CN117134252B - Intelligent inspection robot for power transmission line - Google Patents
Intelligent inspection robot for power transmission line Download PDFInfo
- Publication number
- CN117134252B CN117134252B CN202311157304.4A CN202311157304A CN117134252B CN 117134252 B CN117134252 B CN 117134252B CN 202311157304 A CN202311157304 A CN 202311157304A CN 117134252 B CN117134252 B CN 117134252B
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- Prior art keywords
- warning
- obstacle removing
- inspection
- landfill
- rack
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- 238000007689 inspection Methods 0.000 title claims abstract description 59
- 230000005540 biological transmission Effects 0.000 title claims abstract description 19
- 238000009434 installation Methods 0.000 claims abstract description 50
- 239000002689 soil Substances 0.000 claims abstract description 31
- 230000007246 mechanism Effects 0.000 claims abstract description 25
- 230000004888 barrier function Effects 0.000 description 18
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000009991 scouring Methods 0.000 description 2
- 244000025254 Cannabis sativa Species 0.000 description 1
- 208000001034 Frostbite Diseases 0.000 description 1
- 206010019345 Heat stroke Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 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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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F9/00—Arrangement of road signs or traffic signals; Arrangements for enforcing caution
- E01F9/60—Upright bodies, e.g. marker posts or bollards; Supports for road signs
- E01F9/70—Storing, transporting, placing or retrieving portable devices
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D17/00—Excavations; Bordering of excavations; Making embankments
- E02D17/18—Making embankments, e.g. dikes, dams
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D3/00—Improving or preserving soil or rock, e.g. preserving permafrost soil
- E02D3/02—Improving by compacting
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B3/00—Audible signalling systems; Audible personal calling systems
- G08B3/10—Audible signalling systems; Audible personal calling systems using electric transmission; using electromagnetic transmission
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
Abstract
The utility model discloses an intelligent inspection robot for a power transmission line, which relates to the technical field of inspection of the power transmission line and comprises an inspection mechanism and an operating mechanism; the inspection mechanism comprises a camera platform connected with an inspection hydraulic cylinder, the operating mechanism comprises a landfill component, a warning component, an obstacle removing component and an installation shell with openings at two ends, the installation shell is rotatably installed on a chassis around an axle center, an incomplete gear is rotatably installed on the installation shell and meshed with an operating rack, the operating rack is slidably installed on the installation shell, the obstacle removing rack and a warning push rod are installed on the operating rack, the obstacle removing rack is matched with the obstacle removing component, and the warning push rod is matched with the warning component; the utility model carries out inspection and preliminary treatment on the problems of broken ground of the high-voltage wire cable, soil lifting of the pole tower, insufficient safety distance between the tree and the wire and the like through the inspection mechanism and the operating mechanism.
Description
Technical Field
The utility model relates to the technical field of power transmission line inspection, in particular to an intelligent power transmission line inspection robot.
Background
Safe operation of the transmission line is one of the keys for ensuring stable operation of the power grid. The power transmission line inspection can be divided into line equipment inspection and line channel inspection, wherein an equipment inspection object comprises a line body and auxiliary facilities, and the line body comprises a pole tower, a stay wire, a foundation, the ground and the like. When the line body is in inspection, attention should be paid to whether equipment is grounded or a high-voltage wire cable breaks off the ground or hangs in the air, and whether a tower has the phenomena of scouring, lifting soil, pulling up or loosening a ground wire and a stay wire; when the environment of the line channel is patrolled and examined, the problem of insufficient safety distance between the tree and the lead is to be noted. The basic staff is very liable to take place the uncomfortable situation of health when patrolling and examining under the abominable condition of weather, consequently needs an intelligent robot to help the staff to patrol and examine to preliminary handling to above-mentioned condition.
The utility model discloses an intelligent inspection robot for a power transmission line, which comprises a robot body, a travelling mechanism, a flying mechanism, a mechanical arm and a tripod head camera, wherein the intelligent inspection robot for the power transmission line solves the problem that an intelligent robot in the prior art needs to manually climb an iron tower to replace a motor, and the robot body can fly and has high inspection efficiency; however, the technical problem to be solved by the utility model cannot be solved by the patent, so the utility model provides an intelligent inspection robot for a power transmission line.
Disclosure of Invention
Aiming at the defects in the prior art, the utility model provides an intelligent inspection robot for a power transmission line, which overcomes the problems in the prior art.
The utility model adopts the technical scheme that: the utility model provides a robot is patrolled and examined to power transmission line intelligence, includes the mechanism of patrolling and examining, the mechanism of patrolling and examining includes the platform of making a video recording of being connected with the pneumatic cylinder of patrolling and examining, but install three hundred sixty degrees pivoted instruments of making a video recording on the platform of making a video recording, the pneumatic cylinder of patrolling and examining is installed on the seat of patrolling and examining, and seat slidable mounting is on operating device, operating device includes landfill subassembly, warning subassembly, removes barrier subassembly, both ends open-ended installation casing, and the installation casing is installed on the chassis around the axle center rotation, and the incomplete gear is installed in the rotation on the installation casing, incomplete gear and operation rack meshing, operation rack slidable mounting is on the installation casing, install on the operation rack and remove barrier rack, warning push rod, remove barrier rack and remove barrier subassembly cooperation.
Further, the operating rack is connected with a first end of a return spring, and a second end of the return spring is mounted on the mounting shell.
Further, warning subassembly includes a plurality of warning signs of slidable mounting in the installation casing, is provided with blanking mouth, limiting plate on the installation casing, and the blanking mouth matches with the size of warning sign, and the limiting plate has two and the symmetry setting is on the installation casing, and limiting plate and warning sign contact, and the limiting plate is used for spacing to the warning sign.
Further, a first end of a pushing spring is arranged on the mounting shell, a second end of the pushing spring is connected with the pushing plate, the pushing spring is in a compressed state in a normal state, and the pushing plate is kept in contact with the warning board farthest from the blanking port.
Further, slidable mounting has the baffle on the installation casing, and the baffle cooperates with warning push rod, and the baffle is connected with warning spring's first end, and warning spring's second end is connected with the installation casing, and warning spring is in compression state all the time, and under the normality, the baffle is located blanking mouth department.
Further, remove the barrier subassembly including removing the barrier gear, remove the barrier gear around the axle center rotation install on the installation casing, remove the barrier gear and be connected with the installation casing through the torsional spring, remove the barrier gear and remove the cooperation of barrier rack, remove barrier gear and remove barrier slider fixed connection, remove barrier slider and installation pole sliding connection, remove and install on the barrier slider and remove the barrier pneumatic cylinder, remove the piston rod and the installation pole connection of barrier pneumatic cylinder.
Further, a cutting knife is arranged on the mounting rod, and a cutting opening corresponding to the cutting knife is formed in the mounting shell.
Further, the landfill subassembly is including setting up the soil opening on the installation casing, and demountable installation has the soil box on the installation casing, is provided with the valve on the soil box, and the valve position corresponds with the soil opening.
Further, a landfill pressing cylinder is slidably mounted on the mounting shell, a landfill pressing plate is mounted on the landfill pressing cylinder, the landfill pressing cylinder is in threaded connection with a landfill screw rod, a landfill sliding rod is mounted on the landfill pressing cylinder, and the landfill sliding rod is slidably mounted on the mounting shell.
Compared with the prior art, the utility model has the beneficial effects that: (1) According to the utility model, soil is put by opening the valve on the soil box, so that backfill soil falls to the ground through the soil falling opening, then the inspection motor is started to drive the inspection gear to rotate, the mounting shell is driven to rotate relative to the chassis, the landfill pressing plate is moved to the position above the backfill soil, the landfill motor is started to drive the landfill screw rod to rotate, the landfill pressing cylinder and the landfill pressing plate are driven to move downwards, and the backfill soil is compacted and reinforced through the landfill pressing plate; (2) In the inspection tour process, if the equipment is found to be grounded or a high-voltage wire cable breaks off the ground and hangs in the air, an alarm is started to sound a whistle, meanwhile, a warning board is placed around the robot eight meters away from a fault point, and warning is carried out before a maintenance worker reaches the ground, so that pedestrians are prevented from approaching, and the pedestrians are prevented from being injured by step voltage; (3) In the process of inspection, the obstacle removing rack capable of controlling the reciprocating movement drives the obstacle removing gear to reciprocate, the obstacle removing gear drives the obstacle removing sliding block and the mounting rod to reciprocate, and the cutting knife is driven to reciprocate to cut a large range of vegetation, so that the follow-up staff can walk conveniently, or the vegetation which is about to influence the environment of the line channel can be removed.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present utility model.
Fig. 2 is a schematic diagram of a partial structure of the inspection mechanism and the operation mechanism of the present utility model.
Fig. 3 is a schematic view of a part of the operating mechanism according to the present utility model.
FIG. 4 is a schematic view of a partial cross-sectional structure of an operating mechanism of the present utility model.
Fig. 5 is a schematic diagram showing a partial structure of an operating mechanism according to the present utility model.
Fig. 6 is a partially enlarged schematic view of the structure at a in fig. 5.
Fig. 7 is a schematic diagram of a part of the operating mechanism according to the present utility model.
Fig. 8 is a schematic view of the installation housing structure of the present utility model.
Reference numerals: 1-a patrol mechanism; 2-an operating mechanism; 101-a camera platform; 102-patrol hydraulic cylinders; 103-patrol seat; 104-fixing the inserted link; 105-universal wheels; 106-a chassis; 107-gear ring; 108-inspecting the motor; 109-inspection gears; 201-a mounting housing; 202-burying a motor; 203-burying a lead screw; 204-burying a pressing cylinder; 205-burying a slide bar; 206-landfill pressing plate; 207-soil box; 208-a soil falling port; 209-cutting; 210-warning board; 211-pushing springs; 212-pushing plate; 213-baffles; 214-warning springs; 215-blade motor; 216, cutting knife; 217-mounting a rod; 218-operating the motor; 219-incomplete gear; 220-an obstacle removing slide block; 221-an obstacle removing hydraulic cylinder; 222-a barrier removal gear; 223-operating a rack; 224-obstacle removing rack; 225-warning push rod; 226-a return spring; 227-a blanking port; 228-limiting plate.
Description of the embodiments
The utility model will be further described with reference to the drawings and exemplary embodiments, wherein the exemplary embodiments and descriptions of the utility model are for purposes of illustration and not for limitation. Further, if detailed description of the known art is not necessary to illustrate the features of the present utility model, it will be omitted.
Examples: referring to fig. 1-8, the intelligent inspection robot for the power transmission line comprises an inspection mechanism 1, wherein the inspection mechanism 1 comprises a camera platform 101, an inspection hydraulic cylinder 102, an inspection seat 103, a fixed inserted link 104, universal wheels 105, a chassis 106, a gear ring 107, an inspection motor 108 and an inspection gear 109; the camera platform 101 is connected with a piston rod of the inspection hydraulic cylinder 102, the camera platform 101 is provided with an image pickup instrument capable of rotating by three hundred sixty degrees, the inspection hydraulic cylinder 102 is arranged on the inspection seat 103, the inspection seat 103 is slidably arranged on the operating mechanism 2, the inspection seat 103 is slidably connected with the installation shell 201, the inspection seat 103 and the installation shell 201 are respectively provided with slots with consistent sizes, the slots are matched with the fixed inserting rod 104, and when the fixed inserting rod 104 is inserted into the slots of the inspection seat 103 and the installation shell 201, the positions of the inspection seat 103 and the installation shell 201 are relatively fixed; the operating mechanism 2 comprises an operating motor 218, an incomplete gear 219, an operating rack 223, a return spring 226, a landfill component, an alarm component, an obstacle removing component and an installation shell 201 with two open ends, wherein the installation shell 201 is rotatably installed on a chassis 106 around an axle center, a plurality of universal wheels 105 are installed on the chassis 106, a gear ring 107 is fixedly installed on the chassis 106, the gear ring 107 is meshed with an inspection gear 109, the inspection gear 109 is connected with an output shaft of the inspection motor 108, the inspection motor 108 is fixedly installed on the installation shell 201, the incomplete gear 219 is rotatably installed on the installation shell 201, the incomplete gear 219 is connected with an output shaft of the operating motor 218, the operating motor 218 is fixedly installed on the installation shell 201, the incomplete gear 219 is meshed with the operating rack 223, the operating rack 223 is slidably installed on the installation shell 201, an obstacle removing rack 224 and an alarm push rod 225 are installed on the operating rack 223, the obstacle removing rack 224 is matched with the obstacle removing component, and the alarm push rod 225 is matched with the alarm component.
The operating rack 223 is connected to a first end of a return spring 226, and a second end of the return spring 226 is mounted on the mounting case 201.
The warning assembly comprises a warning sign 210, a pushing spring 211, a push plate 212, a baffle 213, a warning spring 214, a warning push rod 225, a blanking port 227 and a limiting plate 228; the warning board 210 is provided with a plurality of blanking ports 227 and limiting plates 228 which are arranged in the mounting shell 201 in a sliding manner, the size of the blanking ports 227 is matched with that of the warning board 210, two limiting plates 228 are symmetrically arranged on the mounting shell 201, the limiting plates 228 are in contact with the warning board 210, and the limiting plates 228 are used for limiting the warning board 210; an alarm is provided in the installation housing 201.
The first end of the pushing spring 211 is mounted on the mounting housing 201, the second end of the pushing spring 211 is connected with the push plate 212, the pushing spring 211 is in a compressed state in a normal state, and the push plate 212 is kept in contact with the warning sign 210 farthest from the blanking port 227.
The mounting shell 201 is provided with the baffle 213 in a sliding manner, the baffle 213 is matched with the warning push rod 225, the baffle 213 is connected with the first end of the warning spring 214, the second end of the warning spring 214 is connected with the mounting shell 201, the warning spring 214 is always in a compressed state, and the baffle 213 is positioned at the blanking port 227 in a normal state.
The obstacle removing assembly comprises a cutting opening 209, a blade motor 215, a cutting knife 216, a mounting rod 217, an obstacle removing sliding block 220, an obstacle removing hydraulic cylinder 221, an obstacle removing gear 222, an obstacle removing rack 224 and the obstacle removing gear 222 which are rotatably arranged on the mounting shell 201 around an axle center, wherein the obstacle removing gear 222 is matched with the obstacle removing rack 224, the obstacle removing gear 222 is fixedly connected with the obstacle removing sliding block 220, the obstacle removing gear 222 is connected with the mounting shell 201 through a torsion spring, the obstacle removing sliding block 220 is in sliding connection with the mounting rod 217, the obstacle removing hydraulic cylinder 221 is arranged on the obstacle removing sliding block 220, and a piston rod of the obstacle removing hydraulic cylinder 221 is connected with the mounting rod 217.
The mounting rod 217 is provided with a cutting knife 216, the cutting knife 216 is connected with an output shaft of a blade motor 215, the blade motor 215 is mounted on the mounting rod 217, and the mounting shell 201 is provided with a cutting opening 209 corresponding to the position of the cutting knife 216.
The landfill assembly comprises a landfill motor 202, a landfill screw 203, a landfill pressing cylinder 204, a landfill slide bar 205, a landfill pressing plate 206, a soil box 207 and a soil falling opening 208; the soil falling port 208 is arranged on the installation shell 201, a detachable soil box 207 is installed on the installation shell 201, a valve is arranged on the soil box 207, and the valve position corresponds to the soil falling port 208.
The installation shell 201 is provided with a landfill pressure cylinder 204 in a sliding mode, the landfill pressure cylinder 204 is provided with a landfill pressure plate 206, the landfill pressure cylinder 204 is in threaded connection with a landfill screw 203, the landfill screw 203 is connected with an output shaft of a landfill motor 202, the landfill motor 202 is installed on the installation shell 201, the landfill pressure cylinder 204 is provided with a landfill slide rod 205, and the landfill slide rod 205 is installed on the installation shell 201 in a sliding mode.
The working principle of the utility model is as follows: the robot can be connected with remote control equipment, and an operator can control the robot to move. In the daily inspection process, when extreme weather is met or the weather is too cold and hot, the inspection hydraulic cylinder 102 is started to stretch the piston rod, the image pickup instrument on the image pickup platform 101 is driven to record or photograph the condition of the power transmission line, so that a worker can judge whether the power transmission line is damaged or not, and the worker is prevented from climbing on the rod for inspection, so that heatstroke or frostbite is caused.
When the camera shooting instrument is used for checking the foundation, the base surface and the tower foundation, the tower with scouring, soil lifting, upward pulling or loose ground wire and stay wire should be earthed and reinforced first. During hilling and reinforcing, a valve on a soil box 207 is opened to release soil, so that backfill soil falls to the ground through a soil falling opening 208, then a patrol motor 108 is started to drive a patrol gear 109 to rotate, a mounting shell 201 is driven to rotate relative to a chassis 106, a landfill pressing plate 206 is moved to the position above the backfill soil, a landfill motor 202 is started to drive a landfill screw 203 to rotate, a landfill pressing cylinder 204 and the landfill pressing plate 206 are driven to move downwards, and the backfill soil is compacted and reinforced through the landfill pressing plate 206.
In the inspection tour process, if the equipment is found to be grounded or the high-voltage wire cable breaks off the ground and hangs in the air, an alarm is started to start to sound a whistle, and passers-by is warned. Meanwhile, the robot is controlled to move to a position which is eight meters away from the fault point, the operation motor 218 is started to drive the incomplete gear 219 to rotate, the incomplete gear 219 is meshed with the operation rack 223, the operation rack 223 drives the warning push rod 225 to move towards the barrier removal rack 224, the reset spring 226 is stretched, the warning push rod 225 pushes the baffle 213, the baffle 213 is driven to slide on the mounting shell 201, the warning spring 214 is compressed, the blanking opening 227 is exposed, and one warning board 210 falls from the blanking opening 227 and falls on the ground; when the teeth on the incomplete gear 219 rotate to a position where the teeth are not meshed with the operation rack 223 any more, the operation rack 223 is reset under the action of the elastic force of the reset spring 226, and meanwhile, the baffle 213 is reset under the action of the elastic force of the warning spring 214, and the baffle 213 blocks the blanking port 227 again.
Under the action of the elasticity of the pushing spring 211, the pushing plate 212 pushes the warning board 210 in the installation shell 201 to slide towards the blanking port 227, so that after the baffle 213 plugs the blanking port 227 again, a second warning board 210 appears at the corresponding position of the blanking port 227; the robot is then transferred to the place, the above steps are repeated, the warning board 210 is placed around the place eight meters away from the fault point, and warning is performed before the maintenance worker arrives, so that pedestrians are prevented from approaching, and the pedestrians are prevented from being injured by the step voltage.
In the inspection process, the robot can be controlled to cut the ultrahigh grass, so that the follow-up staff can walk conveniently, or vegetation which will affect the environment of the line channel can be cleared. If the vegetation range is larger, the obstacle removing hydraulic cylinder 221 is started to extend out of the piston rod, the mounting rod 217 and the obstacle removing sliding block 220 slide relatively, the mounting rod 217 drives the cutting knife 216 to extend out of the cutting opening 209, then the operation motor 218 is started to drive the incomplete gear 219 to rotate, the incomplete gear 219 is meshed with the operation rack 223, the operation rack 223 drives the obstacle removing rack 224 to move towards the warning push rod 225, the return spring 226 is compressed, the obstacle removing rack 224 is meshed with the obstacle removing gear 222, the obstacle removing rack 224 drives the obstacle removing gear 222 to rotate, the torsion spring is driven to twist (normally, the obstacle removing gear 222 is prevented from rotating at will by the position of the torsion spring), when the teeth on the incomplete gear 219 are rotated to the position which is not meshed with the operation rack 223 any more, the operation rack 223 is reset under the elastic force of the return spring 226, the obstacle removing rack 224 is driven to reset, and therefore the obstacle removing rack 224 in reciprocating movement drives the obstacle removing gear 222 to reciprocate, the obstacle removing sliding block 220 and the mounting rod 217 are driven to reciprocate, and the cutting knife 216 is driven to reciprocate to cut vegetation; the cutter 216 performs driving cutting through the blade motor 215; when the large-scale vegetation does not need to be cut, the obstacle removing hydraulic cylinder 221 can be directly started to extend the piston rod, so that the cutter 216 extends out of the cutting opening 209 to cut.
It should be understood that the foregoing embodiments are merely illustrative of the technical solutions of the present utility model, and not limiting thereof, and that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art; all such modifications and substitutions are intended to be included within the scope of this disclosure as defined in the following claims.
Claims (3)
1. The utility model provides a robot is patrolled and examined to power transmission line intelligence, includes inspection mechanism (1), inspection mechanism (1) include with inspection hydraulic cylinder (102) be connected camera platform (101), install on camera platform (101) can three hundred sixty degrees pivoted camera instruments, inspection hydraulic cylinder (102) are installed on inspection seat (103), inspection seat (103) slidable mounting is on operating device (2), its characterized in that: the operating mechanism (2) comprises a landfill component, a warning component, an obstacle removing component and an installation shell (201) with openings at two ends, wherein the installation shell (201) is rotatably installed on a chassis (106) around an axle center, an incomplete gear (219) is rotatably installed on the installation shell (201), the incomplete gear (219) is meshed with an operating rack (223), the operating rack (223) is slidably installed on the installation shell (201), the obstacle removing rack (224) and the warning push rod (225) are installed on the operating rack (223), the obstacle removing rack (224) is matched with the obstacle removing component, and the warning push rod (225) is matched with the warning component;
the warning assembly comprises a plurality of warning boards (210) which are slidably arranged in a mounting shell (201), a blanking port (227) and limiting plates (228) are arranged on the mounting shell (201), the blanking port (227) is matched with the warning boards (210) in size, two limiting plates (228) are symmetrically arranged on the mounting shell (201), the limiting plates (228) are in contact with the warning boards (210), and the limiting plates (228) are used for limiting the warning boards (210);
the device is characterized in that a baffle plate (213) is slidably arranged on the installation shell (201), the baffle plate (213) is matched with the warning push rod (225), the baffle plate (213) is connected with a first end of a warning spring (214), a second end of the warning spring (214) is connected with the installation shell (201), the warning spring (214) is always in a compressed state, and the baffle plate (213) is positioned at the blanking port (227) in a normal state;
the obstacle removing assembly comprises an obstacle removing gear (222), the obstacle removing gear (222) is rotatably arranged on the installation shell (201) around the axis, the obstacle removing gear (222) is connected with the installation shell (201) through a torsion spring, the obstacle removing gear (222) is matched with the obstacle removing rack (224), the obstacle removing gear (222) is fixedly connected with the obstacle removing sliding block (220), the obstacle removing sliding block (220) is in sliding connection with the installation rod (217), an obstacle removing hydraulic cylinder (221) is arranged on the obstacle removing sliding block (220), and a piston rod of the obstacle removing hydraulic cylinder (221) is connected with the installation rod (217);
the mounting rod (217) is provided with a cutting knife (216), and the mounting shell (201) is provided with a cutting opening (209) corresponding to the cutting knife (216);
the landfill assembly comprises a soil falling port (208) arranged on the installation shell (201), a soil box (207) is detachably arranged on the installation shell (201), a valve is arranged on the soil box (207), and the position of the valve corresponds to the soil falling port (208);
the device is characterized in that a landfill pressing cylinder (204) is slidably mounted on the mounting shell (201), a landfill pressing plate (206) is mounted on the landfill pressing cylinder (204), the landfill pressing cylinder (204) is in threaded connection with a landfill screw (203), a landfill sliding rod (205) is mounted on the landfill pressing cylinder (204), and the landfill sliding rod (205) is slidably mounted on the mounting shell (201).
2. The intelligent inspection robot for a power transmission line of claim 1, wherein: the operating rack (223) is connected with a first end of a return spring (226), and a second end of the return spring (226) is mounted on the mounting shell (201).
3. The intelligent inspection robot for a power transmission line according to claim 2, wherein: the mounting shell (201) is provided with a first end of a pushing spring (211), a second end of the pushing spring (211) is connected with a push plate (212), the pushing spring (211) is in a compressed state in a normal state, and the push plate (212) is kept in contact with a warning board (210) farthest from the blanking port (227).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311157304.4A CN117134252B (en) | 2023-09-08 | 2023-09-08 | Intelligent inspection robot for power transmission line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311157304.4A CN117134252B (en) | 2023-09-08 | 2023-09-08 | Intelligent inspection robot for power transmission line |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117134252A CN117134252A (en) | 2023-11-28 |
| CN117134252B true CN117134252B (en) | 2024-02-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311157304.4A Active CN117134252B (en) | 2023-09-08 | 2023-09-08 | Intelligent inspection robot for power transmission line |
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| CN (1) | CN117134252B (en) |
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| CN110815250A (en) * | 2019-11-27 | 2020-02-21 | 长兴善云智能科技有限公司 | Auxiliary climbing mechanism of power transmission line inspection robot |
| WO2020134187A1 (en) * | 2019-08-28 | 2020-07-02 | 山东科技大学 | Mining workface inspection robot and application thereof |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109333504A (en) * | 2018-12-05 | 2019-02-15 | 博众精工科技股份有限公司 | A kind of patrol robot and patrol robot management system |
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2023
- 2023-09-08 CN CN202311157304.4A patent/CN117134252B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6325749B1 (en) * | 1996-10-18 | 2001-12-04 | Kabushiki Kaisha Yaskawa Denki | Robot vehicle for hot-line job |
| CN109494617A (en) * | 2018-12-14 | 2019-03-19 | 杭州申昊科技股份有限公司 | One kind is removed obstacles crusing robot and its method of removing obstacles |
| WO2020134187A1 (en) * | 2019-08-28 | 2020-07-02 | 山东科技大学 | Mining workface inspection robot and application thereof |
| CN110815250A (en) * | 2019-11-27 | 2020-02-21 | 长兴善云智能科技有限公司 | Auxiliary climbing mechanism of power transmission line inspection robot |
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