CN115026853B - Line inspection robot for power system - Google Patents

Line inspection robot for power system Download PDF

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Publication number
CN115026853B
CN115026853B CN202210836475.9A CN202210836475A CN115026853B CN 115026853 B CN115026853 B CN 115026853B CN 202210836475 A CN202210836475 A CN 202210836475A CN 115026853 B CN115026853 B CN 115026853B
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China
Prior art keywords
seat
positioning
supporting
base
piece
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CN202210836475.9A
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CN115026853A (en
Inventor
胡鹏飞
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Guangdong Daming New Energy Technology Co ltd
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Guangdong Daming New Energy Technology Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • 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
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • 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
    • B25J19/02—Sensing devices
    • B25J19/04—Viewing devices
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/50—Photovoltaic [PV] energy

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Multimedia (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The application provides a line inspection robot for an electric power system, which comprises a base, a graduated scale, a positioning mechanism, an image acquisition mechanism and a detection frame, wherein a plurality of wheels are arranged on the lower side of the base; the detection frame is mounted in the middle of the upper side of the base through bolts; the two image acquisition mechanisms are respectively fixed at two ends of the detection frame by bolts, and the positions and the inclination angles of the image acquisition mechanisms are adjusted so as to acquire the image information of the line from a plurality of directions; the two positioning mechanisms are respectively fixed at two ends of the upper side of the base by bolts, and a detected line passes through the upper parts of the positioning mechanisms; the graduated scale slides on the upper side of the base; the transverse and longitudinal positions of the lines passing through the upper part of the positioning mechanism are measured by using a graduated scale, and the positions and angles of the image acquisition mechanism are adjusted according to the measured transverse and longitudinal positions of the lines, so that accurate detection of the lines is realized.

Description

Line inspection robot for power system
Technical Field
The invention relates to the technical field of inspection robots for power systems, in particular to an inspection robot for a power system.
Background
In order to ensure the normal use of the power transmission line of the power grid, the power transmission line needs to be detected regularly, and the damage position of the line is found in time, so that the power transmission line is convenient to maintain in time, and larger loss is avoided. When the information of the line is collected, the camera is difficult to accurately align to the wire because the radial dimension of the wire is smaller, so that the camera is inconvenient to collect the image data of the line, and the detection of the line is affected. When the wire is circular and a certain position on the periphery of the wire is broken, if only image data of one side of the wire is collected, the wire cannot be comprehensively detected. These factors all result in the inability to make a complete and accurate test of the wire.
Disclosure of Invention
The invention aims to provide a line inspection robot for a power system, which can aim at a detected electric wire and comprehensively and accurately detect the electric wire.
In order to achieve the above purpose, the technical scheme of the invention is as follows:
the line inspection robot for the electric power system comprises a base, a plurality of wheels are arranged on the lower side of the base, and the line inspection robot further comprises a graduated scale, a positioning mechanism, an image acquisition mechanism and a detection frame;
the detection frame is mounted in the middle of the upper side of the base through bolts. The two image acquisition mechanisms are fixed at two ends of the detection frame by bolts respectively, and the positions and the inclination angles of the image acquisition mechanisms are adjusted so as to acquire the image information of the line from a plurality of directions.
The two positioning mechanisms are fixed at two ends of the upper side of the base by bolts respectively, and a detected line passes through the upper parts of the positioning mechanisms. The graduated scale slides in the upside of base.
The transverse and longitudinal positions of the wires passing through the upper part of the positioning mechanism are measured by using a graduated scale, and the positions and angles of the image acquisition mechanism are adjusted according to the measured transverse and longitudinal positions of the wires, so that accurate detection of the wires is realized.
Through the technical scheme, the power system is moved to the power line to be detected by the inspection robot through the rotating wheels. The wire to be tested passes through the upper part of the positioning mechanism, and the two positioning mechanisms and the wire are aligned in the axial direction. The longitudinal distance between the wire and the top surface of the base and the transverse distance between the wire and the edge of the base are measured by using a graduated scale, and the target position of the wire is determined according to the detected longitudinal distance and transverse distance.
And adjusting the transverse and longitudinal positions of the image acquisition mechanism according to the transverse distance and the longitudinal distance, so that the image acquisition mechanism is aligned with the line to be detected, and accurate alignment and accurate detection of the line to be detected are realized. The angle of the camera on the image acquisition mechanism is adjusted, so that the electric wires are detected at different angles, the omnibearing detection of the peripheral sides of the electric wires is realized, and the detection omission is avoided.
Preferably, the positioning mechanism comprises a mounting seat, a positioning piece is arranged at the upper end of the mounting seat in a sliding mode, and the positioning piece is arranged along the direction perpendicular to the mounting seat.
Through the technical scheme, the electric wire needs to be arranged in the locating piece in a penetrating mode when the circuit of the electric wire is detected. When the positioning member is at a distance from the electric wire in the longitudinal direction, it is necessary to adjust the longitudinal position of the positioning member in the vertical direction so that the electric wire passes through the positioning member in the axial direction of the positioning member, and the adjusted positioning member and the electric wire are axially aligned.
And measuring the longitudinal distance between the positioning piece and the top surface of the base by using the first ruler to obtain the longitudinal position of the positioning piece. And measuring the transverse distance from the positioning piece to the edges of the two sides of the base by using a second ruler to obtain the transverse position of the positioning piece. The position of the detected electric wire is determined by measuring the transverse position and the longitudinal position of the positioning piece, so that the image acquisition mechanism can accurately detect the electric wire.
Preferably, the mounting seat comprises a support column, a supporting piece, a support seat, a first spring and a second guide rod.
The upper part of the supporting seat is provided with a mounting groove extending along the height direction, and the top of the mounting groove is open. The second guide rod is a round rod, the second guide rod is vertically arranged in the mounting groove, and the lower end of the second guide rod is connected to the supporting seat through threads. The supporting piece is sleeved on the second guide rod and slides along the second guide rod in the vertical direction. The support column is connected above the supporting piece through bolts. The first spring jacks up the supporting piece from the lower side, and the supporting effect is achieved.
Through the technical scheme, the second guide rod is rotated along the vertical direction to adjust the extending longitudinal length value of the second guide rod. The lower part of the support column is provided with a positioning hole, and the top end of the second guide rod is arranged in the positioning hole in a penetrating way. Along with the ascending or descending of the second guide rod in the vertical direction, the supporting column ascends or descends along with the ascending or descending of the supporting column, and the positioning piece ascends or descends along with the supporting column in the vertical direction, so that the adjustment of the longitudinal position of the positioning piece is realized, and the positioning piece and the detected electric wire are aligned in the axial direction.
Preferably, the mounting seat further comprises a first screw rod and a rectangular supporting block. The two supporting blocks are vertically arranged on two sides of the supporting column respectively through bolts. Along vertical direction, two first screw rods are connected to the upper portion of the supporting seat through threads, and the supporting block is connected to the first screw rods through threads. The longitudinal position of the support column is adjusted through the first screw rod and the support block.
Through the technical scheme, regarding the longitudinal position of the mounting seat, the second guide rod is longitudinally adjusted, the second guide rod jacks up the support column, and the second guide rod plays a supporting role on the middle position of the support column. At the lower end of the support column near the edge is a downwardly projecting rectangular block. The supporting piece is in an arch shape and horizontally arranged. The protrusion of the edge of the lower end of the support column is pressed in the notch of the arch shape at the two ends of the supporting piece, so that the supporting piece is matched with the lower end of the support column, the lower end of the support column is firmly fixed by the supporting piece, and the position deviation of the support column in the transverse direction is avoided.
The support column moves along the vertical direction and drives the support block to move in the longitudinal direction. The support blocks slide along the side walls of the mounting grooves when moving. After the supporting block moves to the target position, the position of the supporting block is fixed by the first screw rod, so that the fixing of the two sides of the supporting column is realized, and the supporting of the supporting column in the longitudinal direction is enhanced.
The bottom surface of the horizontally placed bow-shaped supporting piece is concavely provided with the supporting groove, and the upper end of the first spring is tightly propped in the supporting groove, so that the supporting piece is upwards pressed on the lower end surface of the supporting column, the supporting piece is prevented from being separated from the supporting column, and the installation stability is improved. When the vertical shake occurs, the supporting piece presses the first spring downwards, and the first spring plays a role in buffering through deformation.
Preferably, the positioning piece comprises a rubber layer, a clamping plate, a positioning seat, an extrusion seat and an adjusting piece.
The lower ends of the two circular arc clamping plates are pivoted at the top of the positioning seat, and the upper ends are mutually separated. The clamping plates are rotated, the upper ends of the two clamping plates are aligned along the circumferential direction, and after being butted, the clamping plates form a circular ring shape. The clamping plates are rotated to separate the two clamping plates, and the electric wires are placed in the space surrounded by the two clamping plates along with the upward movement of the positioning piece along the vertical direction.
The rubber layer is bound on the inner side wall of the clamping plate to play an insulating role. The two adjusting parts are respectively fixed on two sides of the outer part of the positioning seat by bolts. The extrusion seat slides in the inboard of positioning seat, and two extrusion seats are installed in the one-to-one that stretches into in the positioning seat of regulating part with the screw thread respectively. The adjustment member is laterally adjusted to change the lateral position of the compression seat to clamp the splint.
Through above-mentioned technical scheme, transversely adjust the regulating part, when the regulating part transversely outwards removes along the positioning seat, the extrusion seat transversely outwards removes along with the regulating part, and the extrusion force of extrusion seat to splint reduces, and splint rotate towards the direction that deviates from another splint, and the upper end separation of two splint. When the positioning piece ascends in the vertical direction, the electric wire is placed in the space surrounded by the two clamping plates. And then the adjusting piece pushes the extrusion seat when moving inwards along the positioning seat, the extrusion seat pushes the clamping plates to rotate, the two clamping plates are close to each other, and the upper ends of the two clamping plates are butted together, so that the electric wire is limited in a circular structure surrounded by the two clamping plates. The side of the end of the extrusion seat, which is far away from the adjusting piece, is an inward concave arc curved surface, and the curved surface of the end of the extrusion seat is tightly attached to the arc side wall of the clamping plate, so that the clamping plate can be effectively pushed. The rubber layer is made of rubber materials, and after the electric wires are arranged in an annular space surrounded by the rubber layer, short circuits caused by contact between the electric wires and metal pieces are avoided, so that the detection safety is improved.
Preferably, the adjusting member includes a second screw, a sleeve, a second spring, a housing, and a steel plate. A second screw passes vertically through the housing and is threaded. The steel plate is circular, the sleeve is cylindrical, and the steel plate is fixed at one end of the sleeve by bolts. The sleeve and the steel plate are connected to the second screw rod through threads, and the steel plate is positioned at the outlet of the shell. The second spring is penetrated in the shell along the axial direction of the shell, one end of the second spring is bound on the side wall of one end of the shell, the other end of the second spring is bound on the end face of the steel plate, and the second spring plays a supporting role on the edge of the steel plate.
Through the technical proposal, when the second screw rod rotates in the positioning seat and drives the extrusion seat, the extrusion seat receives reverse acting force when extruding the clamping plate, the extrusion seat transversely pushes the second screw rod,
the second screw rod drives sleeve and steel sheet in horizontal, and the steel sheet is followed the axial of shell is in the inner chamber inside of shell and is slided to the extrusion second spring, and the second spring receives and produces the opposite direction's to the steel sheet supporting role after the extrusion, ensures the horizontal position stability of steel sheet, further improves the stability of second screw rod and extrusion seat, ensures the stable in structure after the splint installation.
Preferably, the image acquisition mechanism comprises a telescopic frame, a camera and a mounting frame. One end of the expansion bracket is connected to the back of the mounting frame, and the other end of the expansion bracket is fixed at the end part of the detection through bolts. The cameras are connected to the mounting frame through threads and are distributed at intervals along the length direction of the mounting frame.
Through the technical scheme, the length of the telescopic frame is transversely adjusted, the end position of the telescopic frame is changed, the camera and the mounting frame are correspondingly driven to move transversely, and the camera is moved to be close to the detected electric wire, so that information of the electric wire can be accurately collected.
Preferably, the telescopic frame comprises a screw, a telescopic plate, a first adjusting rod, a supporting seat, a second adjusting rod and a steering seat. A rectangular guide cavity extending along the length direction is formed in the expansion plate. Circular locating holes are formed in the top surface of the expansion plate, the locating holes are communicated with the guide cavity, and the locating holes are distributed along the length direction of the expansion plate.
The upper end of the first adjusting rod is a rectangular block, and a rectangular supporting rod is welded at the lower end of the rectangular block. The rectangular block slides in the guide cavity. The screw passes through the locating hole, and the lower extreme of screw is connected to the upper end of first regulation pole with the screw thread. One end of the supporting seat is fixed on the first adjusting rod through a bolt, and the other end of the supporting seat is connected to the steering seat through a bolt. The steering seat is cylindrical and rotates in a circular groove on the back surface of the mounting frame. Two ends of the second adjusting rod are respectively connected to the mounting frame and the lower end of the first adjusting rod through bolts.
Through the technical scheme, the rectangular block at the upper end of the first adjusting rod slides in the guide cavity, so that the rectangular block is aligned with one of the positioning holes in the vertical direction, and then the telescopic plate and the rectangular block at the upper end of the first adjusting rod are fixed together by using the screw. The whole first regulation pole is along with lateral shifting, drives supporting seat lateral shifting simultaneously, and further drive camera and installing frame are along lateral shifting, realize the adjustment to the lateral position of camera, and the camera of being convenient for is close to the electric wire that is detected.
Preferably, the second adjusting rod is provided with a plurality of bolt holes along the length direction.
Through above-mentioned technical scheme, the electric wire is circular, needs the position of adjustment camera for the camera aims at the detected position of electric wire, thereby realizes the comprehensive detection to the week side of electric wire. In this application, adjust the mounted position of second regulation pole in the lower extreme of first regulation pole, then the second is adjusted the lower part of pole pulling installing frame, and the installing frame rotates along its contact surface with the seat that turns to adjust the inclination of installing frame and camera, make the camera aim at the position department of waiting to detect of electric wire.
Through the inclination of two image acquisition mechanisms of adjustment installation at the both ends at the detection frame, realize the omnidirectional information acquisition to each position of the week side of the electric wire that is detected to realize the comprehensive detection to the electric wire, avoid the certain position of the week side of electric wire to be missed.
Preferably, the scale comprises a first ruler which is vertically placed and a second ruler which is horizontally placed.
Through the technical scheme, the longitudinal distance between the center of the positioning mechanism and the top surface of the base can be measured by the first ruler, and the transverse distance between the center of the positioning mechanism and the edge of the base can be measured by the second ruler, so that the center position of the positioning mechanism is determined. The detected wires are arranged in the two units along the axial direction of the units, and the positions of the wires passing through the units, namely the longitudinal distance between the wires and the top surface of the base and the transverse distance between the wires and the edges of the base, can be determined through the units. The position of the image acquisition mechanism is adjusted according to the transverse distance and the longitudinal distance, so that the image acquisition mechanism can accurately acquire the information of a detected line, the equipment adjustment efficiency is improved, and the detection efficiency and accuracy of the electric wire are improved.
The technical scheme of the invention has the beneficial effects that:
(1) The rotating wheels move the power system to the power line to be detected by the inspection robot. The wire to be tested passes through the upper part of the positioning mechanism, and the two positioning mechanisms and the wire are aligned in the axial direction. The longitudinal distance between the wire and the top surface of the base and the transverse distance between the wire and the edge of the base are measured by using a graduated scale, and the target position of the wire is determined according to the detected longitudinal distance and transverse distance.
And adjusting the transverse and longitudinal positions of the image acquisition mechanism according to the transverse distance and the longitudinal distance, so that the image acquisition mechanism is aligned with the line to be detected, and accurate alignment and accurate detection of the line to be detected are realized. The angle of the camera on the image acquisition mechanism is adjusted, so that the electric wires are detected at different angles, the omnibearing detection of the peripheral sides of the electric wires is realized, and the detection omission is avoided.
Drawings
Fig. 1 is a schematic view of a line inspection robot for a power system according to the present invention.
Fig. 2 is a schematic view of the positioning mechanism of the present invention.
Fig. 3 is a schematic view of the mount of the present invention.
Fig. 4 is a schematic view of a positioning member of the present invention.
Fig. 5 is a schematic view of an adjustment member of the present invention.
Fig. 6 is an image acquisition mechanism of the present invention.
Fig. 7 is a schematic view of the telescoping rack of the present invention.
Fig. 8 is a schematic view of the scale of the present invention.
1-wheels;
2-a base;
3-a graduated scale; 31-a first ruler; 32-a second ruler;
4-a positioning mechanism; 41-positioning piece; 411-rubber layer; 412-clamping plates; 413—a positioning seat; 414-pressing the base; 415-an adjusting member; 4151-a second screw; 4152-sleeve; 4153-a second spring; 4154-housing; 4155-steel sheet; 42-mounting seats; 421-support column; 422-first guide bar; 423-sliders; 424-a lifting member; 425-a support; 426—a first spring; 427-a second guide bar;
5-an image acquisition mechanism; 51-telescoping rack; 511-screws; 512-positioning holes; 513-telescoping plates; 514-guiding the cavity; 515-a first adjustment lever; 516-a support base; 517-a second adjusting rod; 518-a steering seat; 52-a camera; 53-mounting frame; 54-a toggle rod;
and 6, a detection frame.
Detailed Description
In order to ensure the normal use of the power transmission line of the power grid, the power transmission line needs to be detected at regular time, and the damage position of the line is found in time, so that the power transmission line is convenient to maintain in time, and larger loss is avoided. But the radial dimension of the wire is small and the wire is circular.
In order to realize comprehensive and accurate detection of electric wires, the embodiment provides a line inspection robot for an electric power system, and referring to fig. 1, the line inspection robot for an electric power system comprises a base 2, six wheels 1 are mounted on the lower side of the base 2, and the line inspection robot for an electric power system further comprises a graduated scale 3, a positioning mechanism 4, an image acquisition mechanism 5 and a detection frame 6.
The two positioning mechanisms 4 are respectively fixed on the upper side of the base 2 by bolts and are close to the vicinity of two ends of the base 2. The position of the upper end of the positioning mechanism 4 is adjusted according to the longitudinal position of the wire to be detected, so that the wire to be detected passes through the upper portion of the positioning mechanism 4 in the axial direction of the positioning mechanism 4. The position of the detected electric wire is determined by two positioning mechanisms 4 provided at both ends of the base 2. The scale 3 slides on the upper side of the base 2. The longitudinal position of the positioning mechanism 4 relative to the top surface of the base 2, and the lateral position of the positioning mechanism 4 relative to the edge of the base 2 are measured with the scale 3, thereby determining the lateral position and the longitudinal position of the positioning mechanism 4.
When the electric wire coaxially passes through the positioning mechanism 4, the transverse position and the longitudinal position of the detected electric wire are determined according to the transverse position and the longitudinal position of the positioning mechanism 4, and the position and the angle of the image acquisition mechanism 5 are adjusted according to the determined transverse position and the determined longitudinal position of the electric wire, so that accurate detection of a circuit is realized.
The detection frame 6 is connected to the middle of the upper side of the base 2 by bolts, and the two image acquisition mechanisms 5 are respectively connected to two ends of the detection frame 6 in a telescopic manner. The position of the image pickup mechanism 5 is adjusted in the width direction along the base 2 so that the image pickup mechanism 5 is close to the wire line to be inspected, in order to accurately pick up the image information of the line. The image acquisition mechanism 5 is rotated to a proper angle so as to acquire the image of the detected line from the corresponding direction and position, thereby realizing comprehensive detection of the circumference side of the detected line, avoiding omission and improving the accuracy and the integrity of line detection.
With reference to fig. 2, the positioning mechanism 4 includes a mounting base 42, and a positioning member 41 is mounted on an upper end of the mounting base 42 in a vertically movable manner.
Referring to fig. 3, the mounting base 42 includes a support post 421, a lifter 424, a support base 425, a first spring 426, and a second guide bar 427. A rectangular mounting groove is formed in the upper portion of the support base 425, and a second guide bar 427 having a round bar shape is vertically mounted in the mounting groove. The supporting member 424 is slidably sleeved on the second guide rod 427. The support column 421 is disposed above the lift-up member 424. The second guide rod 427 is rotated, and the second guide rod 427 drives the support column 421 to ascend or descend, so that the longitudinal position of the support column 421 is adjusted. At the same time, the positioning member 41 is raised or lowered with the support column 421 so as to place therein the electric wires at different height positions.
The first spring 426 lifts the lifting member 424 upward from the lower side. When vibration in the longitudinal direction occurs, the acting force is transmitted to the first spring 426, and the first spring 426 deforms to relieve the extrusion force, so that a good buffering effect is achieved.
The mounting base 42 further includes a first screw 422 and a supporting block 423, where the two supporting blocks 423 are vertically mounted on two sides of the supporting column 421 by bolts. Along the vertical direction, two first screws 422 are screwed on the upper portion of the support base 425, and the support block 423 is screwed on the first screws 422.
The first screw 422 is moved upward a distance in the vertical direction while the supporting block 423 is moved upward with the first screw 422. The supporting column 421 is driven to move in the vertical direction when the supporting block 423 moves upward. The two first screws 422 fix the two supporting blocks 423, and the supporting blocks 423 fix the two sides of the supporting column 421 to strengthen the support and fixation of the two sides of the supporting column 421.
Referring to fig. 4, the positioning member 41 includes a rubber layer 411, a clamping plate 412, a positioning seat 413, a pressing seat 414, and an adjusting member 415. Two arc splint 412 pin joint are at the top of positioning seat 413 and symmetry setting, and arc rubber layer 411 binds on the inside wall of splint 412, and rubber layer 411 adopts rubber material preparation, can play fine insulating effect. Two adjusting members 415 are respectively bolted to both sides of the outside of the positioning seat 413. The pressing seat 414 is slidably disposed inside the positioning seat 413 in a width direction along the positioning seat 413.
The two pressing seats 414 are respectively connected with one end of the adjusting piece 415, which extends into the positioning seat 413, in a one-to-one corresponding manner by using threads. By making a lateral adjustment to the adjustment member 415 to change the lateral position of the pressing seat 414, the clamping plates 412 are pushed by the pressing seat 414, the clamping plates 412 are rotated, and the upper ends of the two clamping plates 412 are aligned, thereby restraining the wire therein.
The regulator 415 supports the clamping plate 412 during the wire restraining process. With respect to the adjuster 415, referring to fig. 5, the adjuster 415 includes a second screw 4151, a sleeve 4152, a second spring 4153, a housing 4154, and a steel plate 4155.
The second screw 4151 vertically passes through the housing 4154, and a buffer chamber is provided in the housing 4154. The steel plate 4155 is circular, and the steel plate 4155 is bolted to one end of the sleeve 4152. The sleeve and the steel plate are connected to the second screw rod through threads, and the steel plate is positioned at the outlet of the shell. The second spring 4153 is disposed in the buffer chamber of the housing 4154, and one end of the second spring 4153 is tied to the edge of the steel plate 4155, and supports and positions the edge of the steel plate 4155.
The clamping plate 412 pushes the pressing seat 414 outwards, the pressing seat 414 laterally pushes the second screw rod 4151, the second screw rod 4151 drives the steel plate 4155 to inwards press the second spring 4153, the second spring 4153 deforms to relieve the pressing force, and meanwhile the steel plate 4155 is pushed reversely, so that the lateral position of the steel plate 4155 is stable, and the lateral positions of the second screw rod 4151 and the pressing seat 414 are ensured to be stable.
Referring to fig. 6, the image capturing mechanism 5 includes a telescopic frame 51, a camera 52, and a mounting frame 53. One end of the expansion bracket 51 is connected to the back surface of the mounting frame 53, and the other end of the expansion bracket 51 is fixed to the end of the inspection 6 by bolts. The plurality of cameras 52 are screwed to the mounting frame 53 and are spaced apart along the length of the mounting frame 53. By providing a plurality of cameras 52, a plurality of positions of the electric wire can be simultaneously subjected to image acquisition, and the efficiency of electric wire detection can be improved.
Referring to fig. 7, the telescopic frame 51 includes a screw 511, a telescopic plate 513, a first adjusting lever 515, a supporting base 516, a second adjusting lever 517 and a steering base 518. A guide chamber 514 extending along the longitudinal direction is formed in the expansion plate 513, a plurality of circular positioning holes 512 are formed in the upper portion of the expansion plate 513, and the positioning holes 512 are communicated with the guide chamber 514.
The upper end of the first adjustment lever 515 is slid in the guide chamber 514, the screw 511 passes through the positioning hole 512, and the lower end of the screw 511 is screw-coupled to the upper end of the first adjustment lever 515. One end of the support base 516 is fixed to the first adjusting lever 515 by a bolt, and the other end of the support base 516 is connected to the steering base 518 by a bolt. The steering seat 518 rotates in a circular recess in the back of the mounting frame 53. Both ends of the second adjusting lever 517 are connected to the mounting frame 53 and the lower end of the first adjusting lever 515, respectively, with bolts. The second adjusting rod 517 is provided with a plurality of bolt holes along the longitudinal direction.
The position of the second adjusting lever 517 is adjusted on the first adjusting lever 515, and as the distance between the lower end of the first adjusting lever 515 and the mounting frame 53 is changed, the inclination angle of the mounting frame 53 is changed, so that the inclination angles of the mounting frame 53 and the camera 52 are adjusted, and the detected electric wires are detected in different directions.
Referring to fig. 8, the scale 3 includes a first ruler 31 placed vertically and a second ruler 32 placed horizontally. The first ruler 31 is used for measuring the lateral position of the positioning member 41 and the second ruler 32 is used for measuring the longitudinal position of the positioning member 41. After the transverse position and the longitudinal position of the positioning piece 41 are measured by the side of the graduated scale 3, the transverse position and the longitudinal position of the image acquisition mechanism 5 are adjusted according to the measured transverse position and longitudinal position, so that the camera 52 can be accurately aligned with the electric wire to be detected from the side, the image information of the electric wire can be accurately acquired, and the efficiency and the accuracy of the electric wire detection are improved.
While the invention has been described in detail in the foregoing general description and specific examples, it will be apparent to those skilled in the art that modifications and improvements can be made thereto. Accordingly, such modifications or improvements may be made without departing from the spirit of the invention and are intended to be within the scope of the invention as claimed.

Claims (6)

1. The line inspection robot for the electric power system comprises a base, wherein a plurality of wheels are arranged on the lower side of the base;
the two image acquisition mechanisms are respectively arranged at two ends of the detection frame, and the position and the inclination angle of the image acquisition mechanisms are adjusted so as to acquire the image information of the line from multiple directions;
the two positioning mechanisms are respectively arranged at two ends of the upper side of the base, and a detected line passes through the upper parts of the positioning mechanisms; the graduated scale slides on the upper side of the base;
measuring the transverse and longitudinal positions of the line passing through the upper part of the positioning mechanism by using a graduated scale, and adjusting the position and angle of the image acquisition mechanism according to the measured transverse and longitudinal positions of the line so as to realize accurate detection of the line;
the positioning mechanism comprises a mounting seat, and a positioning piece is arranged at the upper end of the mounting seat;
the mounting seat comprises a support column, a supporting piece, a support seat, a first spring and a second guide rod;
the upper part of the supporting seat is provided with a mounting groove; the second guide rod is vertically arranged in the mounting groove; the supporting piece is sleeved on the second guide rod and slides along the vertical direction; the support column is arranged above the supporting piece; the first spring jacks up the supporting piece from the lower side, so that a supporting effect is achieved;
the mounting seat further comprises a first screw rod and a supporting block; the two support blocks are respectively and vertically arranged on two sides of the support column; the two first screws are vertically arranged on the upper part of the supporting seat, and the supporting blocks are connected to the first screws by threads; the longitudinal position of the support column is adjusted through the first screw rod and the support block;
the positioning piece comprises a rubber layer, a clamping plate, a positioning seat, an extrusion seat and an adjusting piece;
the two arc clamping plates are pivoted at the top of the positioning seat and are symmetrically arranged; the rubber layer is bound on the inner side wall of the clamping plate, so that the electric wire is prevented from being contacted with the clamping plate to play an insulating role; the two extrusion seats are arranged on the inner sides of the positioning seats, and are respectively and correspondingly arranged at one end of each adjusting piece, which extends into the positioning seats; and the adjusting piece is transversely adjusted to change the transverse position of the extrusion seat, and the clamping plate is clamped by the movement of the extrusion seat.
2. The inspection robot for a power system of claim 1, wherein the adjusting member comprises a second screw, a sleeve, a second spring, a housing, and a steel plate;
the second screw rod vertically penetrates through the shell, and the steel plate is fixed on one end of the sleeve; the sleeve and the steel plate are connected to the second screw rod through threads, and the steel plate is positioned at the outlet of the shell; the second spring plays a supporting role on the edge of the steel plate.
3. The inspection robot for a power system of claim 1, wherein the image acquisition mechanism comprises a telescopic frame, a camera and a mounting frame; one end of the expansion bracket is connected to the back surface of the mounting frame, the other end of the expansion bracket is mounted at the end part of the detection, and the cameras are fixedly mounted on the mounting frame and distributed at intervals along the length direction of the mounting frame.
4. The inspection robot for an electric power system according to claim 3, wherein the expansion bracket comprises a screw, an expansion plate, a first adjusting rod, a supporting seat, a second adjusting rod and a steering seat;
a guide cavity extending along the length direction is formed in the expansion plate, a plurality of positioning holes are formed in the expansion plate, and the positioning holes are vertical to and communicated with the guide cavity; the first adjusting rod vertically slides in the guide cavity, and the screw penetrates through the positioning hole to be connected to the upper end of the first adjusting rod;
one end of the supporting seat is fixed on the first adjusting rod by bolts, and the other end of the supporting seat is connected to the steering seat; the steering seat rotates in a groove on the back surface of the mounting frame, and two ends of the second adjusting rod are respectively connected to the mounting frame and the lower end of the first adjusting rod through bolts.
5. The inspection robot for a power system according to claim 4, wherein a plurality of bolt holes are formed in the second adjusting rod in a longitudinal direction.
6. The inspection robot for a power system of any one of claims 1 to 5, wherein the scale includes a first ruler that is vertically disposed and a second ruler that is horizontally disposed.
CN202210836475.9A 2022-07-15 2022-07-15 Line inspection robot for power system Active CN115026853B (en)

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WO2006085804A1 (en) * 2005-02-14 2006-08-17 Abb Research Ltd Line inspection
CN101800403B (en) * 2010-04-06 2012-05-02 昆山市工业技术研究院有限责任公司 Inspection robot for ultra-high voltage power transmission lines
CN106393054B (en) * 2016-11-21 2017-11-24 山东大学 A kind of inspection robot and its method of conduct monitoring at all levels power circuit
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CN206643936U (en) * 2017-02-10 2017-11-17 济南舜风科技有限公司 A kind of rotary overhead line operation robot architecture of fuselage and robot
CN210525076U (en) * 2019-09-17 2020-05-15 山西汇智科技有限责任公司 Robot for electric wire line maintenance
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