CN115366123B - Line inspection robot for high-voltage transmission line and working method thereof - Google Patents
Line inspection robot for high-voltage transmission line and working method thereof Download PDFInfo
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- CN115366123B CN115366123B CN202211033974.0A CN202211033974A CN115366123B CN 115366123 B CN115366123 B CN 115366123B CN 202211033974 A CN202211033974 A CN 202211033974A CN 115366123 B CN115366123 B CN 115366123B
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- 238000007689 inspection Methods 0.000 title claims abstract description 56
- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000004140 cleaning Methods 0.000 claims abstract description 151
- 230000007246 mechanism Effects 0.000 claims abstract description 150
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Classifications
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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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
Abstract
A high-voltage transmission line inspection robot and a working method thereof comprise the following steps: the upper part of the supporting seat is symmetrically provided with a turntable in a rotating way, the middle part of the supporting seat and the turntable are respectively provided with a moving mechanism, and the moving mechanisms are provided with three groups; a camera is arranged above the moving mechanism, and a cleaning mechanism is arranged on one side of the camera; the moving mechanism comprises bases which are symmetrically and fixedly arranged on the supporting seat and the turntable, a first rotating rod is rotatably arranged between the two bases, and an upper limit roller is fixedly sleeved at the middle part of the first rotating rod; the base is positioned below the first rotating rod and provided with a limit groove, one side of the base is fixedly provided with a driving motor, the output end of the driving motor is fixedly connected with the first rotating rod, and a limit mechanism is arranged in the limit groove; the invention can automatically cross the obstacle and walk on the drainage wire to cross the corner tension tower for inspection, automatically clean the impurities on the transmission line, adjust the inspection direction and improve the inspection effect.
Description
Technical Field
The invention belongs to the technical field of line inspection of power systems, and particularly relates to a line inspection robot for a high-voltage transmission line and a working method thereof.
Background
The most important task of the power system is to provide high quality and high reliability power. And the power transmission must depend on a high-voltage transmission line, and the safe and stable operation of the high-voltage transmission line directly affects the reliability of a power system. Therefore, the high-voltage transmission line can be said to be a life line of the modern society. Therefore, the power transmission line must be periodically inspected, the running condition of the power transmission line, the surrounding environment of the line and the change condition of a line protection area are mastered and known at any time, the faults of the mechanical and electrical appliances and the potential safety hazards are found, the early detection and repair are carried out, the accident potential is eliminated in a sprouting state, and the method has very important significance for ensuring the safe and normal running of the line.
The automatic line inspection of the line inspection robot becomes a necessary means for ensuring the safe operation of the high-voltage transmission line, and the robot inspection is to travel or fly on the overhead transmission line by using the robot with the camera, so as to achieve the purpose of inspection.
At present, the inspection robot technology is still in a starting stage, and more technical problems are faced to be solved, wherein obstacle crossing is one of the technical problems, obstacles such as a damper, a suspension clamp, a splicing sleeve and a line protection are arranged on an overhead transmission line, and the robot can pass over the obstacles to realize autonomous inspection. Common obstacles can be generally realized by lifting travelling wheels or turning, and on certain corner tension towers, the common obstacles often have longer and steeper drainage lines, and the prior art does not have a precedent that the common obstacles can be directly transferred from overhead lines to the drainage lines and walk along the drainage lines to realize the crossing of the tension towers.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides a high-voltage transmission line inspection robot and a working method thereof, which are used for solving the problem of obstacle crossing in the inspection of the robot and realizing the spanning and walking of the inspection robot on a drainage line of a corner tension tower.
The invention adopts the following technical scheme.
A high voltage transmission line inspection robot comprising: the support seat is symmetrically arranged above the first rotary table and the second rotary table and is used for rotatably supporting the first rotary table and the second rotary table; it is characterized in that the method comprises the steps of,
line inspection robot includes: a first moving mechanism, a second moving mechanism and a third moving mechanism; the first moving mechanism is fixedly arranged on the first rotary table, the second moving mechanism is fixedly arranged in the middle of the supporting seat, and the third moving mechanism is fixedly arranged on the second rotary table;
each moving mechanism comprises a first base and a second base, a first rotating rod is rotatably arranged between the first base and the second base, and an upper limit roller is fixedly sleeved at the middle part of the first rotating rod; the outer side of the first base is fixedly provided with a driving motor, and the output end of the driving motor is fixedly connected with the first rotating rod; the driving motor is used for driving the first rotating rod to rotate, and the first rotating rod drives the upper limit roller to synchronously rotate when rotating, so that the line inspection robot moves back and forth on the high-voltage line;
each base is positioned below the first rotating rod and provided with a limiting groove, and sliding rails are symmetrically arranged on two sides of the limiting groove; a limiting mechanism and a limiting spring are arranged in the limiting groove; the limiting mechanism comprises a sliding block arranged in the limiting groove; the sliding block is in sliding connection with the sliding rail, and two ends of the limiting spring are fixedly connected with the sliding block and the corresponding base respectively; a second rotating rod is rotatably arranged between the sliding blocks of the two bases, and a lower limit roller is fixedly sleeved in the middle of the second rotating rod;
when the line inspection robot touches an obstacle, the lower limit roller drives the sliding block to slide below the sliding rail, and the distance between the upper limit roller and the lower limit roller is increased so that the line inspection robot passes over the obstacle; when the inspection robot passes over the obstacle, the lower limit roller is automatically reset by the limit spring.
The limiting groove is used for limiting the limiting mechanism; thereby controlling the distance between the upper limit roller and the lower limit roller;
when the upper limit roller and the lower limit roller of the first moving mechanism touch an obstacle, the lower limit roller of the first moving mechanism drives the sliding block to slide below the sliding rail, and the distance between the upper limit roller) and the lower limit roller is increased so that the line inspection robot passes over the obstacle; simultaneously, the second moving mechanism and the third moving mechanism are used for stably supporting the supporting seat; after the upper limit roller and the lower limit roller of the first moving mechanism pass over the barrier, the lower limit roller is automatically reset through a limit spring; after the first moving mechanism, the second moving mechanism and the third moving mechanism sequentially pass over the obstacle, the inspection robot passes through the obstacle.
Preferably, each moving mechanism is fixedly mounted on the first turntable or the support base or the second turntable by a first base and a second base.
The sliding rail carries out sliding limit on the sliding block, the sliding block carries out rotation support on the second rotating rod, and the second rotating rod carries out fixed support on the lower limit roller;
the limiting spring elastically supports the sliding block, the sliding block drives the lower limiting roller to slide towards the upper limiting roller, so that the upper limiting roller and the lower limiting roller clamp the high-voltage transmission line, and the supporting seat is driven to move when the upper limiting roller rotates.
Preferably, the inspection robot further includes: a camera, a waterproof shed and a cleaning mechanism,
a waterproof shed is arranged above the moving mechanism, the waterproof shed is fixedly connected with the base, the camera is fixedly arranged below the waterproof shed, and a cleaning mechanism is arranged on one side of the camera;
the camera is used for shooting the obstacle condition on the high-voltage line;
the cleaning mechanism is used for wiping and cleaning the surface of the camera.
A turntable is symmetrically arranged below the supporting seat in a rotating way, penetrates through the supporting seat and is fixedly connected with the turntable, a rotating mechanism is arranged between the turntable and the supporting seat,
the rotating mechanism comprises a turbine fixedly sleeved on the turntable, a support seat is fixedly arranged on one side of the turntable, a worm is rotatably arranged in the middle of the support seat, the worm is connected with the turbine in a meshed mode, a rotating motor is fixedly arranged on one side of the support seat, and an output end of the rotating motor is fixedly connected with the worm.
Preferably, the waterproof shed is arranged in an arc shape.
Preferably, one side of the supporting seat is hinged with a movable rod, and one side of the movable rod, which is far away from the supporting seat, is provided with a cleaning mechanism; the cleaning mechanism comprises a cleaning ring fixedly arranged at one end of the movable rod, the middle part of the cleaning ring is symmetrically hinged with the cleaning rod, a first spring is arranged between the cleaning rod and the cleaning ring, and two ends of the first spring are fixedly connected with the cleaning rod and the cleaning ring respectively; a transmission mechanism is arranged between the cleaning mechanism and the first rotating rod.
The cleaning mechanism comprises brackets symmetrically and fixedly arranged on the waterproof shed, a cleaning plate is rotatably arranged between the two brackets, and the cleaning plate is in an arc shape;
one side of one of the supports is fixedly provided with a cleaning motor, the output end of the cleaning motor is fixedly connected with a cleaning plate, one side of the cleaning plate, which is close to the camera, is provided with cleaning cotton, and an elastic mechanism is arranged between the cleaning cotton and the cleaning plate.
A sliding groove is formed in one side, close to the camera, of the cleaning plate, and cleaning cotton is arranged in the sliding groove in a sliding manner;
the elastic mechanism comprises a plurality of second springs arranged in the sliding groove, and two ends of each second spring are fixedly connected with the cleaning cotton and the cleaning plate respectively.
The transmission mechanism comprises a rotating seat fixedly arranged on one side of the first rotating rod, a connecting rod is arranged on one side of the rotating seat in a rotating mode, a slide way is arranged on one side of the base, a movable block is arranged in the slide way in a sliding mode, one end, away from the rotating seat, of the connecting rod is provided with a linkage rod in a rotating mode, the linkage rod is connected with the movable block in a rotating mode, the movable block is hinged to be provided with a transmission rod, and the transmission rod is connected with the movable rod in a rotating mode.
A working method of a line inspection robot for a high-voltage transmission line,
starting a driving motor, driving a first rotating rod to rotate through the output end of the driving motor, and driving an upper limit roller to rotate through the first rotating rod, so that the upper limit roller drives a supporting seat to move in position on a high-voltage transmission line;
when the high-voltage transmission line encounters an obstacle, the lower limit roller drives the sliding block to slide below the sliding rail, the support seat is stably supported through the other two groups of moving mechanisms, after the upper limit roller and the lower limit roller pass over the obstacle, the lower limit roller is automatically reset through the limit spring, and the three groups of moving mechanisms pass through the obstacle in sequence;
starting a rotating motor, driving a worm to rotate through the output end of the rotating motor, driving a turbine to rotate through the worm, driving a turntable to synchronously rotate through the turbine, and driving the turntable to rotate on a supporting seat through the turntable, so that the turntable drives moving mechanisms at two sides to adjust the moving direction;
the first rotating rod can drive the rotating seat to rotate when rotating, the rotating seat drives the connecting rod to move, the connecting rod drives the movable block to slide up and down in the slideway through the linkage rod, the movable block drives the transmission rod to synchronously lift, the transmission rod drives the movable rod to rotate on the rotating seat, and the movable rod drives the cleaning rod to clean impurities on the transmission line;
starting a cleaning motor, driving the cleaning plate to rotate through the output end of the cleaning motor, and driving the cleaning cotton to rotate through the cleaning plate, so that the cleaning cotton cleans the surface of the camera; and the cleaning cotton is elastically supported by the second spring, so that the cleaning cotton is tightly attached to the surface of the camera.
The invention has the advantages that compared with the prior art,
1) According to the invention, the driving motor, the first rotating rod and the upper limit roller are matched with each other, so that the upper limit roller drives the supporting seat to move in position on the high-voltage transmission line; when the high-voltage transmission line encounters an obstacle, the lower limit roller drives the sliding block to slide towards the lower side of the sliding rail, the supporting seat is stably supported through the other two groups of moving mechanisms, after the upper limit roller and the lower limit roller pass over the obstacle, the lower limit roller is automatically reset through the limit spring, and the three groups of moving mechanisms pass through the obstacle in sequence.
2) According to the invention, the rotating motor, the worm, the turbine and the turntable are mutually matched, and the turntable is driven to rotate on the supporting seat by the turntable, so that the turntable drives the moving mechanisms at two sides to adjust the moving direction.
3) According to the invention, the first rotating rod drives the rotating disc to rotate when rotating, the rotating disc drives the connecting rod to move, the connecting rod drives the movable block to slide up and down in the slideway through the linkage rod, the movable block drives the transmission rod to synchronously lift, and the movable rod is driven to rotate on the rotating seat through the arranged transmission rod, so that the movable rod drives the cleaning rod to clean impurities on the transmission line, and the obstruction of the movement of the upper limit roller and the lower limit roller on the transmission line is reduced. The amplitude of rotation can be gradually changed, larger angle change is realized, the technical purpose that a crossing drainage wire passes through a corner tension tower can be realized, three travelling wheels can realize arbitrary angle conversion of the drainage wire and an overhead wire, and three travelling mechanisms are positioned on a plane, so that the effect of stable travelling can be realized.
4) According to the invention, the cleaning plate is driven to rotate through the output end of the cleaning motor, and the cleaning cotton is driven to rotate through the cleaning plate, so that the cleaning cotton cleans the surface of the camera; and carry out elastic support to clean cotton through the second spring, make clean cotton can hug closely on the camera surface, improve the cleaning performance to the camera to improve the shooting effect of camera.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic diagram of a moving mechanism according to the present invention;
FIG. 3 is a schematic view of a cleaning mechanism according to the present invention;
FIG. 4 is an enlarged schematic view of the structure of FIG. 1A according to the present invention;
FIG. 5 is a schematic diagram of a transmission mechanism according to the present invention;
fig. 6 is a schematic structural view of a cleaning mechanism of the present invention.
The reference numerals are: 1. a support base; 2a, a first turntable; 2b, a second turntable; 3a, a first moving mechanism; 3b, a second moving mechanism; 3c, a third moving mechanism; 31a, a first base; 31b, a second base; 32. a first rotating lever; 33. an upper limit roller; 34. a limit groove; 35. a driving motor; 4. a camera; 5. a limiting mechanism; 51. a slide rail; 52. a slide block; 53. a second rotating rod; 54. a lower limit roller; 55. a limit spring; 6. a turntable; 7. a rotating mechanism; 71. a turbine; 72. a support; 73. a worm; 74. a rotating motor; 8. waterproof shed; 9. a movable rod; 10. a cleaning mechanism; 101. a cleaning ring; 102. a cleaning lever; 103. a first spring; 11. a cleaning mechanism; 111. a bracket; 112. a cleaning plate; 113. cleaning a motor; 114. cleaning cotton; 12. an elastic mechanism; 121. a chute; 122. a second spring; 13. a transmission mechanism; 131. rotating base; 132. a connecting rod; 133. a slideway; 134. a movable block; 135. a linkage rod; 136. a transmission rod.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. The embodiments described herein are merely some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art without making any inventive effort, are within the scope of the present invention.
Example 1.
Referring to fig. 1-6, a line inspection robot for a high voltage transmission line includes: the support seat 1, the first rotary disc 2a and the second rotary disc 2b are symmetrically arranged above the support seat 1, and the support seat 1 rotatably supports the first rotary disc 2a and the second rotary disc (2 b);
the inspection robot further includes: a first moving mechanism 3a, a second moving mechanism 3b, and a third moving mechanism 3c; the first moving mechanism 3a is fixedly arranged on the first rotary table 2a, the second moving mechanism 3b is fixedly arranged in the middle of the supporting seat 1, and the third moving mechanism 3c is fixedly arranged on the second rotary table 2 b;
each moving mechanism comprises a first base 31a and a second base 31b, a first rotating rod 32 is rotatably arranged between the first base 31a and the second base 31b, and an upper limit roller 33 is fixedly sleeved at the middle part of the first rotating rod 32; the outer side of the first base 31a is fixedly provided with a driving motor 35, and the output end of the driving motor 35 is fixedly connected with the first rotating rod 32; the driving motor 35 is used for driving the first rotating rod 32 to rotate, and the first rotating rod 32 drives the upper limit roller 33 to synchronously rotate when rotating, so that the line inspection robot moves back and forth on the high-voltage line;
a limiting groove 34 is formed in each base below the first rotating rod 32, and sliding rails 51 are symmetrically formed on two sides of the limiting groove 34; a limiting mechanism 5 and a limiting spring 55 are arranged in the limiting groove 34; the limiting mechanism 5 comprises a sliding block 52 arranged in the limiting groove 34; the sliding block 52 is in sliding connection with the sliding rail 51, and two ends of the limiting spring 55 are fixedly connected with the sliding block 52 and the corresponding base respectively; a second rotating rod 53 is rotatably arranged between the sliding blocks 52 of the two bases, and a lower limit roller 54 is fixedly sleeved in the middle of the second rotating rod 53;
when the line inspection robot touches an obstacle, the lower limit roller 54 drives the sliding block 52 to slide below the sliding rail 51, and the distance between the upper limit roller 33 and the lower limit roller 54 is increased so that the line inspection robot passes over the obstacle; when the inspection robot passes over the obstacle, the lower limit roller 54 is automatically reset by the limit spring 55.
When the upper limit roller 33 and the lower limit roller 54 of the first moving mechanism 3a touch an obstacle, the lower limit roller 54 drives the sliding block 52 to slide below the sliding rail 51, the distance between the upper limit roller 33 and the lower limit roller 54 is increased, so that the line inspection robot passes over the obstacle, and meanwhile, the second moving mechanism 3b and the third moving mechanism 3c stably support the supporting seat 1; after the upper limit roller 33 and the lower limit roller 54 of the first moving mechanism 3a pass over the obstacle, the lower limit roller 54 is automatically reset by the limit spring 55; after the first moving mechanism 3a, the second moving mechanism 3b, and the third moving mechanism 3c are sequentially moved over the obstacle, the inspection robot passes through the obstacle.
Each moving mechanism is fixedly mounted on the first rotary table 2a or the supporting base 1 or the second rotary table 2b through the first base 31a and the second base 31 b.
The inspection robot in this embodiment preferably further comprises a camera 4, a limiting mechanism 5, a turntable 6, a rotating mechanism 7, a waterproof shed 8, a movable rod 9, a cleaning mechanism 10, a cleaning mechanism 11 and a transmission mechanism 13.
The camera 4 is arranged above the moving mechanism, and the camera 4 is fixedly arranged below the waterproof shed 8.
One side of the camera 4 is provided with a cleaning mechanism 11.
The invention is integrally supported by the arranged supporting seat 1, the turntable 2 is rotatably supported by the arranged supporting seat 1, the moving mechanism is supported by the supporting seat and the turntable 2, the supporting seat 1 can move on a high-voltage power transmission line by the arranged moving mechanism and support the supporting seat 1, meanwhile, three groups of moving mechanisms can be used for crossing when encountering obstacles, the situation of the obstacles on the high-voltage power transmission line can be shot by the arranged camera 4, and the surface of the camera 4 is cleaned by the arranged cleaning mechanism 11, so that the shooting effect of the camera 4 is improved.
The base is fixedly supported through the supporting seat and the turntable, the first rotating rod 32 is rotatably supported through the base, the first rotating rod 32 can drive the upper limit roller 33 to synchronously rotate when rotating, the limit groove 34 is used for limiting the limit mechanism 5, and the driving motor 35 is used for driving the first rotating rod 32 to rotate, so that the upper limit roller 33 moves on a high-voltage line.
In actual design, when the overhead line walks to the drainage line, the drainage line is generally connected and fixed by other hardware fittings, so that opening structures capable of controlling opening and closing are arranged on two sides between the upper limit roller 33 and the lower limit roller 54, the hardware fittings at the switching position are convenient to span, and the upper limit roller 33 and the lower limit roller 54 can smoothly pass through the switching position to stride to the drainage line, and the opening structures are not shown in the figure.
In a further embodiment, the sliding block 52 is limited in sliding through the sliding rail 51, and the second rotating rod 53 is supported in rotating through the sliding block 52, so that the second rotating rod 53 fixedly supports the lower limiting roller 54; the sliding block 52 is elastically supported by the limiting spring 55, so that the sliding block 52 drives the lower limiting roller 54 to slide towards the upper limiting roller 33, the upper limiting roller 33 and the lower limiting roller 54 clamp the high-voltage transmission line, and the supporting seat 1 can be driven to move in position when the upper limiting roller 33 rotates;
the limiting groove 34 is used for limiting the limiting mechanism 5; thereby controlling the distance between the upper limit roller 33 and the lower limit roller (54); when the upper limit roller 33 and the lower limit roller 54 touch an obstacle, the lower limit roller 54 of the first moving mechanism 3a drives the sliding block 52 to slide below the sliding rail 51, and the distance between the upper limit roller 33 and the lower limit roller 54 is increased so that the line inspection robot passes over the obstacle; the support base 1 is stably supported by the second moving mechanism 3b and the third moving mechanism 3c, and after the upper limit roller 33 and the lower limit roller 54 pass over an obstacle, the lower limit roller 54 is automatically reset by the limit spring 55, and the first moving mechanism 3a, the second moving mechanism 3b and the third moving mechanism 3c pass through the obstacle in sequence.
Specifically, the rotary table 6 is symmetrically arranged below the supporting seat 1 in a rotating way, the rotary table 6 penetrates through the supporting seat 1 and is fixedly connected with the rotary table 2, and the rotary mechanism 7 is arranged between the rotary table 6 and the supporting seat 1.
In a further embodiment, the turntable 6 is rotatably supported by the supporting seat 1, and the turntable 2 is driven to rotate on the supporting seat 1 by the supporting seat 6, so that the moving mechanisms on two sides driven by the turntable 2 can adjust the moving direction.
Specifically, the rotating mechanism 7 includes a turbine 71 fixedly sleeved on the turntable 6, a support 72 is fixedly arranged on one side of the turntable 6 of the supporting seat 1, a worm 73 is rotatably arranged in the middle of the support 72, the worm 73 is meshed with the turbine 71, a rotating motor 74 is fixedly arranged on one side of the support 72, and an output end of the rotating motor 74 is fixedly connected with the worm 73.
In a further embodiment, the turbine 71 is fixedly supported by the set turntable 6, the support seat 72 is fixedly supported by the set support seat 1, the worm 73 is rotatably supported by the set support seat 72, the worm 73 drives the turbine 71 to rotate, the turntable 6 is driven by the turbine 71 to synchronously rotate, the rotating motor 74 is fixedly supported by the set support seat 72, and the worm 73 is driven by the set rotating motor 74 to rotate.
Specifically, the top of moving mechanism is provided with waterproof canopy 8, waterproof canopy 8 and the base fixed connection who sets up on supporting seat 1, waterproof canopy 8 are the arc setting, and camera 4 is fixed to be set up in the below of waterproof canopy 8.
In a further embodiment, the waterproof shed 8 is fixedly supported through the arranged base, the whole waterproof shed 8 is protected, the protection effect on the moving mechanism and the camera 4 is improved in overcast and rainy weather, and the phenomenon of short circuit caused by rainwater is reduced.
Specifically, the cleaning mechanism 11 includes brackets 111 symmetrically and fixedly arranged on the waterproof shed 8, a cleaning plate 112 is rotatably arranged between the two brackets 111, and the cleaning plate 112 is arranged in an arc shape;
one side of one of the brackets 111 is fixedly provided with a cleaning motor 113, an output end of the cleaning motor 113 is fixedly connected with a cleaning plate 112, one side of the cleaning plate 112, which is close to the camera 4, is provided with cleaning cotton 114, and an elastic mechanism 12 is arranged between the cleaning cotton 114 and the cleaning plate 112.
In a further embodiment, the support 111 is fixedly supported by the waterproof shed 8, the cleaning plate 112 is rotatably supported by the support 111, the cleaning motor 113 is fixedly supported by the support 111, the cleaning motor 113 drives the cleaning plate 112 to rotate, and the cleaning cotton 114 is driven to rotate by the cleaning plate 112, so that the cleaning cotton 114 cleans the surface of the camera 4.
Specifically, a chute 121 is formed on one side of the cleaning plate 112, which is close to the camera 4, and the cleaning cotton 114 is slidably arranged in the chute 121;
the elastic mechanism 12 includes a plurality of second springs 122 disposed inside the chute 121, and two ends of the second springs 122 are fixedly connected with the cleaning cotton 114 and the cleaning plate 112, respectively.
In a further embodiment, the cleaning cotton 114 is limited by sliding through the sliding groove 121, and the cleaning cotton 114 is elastically supported by the second spring 122, so that the cleaning cotton 114 can be tightly attached to the surface of the camera 4, the cleaning effect of the camera 4 is improved, and the shooting effect of the camera 4 is improved.
Specifically, one side of the supporting seat 1 is hinged with a movable rod 9, and one side of the movable rod 9 away from the supporting seat 1 is provided with a cleaning mechanism 10;
the cleaning mechanism 10 comprises a cleaning ring 101 fixedly arranged at one end of the movable rod 9, a cleaning rod 102 is symmetrically hinged in the middle of the cleaning ring 101, a first spring 103 is arranged between the cleaning rod 102 and the cleaning ring 101, and two ends of the first spring 103 are fixedly connected with the cleaning rod 102 and the cleaning ring 101 respectively; a transmission mechanism 13 is arranged between the cleaning mechanism 10 and the first rotating rod 32.
In a further embodiment, the movable rod 9 is rotatably supported by the supporting seat 1, and the cleaning ring 101 is fixedly supported by the movable rod 9, so that the cleaning ring 101 is sleeved on a high-voltage line and supports the cleaning rod 102, impurities (bird nest, garbage and the like) on the high-voltage line can be cleaned by the cleaning rod 102, the cleaning rod 102 is elastically supported by the first spring 103, and the cleaning effect of the cleaning rod 102 is improved.
Specifically, the transmission mechanism 13 comprises a swivel base 131 fixedly arranged on one side of the first swivel rod 32, a connecting rod 132 is rotatably arranged on one side of the swivel base 131, a slide rail 133 is arranged on one side of the base, a movable block 134 is slidably arranged in the slide rail 133, a linkage rod 135 is rotatably arranged at one end, far away from the swivel base 131, of the connecting rod 132, the linkage rod 135 is rotatably connected with the movable block 134, a transmission rod 136 is hinged to the movable block 134, and the transmission rod 136 is rotatably connected with the movable rod 9.
In a further embodiment, the first rotating rod 32 through the setting can drive the swivel base 131 to rotate when rotating, the swivel base 131 drives the connecting rod 132 to move, the sliding block 134 is limited through the set sliding way 133, the connecting rod 132 drives the movable block 134 to slide up and down in the sliding way 133 through the linkage rod 135, the transmission rod 136 is driven to synchronously lift through the set movable block 134, and the movable rod 9 is driven to rotate on the swivel base 2 through the set transmission rod 136, so that the movable rod 9 drives the cleaning rod 102 to clean impurities on a transmission line.
Example 2.
A line inspection robot work method for a high-voltage transmission line comprises the following steps:
starting a driving motor, driving a first rotating rod to rotate through the output end of the driving motor, and driving an upper limit roller to rotate through the first rotating rod, so that the upper limit roller drives a supporting seat to move in position on a high-voltage transmission line;
when the high-voltage transmission line encounters an obstacle, the lower limit roller drives the sliding block to slide downwards of the sliding rail, the supporting seat is stably supported through the other two groups of moving mechanisms, after the upper limit roller and the lower limit roller pass over the obstacle, the lower limit roller is automatically reset through the limit spring, and the three groups of moving mechanisms pass through the obstacle in sequence;
the rotary motor is started, the worm is driven to rotate through the output end of the rotary motor, the worm drives the turbine to rotate, the rotary table is driven to synchronously rotate through the turbine, the rotary table is driven to rotate on the supporting seat through the rotary table, and the moving mechanisms on the two sides of the rotary table are driven to adjust the moving direction.
The first bull stick can drive the swivel mount and rotate when rotating, drives the connecting rod through the swivel mount and removes to make the connecting rod pass through the gangbar and drive movable block and slide from top to bottom in the slide inside, drive the transmission pole through the movable block and go up and down in step, the transmission pole drives the movable rod and rotates on the swivel mount, the movable rod drives clean pole and clear up the impurity on the power transmission line, reduces the hindrance that upper limit roller and lower limit roller removed on the power transmission line.
Starting a cleaning motor, driving the cleaning plate to rotate through the output end of the cleaning motor, and driving the cleaning cotton to rotate through the cleaning plate, so that the cleaning cotton cleans the surface of the camera; and carry out elastic support to clean cotton through the second spring, make clean cotton hug closely at the camera surface, improve the clearance effect to the camera to improve the shooting effect of camera.
The invention has the advantages that compared with the prior art,
1) According to the invention, the driving motor, the first rotating rod and the upper limit roller are matched with each other, so that the upper limit roller drives the supporting seat to move in position on the high-voltage transmission line; when the high-voltage transmission line encounters an obstacle, the lower limit roller drives the sliding block to slide towards the lower side of the sliding rail, the supporting seat is stably supported through the other two groups of moving mechanisms, after the upper limit roller and the lower limit roller pass over the obstacle, the lower limit roller is automatically reset through the limit spring, and the three groups of moving mechanisms pass through the obstacle in sequence.
2) According to the invention, the rotating motor, the worm, the turbine and the turntable are mutually matched, and the turntable is driven to rotate on the supporting seat by the turntable, so that the turntable drives the moving mechanisms at two sides to adjust the moving direction.
3) According to the invention, the first rotating rod drives the rotating disc to rotate when rotating, the rotating disc drives the connecting rod to move, the connecting rod drives the movable block to slide up and down in the slideway through the linkage rod, the movable block drives the transmission rod to synchronously lift, and the movable rod is driven to rotate on the rotating seat through the arranged transmission rod, so that the movable rod drives the cleaning rod to clean impurities on the transmission line, and the obstruction of the movement of the upper limit roller and the lower limit roller on the transmission line is reduced. The amplitude of rotation can be gradually changed, larger angle change is realized, the technical purpose that a crossing drainage wire passes through a corner tension tower can be realized, three travelling wheels can realize arbitrary angle conversion of the drainage wire and an overhead wire, and three travelling mechanisms are positioned on a plane, so that the effect of stable travelling can be realized.
4) According to the invention, the cleaning plate is driven to rotate through the output end of the cleaning motor, and the cleaning cotton is driven to rotate through the cleaning plate, so that the cleaning cotton cleans the surface of the camera; and carry out elastic support to clean cotton through the second spring, make clean cotton can hug closely on the camera surface, improve the cleaning performance to the camera to improve the shooting effect of camera.
The present disclosure may be a system, method, and/or computer program product. The computer program product may include a computer readable storage medium having computer readable program instructions embodied thereon for causing a processor to implement aspects of the present disclosure.
The computer readable storage medium may be a tangible device that can hold and store instructions for use by an instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: portable computer disks, hard disks, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static Random Access Memory (SRAM), portable compact disk read-only memory (CD-ROM), digital Versatile Disks (DVD), memory sticks, floppy disks, mechanical coding devices, punch cards or in-groove structures such as punch cards or grooves having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media, as used herein, are not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., optical pulses through fiber optic cables), or electrical signals transmitted through wires.
The computer readable program instructions described herein may be downloaded from a computer readable storage medium to a respective computing/processing device or to an external computer or external storage device over a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmissions, wireless transmissions, routers, firewalls, switches, gateway computers and/or edge servers. The network interface card or network interface in each computing/processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium in the respective computing/processing device.
Computer program instructions for performing the operations of the present disclosure can be assembly instructions, instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, c++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer readable program instructions may be executed entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, aspects of the present disclosure are implemented by personalizing electronic circuitry, such as programmable logic circuitry, field Programmable Gate Arrays (FPGAs), or Programmable Logic Arrays (PLAs), with state information of computer readable program instructions, which can execute the computer readable program instructions.
Various aspects of the present disclosure are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.
These computer readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer readable program instructions may also be stored in a computer readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer readable medium having the instructions stored therein includes an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.
The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
Finally, it should be noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the above embodiments, it should be understood by those skilled in the art that: modifications and equivalents may be made to the specific embodiments of the invention without departing from the spirit and scope of the invention, which is intended to be covered by the claims.
Claims (9)
1. A high-voltage transmission line inspection robot, the inspection robot includes: the support base (1), the first rotary table (2 a) and the second rotary table (2 b) are symmetrically arranged above the support base (1), and the support base (1) rotatably supports the first rotary table (2 a) and the second rotary table (2 b); the inspection robot is characterized by comprising: a first moving mechanism (3 a), a second moving mechanism (3 b), a third moving mechanism (3 c); the first moving mechanism (3 a) is fixedly arranged on the first rotary table (2 a), the second moving mechanism (3 b) is fixedly arranged in the middle of the supporting seat (1), and the third moving mechanism (3 c) is fixedly arranged on the second rotary table (2 b);
one side of the supporting seat (1) is hinged with a movable rod (9), and one side of the movable rod (9) far away from the supporting seat (1) is provided with a cleaning mechanism (10); the cleaning mechanism (10) comprises a cleaning ring (101) fixedly arranged at one end of the movable rod (9), the middle part of the cleaning ring (101) is symmetrically hinged with a cleaning rod (102), a first spring (103) is arranged between the cleaning rod (102) and the cleaning ring (101), and two ends of the first spring (103) are fixedly connected with the cleaning rod (102) and the cleaning ring (101) respectively; a transmission mechanism (13) is arranged between the cleaning mechanism (10) and the first rotating rod (32);
each moving mechanism comprises a first base (31 a) and a second base (31 b), a first rotating rod (32) is rotatably arranged between the first base (31 a) and the second base (31 b), and an upper limit roller (33) is fixedly sleeved at the middle part of the first rotating rod (32); a driving motor (35) is fixedly arranged on the outer side of the first base (31 a), and the output end of the driving motor (35) is fixedly connected with the first rotating rod (32); the driving motor (35) is used for driving the first rotating rod (32) to rotate, and the first rotating rod (32) drives the upper limit roller (33) to synchronously rotate when rotating, so that the line inspection robot moves back and forth on the high-voltage line;
each base is positioned below the first rotating rod (32) and provided with a limiting groove (34), and sliding rails (51) are symmetrically arranged on two sides of the limiting groove (34); a limiting mechanism (5) and a limiting spring (55) are arranged in the limiting groove (34); the limiting mechanism (5) comprises a sliding block (52) arranged in the limiting groove (34); the sliding block (52) is in sliding connection with the sliding rail (51), and two ends of the limiting spring (55) are fixedly connected with the sliding block (52) and the corresponding base respectively; a second rotating rod (53) is rotatably arranged between the sliding blocks (52) of the two bases, and a lower limit roller (54) is fixedly sleeved at the middle part of the second rotating rod (53); opening structures capable of controlling opening and closing are arranged at two sides between the upper limit roller (33) and the lower limit roller (54);
when the line inspection robot touches an obstacle, the lower limit roller (54) drives the sliding block (52) to slide below the sliding rail (51), and the distance between the upper limit roller (33) and the lower limit roller (54) is increased so that the line inspection robot passes over the obstacle; when the line inspection robot passes over an obstacle, the lower limit roller (54) is automatically reset by the limit spring (55);
the inspection robot further includes: the camera is characterized by comprising a camera (4), a waterproof shed (8) and a cleaning mechanism (11), wherein the waterproof shed (8) is arranged above the moving mechanism, the waterproof shed (8) is fixedly connected with the base, the camera (4) is fixedly arranged below the waterproof shed (8), and the cleaning mechanism (11) is arranged on one side of the camera (4);
the camera (4) is used for shooting the obstacle condition on the high-voltage line;
the cleaning mechanism (11) is used for wiping and cleaning the surface of the camera (4);
a sliding groove (121) is formed in one side, close to the camera (4), of the cleaning plate (112), and cleaning cotton (114) is arranged in the sliding groove (121) in a sliding manner;
the elastic mechanism (12) comprises a plurality of second springs (122) arranged in the sliding groove (121), the second springs (122) are arranged, and two ends of each second spring (122) are fixedly connected with the cleaning cotton (114) and the cleaning plate (112) respectively.
2. The high voltage transmission line inspection robot of claim 1, wherein:
the limiting groove (34) is used for limiting the limiting mechanism (5); thereby controlling the distance between the upper limit roller (33) and the lower limit roller (54);
when an upper limit roller (33) and a lower limit roller (54) of a first moving mechanism (3 a) touch an obstacle, the lower limit roller (54) drives a sliding block (52) to slide below a sliding rail (51), the distance between the upper limit roller (33) and the lower limit roller (54) is increased, so that a line inspection robot passes over the obstacle, and meanwhile, a supporting seat (1) is stably supported through a second moving mechanism (3 b) and a third moving mechanism (3 c); after the upper limit roller (33) and the lower limit roller (54) of the first moving mechanism (3 a) pass over the obstacle, the lower limit roller (54) is automatically reset through a limit spring (55); after the first moving mechanism (3 a), the second moving mechanism (3 b) and the third moving mechanism (3 c) sequentially pass over the obstacle, the inspection robot passes through the obstacle.
3. The high voltage transmission line inspection robot of claim 1, wherein:
each moving mechanism is fixedly arranged on the first rotary table (2 a) or the supporting seat (1) or the second rotary table (2 b) through the first base (31 a) and the second base (31 b).
4. The high voltage transmission line inspection robot of claim 1, wherein:
the sliding rail (51) is used for sliding and limiting the sliding block (52), the sliding block (52) is used for rotatably supporting the second rotating rod (53), and the second rotating rod (53) is used for fixedly supporting the lower limiting roller (54);
the limiting spring (55) elastically supports the sliding block (52), the sliding block (52) drives the lower limiting roller (54) to slide towards the upper limiting roller (33), so that the upper limiting roller (33) and the lower limiting roller (54) clamp the high-voltage transmission line, and the supporting seat 1 is driven to move in position when the upper limiting roller (33) rotates.
5. The high voltage transmission line inspection robot of claim 1, wherein:
the below symmetry rotation of supporting seat (1) is provided with revolving stage (6), revolving stage (6) run through supporting seat (1) to with fixed connection between carousel (2), be provided with slewing mechanism (7) between revolving stage (6) and supporting seat (1), slewing mechanism (7) are including fixed turbine (71) of overlapping on locating revolving stage (6), supporting seat (1) are located one side of revolving stage (6) and are fixedly provided with support (72), the middle part rotation of support (72) is provided with worm (73), meshing connection between worm (73) and turbine (71), one side of support (72) is fixed and is provided with rotation motor (74), fixed connection between the output of rotation motor (74) and worm (73).
6. The high-voltage transmission line inspection robot according to claim 4, wherein: the waterproof shed (8) is arranged in an arc shape.
7. The high-voltage transmission line inspection robot according to claim 4, wherein:
the cleaning mechanism (11) comprises brackets (111) symmetrically and fixedly arranged on the waterproof shed (8), a cleaning plate (112) is rotatably arranged between the two brackets (111), and the cleaning plate (112) is arranged in an arc shape;
one side of one bracket (111) is fixedly provided with a cleaning motor (113), the output end of the cleaning motor (113) is fixedly connected with a cleaning plate (112), one side of the cleaning plate (112) close to the camera (4) is provided with cleaning cotton (114), and an elastic mechanism (12) is arranged between the cleaning cotton (114) and the cleaning plate (112).
8. The high voltage transmission line inspection robot of claim 1, wherein:
the transmission mechanism (13) comprises a rotating seat (131) fixedly arranged on one side of a first rotating rod (32), a connecting rod (132) is rotatably arranged on one side of the rotating seat (131), a slide way (133) is arranged on one side of the base, a movable block (134) is slidably arranged in the slide way (133), one end, far away from the rotating seat (131), of the connecting rod (132) is rotatably provided with a linkage rod (135), the linkage rod (135) is rotatably connected with the movable block (134), a transmission rod (136) is hinged on the movable block (134), and the transmission rod (136) is rotatably connected with the movable rod (9).
9. A working method of a line inspection robot for a high-voltage transmission line, based on any one of claims 1 to 8, characterized by comprising the following steps:
starting a driving motor, driving a first rotating rod to rotate through the output end of the driving motor, and driving an upper limit roller to rotate through the first rotating rod, so that the upper limit roller drives a supporting seat to move in position on a high-voltage transmission line;
when the high-voltage transmission line encounters an obstacle, the lower limit roller drives the sliding block to slide below the sliding rail, the support seat is stably supported through the other two groups of moving mechanisms, after the upper limit roller and the lower limit roller pass over the obstacle, the lower limit roller is automatically reset through the limit spring, and the three groups of moving mechanisms pass through the obstacle in sequence;
starting a rotating motor, driving a worm to rotate through the output end of the rotating motor, driving a turbine to rotate through the worm, driving a turntable to synchronously rotate through the turbine, and driving the turntable to rotate on a supporting seat through the turntable, so that the turntable drives moving mechanisms at two sides to adjust the moving direction;
the first rotating rod can drive the rotating seat to rotate when rotating, the rotating seat drives the connecting rod to move, the connecting rod drives the movable block to slide up and down in the slideway through the linkage rod, the movable block drives the transmission rod to synchronously lift, the transmission rod drives the movable rod to rotate on the rotating seat, and the movable rod drives the cleaning rod to clean impurities on the transmission line;
starting a cleaning motor, driving the cleaning plate to rotate through the output end of the cleaning motor, and driving the cleaning cotton to rotate through the cleaning plate, so that the cleaning cotton cleans the surface of the camera; and the cleaning cotton is elastically supported by the second spring, so that the cleaning cotton is tightly attached to the surface of the camera.
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| CN202211033974.0A CN115366123B (en) | 2022-08-26 | 2022-08-26 | Line inspection robot for high-voltage transmission line and working method thereof |
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| CN202211033974.0A CN115366123B (en) | 2022-08-26 | 2022-08-26 | Line inspection robot for high-voltage transmission line and working method thereof |
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| CN115366123B true CN115366123B (en) | 2024-02-23 |
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| CN116054019A (en) * | 2023-02-01 | 2023-05-02 | 国网江苏省电力有限公司南通供电分公司 | Intelligent inspection robot for maintaining high-voltage circuit system |
| CN116296269A (en) * | 2023-02-06 | 2023-06-23 | 梁帅成 | Real-time monitoring equipment and monitoring method for optical cable state of power distribution network |
| CN116565758B (en) * | 2023-05-15 | 2023-11-21 | 中源建设有限公司 | Inspection robot for overhead high-voltage transmission line |
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