CN202930833U - Power transmission line patrol robot with autonomous obstacle crossing capability - Google Patents
Power transmission line patrol robot with autonomous obstacle crossing capability Download PDFInfo
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- CN202930833U CN202930833U CN 201220658799 CN201220658799U CN202930833U CN 202930833 U CN202930833 U CN 202930833U CN 201220658799 CN201220658799 CN 201220658799 CN 201220658799 U CN201220658799 U CN 201220658799U CN 202930833 U CN202930833 U CN 202930833U
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Abstract
Disclosed in the utility model is a power transmission line patrol robot with an autonomous obstacle crossing capability. The robot comprises a plurality of actuating arms with the same structures, a yoke plate and battery control boxes. Specifically, the actuating arms include driving wheel mechanisms, lifting joints, rotating joints, guide pulley mechanisms and guide slots, wherein the driving wheel mechanisms include driving wheels; and the actuating arms are distributed at one side of the robot and are hung on divided conductors by the driving wheels. According to the utility model, because the plurality of actuating arms with the same structures are employed, the structure of the robot is simple and compact and the interchangeability is strong; the robot can be operated on a signal earth wire and can also step over various obstacles on the power transmission line. Besides, due to the same structures of all the arms, when the robot steps over an obstacle, the route planning is simple and the operationality is good, so that there is no need to control the robot manually during the obstacle crossing process.
Description
Technical field
The utility model relates to a kind of inspection robot, especially along wire walk, detect, the transmission line active obstacle travelling robot of operation.
Background technology
Extra high voltage network is the important component part of high-voltage fence, for guaranteeing its safety and stability in running, needs the regular work of patrolling and examining of carrying out; Because the transmission line distributed points is many, away from cities and towns, with a varied topography, and wire is sudden and violent to be leaked in the open air, long-term wind and weather, and the mechanical tension that is continued, electric sudden strain of a muscle is ironed, the impact of material aging easily causes wearing and tearing, disconnected strand, the corrosion equivalent damage, if untimely reparation is changed, easily cause serious accident, cause the loss of large-area power-cuts and economic asset.So, must carry out regular walkaround inspection to transmission line, grasp at any time and understand the safe operation situation of transmission line, in order in time find and remove a hidden danger, trouble-saving generation;
For a long time, China is artificial to the main dependence of patrolling and examining of transmission line, or telescope, or infrared thermography, see while walking, patrolling and examining that some are special also needs the power worker to climb up high-tension line inspection, wastes time and energy, greatly dangerous, some virgin forest, cliff circuit manually can't be patrolled and examined at all.Utilize the robot inspection of power transmission line and safeguard the EHV transmission network, not only can alleviate the labour intensity of workman's a thousand li line walking and live line working, and can improve accuracy of detection and detection efficiency, replace people's on-line operation in the occasion of high-risk, greatly reduce simultaneously human resources, to improving the grid automation level of operation, ensureing that electric power netting safe running is significant.
Chinese patent ZL200410061316.8 discloses a kind of robot that travels along aerial high-voltage power transmission line, comprise a pair of forearm manipulator mechanism that moves along power transmission line, the lower end of two forearm manipulators is connected in respectively on the transmission mechanism of a large arm that can change two forearm relative distances, each forearm has respectively 4 degrees of freedom; be end effector mechanism above forearm, this end effector mechanism has the driving wheel and the first driving mechanism, a driven pulley and the clamp system that can grasp power transmission line that hang on power transmission line.Analysis-by-synthesis, this patent mainly contains following shortcoming: this patent robot is when running into stockbridge damper or insulator string, and the slide unit by the bottom replaces former and later two forearms mutually, realizes the function of obstacle detouring.This forearm becomes postbrachium, and postbrachium becomes forearm, replaces the form of obstacle detouring, and obstacle detouring efficient is very low, and is particularly when the crossing insulator string, consuming time longer, moreover, in the obstacle detouring process, the power of holding that adds of end effector mechanism is had relatively high expectations.
Chinese patent 201010525761.0 discloses a kind of suspended line walking robot, it by, comprise the walking and gondola two parts.Running gear is comprised of two joint trunks and three driving tires.Two nodal pattern trunks become two parallelogram sturcutres, guarantee three driving tires towards identical, and 5 motor-driven trunk pitch on trunk, yaw and flexible make each obstacle detouring driving wheel can realize rolling off the production line in the Three Degree Of Freedom translation.Each drives tire and comprises driving wheel and clamping device, and the driven by motor driving wheel moves robot on line.The clamping device that is made of motor, ball wire bar pair, spring and pinch wheels etc. guarantees between driving wheel and line, enough frictional force is arranged.Gondola is connected by two steel bands with running gear, and two motors on gondola are adjusted self with respect to the position of centre of gravity of trunk by steel band, the flexibility of mechanism during with the assurance leaping over obstacles.Analysis-by-synthesis, this patent mainly contains following shortcoming: need 5 motors to drive pitch, yaw and flexible on the trunk of this patent robot drive part, the trunk complicated in mechanical structure, wayward; Simultaneously, need to adjust by the steel strip driving gondola position of centre of gravity of whole robot in the obstacle detouring process, this mode very easily causes robot to topple in the centre of gravity adjustment process, controls complicated.
The utility model content
The purpose of this utility model is for overcoming above-mentioned the deficiencies in the prior art, a kind of transmission line active obstacle travelling robot is provided, it is simple and compact for structure, interchangeability is strong, can be across moving on the single cords such as ground wire, bundle conductor, can cross over various barriers on transmission pressure (stockbridge damper, conductor spacer, suspension insulator etc.), the equipment such as camera, infrared radiation detection apparatus that carry carry out fault detect to wire, gold utensil, steel tower etc.
For achieving the above object, the utility model adopts following technical proposals.
A kind of transmission line active obstacle travelling robot comprises the identical actuating arm of several structures, yoke plate and battery control cabinet, and wherein actuating arm comprises drive wheel mechanism, lifting joint, rotary joint, type leading wheel framework and guide groove; Drive wheel mechanism comprises driving wheel, described actuating arm is distributed in robot one side, on bundle conductor, described drive wheel mechanism lower end is connected with the lifting joint by rotary joint actuating arm by drive wheel suspension, and lifting joint and battery control cabinet are fixed on yoke plate; On described actuating arm, type leading wheel framework is installed, type leading wheel framework comprises guide wheel shaft bearing, directive wheel and bearing; Described directive wheel is hinged by bearing and guide wheel shaft bearing, and the guide wheel shaft bearing is fixed on actuating arm, has guide groove on described yoke plate, and directive wheel is positioned at guide groove, and directive wheel can slide along the guide groove that is fixed on yoke plate.
Described guide groove comprises the transverse guidance groove at vertical guiding groove and vertical guiding groove two ends.
Described drive wheel mechanism comprises drive motors, driving wheel, driving shaft, transmission device and fixed head; Described fixed head one end is connected with the lifting joint by rotary joint, the hinged driving shaft of the other end; Described driving shaft two ends are respectively equipped with driving wheel and transmission device; Transmission device can be gear drive or toothed belt transmission or turbine and worm transmission etc.; Drive motors and transmission device are connected and fixed.
Described lifting joint comprises base plate, leading screw, feed screw nut, line slideway, slide block, direct current machine, connecting plate, limit switch and bearing pedestal; Described leading screw is connected with base plate by bearing pedestal, and leading screw one end is connected with direct current machine, is provided with feed screw nut on leading screw; Described line slideway is fixed on base plate, and is parallel with leading screw, is provided with the slide block that can be free to slide on line slideway, and connecting plate is fixed together feed screw nut and slide block, and connecting plate connects rotary joint; The leading screw bottom is fixed with limit switch, is used for controlling the extreme position of lower end, lifting joint.
Described rotary joint comprises rotating shaft holder, rotating shaft, bearing and U-shaped connector; Described rotating shaft is hinged by bearing and rotating shaft holder; Be fixed with U-shaped connector on described rotating shaft, U-shaped connector is connected with the fixed head of drive wheel mechanism.
Described actuating arm is distributed in robot one side, and the coverage between actuating arm is a bit larger tham the length of biggest obstacle thing on power transmission line.
The utility model mainly is made of several actuating arms that are distributed in homonymy, each actuating arm can provide actuating force for robot, and each actuating arm comprises the identical drive wheel mechanism of structure, lifting joint, rotary joint, type leading wheel framework and guide groove; Drive wheel mechanism all is connected with the lifting joint by rotary joint; The drive wheel mechanism below all is fixed with type leading wheel framework, and drive wheel mechanism moves along the guide groove easy on and off under the drive in lifting joint.
Operation principle of the present utility model:
The utility model can move on the single cord of ground wire, bundle conductor, and each actuating arm can provide actuating force for robot, and need not to do the obstacle detouring action when running into stockbridge damper in robot can press.
in robot near conductor spacer, during suspension insulator, at first the actuating arm of front end begins to carry out the obstacle detouring action, the direct current machine in lifting joint drives leading screw and rotates, driving drive wheel mechanism by line slideway and slide block rises, drive wheel mechanism can be along the rotary joint left-right rotation that is fixed on its lower end, simultaneously, moved up by the fixation locus along guide groove under the directive wheel effect that is fixed on drive wheel mechanism, when directive wheel moves to the corner of guide groove, driving wheel has lifted and has broken away from wire fully, directive wheel began to drive driving wheel and was offset laterally this moment, thereby make driving wheel arrange wire and barrier.
Robot centre and two of rear ends actuating arm band mobile robot advance under automatically controlling, the rear robot that clears the jumps halts until two actuating arms of front end, two of front ends lifting joint begins to descend, and drives driving wheel and does and opposite before action, and driving wheel is ridden on wire again.
Afterwards, the actuating arm of in the middle of robot and rear end all clears the jumps in the identical mode of front end actuating arm.
The beneficial effects of the utility model are, the utility model is owing to adopting the identical actuating arm of several structures, and simple and compact for structure, interchangeability is strong, can move on the sub-thread lead wire and earth wire, cross over various barriers (stockbridge damper, conductor spacer, suspension insulator etc.) on transmission pressure.Because the structure of each arm is identical, path planning is relatively simple when obstacle detouring, and is workable, need not manually equipment to be controlled in the process of leaping over obstacles.
Description of drawings
Fig. 1 is perspective view of the present utility model.
Fig. 2 is the utility model actuating arm structural representation.
Fig. 3 is the utility model drive wheel mechanism structural representation.
Fig. 4 the utility model lifting articulation structure schematic diagram.
Fig. 5 the utility model rotation joint structure schematic diagram.
Fig. 6 the utility model type leading wheel framework structural representation.
Wherein: 1 actuating arm, 2 yoke plates, 3 battery control cabinets, 4 drive wheel mechanisms, 5 lifting joints, 6 rotary joints, 7 type leading wheel frameworks, 8 guide grooves, 9 driving shafts, 10 driving wheels, 11 transmission devices, 12 drive motors, 13 fixed heads, 14 base plates, 15 leading screws, 16 line slideways, 17 connecting plates, 18 feed screw nuts, 19 slide blocks, 20 limit switches, 21 bearing pedestals, 22 direct current machines, 23U type connector, 24 rotating shafts, 25 clutch shaft bearings, 26 rotating shaft holders, 27 guide wheel shaft bearings, 28 directive wheels, 29 second bearings.
Embodiment
Below in conjunction with drawings and Examples, the utility model is further illustrated.
The utility model can move on ground wire, single cord, as shown in Figure 1, 2, comprise three actuating arm 1, yoke plate 2 and battery control cabinets 3 that structure is identical, wherein actuating arm 1 all comprises the identical drive wheel mechanism of structure 4, lifting joint 5, rotary joint 6, type leading wheel framework 7 and guide groove 8; Actuating arm 1 is suspended on bundle conductor by driving wheel 10, and drive wheel mechanism 4 lower ends are connected with lifting joint 5 by rotary joint 6, and lifting joint 5 is fixed on yoke plate 2; Type leading wheel framework 7 all is installed on actuating arm 1, and directive wheel 28 can slide along the guide groove 8 that is fixed on yoke plate 2.
As shown in Figure 3, drive wheel mechanism 4 comprises driving shaft 9, driving wheel 10, transmission device 11, drive motors 12 and fixed head 13; Wherein, driving shaft 9 two ends are respectively equipped with driving wheel 10 and transmission device 11, and are hinged on fixed head 13, and transmission device 11 is arranged on fixed head 13, and drive motors 12 is arranged on transmission device 11 shells; Drive wheel mechanism 4 lower ends are provided with type leading wheel framework 7.
As shown in Figure 4, lifting joint 5 comprises base plate 14, leading screw 15, line slideway 16, connecting plate 17, feed screw nut 18, slide block 19, limit switch 20, bearing pedestal 21 and direct current machine 22; Wherein, leading screw 15 two ends are fixed on base plate 14 by bearing pedestal 21, and leading screw 15 1 ends are connected with direct current machine 22 by bearing pedestal 21; Be arranged with line slideway 16 in parallel in leading screw 15 1 sides, but the slide block 19 that has easy on and off to slide on line slideway 16, and slide block 19 is connected and fixed by connecting plate 17 with the feed screw nut 18 that is arranged on leading screw 15, is fixed with rotary joint 6 on connecting plate 17; Leading screw 15 bottoms are fixed with limit switch 20, are used for controlling the extreme position of 5 lower ends, lifting joint.
As shown in Figure 5, rotary joint 6 comprises U-shaped connector 23, rotating shaft 24, clutch shaft bearing 25, rotating shaft holder 26; Wherein, rotating shaft 24 is hinged by clutch shaft bearing 25 and rotating shaft holder 26, and U-shaped connector 23 is fixed on an end of rotating shaft 24.
As shown in Figure 6, type leading wheel framework 7 comprises the second bearing 29, guide wheel shaft bearing 27, directive wheel 28; Wherein, directive wheel 28 is hinged with guide wheel shaft bearing 27 by the second bearing 29.
Although above-mentionedly by reference to the accompanying drawings embodiment of the present utility model is described; but be not the restriction to the utility model protection range; one of ordinary skill in the art should be understood that; on the basis of the technical solution of the utility model, those skilled in the art do not need to pay various modifications that creative work can make or distortion still in protection range of the present utility model.
Claims (5)
1. a transmission line active obstacle travelling robot, is characterized in that, comprises the identical actuating arm of several structures, yoke plate and battery control cabinet, and wherein actuating arm comprises drive wheel mechanism, lifting joint, rotary joint, type leading wheel framework and guide groove; Drive wheel mechanism comprises driving wheel, described actuating arm is distributed in robot one side, on bundle conductor, described drive wheel mechanism lower end is connected with the lifting joint by rotary joint actuating arm by drive wheel suspension, and lifting joint and battery control cabinet are fixed on yoke plate; On described actuating arm, type leading wheel framework is installed, type leading wheel framework comprises guide wheel shaft bearing, directive wheel and bearing; Described directive wheel is hinged by bearing and guide wheel shaft bearing, and the guide wheel shaft bearing is fixed on actuating arm, has guide groove on described yoke plate, and directive wheel is positioned at guide groove.
2. transmission line active obstacle travelling robot as claimed in claim 1, is characterized in that, described guide groove comprises the transverse guidance groove at vertical guiding groove and vertical guiding groove two ends.
3. transmission line active obstacle travelling robot as claimed in claim 1, is characterized in that, described drive wheel mechanism comprises drive motors, driving wheel, driving shaft, transmission device and fixed head; Described fixed head one end is connected with the lifting joint by rotary joint, the hinged driving shaft of the other end; Described driving shaft two ends are respectively equipped with driving wheel and transmission device; Drive motors and transmission device are connected and fixed.
4. transmission line active obstacle travelling robot as claimed in claim 1, is characterized in that, described lifting joint comprises base plate, leading screw, feed screw nut, line slideway, slide block, direct current machine, connecting plate, limit switch and bearing pedestal; Described leading screw is connected with base plate by bearing pedestal, and leading screw one end is connected with direct current machine, is provided with feed screw nut on leading screw; Described line slideway is fixed on base plate, and is parallel with leading screw, is provided with the slide block that can be free to slide on line slideway, and connecting plate is fixed together feed screw nut and slide block, and connecting plate connects rotary joint; The leading screw bottom is fixed with limit switch.
5. transmission line active obstacle travelling robot as claimed in claim 1, is characterized in that, described rotary joint comprises rotating shaft holder, rotating shaft, bearing and U-shaped connector; Described rotating shaft is hinged by bearing and rotating shaft holder; Be fixed with U-shaped connector on described rotating shaft, U-shaped connector is connected with the fixed head of drive wheel mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220658799 CN202930833U (en) | 2012-12-05 | 2012-12-05 | Power transmission line patrol robot with autonomous obstacle crossing capability |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220658799 CN202930833U (en) | 2012-12-05 | 2012-12-05 | Power transmission line patrol robot with autonomous obstacle crossing capability |
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| Publication Number | Publication Date |
|---|---|
| CN202930833U true CN202930833U (en) | 2013-05-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220658799 Expired - Lifetime CN202930833U (en) | 2012-12-05 | 2012-12-05 | Power transmission line patrol robot with autonomous obstacle crossing capability |
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| Country | Link |
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| CN (1) | CN202930833U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102938544A (en) * | 2012-12-05 | 2013-02-20 | 山东电力集团公司电力科学研究院 | Autonomous obstacle negotiation line-inspection robot for electric transmission lines |
| CN104882839A (en) * | 2015-05-04 | 2015-09-02 | 桂林电子科技大学 | Barrier-crossing mechanism of transmission line deicing robot |
-
2012
- 2012-12-05 CN CN 201220658799 patent/CN202930833U/en not_active Expired - Lifetime
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102938544A (en) * | 2012-12-05 | 2013-02-20 | 山东电力集团公司电力科学研究院 | Autonomous obstacle negotiation line-inspection robot for electric transmission lines |
| CN102938544B (en) * | 2012-12-05 | 2015-12-09 | 山东电力集团公司电力科学研究院 | A kind of transmission line active obstacle travelling robot |
| CN104882839A (en) * | 2015-05-04 | 2015-09-02 | 桂林电子科技大学 | Barrier-crossing mechanism of transmission line deicing robot |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 250002, No. 1, South Second Ring Road, Shizhong District, Shandong, Ji'nan Co-patentee after: STATE GRID CORPORATION OF CHINA Patentee after: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Address before: 250002, No. 1, South Second Ring Road, Shizhong District, Shandong, Ji'nan Co-patentee before: State Grid Corporation of China Patentee before: ELECTRIC POWER RESEARCH INSTITUTE OF SHANDONG ELECTRIC POWER Corp. |
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| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: National Network Intelligent Technology Co.,Ltd. Assignor: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Contract record no.: X2019370000006 Denomination of utility model: Autonomous obstacle negotiation line-inspection robot for electric transmission lines Granted publication date: 20130508 License type: Exclusive License Record date: 20191014 |
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| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20201103 Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee after: National Network Intelligent Technology Co.,Ltd. Address before: 250002, No. 1, South Second Ring Road, Shizhong District, Shandong, Ji'nan Patentee before: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Patentee before: STATE GRID CORPORATION OF CHINA |
|
| EC01 | Cancellation of recordation of patent licensing contract | ||
| EC01 | Cancellation of recordation of patent licensing contract |
Assignee: National Network Intelligent Technology Co.,Ltd. Assignor: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Contract record no.: X2019370000006 Date of cancellation: 20210324 |
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| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20130508 |