CN202475040U - Online power supply device for transmission line inspection robot - Google Patents
Online power supply device for transmission line inspection robot Download PDFInfo
- Publication number
- CN202475040U CN202475040U CN2012200597199U CN201220059719U CN202475040U CN 202475040 U CN202475040 U CN 202475040U CN 2012200597199 U CN2012200597199 U CN 2012200597199U CN 201220059719 U CN201220059719 U CN 201220059719U CN 202475040 U CN202475040 U CN 202475040U
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- transmission line
- inspection robot
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Abstract
The utility model relates to an online power supply device for a transmission line inspection robot, belonging to the technical field of transmission line inspection robots and solving the problem of limited capacity of a battery of the traditional transmission line inspection robot. The online power supply device comprises two groups of semicircular transformers comprising a group of current transformers and a group of carrier transformers, wherein the current transformers and the carrier transformers are respectively arranged in a left shell and a right shell, and a coil is respectively wound on each of the two transformers arranged in the right shell; the coils on the current transformers are connected with a circuit board and are converted into a voltage source through a piezoresistor, a rectifier, a voltage stabilizing tube and a resistor; the coils on the carrier transformers are connected with the circuit board and respectively comprise a carrier wave transmitting circuit and a resonance network; and the left shell and the right shell are respectively arranged on a left bracket and a right bracket. When the online power supply device needs to be charged or subjected to carrier remote communication, the left shell and the right shell are closed by the left bracket and the right bracket to form complete current transformers and carrier transformers, so that a power supply can be provided for the transmission line inspection robot, and carrier signals can be coupled onto a transmission line.
Description
Technical field
The utility model belongs to power transmission line inspection robot technical field, and particularly a kind of robot for line walking on the ultra-high-tension power transmission line provides the device of power supply.
Background technology
Along with the development of clean energy resource, wind-force, waterpower and photovoltaic energy obtain Application and Development energetically, yet; These generating stations are distributed in the outlying district mostly, need long-distance transmission to be transported to electricity consumption intensive area in city to the energy, and power transmission network is built widely too and used; In the face of being distributed in the transmission line in wilderness,, need the line walking workman regularly circuit to be detected to the detection of transmission line, the important process that maintenance becomes operation of power networks; Mainly lean on manual work to carry out line walking through telescope, so that find the hidden danger of circuit, but for the transmission line of crossing over deep mountain valleys; Artificial line walking is difficult to realize, this is had use helicopter to carry out line walking, but aircraft line walking operating cost is high; Also have security risk, the inspection robot with video identification and video recording of directly on high voltage transmission line, walking arises at the historic moment, and this inspection robot is from charged pool; Let it walk on the ultra-high-tension power transmission line through being suspended on the insulating support along power transmission line; And circuit patrolled and examined, because the finite capacity of battery, inspection robot need regularly return and charge; Stream time is very limited, and the power supply that solves inspection robot becomes very useful work.
The utility model content
Finite capacity for the battery that solves power line inspection robot of the prior art need regularly return and charge, and can't realize the problem of continuous operation, and the utility model provides a kind of power transmission line inspection robot online electric supply installation, and its technical scheme is following:
The online electric supply installation of a kind of power transmission line inspection robot:
Instrument transformer with two groups of semi-round ring shapes, one group is current transformer, another group is the carrier wave instrument transformer; Every group of instrument transformer is divided into left and right sides two halves; Be placed in left shell and the right shell body, each instrument transformer constitutes by the magnetic core of semi-round ring shape, is wound with coil respectively on two instrument transformers in the right shell body;
Coil on the current transformer in the said right shell body links to each other with circuit board, behind piezo-resistance overvoltage protection, rectifier rectification, converts current source to voltage source through MOSFET pipe, voltage-stabiliser tube and resistance, as the working power of signal coupling apparatus; Said working power is also used the capacitance group energy storage that is formed by two above capacitance series;
Coil on the carrier wave instrument transformer in the said right shell body links to each other with circuit board; The carrier wave transtation mission circuit of wherein being made up of the coil on the carrier wave instrument transformer and tertiary coil, the 5th electric capacity, the 6th electric capacity, MOSFET pipe, the 2nd MOSFET tube elements is with the carrier signal feed-in power line of amplifier output; Coil on the carrier wave instrument transformer and piezo-resistance, the 9th resistance, the tenth electric capacity, the 4th coil part are formed resonant network and will after the carrier signal that power line is responded to is amplified, be sent into the single-chip microcomputer on the circuit board;
Left shell is installed on the telescopic left socle, and right shell body is installed on the telescopic right support, be equipped with on the right support with right shell body in two cables that coil is connected;
Left socle and right support are installed on the inspection robot.
Preferred version as the utility model:
Capacitance group in the said working power is formed by 6 capacitance series.
Further preferred version as the utility model:
Has the wave point that is connected with single-chip microcomputer on the said circuit board.
Further preferred version as the utility model:
Ground installation has wave point, and it is embedded in the application system, perhaps makes the RS232 interface and is connected with microcomputer or data terminal.
The cable of installing on the utility model right support links to each other with inspection robot.During use; When two ring-like instrument transformers of semicircle on the left shell and two semicircular ring instrument transformers on the right shell body combine to be stuck in when becoming as a whole on the power transmission line; Two groups of semicircular ring are closed, a synthetic respectively complete current transformer and a carrier wave instrument transformer, and high-voltage line passes from the magnetic circuit center of two instrument transformers; The electric current that flows through in power transmission line induced current in current transformer provides power supply for signal coupling apparatus after conversion; The carrier wave instrument transformer is used for carrier signal is coupled on the power transmission line or from power transmission line responds to carrier signal, transmits information with wireless mode between carrier signal and the ground installation.
Circuit of the utility model and communications portion; Can adopt application number is that 200910094780.X, denomination of invention are for disclosed through obtaining the method for power supply on the power line in " high-voltage power line carrier signal communication coupling method and device "; And carry out the method for exchanges data and carry out the method for exchanges data through near wireless and ground through the factory station in a power line and a distant place; With above three kinds of technical application with inspection robot; Promptly constitute the utility model technical scheme, can make things convenient for the supply of electric power and the data transmission problems of complete solution inspection robot.Different is; Application number is a disclosed device in the invention of 200910094780.X; Being to use parts to be fixed on the high-tension line uses as communicator is fixing; The utility model is operated through mechanical device the parts of this device as inspection robot by inspection robot, in the inspection robot power shortage or need carrier wave remote communication the time just to be fixed on the circuit.
Description of drawings
Fig. 1 is the cutaway view of the online electric supply installation of the utility model power transmission line inspection robot;
Fig. 2 is the vertical view of the online electric supply installation of power transmission line inspection robot among Fig. 1;
Fig. 3 is the schematic perspective view of the online electric supply installation of power transmission line inspection robot;
Fig. 4 is the scheme of installation of the online electric supply installation of power transmission line inspection robot;
Fig. 5 converts the circuit theory diagrams of voltage source to through voltage stabilizing circuit for the coil on the current transformer;
Fig. 6 is the utility model carrier circuit schematic diagram.
Embodiment
The online electric supply installation of a kind of power transmission line inspection robot:
Extremely shown in Figure 4 like Fig. 1; Instrument transformer with two groups of semi-round ring shapes, one group is current transformer 1 and 4, another group is carrier wave instrument transformer 3 and 5; Every group of instrument transformer is divided into left and right sides two halves; Be placed in left shell 7 and the right shell body 6, each instrument transformer constitutes by the magnetic core of semi-round ring shape, is wound with coil respectively on two instrument transformers 1 in the right shell body 6 and 3;
As shown in Figure 5, the coil CT1 on the said current transformer is connected with rectifier DB3 with piezo-resistance RZ2 on the circuit board, and the shunting voltage stabilizing circuit of forming through Q1, Z1 and R2 is connected with capacitor EP1, the voltage source of capacitor EP1 formation 15V; Said shunting voltage stabilizing circuit is connected with super capacitor CB1-CB6 through charging circuit;
As shown in Figure 6; Coil T4 on the carrier wave instrument transformer 3 in the said right shell body 6 links to each other with circuit board 2; The carrier wave transtation mission circuit of wherein being made up of the coil T4 on the carrier wave instrument transformer and tertiary coil L3, the 5th capacitor C C5, the 6th capacitor C C6, MOSFET pipe PC1, the 2nd MOSFET pipe NC1 element is with the carrier signal feed-in power line 10 of amplifier output; Coil T4 on the carrier wave instrument transformer 3 and piezo-resistance VR1, the 9th resistance R C9, the tenth capacitor C C10, the 4th coil L4 element are formed resonant network and will after the carrier signal of power line 10 inductions is amplified, be sent into the single-chip microcomputer on the circuit board 2; Said single-chip microcomputer is the PL3106 processor; PL3106 inside comprises carrier communication module, calendar clock module and 8052 microprocessor modules, and TX1 is the 9.6MHz quartz crystal, for chip provides clock; U4 is a serial storage, operational factors such as mailing address that can save set;
Described super capacitor CB1-CB6 uses 6 capacitance series, and every electric capacity 2.7V when no current or electric current interrupt in short-term on the high-voltage line, is the device power supply by super capacitor; Super capacitor has charging circuit, when current transformer has electric current, super capacitor is charged, and stops charging behind the full charge automatically, and during no current, super capacitor is that load provides electric power in the circuit.
Has the wave point that is connected with single-chip microcomputer on the said circuit board 2.
Said radio communication can adopt application number be 200910094780.X " high-voltage power line carrier signal communication coupling method and device " invention in wireless communication section, its core is the monolithic wireless module that CC2500 works in the 2.4GHz frequency range; Said wave point can adopt application number be 200910094780.X " high-voltage power line carrier signal communication coupling method and device " invention in interface circuit.
Ground installation has wave point, and it is embedded in the application system, perhaps makes the RS232 interface and is connected with microcomputer or data terminal.
Among Fig. 4; The online electric supply installation of the utility model is connected with power transmission line inspection robot 11 with right support 8 through scalable and open left socle 9, power line and carrier communication line also from right support 8 through and online electric supply installation is connected with 11 maintenances of power transmission line inspection robot.
Among Fig. 1-3; When the utility model under the operation of left socle 9 and right support 8; Left shell 7 and right shell body 6 closures are stuck in 10 last times of power transmission line, and current transformer 1,4 is closed to form complete current transformer, and carrier wave instrument transformer 3,5 is closed to form complete carrier wave instrument transformers.Power transmission line 10 passes from the magnetic circuit center of two instrument transformers, and the electric current that flows through in the power transmission line 10 induced current in current transformer provides power supply for signal coupling apparatus after conversion; The carrier wave instrument transformer is used for carrier signal is coupled on the power transmission line 10 or from power transmission line 10 responds to carrier signal.
When line inspection robot 11 need charge or carrier wave remote is communicated by letter; Left socle 9 and right support 8 are opened and extend; With the electric supply installation lifting, when the center of electric supply installation and power transmission line 10 maintain an equal level, through the operation of left socle 9 and right support 8; With left shell 7 and right shell body 6 closures, power transmission line 10 is blocked.Thereby convenient complete solution the supply of electric power and the data transmission problems of inspection robot, avoided carrying out under the frequent line of inspection robot electric power and replenished, improve the time of its continuous operation, even realize long-term on-line operation.Inspection robot does not need communication; And when electric power is sufficient; Through the operation of left socle 9 and right support 8, left shell 7 and right shell body 6 are opened, shrink left socle 9 and electric supply installation is taken in inspection robot 11 with right support 8; Robot 11 prolongs power transmission line 10 and moves and circuit is patrolled and examined through running gear 12.
Inventor's disclosed carrier communication in 200910094780.X partly is used for inspection robot, can realizes and the communicating by letter of control centre.
Inventor's disclosed wireless communication section in 200910094780.X is used for inspection robot, can realizes the short haul connection of inspection robot and GCU.
Claims (4)
1. online electric supply installation of power transmission line inspection robot is characterized in that:
Have the instrument transformer (1,4,3,5) of two groups of semi-round ring shapes, one group is current transformer (1; 4), another group is carrier wave instrument transformer (3,5), and every group of instrument transformer is divided into left and right sides two halves; Be placed in left shell (7) and the right shell body (6) each instrument transformer (1,4,3; 5) constitute by the magnetic core of semi-round ring shape, be wound with respectively on two instrument transformers (1,3) in the right shell body (6) coil (CT1, T4);
Coil (CT1) on the current transformer (1) in the said right shell body (6) links to each other with circuit board (2); After piezo-resistance (RZ2) overvoltage protection, rectifier (DB3) rectification, convert current source to voltage source, as the working power of signal coupling apparatus through MOSFET pipe (Q1), voltage-stabiliser tube (Z1) and resistance (R2); Said working power is also used the capacitance group energy storage that is formed by at least two capacitance series;
Coil (T4) on the carrier wave instrument transformer (3) in the said right shell body (6) links to each other with circuit board (2); Wherein there is the coil (T4) on the carrier wave instrument transformer to manage the carrier wave transtation mission circuit that (NC1) element is formed, with the carrier signal feed-in power line (10) of amplifier output with tertiary coil (L3), the 5th electric capacity (CC5), the 6th electric capacity (CC6), MOSFET pipe (PC1), the 2nd MOSFET; Coil (T4) on the carrier wave instrument transformer (3) is formed resonant network with piezo-resistance (VR1), the 9th resistance (RC9), the tenth electric capacity (CC10), the 4th coil (L4) element and will after the carrier signal of power line (10) induction is amplified, be sent into the single-chip microcomputer on the circuit board (2);
Left shell (7) is installed on the telescopic left socle (9), and right shell body (6) is installed on the telescopic right support (8), be equipped with on the right support (8) with right shell body (6) in two coils (CT1, the cable that T4) is connected;
Left socle (9) and right support (8) are installed on the inspection robot (11).
2. the online electric supply installation of a kind of power transmission line inspection robot according to claim 1, it is characterized in that: the capacitance group in the said working power is formed by 6 capacitance series.
3. the online electric supply installation of a kind of power transmission line inspection robot according to claim 1, it is characterized in that: said circuit board has the wave point that is connected with single-chip microcomputer on (2).
4. the online electric supply installation of a kind of power transmission line inspection robot according to claim 1, it is characterized in that: ground installation has wave point, and it is embedded in the application system, perhaps makes the RS232 interface and is connected with microcomputer or data terminal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012200597199U CN202475040U (en) | 2012-02-23 | 2012-02-23 | Online power supply device for transmission line inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012200597199U CN202475040U (en) | 2012-02-23 | 2012-02-23 | Online power supply device for transmission line inspection robot |
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| Publication Number | Publication Date |
|---|---|
| CN202475040U true CN202475040U (en) | 2012-10-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012200597199U Expired - Fee Related CN202475040U (en) | 2012-02-23 | 2012-02-23 | Online power supply device for transmission line inspection robot |
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| CN (1) | CN202475040U (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102931615A (en) * | 2012-12-03 | 2013-02-13 | 苏州金纳信息技术有限公司 | Implementation device for realizing electric transmission line repairing and maintaining robot |
| CN103595300A (en) * | 2013-11-22 | 2014-02-19 | 湖北工业大学 | Magnetic force drive robot for overhead high-tension transmission line operation |
| CN103595301A (en) * | 2013-11-22 | 2014-02-19 | 湖北工业大学 | Magnetic force suspension robot for operation of overhead high-tension power transmission line |
| CN105006333A (en) * | 2015-08-12 | 2015-10-28 | 湖北工业大学 | Magnetically-driven rotary deicing device of deicing robot for overhead high-voltage transmission lines |
| CN105424397A (en) * | 2015-12-22 | 2016-03-23 | 广东科凯达智能机器人有限公司 | Performance testing platform of power transmission line polling robot |
| CN106300568A (en) * | 2016-11-17 | 2017-01-04 | 贵州电网有限责任公司电力科学研究院 | A kind of charging system of unmanned line walking aircraft |
| CN109013419A (en) * | 2018-07-31 | 2018-12-18 | 国网河南省电力公司内乡县供电公司 | A kind of transmission line of electricity deashing device taking energy based on CT |
| CN109789794A (en) * | 2016-06-15 | 2019-05-21 | 弗拉里斯电力有限公司 | System, the method and apparatus of the electric power acquisition based on induction for the battery power supply vehicles |
| CN110574754A (en) * | 2019-08-26 | 2019-12-17 | 国网新疆电力有限公司阿勒泰供电公司 | Visual monitoring bird repellent device of multi-functional transmission line |
| CN110829266A (en) * | 2019-11-26 | 2020-02-21 | 长沙理工大学 | Power transmission line online electricity taking rolling obstacle crossing robot and application method thereof |
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2012
- 2012-02-23 CN CN2012200597199U patent/CN202475040U/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102931615A (en) * | 2012-12-03 | 2013-02-13 | 苏州金纳信息技术有限公司 | Implementation device for realizing electric transmission line repairing and maintaining robot |
| CN103595300A (en) * | 2013-11-22 | 2014-02-19 | 湖北工业大学 | Magnetic force drive robot for overhead high-tension transmission line operation |
| CN103595301A (en) * | 2013-11-22 | 2014-02-19 | 湖北工业大学 | Magnetic force suspension robot for operation of overhead high-tension power transmission line |
| CN103595301B (en) * | 2013-11-22 | 2015-07-15 | 湖北工业大学 | Magnetic force suspension robot for operation of overhead high-tension power transmission line |
| CN105006333A (en) * | 2015-08-12 | 2015-10-28 | 湖北工业大学 | Magnetically-driven rotary deicing device of deicing robot for overhead high-voltage transmission lines |
| CN105006333B (en) * | 2015-08-12 | 2017-02-22 | 湖北工业大学 | Magnetically-driven rotary deicing device of deicing robot for overhead high-voltage transmission lines |
| CN105424397A (en) * | 2015-12-22 | 2016-03-23 | 广东科凯达智能机器人有限公司 | Performance testing platform of power transmission line polling robot |
| CN105424397B (en) * | 2015-12-22 | 2017-12-01 | 广东科凯达智能机器人有限公司 | A kind of Testing Platform for transmission line polling robot |
| CN109789794A (en) * | 2016-06-15 | 2019-05-21 | 弗拉里斯电力有限公司 | System, the method and apparatus of the electric power acquisition based on induction for the battery power supply vehicles |
| CN106300568A (en) * | 2016-11-17 | 2017-01-04 | 贵州电网有限责任公司电力科学研究院 | A kind of charging system of unmanned line walking aircraft |
| CN109013419A (en) * | 2018-07-31 | 2018-12-18 | 国网河南省电力公司内乡县供电公司 | A kind of transmission line of electricity deashing device taking energy based on CT |
| CN110574754A (en) * | 2019-08-26 | 2019-12-17 | 国网新疆电力有限公司阿勒泰供电公司 | Visual monitoring bird repellent device of multi-functional transmission line |
| CN110829266A (en) * | 2019-11-26 | 2020-02-21 | 长沙理工大学 | Power transmission line online electricity taking rolling obstacle crossing robot and application method thereof |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| 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: 20121003 Termination date: 20170223 |