CN202502070U - High-voltage transmission line eddy current testing robot system - Google Patents
High-voltage transmission line eddy current testing robot system Download PDFInfo
- Publication number
- CN202502070U CN202502070U CN201220107430XU CN201220107430U CN202502070U CN 202502070 U CN202502070 U CN 202502070U CN 201220107430X U CN201220107430X U CN 201220107430XU CN 201220107430 U CN201220107430 U CN 201220107430U CN 202502070 U CN202502070 U CN 202502070U
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- transmission line
- eddy current
- robot
- robot system
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Abstract
The utility model relates to a high-voltage transmission line eddy current testing robot system. The high-voltage transmission line eddy current testing robot system comprises a robot unit, a remote control receiver, a remote control transmitter, a signal preprocessing circuit, an A/D (analog to digital) converter, an industrial personal computer, a computer and a printer, the robot unit is in slide connection with a transmission line, the remote control receiver is arranged on the robot unit and is in wireless connection with the remote control transmitter, the robot unit, the signal preprocessing circuit, the A/D converter, the industrial personal computer and the printer are sequentially connected, the robot unit comprises a controller, a power source, a driver, a traveling mechanism, an eddy-current transducer and a Hall element, and the controller is respectively connected with the power source, the driver, the traveling mechanism, the eddy-current transducer, the Hall element and the remote control receiver. Compared with the prior art, the high-voltage transmission line eddy current testing robot system has the advantages of high precision, capabilities of achieving hot-line work and automatically collecting storage data and the like.
Description
Technical field
The utility model relates to a kind of transmission pressure damage detection system of electric field, especially relates to a kind of high voltage electricity transmission conductive wire current vortex detection machine robot system.
Background technology
As far back as late 1980s, the comparatively flourishing country of some economic technologies in the world, like the U.S., Canada, Japan etc. have just launched the development work of inspection robot, and have obtained certain scientific payoffs.But there is very big deficiency in achievement in research at that time.Such as, wherein a kind of ability realizes crossing over function, is fit to the detection machine people of line walking operation, and volume and weight are all very big, the practicality that shortage is necessary; And another kind of volume is less, and activity is robot easily, only is applicable to that then two conducting line segments between the adjacent pylon detect, and do not possess the function that across obstacle is realized walking operation.
Since late 1990s, more domestic colleges and universities and corresponding scientific research institution have also launched the R&D work of inspection robot in succession, and have obtained certain achievement.
Climbing robot and the remote operated vehicle that is used for line walking work once successively succeeded in developing in the research that the Wu Gongping professor of Wuhan water conservancy and hydropower university and scientific research team thereof are devoted to inspection robot always.Cooperated with Hanyang electric company again afterwards; Successful development be suitable for 220kV architomy transmission pressure is carried out the robot model machine that omnidistance circuit goes and patrols and examines; The inspection robot that the Wu Gongping professor is developed utilizes its infrared detection equipment that carries, and can detect disconnected strand of transmission pressure, damage.The ultimate principle of this detection is to utilize disconnected thigh, damage location heat to detect unusually.But the precision of its detection is not high enough, is difficult to realize extensive penetration and promotion.
The utility model content
The purpose of the utility model is exactly to provide a kind of precision higher for the defective that overcomes above-mentioned prior art existence, can realize hot line job, and can collect the high voltage electricity transmission conductive wire current vortex detection machine robot system of storage data automatically.
The purpose of the utility model can realize through following technical scheme:
A kind of high voltage electricity transmission conductive wire current vortex detection machine robot system; Comprise robot cell, receiver of remote-control sytem, remote control transmitter, signal pre-processing circuit, A/D converter, industrial computer, computing machine and printer; Described robot cell and transmission pressure are slidingly connected; Described receiver of remote-control sytem is located on the robot cell, and with the remote control transmitter wireless connections, described robot cell, signal pre-processing circuit, A/D converter, industrial computer, computing machine, printer connect successively.
Described robot cell comprises controller, power supply, driver, travel mechanism, eddy current sensor and Hall element, and described controller is connected with power supply, driver, travel mechanism, eddy current sensor, Hall element, receiver of remote-control sytem respectively.
Compared with prior art, the utlity model has following advantage:
1) can realize closely observation to transmission pressure, the result of detection is more accurate;
2) owing to used robot manipulating task, can under the charged situation of transmission pressure, detect, need not the operation that has a power failure, can reduce because economic loss brought by power failure;
3) inspection robot automatically across obstacle carry out continuous detecting, and can collect the storage data automatically, greatly reduce staff's labour intensity, can reduce the daily maintenance cost of transmission line of electricity simultaneously.
Description of drawings
Fig. 1 is the current vortex monitoring principle figure (the magnetic flux spirogram when zero defect passes magnetic test coil on the tested metal) of the utility model;
Fig. 2 is the current vortex monitoring principle figure (the magnetic flux spirogram when defectiveness passes magnetic test coil on the tested metal) of the utility model;
Fig. 3 is the system architecture synoptic diagram of the utility model.
Among the figure: 1-power supply, 2-driver, 3-controller, 4-travel mechanism, 5-eddy current sensor; The 6-Hall element, 7-signal pre-processing circuit, 8-A/D converter, 9-industrial computer, 10-software platform; The 11-receiver of remote-control sytem, 12-transmission pressure, 13-computing machine, 14-printer, 15-remote control transmitter.
Embodiment
Below in conjunction with accompanying drawing and specific embodiment the utility model is elaborated.
Embodiment
It is to utilize electromagnetic relevant knowledge that metal object is carried out damage check that current vortex detects, and its ultimate principle figure such as Fig. 1, shown in Figure 2 exist the detected signal in position of damage will produce severe distortion on the metal object.Just can infer high voltage electricity transmission conductive wire owing to the disconnected thigh of reasons such as corrosion, wearing and tearing generation, the degree of damage according to the distortion degree of current vortex thus, and damage location is positioned.
As shown in Figure 3; A kind of high voltage electricity transmission conductive wire current vortex detection machine robot system; Comprise robot cell, receiver of remote-control sytem 11, remote control transmitter 15, signal pre-processing circuit 7, A/D converter 8, industrial computer 9, computing machine 13 and printer 14; Described robot cell and transmission pressure 12 are slidingly connected; Described receiver of remote-control sytem 11 is located on the robot cell, and with remote control transmitter 15 wireless connections, described robot cell, signal pre-processing circuit 7, A/D converter 8, industrial computer 9, computing machine 13, printer 14 connect successively.Computing machine 13 is provided with process software platform 10.
Described robot cell comprises controller 3, power supply 1, driver 2, travel mechanism 4, eddy current sensor 5 and Hall element 6, and described controller 3 is connected with power supply 1, driver 2, travel mechanism 4, eddy current sensor 5, Hall element 6, receiver of remote-control sytem 11 respectively.
Claims (2)
1. high voltage electricity transmission conductive wire current vortex detection machine robot system; It is characterized in that; Comprise robot cell, receiver of remote-control sytem, remote control transmitter, signal pre-processing circuit, A/D converter, industrial computer, computing machine and printer; Described robot cell and transmission pressure are slidingly connected; Described receiver of remote-control sytem is located on the robot cell, and with the remote control transmitter wireless connections, described robot cell, signal pre-processing circuit, A/D converter, industrial computer, computing machine, printer connect successively.
2. a kind of high voltage electricity transmission conductive wire current vortex detection machine robot system according to claim 1; It is characterized in that; Described robot cell comprises controller, power supply, driver, travel mechanism, eddy current sensor and Hall element, and described controller is connected with power supply, driver, travel mechanism, eddy current sensor, Hall element, receiver of remote-control sytem respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201220107430XU CN202502070U (en) | 2012-03-20 | 2012-03-20 | High-voltage transmission line eddy current testing robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201220107430XU CN202502070U (en) | 2012-03-20 | 2012-03-20 | High-voltage transmission line eddy current testing robot system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202502070U true CN202502070U (en) | 2012-10-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201220107430XU Expired - Lifetime CN202502070U (en) | 2012-03-20 | 2012-03-20 | High-voltage transmission line eddy current testing robot system |
Country Status (1)
| Country | Link |
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| CN (1) | CN202502070U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103753534A (en) * | 2013-12-13 | 2014-04-30 | 国家电网公司 | Mobile robot controller and control method thereof |
| CN104215689A (en) * | 2014-08-22 | 2014-12-17 | 国家电网公司 | Carrying and obstacle crossing mechanism for electromagnetic detection of power transmission line |
| CN111541188A (en) * | 2020-04-26 | 2020-08-14 | 北京国网富达科技发展有限责任公司 | Power transmission line detection device and method |
| CN111537601A (en) * | 2020-04-26 | 2020-08-14 | 国网浙江省电力有限公司宁波供电公司 | Large-span power transmission line inspection and broken strand detection device and method |
-
2012
- 2012-03-20 CN CN201220107430XU patent/CN202502070U/en not_active Expired - Lifetime
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103753534A (en) * | 2013-12-13 | 2014-04-30 | 国家电网公司 | Mobile robot controller and control method thereof |
| CN103753534B (en) * | 2013-12-13 | 2016-05-04 | 国家电网公司 | A kind of Movement Controller of Mobile Robot and control method thereof |
| CN104215689A (en) * | 2014-08-22 | 2014-12-17 | 国家电网公司 | Carrying and obstacle crossing mechanism for electromagnetic detection of power transmission line |
| CN104215689B (en) * | 2014-08-22 | 2016-09-21 | 国家电网公司 | Carrying and barrier getting over mechanism for power transmission line electromagnetic detection |
| CN111541188A (en) * | 2020-04-26 | 2020-08-14 | 北京国网富达科技发展有限责任公司 | Power transmission line detection device and method |
| CN111537601A (en) * | 2020-04-26 | 2020-08-14 | 国网浙江省电力有限公司宁波供电公司 | Large-span power transmission line inspection and broken strand detection device and method |
| CN111537601B (en) * | 2020-04-26 | 2023-10-20 | 国网浙江省电力有限公司宁波供电公司 | Device and method for inspecting and strand breakage detection of large-span transmission line |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term |
Granted publication date: 20121024 |
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| CX01 | Expiry of patent term |