CN116667215A - Line inspection robot for power line maintenance - Google Patents
Line inspection robot for power line maintenance Download PDFInfo
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- CN116667215A CN116667215A CN202310599773.5A CN202310599773A CN116667215A CN 116667215 A CN116667215 A CN 116667215A CN 202310599773 A CN202310599773 A CN 202310599773A CN 116667215 A CN116667215 A CN 116667215A
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- 238000007689 inspection Methods 0.000 title claims abstract description 130
- 238000012423 maintenance Methods 0.000 title claims description 12
- 238000012360 testing method Methods 0.000 claims abstract description 82
- 238000007790 scraping Methods 0.000 claims abstract description 4
- 238000001514 detection method Methods 0.000 claims description 32
- 230000000007 visual effect Effects 0.000 claims description 9
- 238000000034 method Methods 0.000 claims description 7
- 230000035939 shock Effects 0.000 claims description 7
- 239000006096 absorbing agent Substances 0.000 claims description 5
- 230000000694 effects Effects 0.000 abstract description 10
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 125000006850 spacer group Chemical group 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000010521 absorption reaction Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/043—Allowing translations
- F16M11/046—Allowing translations adapted to upward-downward translation movement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B33/00—Castors in general; Anti-clogging castors
- B60B33/04—Castors in general; Anti-clogging castors adjustable, e.g. in height; linearly shifting castors
- B60B33/045—Castors in general; Anti-clogging castors adjustable, e.g. in height; linearly shifting castors mounted resiliently, by means of dampers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/20—Undercarriages with or without wheels
- F16M11/2007—Undercarriages with or without wheels comprising means allowing pivoting adjustment
- F16M11/2021—Undercarriages with or without wheels comprising means allowing pivoting adjustment around a horizontal axis
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/42—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/9515—Objects of complex shape, e.g. examined with use of a surface follower device
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/9515—Objects of complex shape, e.g. examined with use of a surface follower device
- G01N2021/9518—Objects of complex shape, e.g. examined with use of a surface follower device using a surface follower, e.g. robot
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
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- General Health & Medical Sciences (AREA)
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Abstract
The invention relates to the technical field of line inspection equipment for line inspection, in particular to a line inspection robot for power line inspection. The beneficial effects of the invention are as follows: the height of the first test frame and the second test frame is adjusted more accurately, the positions of the first test frame and the second test frame are controlled accurately, and therefore when the inspection robot works, the distance between the first test frame and the second test frame and the line can be controlled more accurately, the line inspection work effect is better, the line inspection robot can be effectively prevented from scraping and touching the line during work, the line inspection robot is protected during work, and the service life of the line is longer.
Description
Technical Field
The invention relates to a line inspection robot, in particular to a line inspection robot for power line maintenance, and belongs to the technical field of line inspection equipment application for line maintenance.
Background
The most important task of the power system is to provide high-quality and high-reliability power, and the power line is a main mode of long-distance power transmission, because the power line is complex and has huge quantity, line inspection work needs to be carried out on the line at regular time in order to ensure the perfect and normal work of the line, however, the manpower line inspection cost is high and the cost is high, and the power line inspection robot needs to be used for replacing manpower to carry out timing inspection on the line to check whether the line is perfect, so that the normal operation of the power system is ensured.
However, the existing line inspection robot for the power line has great defects, the existing line inspection robot cannot control the distance between the line inspection robot and the line when the line inspection robot is in line inspection work, the line inspection robot is extremely easy to collide with the line to damage the line, the current line inspection robot cannot conduct omnibearing inspection around the line when the line inspection robot is in work, inspection is incomplete, and the line inspection effect is poor.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a line inspection robot for power line maintenance.
A inspection robot for electric power line overhauls, including inspection subassembly, locating component and detection component, locating component sets up in inspection subassembly's inside, detection component sets up at locating component's top, detection component includes the measuring bar, the locating rack, first and second test rack, the locating rack sets up at the top of measuring bar, first and second test rack all are located the top of locating rack, first and second test rack all are connected through the top of pivot and locating rack, install motor six on the top of measuring bar, motor six is connected with the locating rack through the pivot, all install vision sensor in the inboard of first and second test rack.
Preferably, the inspection assembly comprises an inspection frame and two mounting frames, wherein the two mounting frames are welded on two sides of the inspection frame, and one ends of the two mounting frames are connected with one wheel through a rotating shaft.
Preferably, one end of the mounting frame far away from the first wheel is connected with a connecting frame through a rotating shaft, one end of the connecting frame far away from the first wheel is provided with a first motor, the first motor is connected with a mounting frame through the rotating shaft, the mounting frame is of an inverted U-shaped structure, the second wheel is mounted in the mounting frame through the rotating shaft, one side of the mounting frame is provided with a second motor, and the second motor is connected with the second wheel through the rotating shaft.
Preferably, one end of the connecting frame, which is far away from the second wheel, is connected with the first wheel through a rotating shaft, and a shock absorber is arranged between the mounting frame and the connecting frame.
Preferably, the locating component includes mount, sill bar and locating lever, and the sill bar sets up at the top of mount, and the locating lever is located the inside of sill bar, and the mount welding is in the inside of inspection rack, and motor three is installed to one side of mount, and motor three is connected with the sill bar through the pivot.
Preferably, the bottom rod is hollow, a side frame I is arranged on one side of the bottom rod, a motor IV is arranged on the side frame I and connected with a gear I through a rotating shaft, a toothed plate I is arranged on one side of the positioning rod, which is close to the gear I, and the toothed plate I is meshed with the gear I.
Preferably, the sliding frame is welded on the inner side wall of one side, far away from the gear, of the bottom rod, the sliding rod is welded on one side, close to the sliding frame, of the positioning rod, the section of the sliding rod is of a T-shaped structure, the sliding rod is matched with the sliding frame, and the sliding rod slides in the sliding frame.
Preferably, the locating rod is hollow, a side frame II is welded on one side of the locating rod, a motor V is installed on the side frame II, a gear II is connected to the motor V through a rotating shaft, a sliding block is welded on the inner side wall of one side, far away from the gear II, of the locating rod, a toothed plate II is welded on one side, close to the gear II, of the detecting rod, and the gear II is meshed with the toothed plate II.
Preferably, a sliding groove is formed in one side, far away from the toothed plate II, of the detection rod, the sliding block is located in the sliding groove and slides along the sliding groove, and a PLC controller is installed in the inspection rack.
Preferably, the use method of the inspection robot specifically comprises the following steps:
step one: the motor III drives the rotating shaft to drive the bottom rod to rotate, the rotating bottom rod drives the positioning rod to rotate, the rotating positioning rod drives the detecting assembly to rotate, the position of the detecting assembly is controlled, the motor IV drives the rotating shaft to drive the gear I to rotate, the rotating gear I is meshed with the toothed plate I, the sliding rod is combined with the sliding rod to slide in the sliding frame, the positioning rod stretches in the bottom rod, the height of the detecting assembly is controlled, the height and the position of the detecting assembly are adjusted, the inspection robot can conduct inspection work on lines at different positions and different heights, the rotating positioning frame drives the first testing frame and the second testing frame to rotate in cooperation with the motor six, the identification angles of the first testing frame and the second testing frame are adjusted, and full-scale video identification is conducted on the outer surface of the power line;
step two: the motor five-drive rotating shaft drives the gear II to rotate, the rotating gear II is meshed with the toothed plate II, the sliding block is combined to slide along the sliding groove, the detecting rod is accurately controlled to lift, the heights of the first test frame and the second test frame are accurately adjusted, the motor six-drive rotating shaft drives the positioning frame to rotate, the rotating positioning frame drives the first test frame and the second test frame to rotate, the positions of the first test frame and the second test frame are accurately controlled, the distance between the first test frame and the second test frame and a circuit is accurately controlled, and the inspection robot is prevented from scraping the circuit during working;
step three: the visual sensors arranged in the first test frame and the second test frame work, video recording is carried out on two sides of the power line to collect data, the visual sensors transmit the collected information to the PLC controller, and the PLC controller processes and analyzes to judge the integrity of the appearance of the power line so as to carry out line inspection work;
step four: the motor one controls the pivot and drives the installation frame rotation, and then drives the rotation of wheel two for wheel two turns to, and motor two controls the pivot and drives wheel two rotation, makes wheel two advance back, and wheel one is rotatory, and the cooperation can turn to and advance the wheel two that backs and drive the inspection frame through link and mounting bracket and remove, makes the removal that the inspection frame can be nimble, patrols the line work to the circuit of different positions.
The invention has the beneficial effects that:
(1) According to the invention, the motor five-drive rotating shaft drives the gear II to rotate, so that the lifting of the detection rod is accurately controlled, the heights of the first test frame and the second test frame are accurately adjusted, the positioning frame is driven by the motor six-drive rotating shaft to rotate, the rotating positioning frame drives the first test frame and the second test frame to rotate, and the positions of the first test frame and the second test frame are accurately controlled, so that when the inspection robot works, the distance between the first test frame and the second test frame and a line can be accurately controlled, the inspection robot can have a better inspection work effect, the line can be effectively prevented from being scraped during work, the line can be protected during work, and the service life of the line is longer.
(2) According to the invention, the motor three-drive rotating shaft drives the bottom rod to rotate, the rotating positioning rod drives the detection assembly to rotate, the position of the detection assembly is controlled, the motor four-drive rotating shaft drives the gear one to rotate, so that the positioning rod stretches in the bottom rod, the height of the detection assembly is controlled, the height and the position of the detection assembly can be flexibly adjusted through the matching, the inspection robot can conveniently inspect lines at different positions and different heights, the inspection robot can more flexibly perform inspection operation, the positioning frame is driven to rotate by matching with the motor six-drive rotating shaft, the identification angles of the first test frame and the second test frame can be adjusted, the comprehensive video identification can be conveniently performed on the outer surface of a power line, the inspection robot can comprehensively collect video work in all directions on the power line, the inspection of the line is more comprehensive, and the inspection operation of the inspection robot can be more careful.
Drawings
The invention will be further described with reference to the drawings and examples.
FIG. 1 is a schematic diagram of the overall structure of the present invention.
Fig. 2 is a schematic structural diagram of a patrol component in the present invention.
FIG. 3 is a schematic diagram showing the cooperation of the positioning assembly and the detecting assembly according to the present invention.
Fig. 4 is a top view of a sill bar in accordance with the present invention.
Fig. 5 is a side view of a locating lever in the present invention.
Fig. 6 is a top view of a locating lever according to the present invention.
Fig. 7 is a schematic structural diagram of a detection component in the present invention.
Fig. 8 is a side view of a test stick in the present invention.
In the figure: 1. a patrol component; 101. a patrol frame; 102. a mounting frame; 103. a connecting frame; 104. a first wheel; 105. a mounting frame; 106. a second wheel; 107. a first motor; 108. a second motor; 109. a damper; 2. a positioning assembly; 201. a fixing frame; 202. a bottom bar; 203. a positioning rod; 204. a third motor; 205. a first side frame; 206. a fourth motor; 207. a first gear; 208. a sliding frame; 209. a toothed plate I; 210. a slide bar; 211. a second side frame; 212. a fifth motor; 213. a second gear; 214. a slide block; 3. a detection assembly; 301. a detection rod; 302. a positioning frame; 303. a first test rack; 304. a second test rack; 305. a visual sensor; 306. a toothed plate II; 307. a chute; 308. and a motor six.
Detailed Description
The invention is further described in connection with the following detailed description in order to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the invention easy to understand.
As shown in fig. 1-8, a line inspection robot for power line inspection, including inspection component 1, positioning component 2 and detection component 3, positioning component 2 sets up in inspection component 1's inside, detection component 3 sets up at positioning component 2's top, detection component 3 includes measuring rod 301, spacer 302, first 303 and second 304 of test rack, spacer 302 sets up at measuring rod 301's top, first 303 and second 304 of test rack are all located the top of spacer 302, first 303 and second 304 of test rack are all connected with spacer 302's top through the pivot, install motor six 308 at measuring rod 301's top, motor six 308 is connected with spacer 302 through the pivot, install vision sensor 305 in first 303 and second 304 of test rack's inboard (model: IV-H500 CA), the visual sensor 305 disposed in the first test frame 303 and the second test frame 304 can record and collect data on two sides of the power line, the visual sensor 305 transmits collected information to the PLC controller, the PLC controller processes and analyzes the collected information, and further can replace manual inspection of the line, the inspection speed is fast, and the rotating shaft is driven by the motor six 308 to drive the positioning frame 302 to rotate, the rotating positioning frame 302 drives the first test frame 303 and the second test frame 304 to rotate, thereby adjusting the identification angles of the first test frame 303 and the second test frame 304, further facilitating comprehensive video recording and identification on the outer surface of the power line, further enabling the inspection robot to comprehensively collect video on the power line, more comprehensively inspecting the line, more carefully inspecting the line, further comprehensively avoiding accidents caused by line damage, so that the power line is safer when in use.
In an optional implementation manner of the embodiment of the present invention, the inspection assembly 1 includes an inspection frame 101 and two mounting frames 102, the two mounting frames 102 are welded on two sides of the inspection frame 101, and one end of each of the two mounting frames 102 is connected with a wheel 104 through a rotating shaft, so that the mounting frames 102 can be kept fixed, and the stability of the inspection robot during operation is improved.
In an alternative implementation manner of the embodiment of the invention, one end of the mounting frame 102 far away from the first wheel 104 is connected with the connecting frame 103 through a rotating shaft, one end of the connecting frame 103 far away from the first wheel 104 is provided with the first motor 107, the first motor 107 is connected with the mounting frame 105 through a rotating shaft, the mounting frame 105 is in an inverted U-shaped structure, the second wheel 106 is arranged in the mounting frame 105 through a rotating shaft, one side of the mounting frame 105 is provided with the second motor 108, the second motor 108 is connected with the second wheel 106 through a rotating shaft, the first motor 107 controls the rotating shaft to drive the mounting frame 105 to rotate, the second wheel 106 is driven to rotate by the second motor 108, the first wheel 104 rotates, the second wheel 106 which can rotate and advance and retreat is matched with the first wheel 103 and the mounting frame 102 to drive the inspection frame 101 to move through the connecting frame 103, so that the inspection frame 101 can flexibly move, and the flexibility is high.
In an optional implementation manner of the embodiment of the invention, one end of the connecting frame 103, which is far away from the wheel two 106, is connected with the wheel one 104 through a rotating shaft, so that the bottom of the inspection frame 101 is kept stable, the inspection frame 101 is more stable during movement, a shock absorber 109 is arranged between the mounting frame 102 and the connecting frame 103, and the shock absorber 109 can play a shock absorption role in a bumpy road section, so that the inspection robot is more stable during inspection, the bumpy is reduced, and further the shake of the vision sensor 305 during the inspection of a power line is reduced, and the inspection effect is better.
In an alternative implementation manner of the embodiment of the invention, the positioning assembly 2 comprises a fixing frame 201, a bottom rod 202 and a positioning rod 203, wherein the bottom rod 202 is arranged at the top of the fixing frame 201, the positioning rod 203 is positioned in the bottom rod 202, the fixing frame 201 is welded in the inspection rack 101 to keep the fixing frame 201 stable, a motor III 204 is installed on one side of the fixing frame 201, the motor III 204 is connected with the bottom rod 202 through a rotating shaft, the motor III 204 drives the rotating shaft to drive the bottom rod 202 to rotate, and the rotating bottom rod 202 drives the positioning rod 203 to rotate, so that the inspection robot is more flexible in use.
In an alternative implementation manner of the embodiment of the invention, the bottom rod 202 is hollow, a side frame one 205 is arranged at one side of the bottom rod 202, a motor four 206 is arranged on the side frame one 205, the motor four 206 is connected with a gear one 207 through a rotating shaft, a toothed plate one 209 is arranged at one side of the positioning rod 203 close to the gear one 207, the toothed plate one 209 is meshed with the gear one 207, the motor four 206 drives the rotating shaft to drive the gear one 207 to rotate, the rotating gear one 207 is meshed with the toothed plate one 209, and then the positioning rod 203 is driven to stretch in the bottom rod 202, the positioning rod 203 is controlled to lift, and the flexibility of the positioning rod 203 is improved.
In an alternative implementation manner of the embodiment of the invention, the sliding frame 208 is welded on the inner side wall of the side, far away from the gear one 207, of the bottom rod 202, the sliding rod 210 is welded on the side, close to the sliding frame 208, of the positioning rod 203, the section of the sliding rod 210 is in a T-shaped structure, the sliding rod 210 is matched with the sliding frame 208, and the sliding rod 210 slides in the sliding frame 208, so that the positioning rod 203 can be lifted more stably, and the stability of the inspection robot in working is improved.
In an alternative implementation manner of the embodiment of the invention, the positioning rod 203 is hollow, a side frame two 211 is welded on one side of the positioning rod 203, a motor five 212 is installed on the side frame two 211, the motor five 212 is connected with a gear two 213 through a rotating shaft, a sliding block 214 is welded on the inner side wall of one side of the positioning rod 203 far away from the gear two 213, a toothed plate two 306 is welded on one side of the detection rod 301 close to the gear two 213, the gear two 213 is meshed with the toothed plate two 306, the motor five 212 drives the rotating shaft to drive the gear two 213 to rotate, the rotating gear two 213 is meshed with the toothed plate two 306, and then the detection rod 301 is controlled to lift and stretch, so that the flexibility of the detection rod 301 is improved.
In an alternative implementation manner of the embodiment of the invention, a chute 307 is formed on one side of the detection rod 301 away from the toothed plate two 306, the sliding block 214 is positioned in the chute 307, the sliding block 214 slides along the chute 307, so that the detection rod 301 is more stable in lifting and lowering, the stability of the inspection robot in working is improved, a PLC (model: CPU 226) is arranged in the inspection rack 101, the data collected by the vision sensor 305 can be received and analyzed, and therefore the integrity of the appearance of the power line can be judged, and the effect of assisting in overhauling the power line is good.
When the inspection robot is used, firstly, the motor III 204 drives the rotating shaft to drive the bottom rod 202 to rotate, the rotating bottom rod 202 drives the positioning rod 203 to rotate, the rotating positioning rod 203 drives the detection assembly 3 to rotate, the position of the detection assembly 3 is controlled, the motor IV 206 drives the rotating shaft to drive the gear I207 to rotate, the rotating gear I207 is meshed with the toothed plate I209, the sliding rod 210 is combined to slide in the sliding frame 208, the positioning rod 203 stretches out and draws back in the bottom rod 202, the height of the detection assembly 3 is controlled, the height and the position of the detection assembly 3 can be flexibly adjusted through the matching, so that the inspection robot can conveniently inspect lines at different positions and different heights, the inspection robot can more flexibly perform inspection operation on the lines, the inspection robot can more comprehensively collect the lines by matching with the motor VI 308 to drive the rotating shaft to drive the positioning frame 302 to rotate, the rotating positioning frame 302 drives the first test frame 303 and the second test frame 304 to rotate, the identification angle of the first test frame 303 and the second test frame 304 can be adjusted, the outer surface of the electric line can be conveniently identified in an all-aspect, the inspection robot can more comprehensively collect the lines of the line inspection robot, and the inspection robot can more completely perform inspection operation on the lines, and the inspection robot can more comprehensive inspection operation on the lines;
then, the motor five 212 drives the rotating shaft to drive the gear two 213 to rotate, the rotating gear two 213 is meshed with the toothed plate two 306, the sliding block 214 is combined to slide along the sliding groove 307, the detecting rod 301 is further accurately controlled to lift, the heights of the first test frame 303 and the second test frame 304 are further accurately adjusted, the rotating shaft is driven by the motor six 308 to drive the positioning frame 302 to rotate, the rotating positioning frame 302 drives the first test frame 303 and the second test frame 304 to rotate, and the positions of the first test frame 303 and the second test frame 304 are accurately controlled, so that when the inspection robot works, the distance between the first test frame 303, the second test frame 304 and a line can be accurately controlled, the inspection robot can be better in effect, the line inspection robot can be effectively prevented from scraping the line during work, the line inspection robot can be protected during work, and the service life of the line is longer;
then, the visual sensors 305 arranged in the first test frame 303 and the second test frame 304 work, video recording is carried out on two sides of the power line to collect data, the visual sensors 305 transmit the collected information to the PLC controller, the PLC controller processes and analyzes the integrity of the appearance of the power line to judge, line inspection work is carried out on the line, and the effect of assisting in overhauling the power line is good;
finally, the motor I107 controls the rotating shaft to drive the mounting frame 105 to rotate, and then drives the wheel II 106 to rotate, so that the wheel II 106 turns, the motor II 108 controls the rotating shaft to drive the wheel II 106 to rotate, so that the wheel II 106 moves forwards and backwards, the wheel I104 rotates, the wheel II 106 which can turn and move forwards and backwards is matched with the connecting frame 103 and the mounting frame 102 to drive the inspection frame 101 to move, so that the inspection frame 101 can flexibly move, the flexibility is high, lines at different positions can be moved to conduct inspection work, the inspection efficiency is higher, meanwhile, the shock absorber 109 can play a shock absorption effect through a bump section, so that the inspection robot is more stable in the inspection process, bumps are reduced, and shaking of the vision sensor 305 during power line inspection is reduced, so that the inspection effect of the inspection robot is better.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the foregoing examples, and that the foregoing description and description are merely illustrative of the principles of this invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. A inspection robot for power line overhauls, including inspection subassembly (1), locating component (2) and detection component (3), its characterized in that: positioning component (2) set up the inside at inspection component (1), detection component (3) set up the top at positioning component (2), detection component (3) are including measuring rod (301), locating rack (302), first (303) of test rack and second (304) of test rack, locating rack (302) set up the top at measuring rod (301), first (303) of test rack and second (304) of test rack all are located the top of locating rack (302), first (303) of test rack and second (304) of test rack all are connected with the top of locating rack (302) through the pivot, motor six (308) are installed on the top of measuring rod (301), motor six (308) are connected with locating rack (302) through the pivot, vision sensor (305) are all installed to the inboard of first (303) of test rack and second (304).
2. The inspection robot for power line maintenance according to claim 1, wherein: the inspection assembly (1) comprises an inspection frame (101) and two mounting frames (102), wherein the two mounting frames (102) are welded on two sides of the inspection frame (101), and one ends of the two mounting frames (102) are connected with a wheel I (104) through a rotating shaft.
3. The inspection robot for power line maintenance according to claim 2, wherein: one end of the mounting frame (102) far away from the first wheel (104) is connected with a connecting frame (103) through a rotating shaft, one end of the connecting frame (103) far away from the first wheel (104) is provided with a first motor (107), the first motor (107) is connected with a mounting frame (105) through the rotating shaft, the mounting frame (105) is of an inverted U-shaped structure, a second wheel (106) is mounted in the mounting frame (105) through the rotating shaft, a second motor (108) is mounted on one side of the mounting frame (105), and the second motor (108) is connected with the second wheel (106) through the rotating shaft.
4. A line inspection robot for power line inspection according to claim 3, characterized in that: one end of the connecting frame (103) far away from the wheel II (106) is connected with the wheel I (104) through a rotating shaft, and a shock absorber (109) is arranged between the mounting frame (102) and the connecting frame (103).
5. The inspection robot for power line maintenance according to claim 1, wherein: positioning assembly (2) are including mount (201), sill bar (202) and locating lever (203), and sill bar (202) set up at the top of mount (201), and locating lever (203) are located the inside of sill bar (202), and inside at inspection rack (101) is welded to mount (201), and motor three (204) are installed to one side of mount (201), and motor three (204) are connected with sill bar (202) through the pivot.
6. The inspection robot for power line maintenance according to claim 5, wherein: the bottom rod (202) is hollow, one side of the bottom rod (202) is provided with a side frame I (205), a motor IV (206) is arranged on the side frame I (205), the motor IV (206) is connected with a gear I (207) through a rotating shaft, one side of the positioning rod (203) close to the gear I (207) is provided with a toothed plate I (209), and the toothed plate I (209) is meshed with the gear I (207).
7. The inspection robot for power line maintenance of claim 6, wherein: the inner side wall of one side of the bottom rod (202) far away from the gear I (207) is welded with a sliding frame (208), one side of the positioning rod (203) close to the sliding frame (208) is welded with a sliding rod (210), the section of the sliding rod (210) is of a T-shaped structure, the sliding rod (210) is matched with the sliding frame (208), and the sliding rod (210) slides in the sliding frame (208).
8. The inspection robot for power line maintenance of claim 7, wherein: the locating rod (203) is in a hollow arrangement, a side frame II (211) is welded on one side of the locating rod (203), a motor III (212) is installed on the side frame II (211), a gear II (213) is connected to the motor III (212) through a rotating shaft, a sliding block (214) is welded on the inner side wall of one side, far away from the gear II (213), of the locating rod (203), a toothed plate II (306) is welded on one side, close to the gear II (213), of the detecting rod (301), and the gear II (213) is meshed with the toothed plate II (306).
9. The inspection robot for power line maintenance of claim 8, wherein: a sliding groove (307) is formed in one side, away from the toothed plate II (306), of the detection rod (301), a sliding block (214) is located in the sliding groove (307), the sliding block (214) slides along the sliding groove (307), and a PLC controller is installed in the inspection rack (101).
10. A line inspection robot for power line inspection according to any one of claims 1-9, characterized in that: the application method of the inspection robot specifically comprises the following steps:
step one: the motor III (204) drives the rotating shaft to drive the bottom rod (202) to rotate, the rotating bottom rod (202) drives the positioning rod (203) to rotate, the rotating positioning rod (203) drives the detection assembly (3) to rotate, the position of the detection assembly (3) is controlled, the motor IV (206) is matched to drive the rotating shaft to drive the gear I (207) to rotate, the rotating gear I (207) is meshed with the toothed plate I (209), the sliding rod (210) is combined to slide in the sliding frame (208), the positioning rod (203) stretches and contracts in the bottom rod (202), the height of the detection assembly (3) is controlled, the height and the position of the detection assembly (3) are adjusted, the inspection robot performs inspection work on lines at different positions and different heights, the rotating positioning frame (302) is matched with the motor VI (308) to drive the rotating shaft to drive the test frame I (303) and the test frame II (304) to rotate, the identification angles of the test frame I (303) and the test frame II (304) are adjusted, and the outer surface of an electric power line is identified in all aspects;
step two: the motor five (212) drives the rotating shaft to drive the gear two (213) to rotate, the rotating gear two (213) is meshed with the toothed plate two (306), the sliding block (214) is combined to slide along the sliding groove (307), the detecting rod (301) is further accurately controlled to ascend and descend, the heights of the first test frame (303) and the second test frame (304) are further accurately adjusted, the rotating shaft is combined to drive the rotating shaft to drive the positioning frame (302) to rotate, the rotating positioning frame (302) drives the first test frame (303) and the second test frame (304) to rotate, the positions of the first test frame (303) and the second test frame (304) are accurately controlled, and then the distance between the first test frame (303) and the second test frame (304) and a line is accurately controlled, so that the line inspection robot is prevented from scraping the line during working;
step three: the visual sensors (305) arranged in the first test frame (303) and the second test frame (304) work, video recording is carried out on two sides of a power line to collect data, the visual sensors (305) transmit collected information to the PLC, and the PLC processes and analyzes to judge the integrity of the appearance of the power line and carry out line inspection work of the line;
step four: the motor I (107) controls the rotating shaft to drive the mounting frame (105) to rotate, and then drives the wheel II (106) to rotate, so that the wheel II (106) is driven to rotate by the motor II (108), the wheel II (106) is driven to move forwards and backwards by the motor II (108), the wheel I (104) rotates, and the wheel II (106) which can rotate and move forwards and backwards in a matching way drives the inspection rack (101) to move through the connecting frame (103) and the mounting frame (102), so that the inspection rack (101) can flexibly move, and the line inspection work is carried out on lines at different positions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310599773.5A CN116667215A (en) | 2023-05-25 | 2023-05-25 | Line inspection robot for power line maintenance |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310599773.5A CN116667215A (en) | 2023-05-25 | 2023-05-25 | Line inspection robot for power line maintenance |
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| CN116667215A true CN116667215A (en) | 2023-08-29 |
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| CN202310599773.5A Pending CN116667215A (en) | 2023-05-25 | 2023-05-25 | Line inspection robot for power line maintenance |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116893198A (en) * | 2023-09-11 | 2023-10-17 | 南方电网调峰调频发电有限公司储能科研院 | Intelligent image defect detection device based on machine vision recognition |
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- 2023-05-25 CN CN202310599773.5A patent/CN116667215A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116893198A (en) * | 2023-09-11 | 2023-10-17 | 南方电网调峰调频发电有限公司储能科研院 | Intelligent image defect detection device based on machine vision recognition |
| CN116893198B (en) * | 2023-09-11 | 2024-01-23 | 南方电网调峰调频发电有限公司储能科研院 | Intelligent image defect detection device based on machine vision recognition |
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