CN201994593U - Inspection or de-icing robot of power transmission line - Google Patents

Inspection or de-icing robot of power transmission line Download PDF

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Publication number
CN201994593U
CN201994593U CN2010206889435U CN201020688943U CN201994593U CN 201994593 U CN201994593 U CN 201994593U CN 2010206889435 U CN2010206889435 U CN 2010206889435U CN 201020688943 U CN201020688943 U CN 201020688943U CN 201994593 U CN201994593 U CN 201994593U
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China
Prior art keywords
joint
arm
transmission line
postbrachium
forearm
Prior art date
Application number
CN2010206889435U
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Chinese (zh)
Inventor
解玉文
黄志江
李红旗
李翔
曹向勇
陈志高
于钦刚
郭志广
王睿
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中国电力科学研究院
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Priority to CN2010206889435U priority Critical patent/CN201994593U/en
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Publication of CN201994593U publication Critical patent/CN201994593U/en

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Abstract

The utility model relates to the field of an obstacle-crossing robot platform for inspection or de-icing of a power transmission line, in particular to an inspection or de-icing robot of a power transmission line, which comprises a front arm, a rear arm and a waist joint. Both the front arm and the rear arm which are symmetrically connected to the waist joint are provided with an infrared sensor and an ultrasonic wave sensor and comprise an upper arm and a lower arm. The robot is capable of carrying various inspection sensors, monitoring the running state of the power transmission line at short range and from multiple visual angles, reducing labor strength of line inspection workers, enhancing inspection quality and work efficiency, crossing fittings on the line such as a catenary wire clip, an shockproof hammer, a spacer and a shield ring, walking automatically along the line, being less affected by natural environment, having big range of inspection, carrying a de-icing module, doing de-icing wherever ice exists, reducing effect of ice coating on the power transmission line to the maximum degree and ensuring safety of power supply.

Description

A kind of polling transmission line or deicing robot
Technical field:
The utility model relates to the barrier-surpassing robot platform field that is used for polling transmission line or deicing, is specifically related to a kind of polling transmission line or deicing robot.
Background technology:
Because the transmission line distributed points is many, wide, the overwhelming majority is away from cities and towns, of living in a varied topography, natural environment is abominable, and power line and shaft tower annex long term exposure are in the open air, the mechanical tension that can be continued, electric flashover, the influence of material aging and produce disconnected strand, wearing and tearing, the corrosion equivalent damage, change as untimely reparation, originally small breakage and defective just may enlarge, and finally cause serious accident, cause large-area power-cuts, thereby cause great economic loss and serious social influence, in addition, because China is vast in territory, weather conditions are changeable, the possibility that makes icing snow occur increases, in certain areas even become the normal property phenomenon of sending out, icing snow can cause down tower, broken string, wave, multiple disasters such as icing flashover cause serious harm to the safe operation of overhead transmission line.So, must carry out the periodical inspection inspection to transmission line, grasp at any time and understand the ruuning situation of transmission line and the situation of change in circuit surrounding environment and route protection district, so that in time find and remove a hidden danger, power supply safety is guaranteed in trouble-saving generation.
Current to two kinds of methods of the main employing of patrolling and examining of transmission line, i.e. ground artificial ocular estimate and helicopter aerophotographic method.What artificial line walking adopted is the working method of manual patrol, hand-kept, and it is low to patrol and examine precision, and labour intensity is big, is difficult to guarantee the cyclic in-position measuring rate.Be subjected to the influence of natural environment, some regional personnel and vehicle are difficult to arrive, abominable operating environment even threaten staff's personal safety.Current, the transmission line growth rate rapidly increases, high mountain high hill circuit increasing proportion, artificial line walking difficulty increases, and line walking difficulty and danger are bigger when meeting the generation of harsh weather fault, and efficient is low, the deicing effect is bad, and because the influence of icing, task difficulty is big, causes casualty accident easily.Then there is flight safety hidden danger in the helicopter aerial survey, area particularly with a varied topography, and the low air flow instability, danger is bigger, and line walking expense costliness, has limited the extensive popularization that helicopter is maked an inspection tour.
So, be badly in need of a kind of new polling transmission line of development or deicing equipment at present, address the above problem.
The utility model content:
The purpose of this utility model provides a kind of polling transmission line or deicing robot, robot can carry various detecting sensors closely, the operation conditions of Monitoring Line of various visual angles, can alleviate the labour intensity of workman's line walking, improve the quality and the operating efficiency of patrolling and examining operation, gold utensil on can span line, as suspension clamp, stockbridge damper, conductor spacer, shading ring etc., walk automatically in road along the line, is subjected to the influence of natural environment little, the scope of patrolling and examining is big.Robot carries the deicing module, can accomplish that ice promptly removes, and reduces the influence of icing to transmission line to greatest extent, guarantees power supply safety.
For achieving the above object, the utility model is by the following technical solutions:
A kind of polling transmission line or deicing robot that the utility model provides, described robot comprises forearm, postbrachium and waist joint, described forearm and postbrachium are symmetricly set on the waist joint, all be provided with infrared sensor and ultrasonic sensor on described forearm and the postbrachium, described forearm and postbrachium include upper arm and underarm.
In a kind of polling transmission line or deicing robot technical scheme that the utility model provides, the upper arm of described forearm and postbrachium is provided with paw and gripper motor, and described paw is connected by gear with gripper motor, and the finger orientation of described paw down.
In another preferred a kind of polling transmission line or deicing robot technical scheme that the utility model provides, the underarm of described forearm and postbrachium is connected with waist joint by shoulder joint respectively.
In the preferred a kind of polling transmission line again or deicing robot technical scheme that the utility model provides, described shoulder joint comprises line slideway and linear joint mounted thereto, underarm one end of described forearm and postbrachium links to each other with linear joint, described linear joint drives forearm and postbrachium moves on line slideway, and described line slideway is connected with described waist joint.
In the another preferred a kind of polling transmission line or deicing robot technical scheme that the utility model provides, be provided with the linear joint motor on the end of described line slideway away from waist joint, described linear joint motor is connected with described linear joint.
In the another preferred a kind of polling transmission line or deicing robot technical scheme that the utility model provides, described waist joint is provided with coupled waist joint motor, and described waist joint motor-driven waist joint moves.
In the another preferred a kind of polling transmission line or deicing robot technical scheme that the utility model provides, the upper arm top of described forearm and postbrachium is connected with a fixture respectively, be provided with driving wheel in the described fixture, described driving wheel drives by the driving wheel motor of coaxial setting.
In the another preferred a kind of polling transmission line or deicing robot technical scheme that the utility model provides, be equipped with elbow joint and elbow joint motor between the upper arm of described forearm and postbrachium and the underarm, described elbow joint is connected with the elbow joint motor.
Because the beneficial effect that has adopted technique scheme, the utility model to obtain is:
1, the paw finger can prevent effectively that robot from falling downwards.
2, paw is held lead tightly can increase frictional force between driving wheel and the lead, both can prevent that driving wheel from skidding, and can increase the climbing capacity of robot again.
3, keep away barrier by the mode of upper arm side-sway avoiding barrier, only need elbow joint just to rotate and to realize that action is simple.
4, two spacing arms can be regulated, and can adapt to the barrier and the obstacle spacing of different length.
5, waist joint reduces the arm of force of rolling in the middle of two arms, can reduce the required moment of torsion of lifting on the arm, descend greatly.
Description of drawings
Fig. 1 is the structural representation of a kind of polling transmission line or deicing robot;
Wherein, 1-forearm, 2-postbrachium, the 3-gripper motor, 4-driving wheel motor, 5-paw, the 6-driving wheel, 7-elbow joint motor, 8-elbow joint, the 9-linear joint, 10-linear joint motor, 11-waist joint motor, the 12-waist joint, 13-shoulder joint, 14-line slideway, the 15-upper arm, 16-underarm, 17-fixture.
Embodiment
The invention will be described in further detail below in conjunction with embodiment.
Embodiment 1:
As shown in Figure 1, a kind of polling transmission line or the deicing robot of this example, described robot comprises forearm 1, postbrachium 2, with waist joint 12, one end of forearm 1 and an end of postbrachium 2 are connected on the described waist joint 12, forearm 1 and postbrachium 2 position symmetries, the other end of the other end of forearm 2 and postbrachium 2 is provided with wire connecting device, all be provided with infrared sensor and ultrasonic sensor on forearm and the postbrachium, the effect of infrared sensor and ultrasonic sensor is to detect the barrier that runs into previously, then information is passed to control module, control module is carried out control corresponding, forearm 1 and postbrachium 2 all comprise upper arm and underarm, wire connecting device is arranged on the upper arm 2, the underarm 16 of forearm 1 and postbrachium 2 is connected with waist joint 12, wire connecting device comprises paw 5 and gripper motor 3, paw 5 links to each other with gripper motor 3, paw 5 finger orientations are downward, upper arm 15 tops of forearm 1 and postbrachium 2 are connected with a fixture 17 respectively, be provided with driving wheel 6 in the fixture 17, driving wheel 6 drives by the driving wheel motor 4 of coaxial setting, be provided with elbow joint 8 and elbow joint motor 7 between the upper arm 15 of forearm 1 and postbrachium 2 and the underarm 16, elbow joint 8 links to each other with elbow joint motor 7, be provided with shoulder joint 13 between the underarm 16 of forearm 1 and postbrachium 2 and the waist joint 12, shoulder joint 13 comprises linear joint 9 and line slideway 14, one end of described underarm 16 is connected with an end of linear joint 9, linear joint 9 is installed on the line slideway 14, line slideway 14 other ends are connected with waist joint 12, line slideway 14 is hinged on the waist joint 12, line slideway 14 is provided with linear joint motor 10 away from an end of waist joint 12, linear joint motor 10 is connected with linear joint 9, waist joint 12 places are provided with waist joint motor 11, and waist joint 12 is connected with waist joint motor 11.
When obstacle detouring not, upper arm 15 gripper motors 3 by forearm 1 and postbrachium 2 rotate to an angle, and make 5 two fingers of upper arm 15 paws of forearm 1 and postbrachium 2 closed respectively, embrace lead.During obstacle detouring, the upper arm 15 gripper motors 3 reverse rotation certain angles of forearm 1 and postbrachium 2 are opened 5 two fingers of paw, and the driving wheel 6 of forearm 1 and postbrachium 2 can make driving wheel 6 break away from lead with lifting on the arm 15.Paw 5 has two effects: the one, and paw 5 closures are embraced lead, prevent that driving wheel 6 breaks away from lead, causes robot to fall.The 2nd, by holding lead tightly, increase the normal pressure between wheel and the lead, thereby increase the frictional force between wheel and the lead, prevent wheel slip.
When wanting obstacle detouring, because the length difference of various barriers, the distance between each barrier is also incomplete same, and this just needs to regulate the distance between robot two arms, to adapt to different situations.The shoulder joint 13 of forearm 1 and postbrachium 2 is movably joints, is made up of line slideway 14 and linear joint 9, and linear joint 9 can move along line slideway 14.Rotate by shoulder joint 13 motors 10, shoulder joint 13 can drive two arms and move, and regulates the distance between two arms.Waist joint 12 is cradle heads, rotates by waist joint motor 11, and robot arm is rotated around waist joint 12, lifts on the arm or descends thereby make.
The obstacle detouring process of robot is as follows: the paw 5 of forearm 1 is opened, the waist joint 12 of forearm 1 rotates, drive on the forearm 1 and lift, make the driving wheel 6 of forearm 1 break away from lead, the elbow joint 8 of forearm 1 rotates, the upper arm 15 that drives forearm 1 is to the direction swing away from lead, whole upper arm 1 is away from lead and barrier, the driving wheel 6 of postbrachium 2 rotates, robot advances along lead, forearm 1 clears the jumps, elbow joint 8 backward rotation of forearm 1, drive the direction swing of upper arm 15 guiding lines of forearm 1, the driving wheel 6 of forearm 1 arrives directly over the guiding, waist joint 12 backward rotation, forearm 1 is descended, the driving wheel 6 of forearm 1 contacts with lead, paw 5 closures of forearm 1, and the paw 5 of postbrachium 2 is opened, the waist joint 12 of postbrachium 2 rotates, drive on the postbrachium 2 and lift, make the driving wheel 6 of postbrachium 2 break away from lead, the elbow joint 8 of postbrachium 2 rotates, the upper arm 15 that drives postbrachium 2 is to the direction swing away from lead, whole upper arm 15 is away from lead and barrier, and the driving wheel 6 of forearm 1 rotates, and robot advances along lead, postbrachium 2 clears the jumps, elbow joint 8 backward rotation of postbrachium 2 drive the direction swing of upper arm 15 guiding lines of postbrachium 2, and the driving wheel 6 of postbrachium 2 arrives directly over the guiding, waist joint 12 backward rotation of postbrachium 2, postbrachium 2 is descended, and the driving wheel 6 of postbrachium 2 contacts with lead, paw 5 closures of postbrachium 2.So far robot clears the jumps, and moves on.
Should be noted that at last: above embodiment only is not intended to limit 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 the foregoing description, those of ordinary skill in the field are to be understood that: still can make amendment or be equal to replacement embodiment of the present utility model, and do not break away from any modification of the utility model spirit and scope or be equal to replacement, it all should be encompassed in the middle of this claim scope.

Claims (8)

1. polling transmission line or deicing robot, it is characterized in that: described robot comprises forearm (1), postbrachium (2) and waist joint (12), described forearm (1) and postbrachium (2) are arranged on the waist joint (12), all be provided with infrared sensor and ultrasonic sensor on described forearm and the postbrachium, described forearm (1) and postbrachium (2) include upper arm (15) and underarm (16).
2. polling transmission line as claimed in claim 1 or deicing robot, it is characterized in that: the upper arm (15) of described forearm (1) and postbrachium (2) is provided with paw (5) and gripper motor (3), described paw (5) is connected by gear with gripper motor (3), and the finger orientation of described paw (5) down.
3. polling transmission line as claimed in claim 2 or deicing robot is characterized in that: the underarm (16) of described forearm (1) and postbrachium (2) is connected with waist joint (12) by shoulder joint (13) respectively.
4. polling transmission line as claimed in claim 3 or deicing robot, it is characterized in that: described shoulder joint (13) comprises line slideway (14) and linear joint (9) mounted thereto, underarm (16) one ends of described forearm and postbrachium link to each other with linear joint (9), described linear joint (9) drives forearm and postbrachium is gone up motion at line slideway (14), and described line slideway (14) is connected with described waist joint (12).
5. polling transmission line as claimed in claim 4 or deicing robot, it is characterized in that: be provided with linear joint motor (10) on the end of described line slideway (14) away from waist joint (12), described linear joint motor (10) is connected with described linear joint (9).
6. polling transmission line as claimed in claim 5 or deicing robot is characterized in that: described waist joint (12) is provided with coupled waist joint motor (11), and described waist joint motor (11) drives waist joint (12) and moves.
7. as arbitrary described polling transmission line of claim 2-6 or deicing robot, it is characterized in that: upper arm (15) top of described forearm (1) and postbrachium (2) is connected with a fixture (17) respectively, be provided with driving wheel (6) in the described fixture (17), described driving wheel (6) drives by the driving wheel motor (4) of coaxial setting.
8. as arbitrary described polling transmission line of claim 2-6 or deicing robot, it is characterized in that: be equipped with elbow joint (8) and elbow joint motor (7) between the upper arm (15) of described forearm (1) and postbrachium (2) and the underarm (16), described elbow joint (8) is connected with elbow joint motor (7).
CN2010206889435U 2010-12-30 2010-12-30 Inspection or de-icing robot of power transmission line CN201994593U (en)

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Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102709859A (en) * 2012-05-30 2012-10-03 哈尔滨工程大学 Deicing robot for transmission line
CN103259216A (en) * 2013-03-15 2013-08-21 武汉大学 Reconfigurable robot used for overhead transmission cables
CN105552814A (en) * 2015-12-17 2016-05-04 彭冬青 High-voltage circuit deicing platform
CN105743045A (en) * 2015-12-17 2016-07-06 任荣源 Ice cutting system for high-voltage line
CN105762749A (en) * 2015-12-17 2016-07-13 任荣源 Ice-cutting system for high-voltage line
CN106313025A (en) * 2016-10-21 2017-01-11 国网山东省电力公司电力科学研究院 Swing arm device for separating driving wheels of line inspection robot from conductor
CN106863258A (en) * 2016-12-28 2017-06-20 长沙理工大学 A kind of cable duct crusing robot
CN106911113A (en) * 2017-05-04 2017-06-30 成都中机盈科科技有限公司 It is applied to the icing sweeping robot of overhead power transmission line
CN107046255A (en) * 2017-05-04 2017-08-15 成都中机盈科科技有限公司 A kind of overhead transmission line de-icing method based on robot
CN107069544A (en) * 2017-03-31 2017-08-18 国家电网公司 Transmission of electricity joint defence inspection system
CN108471080A (en) * 2018-03-14 2018-08-31 福州市星旺成信息科技有限公司 A kind of network optimization operating analysis equipment

Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102709859B (en) * 2012-05-30 2014-12-03 哈尔滨工程大学 Deicing robot for transmission line
CN102709859A (en) * 2012-05-30 2012-10-03 哈尔滨工程大学 Deicing robot for transmission line
CN103259216A (en) * 2013-03-15 2013-08-21 武汉大学 Reconfigurable robot used for overhead transmission cables
CN103259216B (en) * 2013-03-15 2016-02-10 武汉大学 A kind of reconstruction robot for overhead transmission cables
CN105762749A (en) * 2015-12-17 2016-07-13 任荣源 Ice-cutting system for high-voltage line
CN105552814A (en) * 2015-12-17 2016-05-04 彭冬青 High-voltage circuit deicing platform
CN105743045A (en) * 2015-12-17 2016-07-06 任荣源 Ice cutting system for high-voltage line
CN106313025B (en) * 2016-10-21 2019-01-15 国网山东省电力公司电力科学研究院 A kind of inspection robot driving wheel is detached from the swinging arm device of conducting wire
CN106313025A (en) * 2016-10-21 2017-01-11 国网山东省电力公司电力科学研究院 Swing arm device for separating driving wheels of line inspection robot from conductor
CN106863258A (en) * 2016-12-28 2017-06-20 长沙理工大学 A kind of cable duct crusing robot
CN106863258B (en) * 2016-12-28 2019-05-03 深圳昱拓智能有限公司 A kind of cable duct crusing robot
CN107069544A (en) * 2017-03-31 2017-08-18 国家电网公司 Transmission of electricity joint defence inspection system
CN107069544B (en) * 2017-03-31 2018-09-14 国家电网公司 Transmission of electricity joint defence inspection system
CN106911113B (en) * 2017-05-04 2018-06-26 湖南理工学院 Icing sweeping robot applied to overhead power transmission line
CN106911113A (en) * 2017-05-04 2017-06-30 成都中机盈科科技有限公司 It is applied to the icing sweeping robot of overhead power transmission line
CN107046255A (en) * 2017-05-04 2017-08-15 成都中机盈科科技有限公司 A kind of overhead transmission line de-icing method based on robot
CN108471080A (en) * 2018-03-14 2018-08-31 福州市星旺成信息科技有限公司 A kind of network optimization operating analysis equipment

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Owner name: STATE GRID CORPORATION OF CHINA

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Address after: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing

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Patentee after: China Electric Power Research Institute

Address before: 100192 Beijing city Haidian District Qinghe small Camp Road No. 15

Patentee before: China Electric Power Research Institute

Effective date of registration: 20140321

Address after: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing

Patentee after: State Grid Corporation of China

Patentee after: China Electric Power Research Institute

Address before: 100192 Beijing city Haidian District Qinghe small Camp Road No. 15

Patentee before: China Electric Power Research Institute

CF01 Termination of patent right due to non-payment of annual fee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20110928

Termination date: 20181230