CN117080932B - Self-balancing wheel type line inspection robot for power transmission line splicing sleeve - Google Patents
Self-balancing wheel type line inspection robot for power transmission line splicing sleeve Download PDFInfo
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- CN117080932B CN117080932B CN202310662411.6A CN202310662411A CN117080932B CN 117080932 B CN117080932 B CN 117080932B CN 202310662411 A CN202310662411 A CN 202310662411A CN 117080932 B CN117080932 B CN 117080932B
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- 238000007689 inspection Methods 0.000 title claims abstract description 43
- 230000005540 biological transmission Effects 0.000 title claims abstract description 27
- 238000012544 monitoring process Methods 0.000 claims abstract description 29
- 230000005674 electromagnetic induction Effects 0.000 claims abstract description 9
- 230000001360 synchronised effect Effects 0.000 claims description 13
- 239000004973 liquid crystal related substance Substances 0.000 claims description 10
- 238000005299 abrasion Methods 0.000 abstract description 4
- 230000007797 corrosion Effects 0.000 abstract description 4
- 238000005260 corrosion Methods 0.000 abstract description 4
- 238000012423 maintenance Methods 0.000 abstract description 3
- 230000003287 optical effect Effects 0.000 description 5
- 238000010276 construction Methods 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 230000017525 heat dissipation Effects 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 208000025274 Lightning injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005347 demagnetization Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 239000012212 insulator Substances 0.000 description 1
- 238000002844 melting Methods 0.000 description 1
- 230000008018 melting Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000036561 sun exposure Effects 0.000 description 1
Classifications
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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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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
- H02J13/00001—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by the display of information or by user interaction, e.g. supervisory control and data acquisition systems [SCADA] or graphical user interfaces [GUI]
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
- H02J13/00006—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by information or instructions transport means between the monitoring, controlling or managing units and monitored, controlled or operated power network element or electrical equipment
- H02J13/00022—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by information or instructions transport means between the monitoring, controlling or managing units and monitored, controlled or operated power network element or electrical equipment using wireless data transmission
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/00032—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by data exchange
- H02J7/00034—Charger exchanging data with an electronic device, i.e. telephone, whose internal battery is under charge
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of operation and maintenance of transmission lines, in particular to a transmission line splicing sleeve self-balancing wheel type line inspection robot, which comprises a self-balancing single-wheel driving system, a support arm obstacle crossing system and an inspection monitoring system; the invention brings great convenience to line inspection work through the self-balancing single-wheel driving system, can timely feed back and observe the conditions of line abrasion, corrosion and wire strand breakage through the inspection monitoring system, can observe whether obstacles exist on a walking line of the robot, solves the problem that the robot cannot continue inspection when encountering the obstacles through the support arm obstacle surmounting system, and is used for converting electric energy in a lower line into magnetic energy through the electromagnetic induction coil module and converting and transmitting the magnetic energy to a battery again, so that the robot is more convenient to charge and can realize direct charging of the line.
Description
Technical Field
The invention relates to the technical field of operation and maintenance of transmission lines, in particular to a transmission line splicing sleeve self-balancing wheel type line inspection robot.
Background
The normal and stable operation of the splicing sleeve of the power transmission line is an important ring in the construction of the modern power grid, and is also a basic link for maintaining the safety of the power grid. With the continuous construction of the ultra-high voltage power grid, the power transmission line splicing sleeve is more and more, and the field situation is more and more complex; on the other hand, the power transmission line splicing sleeve exposed under the natural environment is extremely easy to cause faults such as abrasion, corrosion, wire strand breakage and the like due to the influences of lightning stroke, construction, wind blowing, sun exposure and the like, and if the power transmission line splicing sleeve is not overhauled in time, the faults such as the power transmission line breakage and the short circuit are caused, and the reliable operation of a power system is seriously influenced.
The existing inspection robot has single function, occupies a large amount of space to be arranged and also needs a large amount of time, has poor protection performance, is possibly damaged by bumping into obstacles during operation, seriously influences the service life of the inspection robot, cannot meet the use effect, such as an inspection robot trolley (application number: CN 201610978742.0) of a power supply company in Jinan China, shandong province, china, and the inspection robot can avoid the phenomenon of skidding in rainy and snowy days by virtue of an auxiliary walking assembly and the integral design, optimizes the obstacle crossing mode in the obstacle crossing process, reduces the influence of electromagnetic interference on the whole equipment, has single inspection technology, and cannot be widely used for complex working conditions; a multifunctional suspended line inspection robot (application number: CN 202110438252.2) of the limited responsibility company of the Guizhou power grid can control a suspended roller to be suspended on a power transmission line through an inspection device and drive the suspended roller to move, and the suspended multifunctional line inspection robot is subjected to omnibearing inspection through a camera to treat ice melting and on-line foreign matters, but cannot timely judge damage and faults of the power transmission line, so that equipment is complex to install and the use cost is high. The line inspection robot is a full-automatic line inspection device for carrying out inspection operation along an overhead high-voltage transmission line, can carry out live-line operation, realizes rolling crawling along a straight line section and a tension-resistant line section of a transmission line, spans and avoids structural obstacles such as a suspension wire clamp, a suspension insulator, a damper, a tension-resistant wire clamp, a pole tower and the like, and utilizes a carried sensing instrument to detect a splicing sleeve. Because the inspection robot is high in precision due to close-range inspection, the inspection blind area does not exist, the working efficiency can be improved, a large amount of human resources are saved, the inspection cost is much lower than that of the helicopter inspection, the maintenance power failure is avoided, and the normal power supply is ensured.
Therefore, it is of great significance to study a set of inspection robots which can intelligently control, can span obstacles on a line and ensure normal operation of a power transmission line. In view of this, we propose a transmission line splicing sleeve self-balancing wheel type inspection robot.
Disclosure of Invention
In order to make up for the defects, the invention provides the self-balancing wheel type line inspection robot for the power transmission line splicing sleeve.
The technical scheme of the invention is as follows:
transmission line splicing sleeve self-balancing wheel formula inspection robot includes:
the self-balancing single-wheel driving system comprises a concave wheel for walking on the transmission line;
the support arm obstacle crossing system is arranged on the self-balancing single-wheel driving system and comprises a first magnetic attraction supporting rod and a second magnetic attraction supporting rod, and the first magnetic attraction supporting rod and the second magnetic attraction supporting rod are respectively arranged on two sides of the self-balancing single-wheel driving system;
the inspection monitoring system is arranged at the uppermost end of the support arm obstacle surmounting system and comprises a camera, an infrared sensing device and a CCD chip.
Preferably, the self-balancing single wheel driving system further comprises a single wheel housing, a first fixing plate and a second fixing plate are respectively arranged on two sides below the single wheel housing, the concave wheels are arranged between the first fixing plate and the lower end of the second fixing plate, three rotating shafts are arranged on two sides of the concave wheels, two rotating shafts penetrate through the first fixing plate and the second fixing plate on two sides respectively, and a second synchronizing wheel is arranged at the three tail ends of the rotating shafts.
Preferably, a first motor and a concave groove are arranged in the single-wheel shell, a first rotating shaft is arranged at the output end of the first motor through a coupler, a first synchronizing wheel is arranged at one end of the first rotating shaft, a flywheel is arranged at one side of the first synchronizing wheel, and the flywheel is arranged in the concave groove.
Preferably, a second motor is installed in the single-wheel shell, a second rotating shaft is installed at the output end of the second motor through a coupler, the second rotating shaft penetrates through the single-wheel shell, a third synchronizing wheel is installed at one end of the second rotating shaft, and the third synchronizing wheel and one second synchronizing wheel are connected with each other through a belt.
Preferably, the support plate is arranged in the single wheel shell, the battery is arranged in the support plate, the third fixing plates are arranged on two sides of the battery, the battery protection cover is arranged above the third fixing plates, the battery protection cover is provided with a plurality of first radiating holes, the electromagnetic induction coil module is arranged in the single wheel shell, and the synchronous belt is arranged on the second synchronous wheel and the first synchronous wheel.
Preferably, the support arm obstacle crossing system further comprises a support arm shell, the support arm shell is mounted at the top end of the single wheel shell, a circuit control receiver and a motor drive control element are mounted in the support arm shell, a first driving motor and a second driving motor are mounted on two sides in the support arm shell respectively, a first rotating shaft is mounted at the output end of the first driving motor through a coupler, and a second rotating shaft is mounted at the output end of the second driving motor through a coupler.
Preferably, the second rotating shaft is connected with the second magnetic suction supporting rod, the first magnetic suction supporting rod is connected with the first rotating shaft, the second magnetic suction device is arranged at the lower end of the second magnetic suction supporting rod, and the first magnetic suction device is arranged at the lower end of the first magnetic suction supporting rod.
Preferably, the inspection monitoring system further comprises a monitoring shell, a fixing groove is formed in the monitoring shell, an inner wall is arranged on the periphery of the fixing groove, a limiting block is mounted on the inner wall, a plurality of grooves are formed in the limiting block, a mounting base is connected below the monitoring shell, a chassis is mounted on the mounting base, a plurality of second radiating holes are formed in the chassis, a bolt hole is formed in the center of the chassis, and the bolt hole is mounted on the top end of the support arm shell through a bolt.
Preferably, the camera is composed of a camera body, the camera body is installed in the fixing groove, the infrared sensing device is composed of an infrared sensor, the infrared sensor and the CCD chip are installed on the outer surface of the camera body, and a dustproof film is arranged on the outer surface of the monitoring shell.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention brings great convenience to line inspection work through the self-balancing single-wheel driving system.
2. The invention can timely feed back and observe the conditions of line abrasion, corrosion and wire strand breakage through the inspection monitoring system, and can observe whether obstacles exist on the walking path of the robot.
3. According to the invention, the problem that the robot cannot continuously patrol when encountering an obstacle is solved through the obstacle crossing system of the support arm, after encountering the obstacle, the chip is connected with the infrared sensor and the camera body through the power line and is used for converting optical signals into electric signals to form images and feeding the images back to the liquid crystal screen, then the obstacle can be observed through the liquid crystal screen on the remote controller, the first magnetic support rod and the second magnetic support rod can be respectively controlled through the remote controller, the remote control signals are transmitted to the circuit control receiver, the circuit control receiver transmits the signals to the motor drive control element, the motor drive control element transmits the signals to the first drive motor and the second drive motor, and the first drive motor drives the first magnetic support rod and the second drive motor drives the second magnetic support rod to alternately operate until the obstacle is overturned.
4. The electromagnetic induction coil module is used for converting electric energy in the lower circuit into magnetic energy and converting the magnetic energy into the battery again, so that the robot is more convenient to charge, and the direct charging of the circuit can be realized.
Drawings
FIG. 1 is an axial view of the overall structure of the present invention;
FIG. 2 is a front view of the overall structure of the present invention;
FIG. 3 is a side view of the overall structure of the present invention;
FIG. 4 is a cross-sectional view of the self-balancing single wheel drive system of the present invention;
FIG. 5 is a schematic diagram of a self-balancing single wheel drive system of the present invention with a partially broken-away exploded construction;
FIG. 6 is a front view of the arm obstacle detouring system of the invention;
FIG. 7 is a front view of the patrol monitoring system of the present invention;
FIG. 8 is a schematic view of the structure of the monitor housing of the present invention;
FIG. 9 is a bottom view of the patrol monitoring system of the present invention;
FIG. 10 is a front view of the remote control of the present invention;
fig. 11 is a circuit diagram of an induction charging module according to the present invention.
In the figure: 1. a self-balancing single wheel drive system; 2. the support arm obstacle surmounting system; 3. a patrol monitoring system; 4. a first fixing plate; 5. a second fixing plate; 6. a third fixing plate; 7. a support plate; 8. a first motor; 9. a second motor; 10. a battery; 11. a concave wheel; 12. a flywheel; 13. a single wheel housing; 14. a first rotating shaft; 15. a second rotating shaft; 16. a first synchronizing wheel; 17. a second synchronizing wheel; 18. a synchronous belt; 19. a third rotating shaft; 20. a third synchronizing wheel; 21. a concave groove; 22. a battery protection cover; 23. a first heat dissipation hole; 24. an electromagnetic induction coil module; 25. a first magnetic support rod; 26. a second magnetic support rod; 27. a first driving motor; 28. a second driving motor; 29. a first rotating shaft; 30. a second rotating shaft; 31. a circuit control receiver; 32. a motor drive control element; 33. a support arm housing; 34. a first magnetic attraction device; 35. a second magnetic attraction device; 36. a remote controller; 37. a liquid crystal screen; 38. a mounting base; 39. monitoring the housing; 40. a fixing groove; 41. a camera body; 42. an inner wall; 43. an infrared sensor; 44. a camera; 45. a CCD chip; 46. an infrared sensing device; 47. a chassis; 48. a second heat dissipation hole; 49. a cushion pad; 50. bolt holes; 51. a dustproof film; 52. a limiting block; 53. a groove; 54. a protective net; 55. an upper cushion block; 56. a lower cushion block; 57. an upper buckle; 58. and a lower buckle.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Referring to fig. 1 to 11, the present invention is described in detail by the following embodiments:
the utility model provides a transmission line splice tube self-balancing wheeled inspection robot, including self-balancing single wheel actuating system 1, self-balancing single wheel actuating system 1 still includes single wheel shell 13, single wheel shell 13 below both sides fixed mounting have first fixed plate 4 and second fixed plate 5 respectively, be equipped with indent wheel 11 between first fixed plate 4 and the second fixed plate 5 lower extreme, the both sides fixed mounting of indent wheel 11 has axis of rotation three 19, two axis of rotation three 19 pass the first fixed plate 4 of both sides respectively and second fixed plate 5, and two axis of rotation three 19 respectively with first fixed plate 4 and second fixed plate 5 rotation are connected, axis of rotation three 19 end fixed mounting has second synchronizing wheel 17, be equipped with first motor 8 and recess 21 in the single wheel shell 13, the output of first motor 8 has axis of rotation one 14 through shaft coupling fixed mounting, the one end fixed mounting of axis of rotation one 14 has first synchronizing wheel 16, one side fixed mounting of first synchronizing wheel 16 has flywheel 12, flywheel 12 locates in the recess 21.
In the embodiment, a second motor 9 is fixedly installed in a single wheel housing 13, a second rotating shaft 15 is fixedly installed at the output end of the second motor 9 through a coupler, the second rotating shaft 15 passes through the single wheel housing 13, a third synchronizing wheel 20 is fixedly installed at one end of the second rotating shaft 15, a belt transmits kinetic energy on the third synchronizing wheel 20 to a second synchronizing wheel 17, a supporting plate 7 is fixedly installed in the single wheel housing 13, a battery 10 is fixedly installed on the supporting plate 7, a third fixing plate 6 is fixedly installed on two sides of the battery 10, a battery protection cover 22 is fixedly installed above the third fixing plate 6, a plurality of first radiating holes 23 are arranged on the battery protection cover 22, an electromagnetic induction coil module 24 is fixedly installed in the single wheel housing 13, the electromagnetic induction coil module 24 is connected with the battery 10 through a power line for charging and supplying power, the electromagnetic induction coil module 24 is used for converting electric energy in a lower line into magnetic energy, converting and transmitting the magnetic energy to the battery 10 again, so that the robot can be charged more conveniently, direct charging of the line can be realized, a synchronous belt 18 is rotatably arranged between the periphery of a second synchronous wheel 17 and the periphery of a third synchronous wheel 20, the self-balancing single-wheel driving system 1 is a high-order multi-coupling underactuated system, the self-balancing single-wheel driving system is simple in structure, the single-wheel balance car can walk on the line, great convenience is brought to line inspection work, the second motor 9 and the first motor 8 are connected in series with each other through a power line and are connected with the battery 10, when the circuit between the second motor 9 and the first motor 8 is communicated, the second motor 9 drives the second synchronous wheel 17, the rotating shaft three 19 and the concave wheel 11 to vertically rotate, the first motor 8 drives the flywheel 12 to rotate in a flying mode when walking on the line, to ensure that the self-balancing single wheel drive system 1 remains balanced.
In this embodiment, the arm obstacle surmounting system 2 includes an arm casing 33, the arm casing 33 is fixedly mounted on the top end of the single wheel casing 13, a circuit control receiver 31 and a motor driving control element 32 are fixedly mounted in the arm casing 33, a first driving motor 27 and a second driving motor 28 are fixedly mounted on two sides in the arm casing 33 respectively, a first rotating shaft 29 is fixedly mounted at an output end of the first driving motor 27 through a coupling, a second rotating shaft 30 is fixedly mounted at an output end of the second driving motor 28 through a coupling, a second magnetic supporting rod 26 is vertically and fixedly mounted at one end of the second rotating shaft 30, a first magnetic supporting rod 25 is vertically and fixedly mounted at one end of the first rotating shaft 29, a second magnetic device 35 is fixedly mounted at a lower end of the second magnetic supporting rod 26, and a first magnetic device 34 is fixedly mounted at a lower end of the first magnetic supporting rod 25.
It should be added that the distance from the other end of the first magnetic support rod 25 to the first rotating shaft 29 of the first driving motor 27 is greater than the distance from the first rotating shaft 29 of the first driving motor 27 to the walking plane, the distance from the other end of the second magnetic support rod 26 to the second rotating shaft 30 of the second driving motor 28 is greater than the distance from the second rotating shaft 30 of the second driving motor 28 to the walking plane, the first driving motor 27 and the second driving motor 28 are symmetrically arranged along the longitudinal center line of the concave wheel 11, the first magnetic support rod 25 and the second magnetic support rod 26 are symmetrically arranged along the longitudinal center line of the concave wheel 11, the first driving motor 27, the second driving motor 28, the circuit control receiver 31 and the motor driving control element 32 are respectively connected with each other through power lines, the circuit control receiver 31 is connected with the remote controller 36 through infrared signals in a wireless mode, the liquid crystal screen 37 is arranged above the remote controller 36, and the liquid crystal screen 37 and the patrol monitoring system 3 are connected with each other through wireless signals and are used for feeding back pictures shot by the patrol monitoring system 3.
Further, the first magnetic attraction device 34 and the second magnetic attraction device 35 are both composed of electromagnetic chucks, the electromagnetic chucks are connected with the battery 10 through a power line, the electromagnetic chucks are of an electromagnetic principle, a magnetic force is generated by electrifying an internal coil, workpieces contacted with the surfaces of the electromagnetic chucks are tightly attracted through a magnetic conduction panel, the magnetic force disappears to achieve demagnetization through the outage of the coil, so that the first magnetic attraction device 34 and the second magnetic attraction device 35 are stably attracted on contacted objects, the first magnetic attraction device 34 and the second magnetic attraction device 35 enable a robot to be more firmly attracted on the obstacles when encountering the obstacles, and the first magnetic attraction supporting rod 25 and the second magnetic attraction supporting rod 26 are firm and durable and can effectively cope with various meteorological conditions.
It should be noted that, after encountering an obstacle, the obstacle may be observed through the liquid crystal screen 37 on the remote controller 36, and the remote controller 36 controls the first magnetic support rod 25 and the second magnetic support rod 26 respectively, the remote control signal is transmitted to the circuit control receiver 31, the circuit control receiver 31 transmits the signal to the motor drive control element 32, the motor drive control element 32 transmits the signal to the first drive motor 27 and the second drive motor 28, the first drive motor 27 drives the first magnetic support rod 25 and the second drive motor 28 to drive the second magnetic support rod 26 to alternately operate until the obstacle is overcome, the projection of the central axis of the first rotating shaft 29 on the first drive motor 27 on the running plane is perpendicular to the projection of the central axis of the concave wheel 11 on the running plane, the projection of the central axis of the second rotating shaft 30 on the running plane in the second drive motor 28 is perpendicular to the projection of the central axis of the concave wheel 11 on the running plane, and the first magnetic support rod 25 and the second magnetic support rod 26 are located at the side of the concave wheel 11, and the first drive motor 27, the second drive motor 28, the control element and the circuit control element 31 are connected with each other through the power supply line 10 respectively.
In this embodiment, the inspection monitoring system 3 further includes a monitoring housing 39, a fixing groove 40 is disposed in the monitoring housing 39, an inner wall 42 is disposed at the periphery of the fixing groove 40, a limiting block 52 is fixedly mounted on the inner wall 42, a plurality of grooves 53 are disposed on the limiting block 52, a mounting base 38 is fixedly connected below the monitoring housing 39, a chassis 47 is fixedly mounted on the mounting base 38, a plurality of second heat dissipation holes 48 are disposed on the chassis 47, the plurality of second heat dissipation holes 48 are used for rapidly dissipating heat generated by the camera body 41, mechanical failure of the camera body 41 due to high temperature is avoided, the service life is prolonged, a bolt hole 50 is disposed at the center of the chassis 47, the bolt hole 50 is fixedly mounted at the top end of the arm housing 33 through a bolt, a camera 44 is fixedly mounted in the fixing groove 40, the camera 44 is composed of the camera body 41, the protection net 54 is tightly and fixedly arranged below the camera body 41, the protection net 54 is fixedly arranged on the inner wall 42 in the fixed groove 40, the infrared sensing device 46 is arranged on the camera body 41, the infrared sensing device 46 is composed of an infrared sensor 43, the infrared sensor 43 and a CCD chip 45 are fixedly arranged on the outer surface of the camera body 41, a layer of dustproof film 51 is coated on the outer surface of the monitoring shell 39, the thickness of the dustproof film 51 ranges from one millimeter to two millimeters, an upper buckle 57 and a lower buckle 58 are fixedly arranged on the periphery of the mounting base 38, an upper cushion block 55 is fixedly arranged between the upper side of the mounting base 38 and the monitoring shell 39, a lower cushion block 56 is fixedly arranged between the lower side of the mounting base 38 and the supporting arm shell 33, a buffer cushion 49 is fixedly arranged between the lower cushion block 56 and the supporting arm shell 33, and the camera body 41 is connected with the battery 10 through a power line.
It should be noted that, the CCD chip 45 is a chip for converting an optical signal into an electrical signal, for example, in a digital camera or a video camera, the optical signal that we see is converted into an electrical signal and then processed into a digital photo that we see, and the CCD chip 45 is connected to the infrared sensor 43 and the camera body 41 through a power line, so as to convert the optical signal into an electrical signal, form an image, and feed back to the lcd screen 37.
In this embodiment, when the robot of the present invention is used to patrol the transmission line, the circuit between the second motor 9 and the first motor 8 is first connected, the first motor 8 drives the flywheel 12 to rotate at a high speed, so as to ensure that the self-balancing single-wheel driving system 1 keeps balanced, the second motor 9 drives the second synchronizing wheel 17, the rotating shaft three 19 and the concave wheel 11 to rotate vertically, and places the concave wheel 11 on the transmission line, walks on the line, thereby bringing great convenience to the patrol operation, after encountering an obstacle, the CCD chip 45 is connected with the infrared sensor 43 and the camera body 41 through the power line, so as to convert the optical signal into an electrical signal, form an image, and feed back to the liquid crystal screen 37, so that the conditions of line abrasion, corrosion and wire strand breakage can be timely fed back and observe whether the obstacle exists on the walking line of the robot, then the obstacle can be observed through the liquid crystal screen 37 on the remote controller 36, the first magnetic support rod 25 and the second magnetic support rod 26 are controlled through the remote controller 36, the remote control signal is transmitted to the circuit control receiver 31, the circuit control receiver 31 transmits the signal to the motor drive control element 32, the motor drive control element 32 transmits the signal to the first drive motor 27 and the second drive motor 28, the first drive motor 27 drives the first magnetic support rod 25 and the second drive motor 28 drives the second magnetic support rod 26 to alternately operate until the obstacle is overturned, compared with other line inspection devices, the operation is simpler, the labor cost is lower, the working efficiency is higher, the electromagnetic induction coil module 24 is used for converting the electric energy in the lower line into magnetic energy, and the magnetic energy is converted and transmitted to the battery 10 again, so that the robot is more convenient to charge, direct charging on the line can be achieved.
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 above-described embodiments, and that the above-described embodiments and descriptions are only preferred embodiments of the present invention, and are not intended to limit the invention, and that various changes and modifications may be made therein without departing from the spirit and scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (3)
1. Transmission line splicing sleeve self-balancing wheel formula inspection robot, its characterized in that includes:
the self-balancing single-wheel driving system (1) comprises a concave wheel (11) for walking on a power transmission line;
the support arm obstacle crossing system (2) is arranged on the self-balancing single-wheel driving system (1), the support arm obstacle crossing system (2) comprises a first magnetic attraction supporting rod (25) and a second magnetic attraction supporting rod (26), and the first magnetic attraction supporting rod (25) and the second magnetic attraction supporting rod (26) are respectively arranged on two sides of the self-balancing single-wheel driving system (1);
the inspection monitoring system (3) is arranged at the uppermost end of the support arm obstacle surmounting system (2), and the inspection monitoring system (3) comprises a camera (44), an infrared sensing device (46) and a CCD chip (45);
the self-balancing single-wheel driving system (1) further comprises a single-wheel shell (13), a first fixing plate (4) and a second fixing plate (5) are respectively arranged on two sides below the single-wheel shell (13), a concave wheel (11) is arranged between the first fixing plate (4) and the lower end of the second fixing plate (5), three rotating shafts (19) are arranged on two sides of the concave wheel (11), two rotating shafts (19) respectively penetrate through the first fixing plate (4) and the second fixing plate (5) on two sides, and a second synchronizing wheel (17) is arranged at the tail end of the three rotating shafts (19); the flywheel comprises a single-wheel shell (13), wherein a first motor (8) and a concave groove (21) are arranged in the single-wheel shell, a first rotating shaft (14) is arranged at the output end of the first motor (8) through a coupler, a first synchronous wheel (16) is arranged at one end of the first rotating shaft (14), a flywheel (12) is arranged at one side of the first synchronous wheel (16), and the flywheel (12) is arranged in the concave groove (21); a second motor (9) is arranged in the single-wheel shell (13), a second rotating shaft (15) is arranged at the output end of the second motor (9) through a coupler, the second rotating shaft (15) penetrates through the single-wheel shell (13), a third synchronizing wheel (20) is arranged at one end of the second rotating shaft (15), and the third synchronizing wheel (20) and one second synchronizing wheel (17) are connected with each other through a belt; a supporting plate (7) is arranged in the single-wheel shell (13), a battery (10) is arranged on the supporting plate (7), third fixing plates (6) are arranged on two sides of the battery (10), a battery protection cover (22) is arranged above the third fixing plates (6), a plurality of first radiating holes (23) are formed in the battery protection cover (22), an electromagnetic induction coil module (24) is arranged in the single-wheel shell (13), and a synchronous belt (18) is arranged on one of the second synchronous wheel (17) and the first synchronous wheel (16);
the support arm obstacle crossing system (2) further comprises a support arm shell (33), the support arm shell (33) is arranged at the top end of the single-wheel shell (13), a circuit control receiver (31) and a motor drive control element (32) are arranged in the support arm shell (33), a first driving motor (27) and a second driving motor (28) are respectively arranged at two sides in the support arm shell (33), a first rotating shaft (29) is arranged at the output end of the first driving motor (27) through a coupler, and a second rotating shaft (30) is arranged at the output end of the second driving motor (28) through a coupler; the second rotating shaft (30) is connected with the second magnetic support rod (26), the first magnetic support rod (25) is connected with the first rotating shaft (29), a second magnetic device (35) is arranged at the lower end of the second magnetic support rod (26), and a first magnetic device (34) is arranged at the lower end of the first magnetic support rod (25);
the distance from the other end of the first magnetic support rod (25) to the first rotating shaft (29) of the first driving motor (27) is greater than the distance from the first rotating shaft (29) of the first driving motor (27) to a walking plane, the distance from the other end of the second magnetic support rod (26) to the second rotating shaft (30) of the second driving motor (28) is greater than the distance from the second rotating shaft (30) of the second driving motor (28) to the walking plane, the first driving motor (27) and the second driving motor (28) are symmetrically arranged along the longitudinal center line of the indent wheel (11), the first magnetic support rod (25) and the second magnetic support rod (26) are symmetrically arranged along the longitudinal center line of the indent wheel (11), the first driving motor (27), the second driving motor (28), the circuit control receiver (31) and the motor driving control element (32) are respectively connected with each other through a power line, the circuit control receiver (31) is provided with a remote controller (36) through wireless connection, a liquid crystal screen (37) is arranged above the remote controller (36), and the liquid crystal screen (37) and a patrol monitoring system (3) are connected with a patrol system through a patrol system.
2. The transmission line splicing sleeve self-balancing wheeled line inspection robot of claim 1, wherein:
the inspection monitoring system (3) further comprises a monitoring shell (39), a fixing groove (40) is formed in the monitoring shell (39), an inner wall (42) is arranged on the periphery of the fixing groove (40), a limiting block (52) is arranged on the inner wall (42), a plurality of grooves (53) are formed in the limiting block (52), a mounting base (38) is connected below the monitoring shell (39), a chassis (47) is mounted on the mounting base (38), a plurality of second radiating holes (48) are formed in the chassis (47), a bolt hole (50) is formed in the center of the chassis (47), and the bolt hole (50) is mounted on the top end of the support arm shell (33) through a bolt.
3. The transmission line splicing sleeve self-balancing wheeled line inspection robot of claim 2, wherein:
the camera (44) is composed of a camera body (41), the camera body (41) is installed in the fixed groove (40), the infrared sensing device (46) is composed of an infrared sensor (43), the infrared sensor (43) and the CCD chip (45) are installed on the outer surface of the camera body (41), and a dustproof film (51) is arranged on the outer surface of the monitoring shell (39).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310662411.6A CN117080932B (en) | 2023-06-06 | 2023-06-06 | Self-balancing wheel type line inspection robot for power transmission line splicing sleeve |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310662411.6A CN117080932B (en) | 2023-06-06 | 2023-06-06 | Self-balancing wheel type line inspection robot for power transmission line splicing sleeve |
Publications (2)
| Publication Number | Publication Date |
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| CN117080932A CN117080932A (en) | 2023-11-17 |
| CN117080932B true CN117080932B (en) | 2024-01-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310662411.6A Active CN117080932B (en) | 2023-06-06 | 2023-06-06 | Self-balancing wheel type line inspection robot for power transmission line splicing sleeve |
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| CN (1) | CN117080932B (en) |
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| CN212125331U (en) * | 2020-03-16 | 2020-12-11 | 钟映春 | Electric power transmission line inspection robot adopting climbing mode |
| CN215361604U (en) * | 2021-08-11 | 2021-12-31 | 广州市文搏智能科技有限公司 | Single-wheel balance vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150165895A1 (en) * | 2013-12-17 | 2015-06-18 | Roambotics, Inc. | Systems and methods for personal robotics |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002019605A (en) * | 2000-07-11 | 2002-01-23 | Shinko Electric Co Ltd | Temporary stop device for overhead carrying truck and lifting implement for it |
| CN102717854A (en) * | 2012-07-05 | 2012-10-10 | 张军凯 | Self-balanced single-wheel electric vehicle |
| CN103895770A (en) * | 2014-04-15 | 2014-07-02 | 上海万硅电子有限公司 | All-around self-balancing electric monocycle |
| CN203839819U (en) * | 2014-05-09 | 2014-09-17 | 哈尔滨工程大学 | Obstacle surmounting mechanical arm suitable for power transmission line inspection robot |
| CN205753183U (en) * | 2016-05-12 | 2016-11-30 | 山东大学 | Walking mechanism, inspection robot frame for movement |
| CN107215403A (en) * | 2017-03-21 | 2017-09-29 | 坎德拉（深圳）科技创新有限公司 | Ball shape robot |
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| CN215361604U (en) * | 2021-08-11 | 2021-12-31 | 广州市文搏智能科技有限公司 | Single-wheel balance vehicle |
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|---|---|
| CN117080932A (en) | 2023-11-17 |
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