertically mounted on the guide shaft 24, and the mounting frame 37 can only move axially along with the guide shaft 24, when the guide shaft 24 rotates, the mounting frame 37 remains stationary and does not rotate along with the guide shaft 24, that is, the whole grabbing assembly is driven by the axial movement of the guide shaft 24 to switch between the open state and the closed state, and does not rotate along with the rotation of the guide shaft 24. In practice, the guide shaft charging positive electrode 242 may be formed on the mounting frame 37.
Further, the third arm 34, the fourth arm 35 and the grabbing arm 36 together with the guide shaft 24 form a four-bar linkage mechanism, and the switching of the opening and closing state of the grabbing arm 36 can be achieved by the axial expansion and contraction of the guide shaft 24 (mainly represented by the length of the guide shaft 24 extending out of the fixed cylinder 21). Correspondingly, the first arm 31, the second arm 32 and the charging arm 33 together with the guide shaft 24 form a four-bar linkage (which is identical to the four-bar linkage comprising the gripping arm 36), and the switching of the opening and closing states of the charging arm 33 can be realized by the axial expansion and contraction of the guide shaft 24 (mainly represented by the length of the guide shaft 24 extending out of the fixed cylinder 21). Based on this, the grabbing assembly 3 of this embodiment is provided with 6 groups of identical four-bar linkages along the circumferential direction of the guide shaft 24, and the 6 groups of four-bar linkages are synchronously opened and closed, which is different only in that the length of the grabbing arm 36 is smaller than that of the charging arm 33, when the 6 groups of four-bar linkages are all in a gathering state, the end portion of the grabbing arm 36 is used for fixing the charging contact 4, and the charging arm 33 is used for clamping the charging contact 4 in multiple directions in the circumferential direction and is electrically connected with the robot charging cathode 43 of the charging contact 4, so that the charging function is completed.
In this embodiment, the first guide sleeve 22 and the second guide sleeve 23 are cylindrical guide sleeves, and the inner diameter and the outer diameter of the first guide sleeve 22 and the second guide sleeve 23 are the same and coaxially arranged; the first guide groove 221 and the second guide groove 222 are both formed along the axial direction of the first guide sleeve 22, the third guide groove 231 is formed along the axial direction of the second guide sleeve 23, the circumferential (circumferential) widths of the first guide groove 221, the second guide groove 222 and the third guide groove 231 are the same, and the axial length of the second guide groove 222 is longer than that of the first guide groove 221 so as to control the length of the guide shaft 24 extending out of the fixed cylinder 21. The first guide groove 221 and the second guide groove 222 are inclined outwards along the circumferential direction and the axial direction of the first guide sleeve 22 on one side of the notch to form a first spiral guide section 26, and the third guide groove 231 is inclined outwards along the circumferential direction and the axial direction of the second guide sleeve 23 on one side of the notch to form a second spiral guide section 27, the first spiral guide section 26 and the second spiral guide section 27 are spiral surfaces, and the rotation direction of the second spiral guide section 27 is opposite to that of the first spiral guide section 26. Accordingly, the projection 241 is provided in a plane along one side of the circumferential direction of the first guide bush 22 so as to be in contact engagement with the planes of the first guide groove 221, the second guide groove 222, and the third guide groove 231 (the side on which the first spiral guide section 26 or the second spiral guide section 27 is not provided); the bump 241 is disposed obliquely along the other circumferential side of the first guide sleeve 22, near one end of the first guide sleeve 22, to form a first spiral inclined plane 28 capable of sliding and adapting to the first spiral guide section 26, and is disposed obliquely away from one end of the first guide sleeve 22, to form a second spiral inclined plane 29 capable of sliding and adapting to the second spiral guide section 27, and the first spiral inclined plane 28 and the second spiral inclined plane 29 are spiral surfaces, and preferably, the first spiral inclined plane 28 and the second spiral inclined plane 29 are connected by a small section plane, the axial length of the small section plane is shorter, and the small section plane can be in contact and fit with the planes of the first guide groove 221, the second guide groove 222 and the third guide groove 231 after the bump 241 slides over the first spiral inclined plane 28 or the second spiral inclined plane 29.
In this embodiment, the axial distance between the first guide sleeve 22 and the second guide sleeve 23 (the axial minimum distance therebetween) is equal to the longest axial length of the projection 241, so that when one axial end of the projection 241 is disengaged from the third guide groove 231, the other end is just engaged with the first guide sleeve 22 or the second guide sleeve 23.
In this embodiment, the energy supply assembly (not shown in the figure) includes a solar panel installed toward the sun and a power supply box in which a storage battery electrically connected to the solar panel is disposed; the secondary battery is electrically connected to the above-described charging device (conventional electrical connection means). The solar panel and the storage battery are respectively used for absorbing and storing electric energy and providing energy for the whole charging station. The solar panel and the power supply box are arranged at the safe position of the tower body of the tower, the solar panel is arranged towards the south side, the maximum daily solar energy conversion efficiency is ensured, and the electric energy converted by the solar energy is stored in the storage battery in the power supply box. The power box is also provided with a voltage stabilizing device, overload protection and other conventional electrical components, so that the energy converted by the solar panel can be stably stored and stably output. The box body of the power box adopts a dustproof and waterproof structure, and provides protection for the whole charging circuit. The energy supply assembly is used for supplying power to the charging station externally arranged on the inspection robot when the inspection robot needs to be charged.
And the inspection robot inspects the self power information when the ground wire runs, and if the residual electric quantity of the inspection robot is insufficient to meet the following inspection task, the inspection robot returns to the position of the grabbing component 3 of the charging station to charge. The charging station is integrally arranged on a ground wire outside the damping wire clamp, and is connected with a storage battery of the energy supply assembly through a cable to obtain energy. The clamping groove is formed in the inner wall of the fixed cylinder 21 along the axial direction of the fixed cylinder, clamping blocks 30 matched with the first guide sleeve 22 and the second guide sleeve 23 are arranged on the outer walls of the first guide sleeve 22 and the second guide sleeve 23, and the first guide sleeve 22 and the second guide sleeve 23 are fixed in the fixed cylinder 21 through the clamping between the clamping blocks 30 and the clamping grooves. In this embodiment, four sliding grooves are preferably disposed at intervals in the circumferential direction of the first guiding sleeve 22, that is, two sets of first guiding grooves 221 and two sets of second guiding grooves 222, and the two sets of first guiding grooves 221 and the two sets of second guiding grooves 222 are uniformly distributed at intervals in a crossing manner, that is, the included angle between the adjacent first guiding grooves 221 and second guiding grooves 222 is 90 degrees, and the notch of any adjacent first guiding groove 221 and the notch of the second guiding groove 222 are connected by the first spiral guiding section 26. Based on the above structure that four sliding grooves are circumferentially arranged on the first guide sleeve 22, four sliding grooves, namely four third guide grooves 231, are arranged on the outer wall of the second guide sleeve 23 at intervals, the four third guide grooves 231 are uniformly distributed at intervals, namely the included angle between any two adjacent third guide grooves 231 is 90 degrees, and the interval between any two adjacent third guide grooves 231 is not connected. In the second guide sleeve 23 alone, when the boss 241 slides along the second spiral guide section 27 into the third guide groove 231 via the second spiral inclined surface 29, the guide shaft 24 is not only axially moved but also circumferentially rotated by a certain angle, and preferably, the second spiral guide section 27 is set to be inclined at 22.5 °, that is, the guide shaft 24 is driven to rotate at 22.5 ° when the second spiral inclined surface 29 of the boss 241 is completely slid over the second spiral guide section 27 from just contacting the outer end (near the end of the first guide sleeve 22) of the second spiral guide section 27. Preferably, the four sliding grooves on the first guide sleeve 22 are arranged at 22.5 degrees relative to the four sliding grooves on the second guide sleeve 23. Accordingly, two protrusions 241 are provided on the guide shaft 24 at intervals, and the two protrusions 241 are provided at intervals of 180 degrees in the circumferential direction of the guide shaft 24.
In this embodiment, the end of the guiding shaft 24, that is, the end of the protruding block 241 is located between the two guiding sleeves, and is driven by the combination of the restoring spring 25 and the inspection robot to reciprocate, and is influenced by the guiding grooves on the front guiding sleeve (that is, the first guiding sleeve 22) and the rear guiding sleeve (that is, the second guiding sleeve 23), while the guiding shaft 24 reciprocates, the protruding block 241 rotates, and when the protruding block 241 is embedded into different guiding grooves on the front guiding sleeve (that is, the first guiding sleeve 22), the extending lengths are different, and further, when the lengths of the guiding shaft 24 extending out of the fixed cylinder 21 are different, the opening and closing distances between the charging arm 33 and the grabbing arm 36 are different. The specific charging manner of the charging station according to the present embodiment will be specifically described below by taking an actual working situation as an example.
At the beginning of work, staff wakes up the inspection robot on the large-span line in the background, the inspection robot receives the instruction and examines the state information of the inspection robot, and the inspection robot is judged to be in an allowable range, and at the moment, the power of the inspection robot is sufficient. The inspection robot runs along the ground wire for a certain time to finish tasks. And judging that the self state information is in an allowable range, and meanwhile, the inspection robot judges that the power consumption is smaller than a threshold value (threshold value), so that charging is not needed. The inspection robot enters a sleep mode for standby. If the inspection robot continuously works for a certain time, the power consumption is judged to be higher than a threshold value (threshold value), and the inspection task is stopped and fed back to a worker, and then the inspection robot returns to the charging station at a set minimum energy consumption speed, namely the position of the charging station 100 for the inspection robot of the large-span overhead line is located.
In the initial state, the whole grabbing assembly 3 of the charging station is in an open state, and the protrusions 241 are located in the second guide grooves 222 (long grooves). After the charging contact 4 on the inspection robot contacts the guide shaft charging anode 242, under the action of self power, the guide shaft 24 is driven to move backwards (in the direction approaching to the second guide sleeve 23), so that the protruding block 241 enters the third guide groove 231, and in the process, the protruding block 241 slides into the third guide groove 231 along the second spiral guide section 27 through the second spiral inclined surface 29, and anticlockwise rotation occurs. Meanwhile, under the action of the four-bar mechanism of the charging arm 33 and the grabbing arm 36, the charging arm 33 and the grabbing arm 36 start to gather towards the center, when the protruding block 241 enters the third guide groove 231, the reed on the charging arm 33, namely the charging negative electrode 331 of the charging arm, is in contact with the surface skin of the charging contact (namely the charging negative electrode 43 of the robot), and a charging circuit is connected to start charging. Since the reed on the charging arm 33 has a certain amount of expansion and contraction, when the charging arm charging anode 331 just contacts the charging contact surface skin (i.e., the robot charging anode 43), neither the charging arm 33 nor the gripper arm 36 has yet clamped the charging contact 4, and the bump 241 does not completely enter the third guide groove 231.
Secondly, when the inspection robot detects the charging current, the movement is stopped, then the guide shaft 24 is reset to a direction away from the second guide sleeve 23 under the action of the reset spring 25, the bump 241 slides into the short groove position of the first guide sleeve 22, namely into the first guide groove 221 positioned at one side of the second guide groove 222 (long groove) in the initial state in the anticlockwise direction, in the process, the bump 241 slides out of the third guide groove 231 axially along the plane of the third guide groove 231 at first until the first spiral inclined surface 28 of the bump 241 contacts the first spiral guide section 26 of the first guide groove 221, the charging negative electrode 331 of the charging arm and the charging negative electrode 43 of the charging contact are always kept in contact under the action of the reset spring 25 while being deflected anticlockwise, until the bump 241 reaches the end of the first guide groove 221, at this time, the charging arm 33 and the grabbing arm 36 are in the furtheral state (can not be gathered again), the hook claw 361 of the charging arm 36 clamps the front end 42 of the charging contact 4, and the wedge-shaped charging efficiency of the charging hook joint 42 is ensured between the charging negative electrode 43 and the wedge-shaped front end 42 of the charging contact 4 in the process, and the wedge-shaped charging efficiency of the charging shaft 4 is ensured, and the wedge-shaped charging efficiency is prevented from loosening between the charging electrode 42 and the positive electrode 42 and the wedge-shaped charging shaft; while the charging arm 33 also has a clamping effect on the charging contact surface skin. The inspection robot enters a dormant charging state.
After the charging is completed, the inspection robot feeds back its own state information to the staff, the staff gives a continuous working instruction, the inspection robot will continue to move towards the direction approaching to the second guide sleeve 23, and further push the guide shaft 24 to move towards the direction approaching to the second guide sleeve 23, so that the bump 241 slides out of the first guide groove 221 in the step (two) and continues to deflect and slide into another third guide groove 231 anticlockwise (the third guide groove 231 is another adjacent guide groove positioned on one anticlockwise side of the third guide groove 231 in the step (one)), and the deflection process is the same as the process that the bump 241 enters the third guide groove 231 from the long groove in the step (one). The bump 241 is required to completely enter the third guide groove 231, so that the charging arm 33 and the grabbing arm 36 are spread and opened from the center under the action of the four-bar mechanism, the charging negative electrode 331 of the charging arm is separated from the surface skin of the charging contact (namely, the charging negative electrode 43 of the robot), the charging circuit is disconnected, and after the inspection robot judges that the charging current is stopped, the inspection robot brakes and moves reversely (in a direction away from the second guide sleeve 23), so that the charging contact 4 on the inspection robot is separated from the guide shaft charging positive electrode 242, and the separation of the inspection robot is completed.
(IV) finally, the guide shaft 24 is reset in the axial direction away from the second guide sleeve 23 under the action of the reset spring 25, the protruding block 241 axially slides out of the third guide groove 231 along the plane of the third guide groove 231 until the first spiral inclined surface 28 of the protruding block 241 contacts the first spiral guide section 26 of the other second guide groove 222 (the second guide groove 222 is the other second guide groove 222 on the anticlockwise side of the first guide groove 221 where the protruding block 241 is located in the charged state) until the first spiral inclined surface 28 of the protruding block 241 contacts the other second guide groove 222, and the grabbing component 3 axially slides into the second guide groove 222 (long groove) in a anticlockwise deflection manner under the guide of the first spiral guide section 26 to finish reset, and at the moment, the grabbing component 3 is restored to the open state and waits for the next charging of the inspection robot.
The above steps (one) to (four) are a charging process in which two bumps 241 are operated synchronously, and for any one bump 241, five guide grooves of the second guide groove 222, the third guide groove 231, the first guide groove 221, the other third guide groove 231 and the other second guide groove 222 are sequentially drawn in a charging process, and the five guide grooves are sequentially arranged in the circumferential direction.
It should be noted that it will be apparent to those skilled in the art that the present invention is not limited to the details of the above-described exemplary embodiments, but may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
The principles and embodiments of the present invention have been described in detail with reference to specific examples, which are provided to facilitate understanding of the method and core ideas of the present invention; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (10)
1. The utility model provides a long span overhead line inspection robot is with charging station which characterized in that includes:
The charging device comprises a fixing component, a resetting component and a grabbing component; the fixed component is used for being connected with a ground wire for installing the inspection robot; the resetting assembly comprises a fixed cylinder, a first guide sleeve, a second guide sleeve, a guide shaft and a resetting spring, wherein the fixed cylinder is connected with the fixed assembly, the first guide sleeve and the second guide sleeve are sequentially arranged in the fixed cylinder along the axial direction of the fixed cylinder, the first guide sleeve and the second guide sleeve are arranged at intervals, a first guide groove and a second guide groove with different lengths are formed in the first guide sleeve, and the first guide groove and the second guide groove are all open towards the second guide sleeve; the second guide sleeve is provided with a third guide groove with an opening facing the first guide sleeve; the guide shaft is sleeved in the first guide sleeve in a sliding manner, one end of the guide shaft is fixedly provided with a protruding block, and the protruding block is positioned between the first guide sleeve and the second guide sleeve and can be in sliding fit with the first guide groove, the second guide groove and the third guide groove; the third guide groove is positioned between the first guide groove and the second guide groove along the circumferential direction of the fixed cylinder, and when the lug moves axially between one of the first guide groove and the second guide groove and the third guide groove, the lug can drive the guide shaft to rotate;
The reset spring is arranged in the second guide sleeve, and is positioned between one end of the guide shaft, where the lug is arranged, and one end of the fixed cylinder, which is far away from the first guide sleeve, so as to provide power for axial movement of the guide shaft towards the first guide sleeve; the grabbing component comprises a first arm, a second arm and a charging arm, one end of the first arm is hinged to the fixed cylinder, one end of the second arm is connected to the other end of the guide shaft, one end of the charging arm is hinged to the other end of the first arm, one of a charging positive electrode and a charging negative electrode is arranged at the other end of the charging arm, and the other end of the second arm is hinged between two ends of the charging arm; the other one of the charging positive electrode and the charging negative electrode and the second arm are arranged at the same end of the guide shaft; the inspection robot is provided with an anode and a cathode which can be matched with the charging anode and the charging cathode, the inspection robot can push the guide shaft towards the second guide sleeve so as to gather the charging arm from an open state, the inspection robot enters a charging state, then the charging arm is opened from a gathering state, and the inspection robot is charged and is far away from the charging device;
the energy supply device is arranged on a pole tower for erecting a line and is electrically connected with the charging anode and the charging cathode so as to supply power for the charging device.
2. The charging station for a large-span overhead line inspection robot according to claim 1, wherein the fixing component is of a split type hoop structure formed by butt joint of two hoops.
3. The charging station for a large-span overhead line inspection robot according to claim 1 or 2, wherein the outer wall of the stationary drum extends radially to form a ridge structure, and the ridge structure is rotatably connected with the outer ring of the stationary assembly.
4. The charging station for a large-span overhead line inspection robot according to claim 1 or 2, wherein the fixed cylinder is parallel to the ground wire, the fixed cylinder comprises an open end and a closed end, the open end is used for sliding of the guide shaft, the closed end is provided with an adjusting knob, the adjusting knob is in threaded connection with the closed end and is connected with the return spring, and the length of the adjusting knob screwed into the fixed cylinder is adjusted to adjust the elastic force of the return spring.
5. The charging station for a large-span overhead line inspection robot according to claim 1 or 2, wherein one end of the guide shaft, which is far away from the second guide sleeve, is provided with a carbon electrode to form a guide shaft charging anode, and one end of the charging arm, which is far away from the fixed cylinder, is provided with a copper reed to form a charging arm charging cathode.
6. The charging station for a large-span overhead line inspection robot according to claim 5, further comprising a charging contact for mounting on a side of the inspection robot facing the guide shaft, the charging contact being a cylindrical charging contact having a carbon pole mounted therein to form a robot charging anode for interfacing with the guide shaft charging anode; and one end of the cylindrical charging contact, which is close to the guide shaft, is provided with a wedge-shaped head, and the outer side of the other end of the cylindrical charging contact is sleeved with a layer of copper skin to form a robot charging negative electrode, and the cylindrical charging contact is used for being connected with the charging negative electrode of the charging arm.
7. The charging station for a large-span overhead line inspection robot according to claim 6, wherein the grabbing assembly further comprises a third arm, a fourth arm and a grabbing arm, one end of the third arm is hinged to the fixed cylinder, one end of the fourth arm is connected to the other end of the guide shaft, one end of the grabbing arm is hinged to the other end of the third arm, a claw is arranged at the other end of the grabbing arm, and the other end of the fourth arm is hinged between two ends of the grabbing arm; the grabbing arms and the charging arms are synchronous in action, and when the inspection robot enters a charging state, the grabbing arms gather together to fix the wedge-shaped head through the claw, so that the inspection robot is prevented from being separated from the charging device.
8. The charging station for a large-span overhead line inspection robot according to claim 1 or 2, wherein the first and second guide sleeves are cylindrical guide sleeves, and the inner diameters of the first and second guide sleeves are the same and coaxially arranged; the first guide groove and the second guide groove are formed along the axial direction of the first guide sleeve, the third guide groove is formed along the axial direction of the second guide sleeve, and the circumferential widths of the first guide groove, the second guide groove and the third guide groove are the same;
One sides of the notch of the first guide groove and the notch of the second guide groove are outwards inclined along the circumferential direction and the axial direction of the first guide sleeve to form a first spiral guide section; one side of the notch of the third guide groove is inclined outwards along the circumferential direction and the axial direction of the second guide sleeve to form a second spiral guide section; the second spiral guide section has a direction of rotation opposite to that of the first spiral guide section;
the convex blocks are arranged to be plane along one side of the circumference of the first guide sleeve;
The convex blocks are obliquely arranged along one end, close to the first guide sleeve, of the other circumferential side of the first guide sleeve, and a first spiral inclined surface which can be matched with the first spiral guide section in a sliding manner is formed; one end deviating from the first guide sleeve is obliquely arranged to form a second spiral inclined plane which can be matched with the second spiral guide section in a sliding way.
9. The charging station for a large span overhead line inspection robot according to claim 8, wherein an axial distance between the first guide sleeve and the second guide sleeve is equal to an longest axial length of the projection such that when one axial end of the projection is disengaged from the third guide slot, the other end engages with the first guide sleeve or the second guide sleeve.
10. The charging station for a large-span overhead line inspection robot according to claim 1, wherein the energy supply device comprises a solar panel and a power box, the solar panel is installed towards the sun, and a storage battery electrically connected with the solar panel is arranged in the power box; the storage battery is electrically connected with the charging device.
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