CN201918666U - Intelligent routing inspection travelling device for running status of high-voltage line - Google Patents

Intelligent routing inspection travelling device for running status of high-voltage line Download PDF

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Publication number
CN201918666U
CN201918666U CN2010206693311U CN201020669331U CN201918666U CN 201918666 U CN201918666 U CN 201918666U CN 2010206693311 U CN2010206693311 U CN 2010206693311U CN 201020669331 U CN201020669331 U CN 201020669331U CN 201918666 U CN201918666 U CN 201918666U
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CN
China
Prior art keywords
walking
arm
cursor
lifting
running status
Prior art date
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Expired - Lifetime
Application number
CN2010206693311U
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Chinese (zh)
Inventor
李历波
张子栖
张扬
张同舟
李书
王旭
蔡亮
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Chongqing Qianwei Instrument Co ltd
QINAN POWER SUPPLY BUREAU OF CHONGQING ELECTRIC POWER CORP
Original Assignee
Chongqing Qianwei Instrument Co ltd
QINAN POWER SUPPLY BUREAU OF CHONGQING ELECTRIC POWER CORP
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by Chongqing Qianwei Instrument Co ltd, QINAN POWER SUPPLY BUREAU OF CHONGQING ELECTRIC POWER CORP filed Critical Chongqing Qianwei Instrument Co ltd
Priority to CN2010206693311U priority Critical patent/CN201918666U/en
Application granted granted Critical
Publication of CN201918666U publication Critical patent/CN201918666U/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Abstract

The utility model discloses an intelligent routing inspection travelling device for running status of a high-voltage line, which comprises a travelling mechanism, a ground control processing system and a control processing system. The routing inspection system utilizes the wireless automatic control technology to remote control the travelling mechanism provided with a PTZ (Pan-Tilt-Zoom) camera to travel on an optical fiber composite overhead ground wire through the ground control processing system, and performs video routing inspection for the high-voltage line so as to overcome the shortcomings of low precision, low efficiency, high labor intensity and dead zone of the manual routing inspection. Two travelling arms of the travelling mechanism can retract and rotate and are supported by double wheels, and the center of gravity can be adjusted; when crossing a pylon, one travelling arm is used as support, the other travelling arm lifts and rotates to avoid the obstacle and cross the obstacle by means of the single arm, so that the obstacle crossing capacity is strong. Meanwhile, the travelling mechanism has simple and reasonable structure, light weight and strong cruisingability, is convenient to carry and has great significance for safe running of the transmission line and communication line.

Description

High-tension line running status intelligent patrol detection running gear
Technical field
The utility model relates to a kind of damage check equipment of ultra-high-tension power transmission line, and is particularly a kind of at the up running gear of walking to carry out video routing inspection of hanging net operation circuit.
Background technology
In recent years, construction along with the high-tension line backbone network, the ultra-high-tension power transmission line of hanging net operation is more and more, operational defect also progressively comes out simultaneously, for example: disconnected strand of the outer strand of the OPGW Optical Fiber composite overhead Ground Wire that frequency is occurred frequently, the disconnected thigh of this skin not only forms communication security and threatens, and along with the increase of its broken lot length, the reduction of permanent way machine intensity also can constitute serious threat to the safety of transmission line.According to the disconnected stock market-circumstance condition investigation statistics of power transmission line, disconnected strand generally is that outer monofilament takes place disconnected strand, therefore, can adopt the video image routine inspection mode to disconnected the patrolling and examining of stock market-circumstance condition of power transmission line.
At present, method for inspecting commonly used is the manual inspection method, and this method workload is big, condition is arduous, it is low to patrol and examine precision, particularly to the mountain area with cross over patrolling and examining of great rivers circuit, there is very big difficulty, even has some projects of patrolling and examining to be difficult to finish by conventional method.For reach the purpose of patrolling and examining comprehensively, the method for inspecting of helicopter aerial survey has appearred, and precision and efficient are all higher, but owing to maked an inspection tour condition effect such as regional geography, weather, have potential safety hazard, and line walking expense height.In addition, also occurred directly at the up equipment of walking to detect of patrolling and examining of transmission line, but shortcoming such as the ubiquity obstacle climbing ability is strong, flying power is relatively poor.
Therefore, need a kind of can the walking on the line of research and development that blind area, precision height, efficient height, obstacle climbing ability is strong, flying power is strong, expense is relatively low running gear are patrolled and examined, do not existed to the circuit operation conditions, in time find disconnected burst of damage of transmission line, effectively avoid disconnected burst of damage of transmission line to cause accident, ensure the safe operation of power system communication.
Summary of the invention
In view of this, the utility model provides a kind of high-tension line running status intelligent patrol detection running gear, can on Optical Fiber composite overhead Ground Wire, walk and realize video routing inspection overhead ground wire or transmission line, obstacle crossing ability is strong, can cross over pylon works continuously, simultaneously, it is simple and reasonable, in light weight, and flying power is strong.
High-tension line running status intelligent patrol detection running gear of the present utility model comprises walking mechanism and control processing system;
Described walking mechanism comprises walking arm I, walking arm II, guide rail, box assembly, monopod video camera and power supply; Described walking arm I and walking arm II include rotary components, lifting assembly and walking assembly, described rotary components comprises electric rotating machine and the walking arm mount pad that is fixedly set on the guide rail, described lifting assembly comprises the cursor that is rotatably assorted with walking arm mount pad, lifting arm that is slidingly matched with cursor and the lifting motor that cooperates with the lifting arm transmission, described electric rotating machine transmission cooperates cursor, described walking assembly comprises wheel carrier, before and after be set up in parallel and on wheel carrier, be used for the driving wheel and the auxiliary wheel of walking on the line, wheel carrier is fixedly connected on the lifting arm top, is equipped with movable motor with the driving wheel transmission; Described box assembly comprises can be along guide rail casing that reciprocatingly slides and the drive motors that is arranged on the casing, and described monopod video camera is arranged on the casing; Described power supply is arranged in the casing;
Described control processing system comprises and is arranged at visual-signal transmitter, the wireless receiver in the casing and is arranged at electric machine controller on the guide rail, the video data incoming video signal reflector of monopod video camera, the control data input electric machine controller that wireless receiver receives, electric machine controller is controlled the drive motors on electric rotating machine, lifting motor, movable motor and the casing respectively.
Further, described high-tension line running status intelligent patrol detection running gear also comprises the velocity transducer that is used to detect the attitude transducer of walking mechanism position of centre of gravity and is used to detect the walking mechanism speed of travel, and the detection signal of described attitude transducer and velocity transducer is all imported wireless receiver;
Further, described cursor is the tube-in-tube structure that opening makes progress, lifting arm stretches into downwards in the cursor and with it and is slidingly matched, embed vertically on the lifting arm and be provided with the tooth bar I, described lifting motor is fixedly set on the cursor, is provided with and tooth bar I meshed gears along circumferential secure fit with the output shaft of lifting motor;
Further, embed vertically on the described lifting arm and be provided with the tooth bar II, described cursor be provided with lifting arm on the safety door hook driven wheel of tooth bar II engagement, fixedly install safety door hook on the described safety door hook driven wheel, safety door hook and driving wheel are formed for surrounding the closed-loop of circuit;
Further, described walking arm I and walking arm II also comprise the brace that is used to reinforce, and the mode of circumferentially rotating with axial restraint on the described cursor is provided with deck, the fixedly connected guide rail of brace one end, the fixedly connected deck of the other end;
Further, be provided with the electric wire band on described deck and the guide rail;
Further, described driving wheel and auxiliary wheel are the V-arrangement wheel of the circumferentially outside V-shaped groove of band;
Further, described attitude transducer is the Hall element that is arranged on casing and the guide rail, and described velocity transducer is the Hall element that is arranged on driving wheel and the wheel carrier.
The beneficial effect of utility model: high-tension line running status intelligent patrol detection running gear of the present utility model, comprise walking mechanism and control processing system, this patrols and examines running gear based on automatic control technology, can on Optical Fiber composite overhead Ground Wire, walk, by monopod video camera high-tension line is carried out video routing inspection, can overcome that artificial line walking precision is low, efficient is low, labour intensity is big, have shortcomings such as blind area; Two scalable and rotations of walking arm of walking mechanism are supported by two-wheel, and can be passed through casing slidable adjustment center of gravity, when crossing over pylon, one of them walking arm is as support, and obstacle is avoided in another walking arm lifting and rotation, rely on single armed walking leaping over obstacles, obstacle climbing ability is strong, and simultaneously, walking mechanism is simple and reasonable, in light weight, flying power is strong, and is easy to carry, and its safe operation of using ensureing transmission line and communication line is significant.
Description of drawings
Below in conjunction with drawings and Examples the utility model is further described.
Fig. 1 is a structural representation of the present utility model;
Fig. 2 is the A-A cutaway view of Fig. 1;
Fig. 3 is the I place partial enlarged drawing among Fig. 1;
Fig. 4 is the II place partial enlarged drawing among Fig. 1;
Fig. 5 is a control principle schematic diagram of the present utility model.
Embodiment
Fig. 1 is a structural principle schematic diagram of the present utility model, Fig. 2 is the A-A cutaway view of Fig. 1, Fig. 3 is the I place partial enlarged drawing among Fig. 1, Fig. 4 is the II place partial enlarged drawing among Fig. 1, Fig. 5 is a control principle schematic diagram of the present utility model, as shown in the figure: the high-tension line running status intelligent patrol detection running gear of present embodiment comprises walking mechanism and control processing system;
Described walking mechanism comprises walking arm I 1, walking arm II 2, guide rail 3, box assembly, monopod video camera 4 and power supply; Described walking arm I 1 and walking arm II 2 include rotary components, lifting assembly and walking assembly, described rotary components comprises electric rotating machine 5 and is connected and fixed the walking arm mount pad 6 that is arranged on the guide rail 3 by bolt, described lifting assembly comprises the cursor 7 that is rotatably assorted with walking arm mount pad 6, lifting arm 8 that is slidingly matched with cursor 7 and the lifting motor 9 that cooperates with lifting arm 8 transmissions, described electric rotating machine 5 cooperates cursor 7 by the gear drive transmission, described walking assembly comprises wheel carrier 10, front and back are set up in parallel driving wheel 11 and the auxiliary wheel 12 that is used for walking on the line on wheel carrier 10, wheel carrier 10 is fixed by nut and is connected in lifting arm 8 tops, is equipped with movable motor 13 with driving wheel 11 transmissions; Described box assembly comprises can be along guide rail 3 casing 14 that reciprocatingly slides and the drive motors 15 that is arranged on the casing 14, and described monopod video camera 4 is arranged on the casing 14; Described power supply is arranged in the casing 14;
Described control processing system comprises and is arranged at visual-signal transmitter 16, the wireless receiver 17 in the casing 14 and is arranged at electric machine controller 18 on the guide rail 3, the video data incoming video signal reflector 16 of monopod video camera 4, the control data input electric machine controller 18 that wireless receiver 17 receives, electric machine controller 18 is controlled the drive motors 15 on electric rotating machine 5, lifting motor 9, movable motor 13 and the casing 14 respectively.
During use, the operator can drive the walking mechanism walking that hangs on the Optical Fiber composite overhead Ground Wire by the motor controller controls movable motor, the direction of travel of supposing walking mechanism is that walking arm II is to walking the arm I, when crossing over pylon, at first move behind the controlling and driving motor-driven casing, center of gravity is moved to walking arm II place, the lifting motor of control walking arm I drives lifting arm lifting walking assembly then, make driving wheel and auxiliary wheel leave circuit, the electric rotating machine of control walking arm II drives the cursor rotation of walking arm II again, the walking arm I arm II that detours is away rotated, thereby avoid the obstacle on the pylon, movable motor drive driving wheel on the control walking arm II rotates walking mechanism is advanced then, after the arm I of waiting to walk surmounts obstacles, oppositely carry out above-mentioned flow process, make walking mechanism recover initial state, in like manner, with same method walking arm II is also surmounted obstacles, make walking mechanism realization continuous walking on the line, open the video image that monopod video camera obtains circuit, can finish patrolling and examining circuit.
In the present embodiment, described walking mechanism also comprises the velocity transducer 20 that is used to detect the attitude transducer 19 of walking mechanism position of centre of gravity and is used to detect the walking mechanism speed of travel, the detection signal of described attitude transducer 19 and velocity transducer 20 is all imported wireless receiver 17, can accurately obtain the attitude information of walking mechanism by attitude transducer, accurately regulate its center of gravity, walking mechanism keeps balance during with the assurance obstacle detouring, the velocity transducer person of being convenient to operation grasps the speed of travel of inspection device at any time, is convenient to regulate as required and control.
In the present embodiment, the tube-in-tube structure that described cursor 7 makes progress for opening, lifting arm 8 stretches into downwards in the cursor 7 and with it and is slidingly matched, embed vertically on the lifting arm 8 and be provided with tooth bar I 21, adopt embedded mode in order to avoid tooth bar influences lifting arm is free to slide in cursor, described lifting motor 9 is fixedly set on the cursor 7, be provided with and tooth bar I 21 meshed gears 22 along circumferential secure fit with the output shaft of lifting motor 9, this is simple and compact for structure, plays good action for effectively controlling the inspection device overall weight.
In the present embodiment, embed vertically on the described lifting arm 8 and be provided with tooth bar II 23, described cursor 7 is provided with the safety door hook driven wheel 24 with 23 engagements of tooth bar II, fixedly install safety door hook 25 on the described safety door hook driven wheel 24, the closed-loop that safety door hook 25 and driving wheel 11 are formed for surrounding circuit, to prevent that walking mechanism landing from the circuit from causing security incident, simultaneously, when the walking mechanism leaping over obstacles, the tooth bar II can drive the safety door hook rotation with the lifting arm motion, to untie closed-loop, carry out obstacle detouring thereby make the walking arm avoid lead.
In the present embodiment, described walking arm I 1 and walking arm II 2 also comprise the brace 26 that is used to reinforce, the mode of circumferentially rotating with axial restraint on the described cursor 7 is provided with deck 27, the fixedly connected guide rail 3 of brace 26 1 ends, the fixedly connected deck 27 of the other end is to increase the bonding strength of walking arm I 1 and walking arm II 2 and guide rail 3.
In the present embodiment, be provided with electric wire band 28 on described deck 27 and the guide rail 3, many wire harness tied up, make wire harness orderly by the electric wire band, in case the principal vertical line bundle influences the action of walking mechanism, or wire harness is damaged and causes inspection device to break down in course of action.
In the present embodiment, described driving wheel 11 and auxiliary wheel 12 are the circumferentially outwards V-arrangement wheel of V-shaped groove of band, and the V-shaped groove bottom land cooperates with circuit, and stability is high, is difficult for landing, and difficult when walking circuit are caused damage.
In the present embodiment, described attitude transducer 19 is for being arranged at the Hall element on casing 14 and the guide rail 3, and described velocity transducer 20 is for being arranged at the Hall element on driving wheel 11 and the wheel carrier 10, and cost is low, is easy to realize.
Explanation is at last, above embodiment is only unrestricted in order to the explanation the technical solution of the utility model, although the utility model is had been described in detail with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can make amendment or be equal to replacement the technical solution of the utility model, and not breaking away from the aim and the scope of technical solutions of the utility model, it all should be encompassed in the middle of the claim scope of the present utility model.

Claims (8)

1. a high-tension line running status intelligent patrol detection running gear is characterized in that: comprise walking mechanism and control processing system;
Described walking mechanism comprises walking arm I (1), walking arm II (2), guide rail (3), box assembly, monopod video camera (4) and power supply; Described walking arm I (1) and walking arm II (2) include rotary components, lifting assembly and walking assembly, described rotary components comprises electric rotating machine (5) and is fixedly set in walking arm mount pad (6) on the guide rail (3), described lifting assembly comprises the cursor (7) that is rotatably assorted with walking arm mount pad (6), lifting arm (8) that is slidingly matched with cursor (7) and the lifting motor (9) that cooperates with lifting arm (8) transmission, described electric rotating machine (5) transmission cooperates cursor (7), described walking assembly comprises wheel carrier (10), front and back are set up in parallel driving wheel (11) and the auxiliary wheel (12) that is used for walking on the line on wheel carrier (10), wheel carrier (10) is fixedly connected on lifting arm (8) top, is equipped with movable motor (13) with driving wheel (11) transmission; Described box assembly comprises the casing (14) that can reciprocatingly slide along guide rail (3) and is arranged at drive motors (15) on the casing (14) that described monopod video camera (4) is arranged on the casing (14); Described power supply is arranged in the casing (14);
Described control processing system comprises and is arranged at visual-signal transmitter (16), the wireless receiver (17) in the casing (14) and is arranged at electric machine controller (18) on the guide rail (3), the video data incoming video signal reflector (16) of monopod video camera (4), the control data input electric machine controller (18) that wireless receiver (17) receives, electric machine controller (18) is controlled the drive motors (15) on electric rotating machine (5), lifting motor (9), movable motor (13) and the casing (14) respectively.
2. high-tension line running status intelligent patrol detection running gear according to claim 1, it is characterized in that: also comprise attitude transducer (19) that is used to detect the walking mechanism position of centre of gravity and the velocity transducer (20) that is used to detect the walking mechanism speed of travel, the detection signal of described attitude transducer (19) and velocity transducer (20) is all imported wireless receiver (17).
3. high-tension line running status intelligent patrol detection running gear according to claim 2, it is characterized in that: the tube-in-tube structure that described cursor (7) makes progress for opening, lifting arm (8) stretches into downwards in the cursor (7) and with it and is slidingly matched, embed vertically on the lifting arm (8) and be provided with tooth bar I (21), described lifting motor (9) is fixedly set on the cursor (7), is provided with and tooth bar I (21) meshed gears (22) along circumferential secure fit with the output shaft of lifting motor (9).
4. high-tension line running status intelligent patrol detection running gear according to claim 3, it is characterized in that: embed vertically on the described lifting arm (8) and be provided with tooth bar II (23), described cursor (7) is provided with the safety door hook driven wheel (24) with tooth bar II (23) engagement, fixedly install safety door hook (25) on the described safety door hook driven wheel (24), the closed-loop that safety door hook (25) and driving wheel (11) are formed for surrounding circuit.
5. high-tension line running status intelligent patrol detection running gear according to claim 4, it is characterized in that: described walking arm I (1) and walking arm II (2) also comprise the brace (26) that is used to reinforce, described cursor (7) is gone up the mode of circumferentially rotating with axial restraint and is provided with deck (27), the brace fixedly connected guide rails of (26) one ends (3), the fixedly connected deck of the other end (27).
6. high-tension line running status intelligent patrol detection running gear according to claim 5 is characterized in that: be provided with electric wire band (28) on described deck (27) and the guide rail (3).
7. high-tension line running status intelligent patrol detection running gear according to claim 6 is characterized in that: described driving wheel (11) and auxiliary wheel (12) are the V-arrangement wheel of the circumferentially outside V-shaped groove of band.
8. high-tension line running status intelligent patrol detection running gear according to claim 7, it is characterized in that: described attitude transducer (19) is for being arranged at the Hall element on casing (14) and the guide rail (3), and described velocity transducer (20) is for being arranged at the Hall element on driving wheel (11) and the wheel carrier (10).
CN2010206693311U 2010-12-20 2010-12-20 Intelligent routing inspection travelling device for running status of high-voltage line Expired - Lifetime CN201918666U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2010206693311U CN201918666U (en) 2010-12-20 2010-12-20 Intelligent routing inspection travelling device for running status of high-voltage line

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Application Number Priority Date Filing Date Title
CN2010206693311U CN201918666U (en) 2010-12-20 2010-12-20 Intelligent routing inspection travelling device for running status of high-voltage line

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102110959A (en) * 2010-12-20 2011-06-29 重庆市电力公司綦南供电局 Walking device for intelligently inspecting running state of high voltage line
CN108011321A (en) * 2017-12-25 2018-05-08 周治安 A kind of convenient high-voltage line Electric Power Patrol robot
CN111864629A (en) * 2020-08-04 2020-10-30 钱南林 Urban railway inspection robot and using method thereof

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102110959A (en) * 2010-12-20 2011-06-29 重庆市电力公司綦南供电局 Walking device for intelligently inspecting running state of high voltage line
CN102110959B (en) * 2010-12-20 2012-08-22 重庆市电力公司綦南供电局 Walking device for intelligently inspecting running state of high voltage line
CN108011321A (en) * 2017-12-25 2018-05-08 周治安 A kind of convenient high-voltage line Electric Power Patrol robot
CN108011321B (en) * 2017-12-25 2020-10-30 嘉兴麦瑞网络科技有限公司 Convenient high-voltage line electric power inspection robot
CN111864629A (en) * 2020-08-04 2020-10-30 钱南林 Urban railway inspection robot and using method thereof
CN111864629B (en) * 2020-08-04 2021-07-09 万金芬 Urban railway inspection robot and using method thereof

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GR01 Patent grant
AV01 Patent right actively abandoned

Granted publication date: 20110803

Effective date of abandoning: 20120822

AV01 Patent right actively abandoned

Granted publication date: 20110803

Effective date of abandoning: 20120822