CN203326480U - Solar power line inspection robot - Google Patents

Solar power line inspection robot Download PDF

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Publication number
CN203326480U
CN203326480U CN2013204208531U CN201320420853U CN203326480U CN 203326480 U CN203326480 U CN 203326480U CN 2013204208531 U CN2013204208531 U CN 2013204208531U CN 201320420853 U CN201320420853 U CN 201320420853U CN 203326480 U CN203326480 U CN 203326480U
Authority
CN
China
Prior art keywords
control box
power line
inspection robot
line inspection
solar power
Prior art date
Legal status (The legal status 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 status listed.)
Expired - Fee Related
Application number
CN2013204208531U
Other languages
Chinese (zh)
Inventor
张振国
林冬梅
贾海亮
姬志强
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.)
Hebei University of Engineering
Original Assignee
Hebei University of Engineering
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.)
Filing date
Publication date
Application filed by Hebei University of Engineering filed Critical Hebei University of Engineering
Priority to CN2013204208531U priority Critical patent/CN203326480U/en
Application granted granted Critical
Publication of CN203326480U publication Critical patent/CN203326480U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model relates to a solar power line inspection robot which comprises three structurally-identical driving arms, a connecting plate, driving wheels, control boxes and a solar cell panel. Each driving arm includes a driving wheel, a lifting joint and a rotating joint; each control box is internally provided with a lithium battery which is connected with the solar cell panel through a rectifier inverter; each control box 4 includes a microprocessor, a data receiver, a data memory, a motor driver and a camera, and the data receiver, the motor driver, the camera and the microprocessor are connected; and each control box has a wireless transmission module. The solar power line inspection robot has the following advantages: the solar power line inspection robot adopts a plurality of structurally-identical driving arms, is simple in structure and can cross all kinds of obstacles on a power transmission line; as the arms are identical in structure, path planning for obstacle crossing is relatively simple and the operability is strong; and being powered by solar energy, the solar power line inspection robot is convenient to work in an outdoor environment.

Description

A kind of solar electric power route inspecting robot
Technical field
The utility model relates to a kind of robot system, especially use solar powered can walk along wire, detected, the power circuit scanning test 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 wild, long-term wind and weather, and be subject to lasting mechanical tension, electric sudden strain of a muscle is ironed, the impact of material aging, easily cause wearing and tearing, disconnected strand, the corrosion equivalent damage, if repair and change not in time, easily cause serious accident, cause large-area power-cuts and economic asset loss.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 to find in time 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, while walking, see, patrolling and examining that some are special also needs the power worker to climb up high-tension line checked, 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 the occasion of people's on-line operation in high-risk, greatly reduce human resources, to improving the grid automation level of operation, ensureing that electric power netting safe running is significant simultaneously.
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.Analysis-by-synthesis, this patent mainly contains following shortcoming: on the trunk of this patent robot drive part, need 5 motors to drive pitch, yaw and flexible, 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.And supply power mode mainly relies on lithium battery, battery is easy to damage under operational environment out of doors, need to often change.
The utility model content
The purpose of this utility model is for overcoming above-mentioned the deficiencies in the prior art, provide use solar powered can walk along wire, detected, the power circuit scanning test robot of operation.
A kind of solar electric power route inspecting robot, comprise 3 the identical actuating arms 1 of mechanism, gusset piece 2, driving wheel 3, control box 4 and solar panels 5, and it is characterized in that: actuating arm 1 comprises driving wheel 3, lifting joint 10 and rotary joint 9; Actuating arm 1 is provided with transmission device 6 and drive unit 7; Transmission device 6 is hinged on fixed head 8; Described actuating arm 1 is distributed in robot one side, and actuating arm 1 hangs on power transmission line by driving wheel 3, and described driving wheel 3 lower ends are connected with lifting joint 10 by rotary joint 9, and lifting joint 10 and control box 4 are fixed on gusset piece 2; Described control box 4 is electrically connected to solar panel 5, in control box 4, lithium battery is arranged, and lithium battery is connected with solar panel 5 by rectification adverser; Described control box 4 has microprocessor, data sink, data storage, motor driver, camera; Data sink, motor driver, camera are connected with microprocessor; Described control box has wireless transport module.
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 on the sub-thread lead wire and earth wire, move, and crosses over various barriers on transmission pressure.Because the structure of each arm is identical, when obstacle detouring, path planning is relatively simple, workable, without manually equipment being controlled in the process of leaping over obstacles.And use solar energy to be powered, conveniently work under environment out of doors.
The accompanying drawing explanation
Fig. 1: structural representation of the present utility model;
Fig. 2: actuating arm enlarged drawing of the present utility model.
The 1-actuating arm, 2-gusset piece, 3-driving wheel, 4-control box, 5-solar panel, 6-transmission device, 7-drive unit, 8-fixed head, 9-rotary joint, 10-lifting joint.
Embodiment
The embodiment below set forth represents and allows those skilled in the art to put into practice necessary information of the present utility model, and illustrates and put into practice best mode of the present utility model.Once read with reference to the accompanying drawings following description, those skilled in the art just will understand design of the present utility model and will recognize the application of these designs of not illustrating especially herein.Should be appreciated that these designs and application fall into the scope of disclosure and the accompanying claims book.
As shown in Figure 1, comprise three actuating arm 1, gusset piece 2 and control boxes 4 that structure is identical, wherein each actuating arm comprises driving wheel, lifting joint 10 and the rotary joint 9 that structure is identical; Actuating arm 1 is suspended on power transmission line by driving wheel 3, and the drive wheel mechanism lower end is connected with lifting joint 10 by rotary joint 9, and lifting joint 9 is fixed on yoke plate 2.Described control box 4 is electrically connected to solar panel 5, in control box 4, lithium battery is arranged, and lithium battery is connected with solar panel 5 by rectification adverser; Described control box 4 has microprocessor, data sink, data storage, motor driver, camera; Data sink, motor driver, camera are connected with microprocessor; Described control box has wireless transport module.
As shown in Figure 2, drive wheel mechanism comprises transmission device 6, drive motors 7, driving wheel 3 fixed heads 8; Wherein, driving wheel 3 and transmission device 6 are hinged on fixed head 8, and transmission device 6 is arranged on fixed head 8, and drive motors 7 is arranged on transmission device 6 shells; Fixed head 8 lower ends are connected with rotary joint 9.
Control box can be stored in data storage by the data that collect, and can the data that collect be issued to operating personnel by wireless transport module, and operating personnel also can be operated inspection robot by wireless transport module.
Solar panel can be in inspection robot work engineering limit working edge collecting energy, energy-conserving and environment-protective, reduced the use amount of battery.
Obviously, above-described embodiment is only for the utility model example clearly is described, and is not the restriction to execution mode of the present utility model.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here exhaustive without also giving all execution modes.And these belong to apparent variation that spirit of the present utility model extended out or change still among protection range of the present utility model.

Claims (1)

1. a solar electric power route inspecting robot, comprise 3 identical actuating arms of mechanism (1), gusset piece (2), driving wheel (3), control box (4) and solar panel (5), it is characterized in that: actuating arm (1) comprises driving wheel (3), lifting joint (10) and rotary joint (9); Actuating arm (1) is provided with transmission device (6) and drive unit (7); Transmission device (6) is hinged on fixed head (8); Described actuating arm (1) is distributed in robot one side, actuating arm (1) hangs on power transmission line by driving wheel (3), described driving wheel (3) lower end is connected with lifting joint (10) by rotary joint (9), and lifting joint (10) and control box (4) are fixed on gusset piece (2); Described control box (4) is electrically connected to solar panel (5), and control box has lithium battery in (4), and lithium battery is connected with solar panel (5) by rectification adverser; Described control box (4) has microprocessor, data sink, motor driver, camera; Data sink, data storage, motor driver, camera are connected with microprocessor; Described control box has wireless transport module.
CN2013204208531U 2013-07-16 2013-07-16 Solar power line inspection robot Expired - Fee Related CN203326480U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2013204208531U CN203326480U (en) 2013-07-16 2013-07-16 Solar power line inspection robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2013204208531U CN203326480U (en) 2013-07-16 2013-07-16 Solar power line inspection robot

Publications (1)

Publication Number Publication Date
CN203326480U true CN203326480U (en) 2013-12-04

Family

ID=49665774

Family Applications (1)

Application Number Title Priority Date Filing Date
CN2013204208531U Expired - Fee Related CN203326480U (en) 2013-07-16 2013-07-16 Solar power line inspection robot

Country Status (1)

Country Link
CN (1) CN203326480U (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103825338A (en) * 2014-03-17 2014-05-28 武汉大学 Device and method for controlling self-localization, butting and charging of high-voltage line inspection robot
CN103972816A (en) * 2014-05-09 2014-08-06 哈尔滨工程大学 Obstacle-crossing mechanical arm suitable for power transmission line inspection robot
CN106514672A (en) * 2016-12-28 2017-03-22 国网浙江省电力公司湖州供电公司 Transformer substation inspection robot
CN108471081A (en) * 2018-03-26 2018-08-31 深圳市喜悦智慧实验室有限公司 A kind of high-voltage line crusing robot

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103825338A (en) * 2014-03-17 2014-05-28 武汉大学 Device and method for controlling self-localization, butting and charging of high-voltage line inspection robot
CN103825338B (en) * 2014-03-17 2015-09-02 武汉大学 High-voltage line inspection robot independently locates control device and the method for docking charging
CN103972816A (en) * 2014-05-09 2014-08-06 哈尔滨工程大学 Obstacle-crossing mechanical arm suitable for power transmission line inspection robot
CN103972816B (en) * 2014-05-09 2017-02-15 哈尔滨工程大学 Obstacle-crossing mechanical arm suitable for power transmission line inspection robot
CN106514672A (en) * 2016-12-28 2017-03-22 国网浙江省电力公司湖州供电公司 Transformer substation inspection robot
CN108471081A (en) * 2018-03-26 2018-08-31 深圳市喜悦智慧实验室有限公司 A kind of high-voltage line crusing robot

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Legal Events

Date Code Title Description
GR01 Patent grant
C14 Grant of patent or utility model
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20131204

Termination date: 20140716

EXPY Termination of patent right or utility model