CN115091474A - All-round high accuracy of super high tension overhead transmission line patrols and examines robot - Google Patents
All-round high accuracy of super high tension overhead transmission line patrols and examines robot Download PDFInfo
- Publication number
- CN115091474A CN115091474A CN202210632824.5A CN202210632824A CN115091474A CN 115091474 A CN115091474 A CN 115091474A CN 202210632824 A CN202210632824 A CN 202210632824A CN 115091474 A CN115091474 A CN 115091474A
- Authority
- CN
- China
- Prior art keywords
- walking
- arms
- overhead
- overhead line
- arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
Abstract
The invention discloses an all-dimensional high-precision inspection robot for an ultrahigh voltage overhead transmission line, and belongs to the technical field of high-voltage line inspection robots. The device comprises a machine body, a traveling mechanism and a detection device, wherein the traveling mechanism is arranged on the machine body and drives the traveling mechanism, the machine body simultaneously travels or simultaneously performs obstacle crossing operation on four groups of overhead lines, the four groups of overhead lines are divided into two groups, each group comprises two overhead lines, and one group of overhead lines is parallel to the other group of overhead lines; the walking mechanism comprises walking arms and a driving mechanism, and the number of the walking arms is at least three pairs, and each pair is two. Compared with the prior art, the inspection robot can perform all-around high-precision detection, can also clean simple wire problems such as the angle inclination of a spacer and a shockproof hammer and the like, and can not cause the problems of unstable gravity center and the like in the process of crossing conventional obstacles such as the spacer, the shockproof hammer, a crimping pipe, a suspension clamp and the like.
Description
Technical Field
The invention relates to an all-dimensional high-precision inspection robot for an ultrahigh voltage overhead transmission line, and belongs to the technical field of high-voltage line inspection robots.
Background
The ultra-high voltage transmission line generally refers to a transmission line for transmitting 330kV/500kV/750kV voltage, and the ultra-high voltage transmission line is generally transmitted in an overhead line mode carried by an iron tower. Since the power transmission conductors and the line fittings are directly exposed to the air for a long time, the power transmission conductors and the line fittings are easily damaged by natural factors (such as wind, rain, snow, ice and the like) and human factors (such as chemical pollution). The wire is affected by continuous mechanical tension and material aging to generate damages such as strand breakage, abrasion, corrosion and the like, meanwhile, hardware on the wire such as a spacing rod, a vibration damper, a suspension clamp and the like can be damaged and lost, and foreign matters such as plastics, branches, bird nests and the like can be hung on the high-voltage line. These damages and foreign objects, if not discovered, repaired and replaced in time, may cause power system failure and large area blackouts, thereby causing huge economic loss and adverse social impact. Therefore, the high-voltage transmission line must be regularly checked and maintained so as to find line defects and hidden dangers in time, maintain and guarantee the safety and reliability of the transmission line.
The main inspection methods of the ultrahigh voltage transmission line at present comprise a manual inspection method, a helicopter inspection method and an unmanned aerial vehicle inspection method. For a manual inspection method, an inspection worker climbs along a line, the physical consumption is large, the difficulty coefficient is high, and the danger coefficient is high; for a helicopter routing inspection method, the cost is higher, and the potential safety hazard of flight exists in mountainous areas; for the inspection method of the unmanned aerial vehicle, the unmanned aerial vehicle is easily influenced by meteorological conditions such as wind power and the like, and is also easily interfered by a strong electric field and a strong magnetic field around a power transmission line, so that the method has high requirements on the remote control technology of operators. In summary, the existing inspection methods have the defects of high cost, high risk coefficient, high difficulty coefficient and the like, so some scholars begin to research and develop robots for inspecting the ultrahigh voltage overhead transmission lines to make up for the defects of the conventional inspection methods.
The technical research and development of the present inspection robot for the extra-high voltage line has achieved corresponding achievements, and the robot has basic functions of moving on a lead or a ground line and inspecting. However, the existing robot has poor stability when a line is over-obstacle, a gravity center adjusting device is needed to stabilize the gravity center, and the walking clamping mechanism (with the publication number of CN113206481A) for the high-voltage line inspection robot introduces that a pressing wheel at the lower end of a clamping jaw mechanism can clamp a high-voltage transmission line, so that the walking safety and stability are ensured, and the over-obstacle capability of the robot is improved. In addition, the system can only finish the rough detection of the line mostly, and does not have the function of realizing the omnibearing high-precision detection of the multi-split overhead line. More importantly, the current inspection robot can only complete the inspection work of the line and cannot process the problems of simple wires, such as the inclination of the angle between a spacer and a shockproof hammer, the overlarge gap between compression joint pipes and the cleaning of foreign matters such as plastics, branches and bird nests hung on the wires.
Disclosure of Invention
Aiming at the technical problems mentioned in the background technology, the invention designs an all-round high-precision inspection robot for an extra-high voltage transmission line, and aims to realize all-round high-precision detection on a wire. The problem of unstable gravity center and the like can not occur in the process of crossing conventional obstacles (such as a spacer, a shockproof hammer, a crimping pipe, a suspension clamp and the like), and meanwhile, some simple problem handling functions can be realized.
The method is realized by adopting the following technical scheme:
an omnibearing high-precision inspection robot for an ultrahigh voltage overhead transmission line comprises a robot body, a walking mechanism and a detection device;
the running mechanism is arranged on the machine body and drives the running mechanism, the machine body runs on four groups of overhead lines simultaneously or performs obstacle crossing operation simultaneously, the four groups of overhead lines are divided into two groups, each group comprises two overhead lines, and one group of overhead lines is parallel to the other group of overhead lines;
the travelling mechanisms comprise travelling arms and driving mechanisms, the number of the travelling arms is at least three pairs, each pair of the travelling arms is two, the number of the driving mechanisms is three, each group of the driving mechanisms respectively drives one pair of the travelling arms to be away from the overhead line or to be in contact with the overhead line, and the travelling arms are also driven to travel on the overhead line;
when one pair of the walking arms is far away from the overhead line, the other two pairs of walking arms are in contact with the overhead line, so that the robot can perform obstacle crossing operation on the overhead line;
the detection device comprises an OpenMV visual detection module, a video camera, four groups of first detection cameras and an infrared detection device, wherein the OpenMV visual detection module is arranged on the machine body and is used for helping the robot to identify obstacles in the advancing direction; the camera is also arranged on the machine body and transmits back a real-time monitoring picture for ground monitoring personnel; two of the first detection cameras are arranged on the walking arm, and the other two first detection cameras are arranged on the machine body and used for comprehensively and clearly monitoring the four overhead lines to realize the construction of three-dimensional images of the overhead lines; the infrared detection device is also arranged on the machine body, and the inside of the overhead line is monitored in all weather by utilizing heat radiation.
Preferably, the machine body comprises an upper seat and a base, the upper seat and the base are fixed through a circular connecting column, and a GPS positioning device is further arranged on the upper seat.
Preferably, each driving mechanism comprises a first driving component and a second driving component, each first driving component respectively drives a pair of walking arms to be far away from the overhead line or to be in contact with the overhead line, and one walking arm in each pair is further provided with a first distance meter for measuring and calculating the distance of the pair of walking arms moving back to back;
and each walking arm is also provided with a walking wheel through a second driving component, the walking wheels are contacted or separated on the overhead line, and the other walking arm in each pair is also provided with a second distance meter for measuring and calculating the distance between the walking wheel on the walking arm and the overhead line.
The three groups of traveling arms are sequentially divided into a first group of traveling arms, a second group of traveling arms and a third group of traveling arms according to the traveling direction of the robot.
Preferably, the walking wheel is divided into a driving wheel and an auxiliary wheel, parts on the second driving assembly are respectively connected with the driving wheel and the auxiliary wheel, the walking arm is further provided with a first motor used for driving the driving wheel to walk on the overhead line, the driving wheel walks on the overhead line under the driving of the first motor, the auxiliary wheel also walks on the overhead line, and finally the walking arm walks on the overhead line.
Preferably, when the second driving assembly on each traveling arm of one pair of traveling arms drives the driving wheel and the auxiliary wheel on the traveling arm to be separated from the overhead line together, the two pairs of traveling arms are driven to move back and forth under the driving of the first driving assemblies on the two pairs of traveling arms, and the driving wheel and the auxiliary wheel on the other two pairs of traveling arms are contacted with the overhead line together, the two first motors on the other two pairs of traveling arms are driven, so that the driving wheel and the auxiliary wheel on the other two pairs of traveling arms travel on the overhead line, and the purpose of obstacle crossing of the robot on the overhead line is achieved.
Preferably, each first driving assembly comprises a second motor, a first speed reducer, a first fixed support, a first screw rod, a first reinforcing rod, a first rolling bearing, a first shock absorption bullet and a first moving platform, the second motor is installed on the first speed reducer, the upper seat is further provided with the first fixed support respectively, the first fixed support is sleeved with the first screw rod through the first rolling bearing, the first screw rod is in toothed connection with the first speed reducer, the first reinforcing rod is installed on the first fixed support and is parallel to the first screw rod, the first moving platform is sleeved on the first reinforcing rod and the first screw rod together, the first shock absorption bullet is sleeved on the first reinforcing rod, one end of the first shock absorption bullet is connected with the first moving platform, and the top of the first moving platform is connected with the traveling arm.
Preferably, each second driving assembly comprises a third motor, a second speed reducer, a second fixed support, a second screw rod, a second reinforcing rod, a second rolling bearing, a second damping spring and a second moving platform, the third motor is arranged on the second speed reducer, the traveling arms are respectively provided with a second fixed support, the second fixed support is sleeved with a second screw rod through a second rolling bearing, the second screw rod is in gear joint with a second speed reducer, the second reinforcing rod is arranged on the second fixed support, and is parallel to the second screw rod, the second mobile platform is sleeved on the second reinforcing rod and the second screw rod together, the second damping spring is sleeved on the second reinforcing rod, and one end of the second damping spring is connected with the second moving platform, and one end of the second moving platform extends out of the traveling arm and is respectively connected with the traveling wheels.
It should be noted that the number of the second mobile platforms is two, one of the second mobile platforms is rotatably connected with the driving wheel, the other mobile platform is rotatably connected with the auxiliary wheel, and the driving wheel is arranged below the auxiliary wheel.
Preferably, the machine body is also provided with a detection device for detecting the overhead line;
the OpenMV visual detection module and the camera are respectively installed at one end of the top of the upper seat, two groups of the first detection cameras are respectively installed at the tops of a pair of walking arms located in the middle of the top of the upper seat, the other two groups of the first detection cameras are respectively installed on the upper seat and are close to the pair of walking arms located at one edge of the top of the upper seat, and the infrared detection device is also installed on the upper seat and located between the two pairs of walking arms.
It should be noted that, two sets of first detection cameras are respectively installed on the top of the second set of walking arms, and the infrared detection device is located between the first set of walking arms and the second set of walking arms.
Preferably, the near-infrared detection device is arranged on the upper seat through a detection lifting platform;
the walking arm or the upper seat is respectively provided with a camera rotating support, each camera rotating support is provided with a fourth motor, and the output end of each fourth motor is provided with a first detection camera.
Preferably, the machine body is also provided with a maintenance device for removing foreign matters on the overhead line and adjusting the inclination angles of the spacing rods and the vibration dampers on the overhead line;
maintenance device is including maintenance arm, maintenance gripper, second detection camera, the maintenance arm is installed on the seat of honour, the maintenance arm is established on the seat of honour, and is close to a pair of walking arm that is located seat of honour top opposite fringe to be located infrared detection device's one end, the maintenance gripper is connected on the tip of maintenance arm, the second detection camera is installed on the lateral wall of junction between maintenance arm and the maintenance gripper, just the shooting end of second detection camera is got the end with the clamp of maintenance gripper and is corresponded.
It should be noted that the maintenance device is mounted between the third set of travelling arms.
It should be further noted that a power supply module is further disposed on the machine body and is respectively used for supplying power to the traveling mechanism, the detection device, the maintenance device and the GPS positioning device.
By adopting the scheme, the purpose is that the maintenance mechanical arm and the robot are combined by utilizing the maintenance device, so that the inspection robot can simply maintain the wire problem without arranging manpower to maintain, and the risk of manual maintenance is greatly reduced.
The beneficial effects of the invention are: the invention utilizes the detection device to carry out omnibearing high-precision detection on the lead;
the walking mechanism is distributed on the four wires, so that the load on each wire is uniform, the wires are not damaged additionally when walking on the wires, a pinch roller mechanism is not arranged, the wires are not subjected to reverse bending stress, and the self-adaptive capacity of the robot to the wires can be enhanced by a plurality of driving wheels and auxiliary wheels on the walking mechanism;
compared with the prior art, the gravity center adjusting device is not utilized in the application, the three pairs of walking arms are only utilized to cross the obstacle on the overhead line in an alternating mode, the walking arms are outstanding in moving capability, high in safety and outstanding in obstacle crossing capability, and two groups of walking arms and wires are in contact with each other all the time in the obstacle crossing process, so that the gravity center of the whole robot can not be changed greatly in the obstacle crossing process, and the whole obstacle crossing process is more stable and smooth.
Drawings
FIG. 1 is a schematic view of the structure of the present invention;
FIG. 2 is a front view of the present invention;
FIG. 3 is a side view of the present invention;
FIG. 4 is a top view of the present invention;
FIG. 5 is a schematic view of the structure of FIG. 4 in the direction A-A;
FIG. 6 is a schematic view of a first driving mechanism according to the present invention;
FIG. 7 is a schematic view of the configuration of the present invention with the damper at one end of the apparatus;
FIG. 8 is a schematic view of the configuration of the anti-vibration hammer of the present invention between two pairs of traveling arms;
FIG. 9 is a schematic view of the structure of the anti-vibration hammer of the present invention between two other pairs of traveling arms;
FIG. 10 is a schematic view of the damper of the present invention at the other end of the apparatus;
FIG. 11 is a flow chart of the robot in the invention when crossing obstacles;
FIG. 12 is a flow chart of the detecting device of the present invention during detection;
in the figure: the device comprises an overhead line 1, a base 2, an upper seat 3, a maintenance mechanical claw 4, a maintenance mechanical arm 5, a detection lifting platform 6, a walking arm 7, a second detection camera 8, a storage battery 9, a storage battery frame 10, an OpenMV visual detection module 11, a camera 12, a first reinforcing rod 13, a GPS positioning device 14, an infrared detection device 15, a first detection camera 16, a second driving mechanism 17, a first shock absorption bullet 18, a driving wheel 19, an auxiliary wheel 20, a fourth motor 21, a walking arm base 22, a walking arm upper seat 23, a camera rotating bracket 24, a first fixed support 25, a bevel gear 26, a first distance meter 27, a first screw rod 28, a first speed reducer 29, a second motor 30, a speed reduction gear 31, a speed reduction straight gear 32, a transmission bevel gear 33, a hexagonal connecting column 34 of the walking arm, a first moving platform 35 and a shockproof hammer 36.
Detailed Description
In order to make the technical means, the original characteristics, the achieved purpose and the efficacy of the invention easy to understand, the invention is further described with reference to the specific drawings.
As shown in fig. 1-12, an all-round high-precision inspection robot for an extra-high voltage overhead transmission line comprises a machine body, a walking mechanism and a detection device;
the running mechanism is arranged on the machine body and drives the running mechanism, the machine body simultaneously runs or simultaneously performs obstacle crossing operation on four groups of overhead lines 1, the four groups of overhead lines are divided into two groups, each group comprises two overhead lines, and one group of overhead lines is parallel to the other group of overhead lines;
the travelling mechanisms comprise travelling arms 7 and driving mechanisms, the number of the travelling arms 7 is at least three, each pair of the travelling arms 7 is two, the number of the driving mechanisms is three, each group of the driving mechanisms respectively drives one pair of the travelling arms 7 to be far away from the overhead line 1 or to be in contact with the overhead line 1, and the travelling arms 7 are also driven to travel on the overhead line 1;
when one pair of the traveling arms 7 is far away from the overhead line 1, the other two pairs of the traveling arms 7 are in contact with the overhead line 1, so that the robot performs obstacle crossing operation on the overhead line 1;
the detection device comprises an OpenMV visual detection module 11, a video camera 12, four groups of first detection cameras 16 and an infrared detection device 15, wherein the OpenMV visual detection module 11 is arranged on the machine body and used for helping the robot to identify obstacles in the advancing direction; the camera 12 is also arranged on the machine body and transmits a real-time monitoring picture back for ground monitoring personnel; two first detection cameras 16 are arranged on the walking arm 7, and the other two first detection cameras 16 are arranged on the machine body and used for carrying out all-around clear monitoring on the four overhead lines 1 so as to realize the construction of three-dimensional images of the overhead lines 1; the infrared detection device 15 is also arranged on the machine body, and utilizes heat radiation to monitor the interior of the overhead line 1 all weather.
The organism includes seat 3 and base 2, and seat 3 and base 2 are fixed through circular spliced pole, still is equipped with GPS positioner 14 on the seat 3.
Each driving mechanism comprises a first driving component and a second driving component 17, each first driving component respectively drives a pair of walking arms 7 to be far away from the overhead line 1 or to be in contact with the overhead line 1, and one walking arm 7 in each pair is also provided with a first distance meter 27 for measuring and calculating the distance of the back-to-back movement of the pair of walking arms 7;
each walking arm 7 is also provided with a walking wheel through a second driving component 17, the walking wheels are contacted or separated on the overhead line 1, and the other walking arm 7 in each pair is also provided with a second distance meter for measuring and calculating the distance between the walking wheel on the walking arm 7 and the overhead line 1.
The three groups of traveling arms are sequentially divided into a first group of traveling arms, a second group of traveling arms and a third group of traveling arms according to the traveling direction of the robot.
The traveling wheels are divided into driving wheels 19 and auxiliary wheels 20, parts on the second driving assembly 17 are respectively connected with the driving wheels 19 and the auxiliary wheels 20, the traveling arm 7 is further provided with a first motor for driving the driving wheels 19 to travel on the overhead line 1, under the driving of the first motor, the driving wheels 19 travel on the overhead line 1, the auxiliary wheels 20 also travel on the overhead line 1, and finally the traveling arm 7 travels on the overhead line 1.
When the second driving assembly 17 on each traveling arm 7 of one pair of traveling arms 7 drives the driving wheel 19 and the auxiliary wheel 20 on the traveling arm 7 to be separated from the overhead line 1 together, and the two pairs of traveling arms 7 are driven to move back and forth under the driving of the first driving assembly on the two pairs of traveling arms 7, and when the driving wheel 19 and the auxiliary wheel 20 on the other two pairs of traveling arms 7 are in contact with the overhead line 1 together, the two first motors on the other two pairs of traveling arms 7 are driven, so that the driving wheel 19 and the auxiliary wheel 20 on the other two pairs of traveling arms 7 travel on the overhead line 1, and the purpose of obstacle crossing of the robot on the overhead line is achieved.
Each first driving assembly comprises a second motor 30, a first speed reducer 29, a first fixed support 25, a first screw rod 28, a first reinforcing rod 13, a first rolling bearing, a first shock-absorbing bullet 18 and a first moving platform 35, the second motor 30 is installed on the first speed reducer 29, the upper seat 3 is further provided with the first fixed support 25, the first fixed support 25 is connected with the first screw rod 28 in a sleeved mode through the first rolling bearing, the first screw rod 28 is in toothed connection with the first speed reducer 29, the first reinforcing rod 13 is installed on the first fixed support 25 and is parallel to the first screw rod 28, the first moving platform 35 is connected with the first reinforcing rod 13 and the first screw rod 28 in a sleeved mode, the first shock-absorbing bullet 18 is connected with the first reinforcing rod 13 in a sleeved mode, one end of the first shock-absorbing bullet 18 is connected with the first moving platform 35, and the top of the first moving platform 35 is connected with the traveling arm 7.
It should be further noted that the first speed reducer 29 and the second speed reducer have the same structure, and only the structure of the first speed reducer is described herein, including a bevel gear 26, a transmission bevel gear 33, a fixed end of the second motor 30 is sleeved on the first speed reducer 29, the bevel gear 26 is sleeved on an output end of the second motor 30, the transmission bevel gear 33 is rotatably disposed in the first speed reducer 29 through a rotating shaft, and the bevel gear 26 is in tooth joint with the transmission bevel gear 33;
the rotating shaft is also sleeved with a reduction gear 31, the first screw 28 is sleeved with a reduction spur gear 32, and the reduction spur gear 32 is in gear joint with the reduction gear 31.
Each second driving assembly 17 comprises a third motor, a second speed reducer, a second fixed support, a second lead screw, a second reinforcing rod, a second rolling bearing, a second damping spring and a second moving platform, the third motor is installed on the second speed reducer, the second fixed support is further arranged on the traveling arm respectively, the second lead screw is sleeved on the second fixed support through the second rolling bearing, the second lead screw is in tooth joint with the second speed reducer, the second reinforcing rod is installed on the second fixed support and is parallel to the second lead screw, the second moving platform is sleeved on the second reinforcing rod and the second lead screw together, the second damping spring is sleeved on the second reinforcing rod, one end of the second damping spring is connected with the second moving platform, and one end of the second moving platform extends out of the traveling arm 7 and is connected with the traveling wheel respectively.
It should be noted that the number of the second mobile platforms is two, one of the second mobile platforms is rotatably connected with the driving wheel, the other mobile platform is rotatably connected with the auxiliary wheel, and the driving wheel is arranged below the auxiliary wheel.
The machine body is also provided with a detection device for detecting the overhead line 1;
the OpenMV visual detection module 11 and the camera 12 are respectively installed at one end of the top of the upper seat 3, two groups of first detection cameras 16 are respectively installed at the tops of a pair of walking arms 7 located in the middle of the top of the upper seat 3, the other two groups of first detection cameras 16 are respectively installed on the upper seat 3 and are close to the pair of walking arms 7 located at one edge of the top of the upper seat 3, and the infrared detection device 15 is also installed on the upper seat 3 and is located between the two pairs of walking arms 7.
It should be noted that, two sets of first detection cameras are respectively installed at the top of the second set of walking arms, and the infrared detection device is located between the first set of walking arms and the second set of walking arms.
The near-infrared detection device 15 is arranged on the upper seat 3 through the detection lifting platform 6;
the walking arm 7 or the upper seat 3 is respectively provided with a camera rotating bracket 24, each camera rotating bracket 24 is provided with a fourth motor 21, and the output end of the fourth motor 21 is provided with a first detection camera 16.
The machine body is also provided with a maintenance device for removing foreign matters on the overhead line 1 and adjusting the inclination angles of the spacing rods and the vibration dampers 36 on the overhead line 1;
the maintenance device is including maintenance arm 5, maintenance gripper 4, second detection camera 8, maintenance arm 5 is installed on seat of honour 3, maintenance arm 5 is established on seat of honour 3, and be close to a pair of walking arm 7 that is located 3 top other edges of seat of honour, and be located infrared detection device 15's one end, maintenance gripper 4 is connected on the tip of maintenance arm 5, second detection camera 8 is installed on the lateral wall of junction between maintenance arm 5 and the maintenance gripper 4, and the shooting end of second detection camera 8 is held the end with the clamp of maintenance gripper 4 and is corresponded.
It should be noted that the maintenance device is mounted between the third set of travelling arms.
It should be further noted that a power supply module is further disposed on the machine body and is respectively used for supplying power to the traveling mechanism, the detection device, the maintenance device and the GPS positioning device.
It should be noted that the power supply module is two battery racks 10 arranged at the bottom of the base 2, and a battery 9 is further arranged in each battery rack 10 and used for supplying power to the first motor, the second motor 30, the third motor, the fourth motor 21, the camera 12, the OpenMV vision detection module 11, the first detection camera 16, the second detection camera 8, the infrared detection device 15, the first distance meter 27, the second distance meter, and the maintenance manipulator 5.
It should be further noted that the traveling arm 7 includes a traveling arm upper seat 22, a traveling arm base 23, and a hexagonal connection column 34 of the traveling arm, the traveling arm upper seat 22 and the traveling arm base 23 are connected through the hexagonal connection column 34 of the traveling arm, the bottom of the traveling arm upper seat 22 and the bottom of the traveling arm base 23 are connected together through a first mobile platform 35, and the traveling arm upper seat 22 and the traveling arm base 23 are connected together through a second mobile platform.
The working principle is as follows:
it should be noted that the main work of the device includes two parts, namely, a patrol inspection stage and an obstacle crossing stage, which mainly include the following steps:
(1) inspection stage
The invention is characterized in that the inspection of the overhead line conductor is omnibearing and high-precision, and the omnibearing body can detect and identify different defects of the conductor, various hardware fittings on the conductor and foreign matters hung on the conductor; the high accuracy is particularly reflected in the identification of the defect damage degree of the wire, the inspection accuracy of the wire is higher and more reliable, and the shot wire is clearer.
The invention has good all-round high accuracy detection ability, because it has twelve check out test set, have OpenMV vision detection module 11, camera 12, four groups of first detection cameras 16 (the first detection camera 16 is the high accuracy camera), an infrared detection device 15, a second detection camera 8, OpenMV vision detection module 11 and camera 12 cooperate each other, help the robot to discern the barrier in the direction of advance, can also return the real-time monitoring picture for the ground monitoring personnel; the four groups of first detection cameras 16 can realize all-around clear monitoring of four lines, and the construction of the lines is realized (wherein the first group of first detection cameras 16 and the third group of first detection cameras 16 are used for detecting the external condition of two wires at the right side of the overhead line 1 in the advancing direction of the robot, and the second group of first detection cameras 16 and the fourth group of first detection cameras 16 are used for detecting the external condition of two wires at the left side of the overhead line 1 in the advancing direction of the robot), and when the lines are subjected to expert identification through an image processing system, an expert report is given; the infrared detection device 15 can monitor the lead in the day or at night, and external monitoring equipment is difficult to monitor defects in the lead, but the lead can generate heat radiation, so that the equipment can clearly judge the defects of the lead through the part with large heat radiation, and meanwhile, people can be helped to determine the defect part; foreign matters on the wires can be handled or the problem of angular inclination of the vibration dampers 36, spacers and the like on the overhead line 1 can be solved by the maintenance robot arm 5, the maintenance robot 4 and the second detection camera 8 carried on the maintenance robot arm 5.
(2) Obstacle crossing stage
A plurality of hardware fittings such as a spacer, a shockproof hammer, a suspension clamp and the like are arranged on an ultrahigh-voltage transmission line of a strain section, the hardware fittings are obstacles which cannot be avoided in the inspection process of the robot, and the obstacle crossing of the robot can be one of the important characteristics of an excellent inspection robot in a safe and stable manner.
The robot is provided with an OpenMV visual detection module 11, a first distance meter 27, a second distance meter, a first driving mechanism and a second driving mechanism 17 to drive a walking arm 7 to cross obstacles on an overhead line, so that the obstacle crossing capability of the robot is enhanced, the OpenMV visual detection module 11 for detecting obstacles is arranged at the front end of an upper seat 3 arranged in the advancing direction of the whole equipment, and the OpenMV detection module 11 and a camera 12 are mutually cooperated to complete the obstacle detection task; the group of walking arms 7 is provided with two first distance meters 27 which are arranged on the base of the walking arms 7, one is opposite to the walking arm 7 and the other is opposite to the driving wheel 19 of the walking arm 7;
the whole obstacle crossing process is divided into the following two parts:
in the advancing process of the robot, when the distance between the OpenMV visual detection module 11 and the camera 12 which are arranged at the front end in the advancing direction is 200-300mm away from the shockproof hammer obstacle, the OpenMV visual detection module 11 feeds back to the control system, the control system controls the first motor to stop rotating, so that the driving wheel 19 and the auxiliary wheel 20 stop moving on the overhead line 1, and finally the whole robot stops advancing to prepare for obstacle crossing preparation of the first group of travelling arms 7;
as shown in fig. 7, the first group of traveling arms 7 starts obstacle crossing work, firstly, the auxiliary wheel 20 and the driving wheel 19 of the first group of traveling arms 7 drive the second screw rod to rotate under the driving of the second speed reducer of the traveling arms 7, so that the second moving platform of the traveling arms 7 vertically moves upwards to be separated from the lead, the distance of the vertical upward movement is controlled by the second distance meter, when the moving distance reaches the set condition, the second distance meter feeds back to the control system, and the control system sends out an instruction to stop the rotation of the third motor of the first group of traveling arms 7; the control system sends an instruction to the first driving mechanism, the first driving mechanism and the first group of walking arms 7 have the same moving structure, so that the first group of walking arms 7 move back and forth after receiving the instruction, the moving distance is also controlled by the first distance meter 27, when the moving distance reaches the set condition, the first distance meter 27 feeds back to the control system, the control system sends an instruction to stop the second motor 30 of the first driving mechanism to rotate, at the moment, the first group of walking arms 7 are far away from the obstacle, and the preparation work of obstacle crossing of the first group of walking arms 7 is also finished;
as shown in fig. 8, after the first group of traveling arms 7 completes the obstacle detouring preparation work, the robot starts to drive the driving wheels 19 of the second and third groups of traveling arms 7 so that the robot starts to make forward movement, and when the robot arrives to make the vibration damper 36 obstacle between the first group of traveling arms 7 and the second group of traveling arms 7, the first group of traveling arms 7 starts to make reverse movement to the obstacle detouring preparation work, that is, the driving wheels 19 and the auxiliary wheels 20 of the first group of traveling arms 7 are brought into contact with the wire again under the monitoring of the second distance meter, and simultaneously, the second group of traveling arms 7 makes the same obstacle detouring preparation work as the first group.
As shown in fig. 9, after the second group of walking arms 7 finishes obstacle crossing preparation work, the robot starts to drive the driving wheels 19 of the first group and the third group of walking arms 7 to make the robot start to move forward, when the robot arrives to make the vibration-proof hammer 36 obstacle between the second group of walking arms 7 and the third group of walking arms 7, the second group of walking arms 7 starts to move opposite to the obstacle crossing preparation work, namely, the driving wheels 19 and the auxiliary wheels 20 of the second group of walking arms 7 are contacted with the conducting wire again under the monitoring of the second distance meter, and meanwhile, the third group of walking arms does the same obstacle crossing preparation work as the first group;
as shown in fig. 10, after the obstacle crossing preparation work of the third group of traveling arms 7 is completed, the robot starts to drive the driving wheels 19 of the first and second groups of traveling arms 7 so that the robot starts to move forward, and after the robot arrives to make the anti-vibration hammer 36 obstacle in the third group of traveling arms, the third group of traveling arms 7 starts to move opposite to the obstacle crossing preparation work, that is, the driving wheels 19 and the auxiliary wheels 20 of the third group of traveling arms 7 are brought into contact with the wires again under the monitoring of the second distance meter, and the six driving wheels 19 and the six auxiliary wheels are brought into full contact with the wires under the monitoring of the first distance meter 27, so that all the anti-vibration hammers 36 obstacle crossing work is completed.
(3) Maintenance phase
The task of the maintenance stage is mainly to remove foreign matters suspended on the conductor and adjust the inclination angle of the spacer and the shockproof hammer 36 by using the maintenance mechanical arm 5, the maintenance mechanical claw 4 and the second detection camera 8 carried on the maintenance mechanical arm 5.
Arrange the OpenMV visual inspection module 11 and the camera 12 of front end and can carry out coarse detection to the wire in the place ahead at first, can feed back control system during the discovery foreign matter, control system conveys maintenance instruction again for maintenance arm 5, maintenance arm 5 and the second detection camera 8 of carrying on can arrange each other this moment, clear away the foreign matter by oneself, also can clear away the foreign matter by ground control personnel remote control maintenance arm 5 to complicated foreign matter, the flow of clearing away to the processing method foreign matter of the 36 angle inclinations problems of conductor spacer and stockbridge damper is the same.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. The utility model provides an all-round high accuracy of super high tension overhead transmission line patrols and examines robot which characterized in that: comprises a machine body, a walking mechanism and a detection device;
the walking mechanism is arranged on the machine body and drives the walking mechanism, the machine body walks or performs obstacle crossing operation on four groups of overhead lines (1) simultaneously, the four groups of overhead lines (1) are divided into two groups, each group is two, and one group of overhead lines is parallel to the other group of overhead lines;
the travelling mechanisms comprise travelling arms (7) and driving mechanisms, the number of the travelling arms (7) is at least three pairs, each pair is two, the number of the driving mechanisms is three, each group of the driving mechanisms respectively drives one pair of travelling arms (7) to be away from the overhead line (1) or to be in contact with the overhead line (1), and the travelling arms (7) are also driven to travel on the overhead line (1);
when one pair of the traveling arms (7) is far away from the overhead line (1), the other two pairs of the traveling arms (7) are in contact with the overhead line (1), so that the robot can perform obstacle crossing operation on the overhead line (1);
the detection device comprises an OpenMV visual detection module (11), a video camera (12), four groups of first detection cameras (16) and an infrared detection device (15), wherein the OpenMV visual detection module (11) is arranged on the machine body and used for helping the robot to identify obstacles in the advancing direction; the camera (12) is also arranged on the machine body and transmits back a real-time monitoring picture for ground monitoring personnel; two of the first detection cameras (16) are arranged on the walking arm (7), and the other two first detection cameras (16) are arranged on the machine body and used for carrying out all-around clear monitoring on the four overhead lines (1) and realizing the construction of a three-dimensional image of the overhead lines (1); the infrared detection device (15) is also arranged on the machine body, and the interior of the overhead line (1) is monitored all weather by utilizing heat radiation.
2. The omnibearing high-precision inspection robot for the extra-high voltage overhead transmission lines according to claim 1, which is characterized in that: the machine body comprises an upper seat (3) and a base (2), the upper seat (3) and the base (2) are fixed through a circular connecting column, and a GPS positioning device (14) is further arranged on the upper seat (3).
3. The omnibearing high-precision inspection robot for the extra-high voltage overhead transmission lines according to claim 2, which is characterized in that: each driving mechanism comprises a first driving component and a second driving component (17), each first driving component respectively drives a pair of walking arms (7) to be far away from the overhead line (1) or to be in contact with the overhead line (1), and one walking arm (7) in each pair is further provided with a first distance meter (27) for measuring and calculating the distance of the back-to-back movement of the pair of walking arms (7);
each walking arm (7) is further provided with a walking wheel through a second driving assembly (17), the walking wheels are in contact with or separated from the overhead line (1), and the other walking arm (7) in each pair is further provided with a second distance meter for measuring and calculating the distance between the walking wheels on the walking arms (7) and the overhead line (1).
4. The omnibearing high-precision inspection robot for the extra-high voltage overhead transmission lines according to claim 3, characterized in that: the walking wheel is divided into a driving wheel (19) and an auxiliary wheel (20), parts on the second driving assembly (17) are respectively connected with the driving wheel (19) and the auxiliary wheel (20), a first motor used for driving the driving wheel (19) to walk on the overhead line (1) is further arranged on the walking arm (7), the driving wheel (19) walks on the overhead line (1) under the driving of the first motor, the auxiliary wheel (20) also walks on the overhead line (1), and finally the walking arm (7) walks on the overhead line (1).
5. The all-round high accuracy of super high voltage overhead transmission line patrols and examines robot according to claim 4, its characterized in that: when the second driving assembly (17) on each walking arm (7) in one pair of walking arms (7) drives the driving wheel (19) and the auxiliary wheel (20) on the walking arm (7) to be separated from the overhead line (1) together and under the driving of the first driving assembly on the two pairs of walking arms (7), the two pairs of walking arms (7) move back and forth, and when the driving wheel (19) and the auxiliary wheel (20) on the other two pairs of walking arms (7) are in contact with the overhead line (1) together, the two first motors on the other two pairs of walking arms (7) are driven to drive the driving wheel (19) and the auxiliary wheel (20) on the other two pairs of walking arms (7) to walk on the overhead line (1), and the obstacle crossing purpose of the robot on the overhead line is achieved at the moment.
6. The omnibearing high-precision inspection robot for the extra-high voltage overhead transmission lines according to claim 3, characterized in that: each first driving assembly comprises a second motor (30), a first speed reducer (29), a first fixed support (25), a first screw rod (28), a first reinforcing rod (13), a first rolling bearing, a first shock absorption bullet (18) and a first moving platform (35), the second motor (30) is installed on the first speed reducer (29), the upper seat (3) is further provided with the first fixed support (25) respectively, the first fixed support (25) is sleeved with the first screw rod (28) through the first rolling bearing, the first screw rod (28) is in toothed connection with the first speed reducer (29), the first reinforcing rod (13) is installed on the first fixed support (25) and is parallel to the first screw rod (28), the first moving platform (35) is sleeved on the first reinforcing rod (13) and the first screw rod (28) together, the first shock absorption bullet (18) is sleeved on the first reinforcing rod (13), and one end of the first shock absorption bullet (18) is connected with a first moving platform (35), and the top of the first moving platform (35) is connected with the walking arm (7).
7. The omnibearing high-precision inspection robot for the extra-high voltage overhead transmission lines according to claim 3, characterized in that: each second driving assembly (17) comprises a third motor, a second speed reducer, a second fixed support, a second screw rod, a second reinforcing rod, a second rolling bearing, a second damping spring and a second moving platform, the third motor is arranged on the second speed reducer, the traveling arms are respectively provided with a second fixed support, the second fixed support is sleeved with a second screw rod through a second rolling bearing, the second screw rod is in gear joint with a second speed reducer, the second reinforcing rod is arranged on the second fixed support, and is parallel to the second screw rod, the second mobile platform is sleeved on the second reinforcing rod and the second screw rod together, the second damping spring is sleeved on the second reinforcing rod, and one end of the second damping spring is connected with the second moving platform, and one end of the second moving platform extends out of the walking arm (7) and is respectively connected with the walking wheels.
8. The omnibearing high-precision inspection robot for the extra-high voltage overhead transmission lines according to claim 3, characterized in that: the OpenMV visual detection module (11) and the camera (12) are respectively installed at one end of the top of the upper seat (3), two groups of first detection cameras (16) are respectively installed at the tops of a pair of walking arms (7) located in the middle of the top of the upper seat (3), the other two groups of first detection cameras (16) are respectively installed on the upper seat (3) and are close to a pair of walking arms (7) located at one edge of the top of the upper seat (3), and the infrared detection device (15) is also installed on the upper seat (3) and is located between the two pairs of walking arms (7).
9. The omnibearing high-precision inspection robot for the extra-high voltage overhead transmission lines according to claim 7, which is characterized in that: the near-infrared detection device (15) is arranged on the upper seat (3) through the detection lifting platform (6);
install camera runing rest (24) on walking arm (7) or seat of honour (3) respectively, every install fourth motor (21) on camera runing rest (24), install first detection camera (16) on the output of fourth motor (21).
10. The omnibearing high-precision inspection robot for the extra-high voltage overhead transmission lines according to claim 3, characterized in that: the machine body is also provided with a maintenance device for removing foreign matters on the overhead line (1) and adjusting the inclination angles of the spacing rods and the vibration dampers (36) on the overhead line (1);
the maintenance device includes maintenance arm (5), maintenance gripper (4), second detection camera (8), install on seat of honour (3) maintenance arm (5), establish on seat of honour (3) maintenance arm (5), and be close to a pair of walking arm (7) that are located seat of honour (3) top opposite fringe to be located the one end of infrared detection device (15), maintenance gripper (4) are connected on the tip of maintenance arm (5), second detection camera (8) are installed on the lateral wall of junction between maintenance arm (5) and maintenance gripper (4), just the shooting end of second detection camera (8) is got the end with the clamp of maintenance gripper (4) and is corresponded.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210632824.5A CN115091474A (en) | 2022-06-06 | 2022-06-06 | All-round high accuracy of super high tension overhead transmission line patrols and examines robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210632824.5A CN115091474A (en) | 2022-06-06 | 2022-06-06 | All-round high accuracy of super high tension overhead transmission line patrols and examines robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115091474A true CN115091474A (en) | 2022-09-23 |
Family
ID=83288943
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210632824.5A Pending CN115091474A (en) | 2022-06-06 | 2022-06-06 | All-round high accuracy of super high tension overhead transmission line patrols and examines robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115091474A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116995572A (en) * | 2023-09-28 | 2023-11-03 | 国网山东省电力公司菏泽供电公司 | Exploration device for power grid planning |
-
2022
- 2022-06-06 CN CN202210632824.5A patent/CN115091474A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116995572A (en) * | 2023-09-28 | 2023-11-03 | 国网山东省电力公司菏泽供电公司 | Exploration device for power grid planning |
| CN116995572B (en) * | 2023-09-28 | 2024-01-05 | 国网山东省电力公司菏泽供电公司 | Exploration device for power grid planning |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102751669B (en) | Travelling mechanism of inspection robot for realizing obstacle crossing | |
| CN103001151B (en) | There is the line robot actuating arm of obstacle crossing function | |
| CN101574983B (en) | Lead obstacle-crossing robot walking device | |
| CN205220844U (en) | Transformer substation independently gets over barrier and patrols and examines robot | |
| CN104577881B (en) | Intelligent line patrol trolley lighting trolley body device and line patrol method | |
| Xu et al. | Developing a climbing robot for repairing cables of cable-stayed bridges | |
| CN110578293A (en) | Concrete box girder inspection robot | |
| CN104129447A (en) | Power transmission tower climbing robot and power transmission tower routing inspection mode thereof | |
| CN103194967A (en) | Detecting system of bridge cable | |
| CN102938544B (en) | A kind of transmission line active obstacle travelling robot | |
| Wang et al. | Development of an inspection robot for 500 kV EHV power transmission lines | |
| CN106405321B (en) | Power cable fault detection equipment | |
| CN104917130A (en) | Line patrol deicing robot and obstacle crossing method thereof | |
| CN109698475A (en) | A kind of aerial high-voltage power transmission line hot line robot | |
| Hongguang et al. | Research of power transmission line maintenance robots in SIACAS | |
| CN209190764U (en) | A kind of rail mounted vision robot | |
| CN202964660U (en) | 500kV bundled conductor routing inspection operation robot platform | |
| CN109861133A (en) | A kind of mostly division aerial high-voltage power transmission line mobile robot and its reconfigurable method | |
| CN115091474A (en) | All-round high accuracy of super high tension overhead transmission line patrols and examines robot | |
| CN110034518B (en) | Autonomous obstacle-crossing type power transmission line inspection vehicle and working method | |
| Rui et al. | A mobile robot for inspection of overhead transmission lines | |
| CN113241667A (en) | Transmission line patrols line device and control system thereof | |
| CN113594959A (en) | Three-arm coupling clamping type transmission line inspection obstacle avoidance and removal device | |
| CN103594967A (en) | Overturning obstacle crossing type overhead line work robot | |
| CN206417002U (en) | A kind of unmanned inspection car of electric railway |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |