CN116360436A - Power equipment facility inspection robot - Google Patents
Power equipment facility inspection robot Download PDFInfo
- Publication number
- CN116360436A CN116360436A CN202310302073.5A CN202310302073A CN116360436A CN 116360436 A CN116360436 A CN 116360436A CN 202310302073 A CN202310302073 A CN 202310302073A CN 116360436 A CN116360436 A CN 116360436A
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- China
- Prior art keywords
- power equipment
- inspection
- inspection robot
- equipment facility
- clamping
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
Abstract
The invention relates to the technical field of electric power detection, and provides an electric power equipment facility inspection robot which comprises a trolley, wherein an inspection mechanism is fixedly arranged at the upper end of the trolley, two ends of the inspection mechanism are respectively provided with a directional mechanism, three groups of clamping mechanisms are arranged in the inspection mechanism, one side of each of the three groups of clamping mechanisms is connected with a belt, the upper end of one clamping mechanism is connected with a motor through the belt, and the motor is fixedly arranged in the inspection mechanism. Through setting up dolly and inspection mechanism, erect detecting instrument at the middle part of device, utilize first gyro wheel and second gyro wheel to carry out upper and lower centre gripping to the cable to through the straight lift paddle of inspection mechanism upper end production ascending lifting force, avoid the gravity of robot to the burden that the cable caused, ensure to overhaul smoothly to the cable, and fly the walking along the cable through the rotation drive robot that removes the paddle, overhaul the cable, can realize detecting operation at arbitrary high altitude, improve the practicality.
Description
Technical Field
The invention relates to the technical field of power detection, in particular to a power equipment facility inspection robot.
Background
With the continuous development of the electric power industry, the electric power inspection robot has a plurality of advantages, so that the electric power inspection robot is particularly rapid in development, and can automatically and automatically finish the work content contained in general inspection under the condition of unattended operation no matter in daytime or at night or in windy or rainy days, so that the workload of operators can be reduced, and the safety risk of the operators can be reduced when serious or bad weather is met, but the conventional robot has a certain limitation in actual use.
The existing electric power inspection robots are of the helicopter type, the suspension type and the ground type, and the unmanned inspection robots are high in operation difficulty; the suspension type inspection robot is influenced by self gravity, threatens the safety of a power transmission line, is limited by terrain, has a narrow application range, is limited by the ground environment of the power transmission network, and has high requirements on the condition of the terrain.
Therefore, the utility model provides an improvement to this, proposes a power equipment facility inspection robot.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: the operation is complicated, the steps of installation and disassembly are complicated, the danger is high, the power transmission line is damaged, and the method cannot adapt to complex environments such as mountain areas, barren lands, water flows and the like.
(II) technical scheme
In order to achieve the above object, the invention provides a power equipment facility inspection robot, which comprises a trolley, wherein an inspection mechanism is fixedly arranged at the upper end of the trolley, two ends of the inspection mechanism are respectively provided with a directional mechanism, three groups of clamping mechanisms are arranged in the inspection mechanism, one side of each of the three groups of clamping mechanisms is connected with a belt, the upper end of one clamping mechanism is connected with a motor through the belt, the motor is fixedly arranged in the inspection mechanism, the bottoms of the three groups of clamping mechanisms and the two directional mechanisms are connected with the same connecting frame, two ends of the connecting frame are connected with second electric push rods, and the top ends of the second electric push rods are fixed in the inspection mechanism.
The trolley comprises a trolley body, wheels are arranged at the bottom of the trolley body, a telescopic frame is connected with the upper end of the trolley body, a hydraulic push rod is connected with the middle of the telescopic frame, and the upper end of the telescopic frame is connected to the inspection mechanism.
The inspection mechanism comprises a connecting plate and a shell, one side of the connecting plate and one side of the shell are fixedly connected with a connecting side plate, a detecting instrument is installed in the middle of the connecting side plate, two ends of the shell are connected with mounting plates, the mounting plates are fixedly connected with a directional mechanism, a controller is installed at the upper end of the shell, a helicopter blade is installed at the upper end of the controller, movable blades are installed at the front end and the rear end of the shell, and the movable blades are electrically connected with the controller.
The clamping mechanism comprises a first fixed frame and a second fixed frame which are hinged, a first roller is rotatably arranged in the middle of the first fixed frame, one end of the first roller is connected with a first gear, a second roller is rotatably arranged in the middle of the second fixed frame, one end of the second roller is connected with a second gear, and the first gear and the second gear are in meshed connection when the first fixed frame and the second fixed frame are closed.
The directional mechanism comprises a third fixing frame and a fourth fixing frame which are hinged, clamping plates are connected to the third fixing frame and the fourth fixing frame respectively, grooves are formed in the middle of the clamping plates respectively in a centered mode, inclined clamping blocks are connected to one end of the inner portion of each groove, a pushing plate is arranged on the outer side of each clamping block, the pushing plates are sleeved on the outer sides of the clamping blocks, and first electric pushing rods are connected to the middle portions of the pushing plates and the third fixing frame.
The first roller and the second roller are waist drum-shaped, and the opening angle between the first fixing frame and the second fixing frame is ninety degrees at most.
The clamping plate is semi-cylindrical, the thickness value of the clamping block is larger than that of the clamping plate, and the opening angle between the third fixing frame and the fourth fixing frame is ninety degrees at most.
The shell is internally provided with a battery, and the shell provides power for the helicopter blade, the movable blade, the detecting instrument, the motor and the second electric push rod through the battery.
The number of the detection instruments is two, and the two detection instruments are arranged as laser radars or cameras.
(III) beneficial effects
The invention provides a power equipment facility inspection robot, which has the beneficial effects that:
1. through setting up dolly and inspection mechanism, erect detecting instrument at the middle part of device, utilize first gyro wheel and second gyro wheel to carry out upper and lower centre gripping to the cable to through the straight lift paddle of inspection mechanism upper end production ascending lifting force, avoid the gravity of robot to the burden that the cable caused, ensure to overhaul smoothly to the cable, and fly the walking along the cable through the rotation drive robot that removes the paddle, overhaul the cable, can realize detecting operation at arbitrary high altitude, improve the practicality.
2. Through installing a directional mechanism respectively at the both ends of inspection mechanism, carry out the chucking to the device front and back end through the directional mechanism of front and back end, carry out the brake of device, the maintenance position of accurate device of being convenient for also avoids the device to appear in the in-process of sliding on the cable.
3. Through internally mounted at the dolly has expansion bracket and hydraulic push rod, is convenient for promote expansion bracket flexible deformation and then adjust the height of inspection mechanism and other spare part of inspection mechanism upper end through hydraulic push rod, makes the ground walking of device accessible dolly also, and the device of being convenient for patrol and examine the electrical equipment of bottom surface like electrical cabinet, and adapt to the work of patrolling and examining of the electrical cabinet of not co-altitude.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings can be obtained according to these drawings without inventive effort to a person skilled in the art.
Fig. 1 is a schematic structural diagram of an inspection robot for electrical equipment facilities provided in the present application;
fig. 2 is a schematic installation diagram of an inspection mechanism, a clamping mechanism and an orientation mechanism of the inspection robot for electric equipment facilities;
fig. 3 is a schematic view of an inspection mechanism of an inspection robot for electrical equipment facilities provided in the present application;
fig. 4 is a schematic diagram of a trolley of the inspection robot for power equipment facilities provided by the application;
fig. 5 is a schematic view of a telescopic frame of the inspection robot for electrical equipment facilities provided by the application;
fig. 6 is a schematic installation diagram of a clamping mechanism, a directional mechanism and a connecting frame of the inspection robot for the electrical equipment facility;
fig. 7 is a schematic diagram of a clamping mechanism of an inspection robot for an electrical equipment facility;
fig. 8 is a schematic diagram of an orientation mechanism of the inspection robot for electrical equipment facilities.
In the figure: 1. a trolley; 11. a vehicle body; 12. a wheel; 13. a telescopic frame; 14. a hydraulic push rod; 2. a patrol mechanism; 21. a connecting plate; 22. a housing; 23. connecting side plates; 24. a detection instrument; 25. a mounting plate; 26. moving the blade; 27. a helicopter blade; 28. a controller; 3. a clamping mechanism; 31. a first fixing frame; 32. the second fixing frame; 33. a first roller; 34. a first gear; 35. a second roller; 36. a second gear; 4. a directional mechanism; 41. a third fixing frame; 42. a fourth fixing frame; 43. a clamping plate; 44. a groove; 45. a clamping block; 46. a push plate; 47. a first electric push rod; 5. a belt; 6. a motor; 7. a connecting frame; 8. and the second electric push rod.
Detailed Description
The following detailed description of specific embodiments of the invention is provided in connection with the accompanying drawings and examples. The following examples are only illustrative of the present invention and are not intended to limit the scope of the invention.
As shown in fig. 1-8, this embodiment provides a power equipment facility inspection robot, including dolly 1, the upper end fixed mounting of dolly 1 has inspection mechanism 2, an orientation mechanism 4 is installed respectively at the both ends of inspection mechanism 2, the inside of inspection mechanism 2 is equipped with three groups of fixture 3, one side of three groups of fixture 3 is connected with belt 5, the upper end of one of them fixture 3 is connected with motor 6 through belt 5, motor 6 fixed mounting is in the inside of inspection mechanism 2, the bottom of three groups of fixture 3 and two orientation mechanisms 4 all is connected with same link 7, the both ends of link 7 are connected with second electric putter 8, the top of second electric putter 8 is fixed in the inside of inspection mechanism 2.
The dolly 1 includes automobile body 11, and the bottom of automobile body 11 is equipped with wheel 12, and the upper end of automobile body 11 is connected with expansion bracket 13, and the middle part of expansion bracket 13 is connected with hydraulic push rod 14, and the upper end of expansion bracket 13 is connected on inspection mechanism 2, and automobile body 11 is connected with inspection mechanism 2 through expansion bracket 13 to promote the promotion of expansion bracket 13 through hydraulic push rod 14 to expansion bracket 13 and stretch out and draw back the length, carry out the promotion on the height to inspection mechanism 2, the device of being convenient for detects the electrical equipment of not co-altitude.
The inspection mechanism 2 comprises a connecting plate 21 and a shell 22, one side of the connecting plate 21 and one side of the shell 22 are fixedly connected with a connecting side plate 23, a detecting instrument 24 is installed in the middle of the connecting side plate 23, two ends of the shell 22 are connected with a mounting plate 25, the mounting plate 25 is fixedly connected with the orientation mechanism 4, a controller 28 is installed at the upper end of the shell 22, a helicopter blade 27 is installed at the upper end of the controller 28, movable blades 26 are installed at the front end and the rear end of the shell 22, the movable blades 26 are electrically connected with the controller 28, the shell 22 generates front-rear power under the rotation of the movable blades 26, the front-rear movement of a driving device is facilitated, the detecting instrument 24 in the middle of the connecting plate 21 and the shell 22 is used for shooting the device, and inspection is performed on electrical equipment.
The fixture 3 includes articulated first mount 31 and second mount 32, first gyro wheel 33 is installed in the middle part rotation of first mount 31, the one end of first gyro wheel 33 is connected with first gear 34, second gyro wheel 35 is installed in the middle part rotation of second mount 32, the one end of second gyro wheel 35 is connected with second gear 36, first gear 34 and second gear 36 meshing are connected when first mount 31 and second mount 32 are closed, first gyro wheel 33 and second gyro wheel 35 press on the cable, and the centre gripping is this cable upwards hold up along with the upward, forward backward removal of inspection mechanism 2, reduce the extrusion of device self weight to the cable, avoid the cable to appear damaging the rupture.
The orientation mechanism 4 comprises a third fixing frame 41 and a fourth fixing frame 42 which are hinged, clamping plates 43 are connected in the third fixing frame 41 and the fourth fixing frame 42, grooves 44 are formed in the middle of the two clamping plates 43 in a centered mode, inclined clamping blocks 45 are connected at one end of the inner portions of the grooves 44, pushing plates 46 are arranged on the outer sides of the clamping blocks 45, the pushing plates 46 are sleeved on the outer sides of the clamping blocks 45, first electric push rods 47 are connected in the middle of the pushing plates 46 and the third fixing frame 41, the clamping blocks 45 clamp and fix the cable surfaces inside the clamping plates 43 under the pressing of the pushing plates 46, the device is cut off, the device is stable at a certain position of the cable, the whole robot is positioned, and the phenomenon that the device cannot hover in the flying process is avoided, and the device is positioned inaccurately is avoided.
The first roller 33 and the second roller 35 are waist drum-shaped, the opening angle between the first fixing frame 31 and the second fixing frame 32 is ninety degrees at most, the first fixing frame 31 and the second fixing frame 32 are opened and closed to fix the first roller 33 and the second roller 35 on the surface of a cable one by one, the whole device is stable on the outer side of the cable, the cable is lifted, and the cable is detected.
The clamping plate 43 is semi-cylindrical, the thickness value of the clamping block 45 is larger than that of the clamping plate 43, the opening angle between the third fixing frame 41 and the fourth fixing frame 42 is ninety degrees at most, and the fourth fixing frame 42 is opened and closed at the bottom of the third fixing frame 41 along with the opening and closing of the connecting frame 7, so that the clamping mechanism 3 is convenient for clamping the cable along with the clamping mechanism, the device is fixed on the cable, and the device is walked and detected along the cable.
The inside of shell 22 is equipped with the battery, and shell 22 provides the power through the battery to lift paddle 27, remove paddle 26, detecting instrument 24, motor 6 and second electric putter 8, and the inside battery of shell 22 and control components and parts are to lift paddle 27, remove paddle 26, detecting instrument 24, motor 6 and second electric putter 8 switch's control, the automated inspection of the device of being convenient for.
The number of the detecting instruments 24 is two, the two detecting instruments 24 are arranged as a laser radar or a camera, the laser radar and the camera are electrically connected with the controller 28, power is supplied to the detecting instruments 24, and photographed images or other collected information are uploaded to a network for remote diagnosis, so that the inspection of electric power facilities is facilitated.
Specifically, this power equipment facility inspection robot when using: the trolley 1 and the inspection mechanism 2 are connected, a detection instrument 24 is installed in the middle of a connecting side plate 23, if the cable part needs to be overhauled, a lifting blade 27 at the top of a controller 28 is required to drive the whole device to fly upwards, when the height of the device moves to one side of the cable, the cable is clamped up and down by a first roller 33 and a second roller 35 to generate an upward lifting force, the moving blade 26 rotates to drive the robot to fly and walk along the cable wholly, a laser radar and a camera on the detection instrument 24 are utilized to overhaul and pick up the cable, a directional mechanism 4 installed at two ends of the inspection mechanism 2 is used to hug the cable tightly, the moving direction of the device on the cable is determined, looseness of the device is avoided when the robot overhauls, and the overhauling position of the device is accurate; when the electric power setting to the bottom surface is put into the electrical cabinet and overhauls, with fixture 3 and directional mechanism 4 to the original form, dolly 1 drives inspection mechanism 2 and other equipment and carries out subaerial walking and remove, overhauls subaerial electrical facilities, if the height appears the mismatch, hydraulic push rod 14 promotes expansion bracket 13 flexible deformation and then adjusts the height of inspection mechanism 2 and other spare part of inspection mechanism 2 upper end, adaptation not high electrical cabinet's inspection work.
The above embodiments are only for illustrating the present invention, and are not limiting of the present invention. While the invention has been described in detail with reference to the embodiments, those skilled in the art will appreciate that various combinations, modifications, and substitutions can be made thereto without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (9)
1. The utility model provides a power equipment facility inspection robot, includes dolly (1), its characterized in that: the utility model discloses a car, including dolly (1) and guiding mechanism, dolly (1) upper end fixed mounting has inspection mechanism (2), an orientation mechanism (4) is installed respectively at the both ends of inspection mechanism (2), the inside of inspection mechanism (2) is equipped with three clamping mechanism (3), and is three group one side of clamping mechanism (3) is connected with belt (5), one of them the upper end of clamping mechanism (3) is connected with motor (6) through belt (5), motor (6) fixed mounting is in the inside of inspection mechanism (2), three groups clamping mechanism (3) and two the bottom of orientation mechanism (4) all is connected with same link (7), the both ends of link (7) are connected with second electric putter (8), the inside at inspection mechanism (2) is fixed on the top of second electric putter (8).
2. The power equipment facility inspection robot of claim 1, wherein: the trolley (1) comprises a trolley body (11), wheels (12) are arranged at the bottom of the trolley body (11), a telescopic frame (13) is connected to the upper end of the trolley body (11), a hydraulic push rod (14) is connected to the middle of the telescopic frame (13), and the upper end of the telescopic frame (13) is connected to the inspection mechanism (2).
3. The power equipment facility inspection robot of claim 1, wherein: the utility model provides a patrol and examine mechanism (2) including connecting plate (21) and shell (22), one side fixedly connected with of connecting plate (21) and shell (22) is connected curb plate (23), the mid-mounting of connecting curb plate (23) has detecting instrument (24), the both ends of shell (22) are connected with mounting panel (25), mounting panel (25) and directional mechanism (4) fixed connection, controller (28) are installed to the upper end of shell (22), helicopter blade (27) are installed to the upper end of controller (28), remove paddle (26) are all installed at the front and back both ends of shell (22), just remove paddle (26) and controller (28) for electric connection.
4. The power equipment facility inspection robot of claim 1, wherein: the clamping mechanism (3) comprises a first fixed frame (31) and a second fixed frame (32) which are hinged, a first roller (33) is rotatably installed in the middle of the first fixed frame (31), one end of the first roller (33) is connected with a first gear (34), a second roller (35) is rotatably installed in the middle of the second fixed frame (32), one end of the second roller (35) is connected with a second gear (36), and the first gear (34) and the second gear (36) are in meshed connection when the first fixed frame (31) and the second fixed frame (32) are closed.
5. The power equipment facility inspection robot of claim 1, wherein: the utility model provides a directional mechanism (4) is including articulated third mount (41) and fourth mount (42), the inside of third mount (41) and fourth mount (42) all is connected with splint (43), two the middle part of splint (43) is all offered fluted (44) in the middle, the inside one end of recess (44) is connected with fixture block (45) of slope, the outside of fixture block (45) is equipped with push pedal (46), push pedal (46) cup joint in the outside of fixture block (45), just the middle part of push pedal (46) and third mount (41) is connected with first electric putter (47).
6. The power equipment facility inspection robot of claim 4, wherein: the first roller (33) and the second roller (35) are waist drum-shaped, and the opening angle between the first fixing frame (31) and the second fixing frame (32) is ninety degrees at most.
7. The power equipment facility inspection robot of claim 5, wherein: the clamping plate (43) is semi-cylindrical, the thickness value of the clamping block (45) is larger than that of the clamping plate (43), and the opening angle between the third fixing frame (41) and the fourth fixing frame (42) is ninety degrees at most.
8. A power equipment facility inspection robot according to claim 3, characterized in that: the inside of shell (22) is equipped with the battery, shell (22) are through battery to lift paddle (27), remove paddle (26), detecting instrument (24), motor (6) and second electric putter (8) provide the power.
9. A power equipment facility inspection robot according to claim 3, characterized in that: the number of the detection instruments (24) is two, and the two detection instruments (24) are arranged as laser radars or cameras.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310302073.5A CN116360436A (en) | 2023-03-27 | 2023-03-27 | Power equipment facility inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310302073.5A CN116360436A (en) | 2023-03-27 | 2023-03-27 | Power equipment facility inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116360436A true CN116360436A (en) | 2023-06-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310302073.5A Pending CN116360436A (en) | 2023-03-27 | 2023-03-27 | Power equipment facility inspection robot |
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| Country | Link |
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| CN (1) | CN116360436A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117110796A (en) * | 2023-10-19 | 2023-11-24 | 辽宁岳能科技有限公司 | Wind power generation cable fault online detection device and detection method |
-
2023
- 2023-03-27 CN CN202310302073.5A patent/CN116360436A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117110796A (en) * | 2023-10-19 | 2023-11-24 | 辽宁岳能科技有限公司 | Wind power generation cable fault online detection device and detection method |
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