CN203942206U - One power transmission line inspection robot - Google Patents
One power transmission line inspection robot Download PDFInfo
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- CN203942206U CN203942206U CN201420364744.7U CN201420364744U CN203942206U CN 203942206 U CN203942206 U CN 203942206U CN 201420364744 U CN201420364744 U CN 201420364744U CN 203942206 U CN203942206 U CN 203942206U
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Abstract
One power transmission line inspection robot, for solving the problem of polling transmission line, it comprises long-armed assembly, galianconism assembly, rotating shaft assembly, galianconism rotary drive motor, long-armed rotary drive motor, gear drive and casing, described long-armed assembly, galianconism assembly is equipped with elevating mechanism and walking driving mechanism, long-armed assembly is also connected with the output of long-armed rotary drive motor by rotating shaft assembly and gear drive, galianconism assembly is connected with the output of galianconism rotary drive motor by rotating shaft assembly, described long-armed rotary drive motor and galianconism rotary drive motor are arranged in casing, in described casing, be also provided with power supply and microprocessor.The utlity model has feature simple in structure, flexible operation, it can be used as the walking carrier of transmission line polling robot, deicing robot.
Description
Technical field
The utility model relates to a kind of robot, especially a kind ofly can on transmission line, walk, the inspection robot of obstacle detouring, belongs to manipulator technical field.
Background technology
Ultra-high-tension power transmission line is the important component part of electric power system, and it is not only undertaking the important task of electric power transfer, and the security reliability of its operation is directly connected to the stable development of national economy.Because transmission line distributed points is many, wide; particularly in area with a varied topography, natural environment is severe; transmission line long term exposure in the wild; should bear the internal pressure of normal mechanical load and electric load; also to stand the extraneous infringement such as filth, thunderbolt, high wind, landslide, depression and bird pest; above-mentioned factor can make wire produce disconnected strand, wear and tear, corrode equivalent damage, badly influences the normal operation of transmission line.Therefore must carry out periodical inspection inspection to transmission line, grasp at any time and understand the ruuning situation of transmission line, the situation of change in circuit surrounding environment and route protection district, to find in time and remove a hidden danger, guarantees power supply safety.
Not only workload is large but also operating condition is arduous for traditional transmission line manual inspection method, particularly patrolling and examining of the transmission line to mountain area and leap great rivers, there is very large difficulty with manual type operation, even there are some projects of patrolling and examining to be difficult to by conventional method, therefore, utilize robot to carry out automatic running on transmisson line and become a kind of necessary means that ensures circuit safe operation.
Utility model content
The purpose of this utility model is the drawback existing for traditional transmission line manual inspection method, provide a kind of simple in structure, can realize walking on high-voltage conducting wires, cross over smoothly the power transmission line inspection robot of the various barriers such as wire clamp, stockbridge damper on wire.
Problem described in the utility model realizes with following technical proposals:
One power transmission line inspection robot, it comprises long-armed assembly, galianconism assembly, rotating shaft assembly, galianconism rotary drive motor, long-armed rotary drive motor, gear drive and casing, described long-armed assembly, galianconism assembly is equipped with elevating mechanism and walking driving mechanism, long-armed assembly is connected with the output of long-armed rotary drive motor by rotating shaft assembly and gear drive, galianconism assembly is connected with the output of galianconism rotary drive motor by rotating shaft assembly, described long-armed rotary drive motor and galianconism rotary drive motor are arranged in casing, in described casing, be also provided with power supply and microprocessor.
Above-mentioned power transmission line inspection robot, described long-armed assembly comprises long-armed push rod and the long-armed push-rod electric machine that bilateral symmetry arranges, drive long-armed push rod to complete long-armed assembly lifting action by long-armed push-rod electric machine, on long-armed push rod top, long-armed roller is set, wherein the long-armed roller of a side is provided with long-armed roller motor, by the walking driving mechanism of long-armed roller and long-armed roller group of motors growth arm component, the long-armed roller of side below is provided with the first travel switch therein, is provided with the second travel switch at the front end of the long-armed roller of opposite side.
Above-mentioned power transmission line inspection robot, described galianconism assembly comprises galianconism push rod and the galianconism push-rod electric machine that bilateral symmetry arranges, drive galianconism push rod to complete galianconism assembly lifting action by galianconism push-rod electric machine, on the top of galianconism push rod, galianconism roller is set, wherein a side galianconism roller is provided with galianconism roller motor, below this galianconism roller, be provided with third trip switch, be provided with fourth line journey switch at its front end.
Above-mentioned power transmission line inspection robot, described rotating shaft assembly comprises the interior axle and the outer shaft that are set with by gap fiting mode, described interior axle top is by galianconism contiguous block and the fixing assembling of galianconism assembly, the fixing assembling of interior axle lower end and galianconism rotary drive motor output, described outer shaft is by long-armed contiguous block and the fixing assembling of long-armed assembly, and outer shaft is also by the gear drive and the fixing assembling of long-armed rotary drive motor output that are made up of driving gear and driven gear.
Above-mentioned power transmission line inspection robot, is provided with sleeve and thrust ball bearing with flat seat between the interior axle of described rotating shaft assembly and outer shaft, between outer shaft and casing, bearing assembly is set.
Above-mentioned power transmission line inspection robot, in its walking process, long-armed assembly and galianconism assembly angle α=45 °.
Above-mentioned power transmission line inspection robot, described long-armed rotary drive motor, galianconism rotary drive motor, long-armed push-rod electric machine, galianconism push-rod electric machine, long-armed roller motor and galianconism roller motor are all connected with power supply, provide power by power supply for it.
Above-mentioned power transmission line inspection robot, described the first travel switch, the second travel switch, third trip switch and fourth line journey switch are all connected with microprocessor input, and described output end of microprocessor is connected with the control switch of long-armed rotary drive motor, galianconism rotary drive motor, long-armed push-rod electric machine, galianconism push-rod electric machine, long-armed roller motor and galianconism roller motor.
The utility model provides a kind of ultra-high-tension power transmission line inspection robot that adopts long-armed assembly and galianconism assembly alternate run obstacle detouring mode.It has feature simple in structure, flexible operation, can realize on high-voltage conducting wires walking, cross over the various barriers such as wire clamp, stockbridge damper on wire smoothly, and can be used as the walking carrier of transmission line polling robot, deicing robot.
Brief description of the drawings
Below in conjunction with accompanying drawing, the utility model is described in further detail.
Fig. 1 is the utility model structural representation;
Fig. 2 is rotating shaft assembly cross-sectional view;
Fig. 3 is two galianconism rollers schematic diagrames of walking on wire;
Fig. 4 is that Fig. 3 state duration arm component and galianconism module position are related to schematic diagram (overlooking);
Fig. 5, Fig. 6 are the utility model obstacle detouring process schematic diagrames;
Fig. 7 is that Fig. 6 state duration arm component and galianconism module position are related to schematic diagram (overlooking).
In figure, each list of reference numerals is: 1, long-armed assembly, 1-1, long-armed push-rod electric machine, 1-2, long-armed push rod, 1-3, the first travel switch, 1-4, long-armed roller, 1-5, long-armed roller motor, 1-6, the second travel switch, 2, galianconism assembly, 1-1, galianconism push-rod electric machine, 1-2, galianconism push rod, 1-3, third trip switch, 1-4, galianconism roller, 1-5, galianconism roller motor, 1-6, fourth line journey switch, 3, rotating shaft assembly, 3-1, galianconism contiguous block, 3-2, interior axle, 3-3, sleeve, 3-4, thrust ball bearing with flat seat, 3-5, outer shaft, 3-6, long-armed contiguous block, 3-7, bearing assembly, 4, casing, 5, galianconism rotary drive motor, 6, long-armed rotary drive motor, 7, gear drive, 7-1, driving gear, 7-2, driven gear, 8, power supply, 9, microprocessor, 10, wire, 10-1, barrier.
Embodiment
Referring to Fig. 1, the utility model comprises long-armed assembly 1, galianconism assembly 2, rotating shaft assembly 3, galianconism rotary drive motor 5, long-armed rotary drive motor 6, gear drive 7 and casing 4, described long-armed assembly 1, galianconism assembly 2 is equipped with elevating mechanism and walking driving mechanism, long-armed assembly 1 is connected with the output of long-armed rotary drive motor 6 by rotating shaft assembly 3 and gear drive 7, galianconism assembly 2 is connected with the output of galianconism rotary drive motor 5 by rotating shaft assembly 3, described long-armed rotary drive motor 6 and galianconism rotary drive motor 5 are arranged in casing 4, in described casing 4, be also provided with power supply 8 and microprocessor 9.
Referring to Fig. 1, long-armed assembly 1 of the present utility model comprises long-armed push rod 1-2 and the long-armed push-rod electric machine 1-1 that bilateral symmetry arranges, drive long-armed push rod 1-2 to complete the lifting action of long-armed assembly 1 by long-armed push-rod electric machine 1-1, on long-armed push rod 1-2 top, long-armed roller 1-4 is set, wherein the long-armed roller of a side is provided with long-armed roller motor 1-5, formed the walking driving mechanism of long-armed assembly 1 by long-armed roller 1-4 and long-armed roller motor 1-5, the long-armed roller 1-4 of side below is provided with the first travel switch 1-3 therein, be provided with the second travel switch 1-6 at the front end of the long-armed roller of opposite side, galianconism assembly 2 of the present utility model comprises galianconism push rod 2-2 and the galianconism push-rod electric machine 2-1 that bilateral symmetry arranges, drive galianconism push rod 2-2 to complete the lifting action of galianconism assembly 2 by galianconism push-rod electric machine 2-1, on the top of galianconism push rod 2-2, galianconism roller 2-4 is set, wherein a side galianconism roller is provided with galianconism roller motor 2-5, below this galianconism roller, be provided with third trip switch 2-3, be provided with fourth line journey switch 2-6 at its front end.
Referring to Fig. 2, rotating shaft assembly 3 of the present utility model comprises the interior axle 3-2 and the outer shaft 3-5 that are set with by gap fiting mode, described interior axle 3-2 top is by galianconism contiguous block 3-1 and the fixing assembling of galianconism assembly 2, the fixing assembling of interior axle 3-2 lower end and galianconism rotary drive motor 5 outputs, described outer shaft 3-5 is by long-armed contiguous block 3-6 and the fixing assembling of long-armed assembly 1, and outer shaft 3-5 is also by the gear drive 7 and the fixing assembling of long-armed rotary drive motor 6 outputs that are made up of driving gear 7-1 and driven gear 7-2; The utility model is provided with sleeve 3-3 and thrust ball bearing with flat seat 3-4 between the interior axle 3-2 of rotating shaft assembly 3 and outer shaft 3-5, between outer shaft 3-5 and casing 4, bearing assembly 3-7 is set.
Referring to Fig. 3, the utility model in robot ambulation process, long-armed assembly 1 and galianconism assembly 2 both angle α=45 °.
Referring to Fig. 3～Fig. 7, the utility model is a kind of ultra-high-tension power transmission line inspection robot that adopts long-armed assembly and galianconism assembly alternate run obstacle detouring mode.Its course of work is: in the time that robot is installed on transmission line wire 10, can open robot switch by ground remote control mode, robot is rolled and is walked (as shown in Figure 3) by two galianconism roller 2-4 of galianconism assembly 2 on wire 10, now, between long-armed assembly 1 and galianconism assembly 2, angle α=45 o(is as shown in Figure 4), and the state of the long-armed push rod 1-2 of long-armed assembly 1 in rising, when robot runs into the wire clamp on transmission line, when the barrier 10-1 such as stockbridge damper (as shown in Figure 5), the third trip switch 2-3 in galianconism roller 2-4 front can contact with barrier 10-1, produce a triggering to control system, halted by control system control, now long-armed assembly 1 starts to be rotated in a clockwise direction, when the first travel switch 1-3 below rotating to long-armed roller 1-4 touches wire 10, long-armed roller 1-4 is just in time positioned at directly over wire 10, control system control stops the rotation, the long-armed push-rod electric machine 1-1 of long-armed assembly 1 drives long-armed push rod 1-2 to start to decline, the long-armed roller 1-4 that is located thereon end is hung on wire 10, then, the galianconism push-rod electric machine 2-1 of galianconism assembly 2 drives galianconism push rod 2-2 to start to rise, make the galianconism roller 2-4 that is located thereon end depart from wire 10(as shown in Figure 6), galianconism assembly 2 counterclockwise rotates 45 °, makes galianconism assembly 2 and galianconism roller 2-4 above leave barrier 10-1(as shown in Figure 7), now, the long-armed roller of the front end of long-armed assembly 1 is positioned at the front of barrier 10-1, and robot can normally walk.Equally, in the time that the long-armed roller of long-armed assembly 1 rear end runs into barrier, robot repeats action step above, substitutes long-armed assembly 1 and moves, thereby successfully clear the jumps 10-1 by galianconism assembly 2.
Claims (8)
1. a power transmission line inspection robot, it is characterized in that, it comprises long-armed assembly (1), galianconism assembly (2), rotating shaft assembly (3), galianconism rotary drive motor (5), long-armed rotary drive motor (6), gear drive (7) and casing (4), described long-armed assembly (1), galianconism assembly (2) is equipped with elevating mechanism and walking driving mechanism, long-armed assembly (1) is connected with the output of long-armed rotary drive motor (6) by rotating shaft assembly (3) and gear drive (7), galianconism assembly (2) is connected with the output of galianconism rotary drive motor (5) by rotating shaft assembly (3), described long-armed rotary drive motor (6) and galianconism rotary drive motor (5) are arranged in casing (4), in described casing (4), be also provided with power supply (8) and microprocessor (9).
2. a kind of power transmission line inspection according to claim 1 robot, it is characterized in that, described long-armed assembly (1) comprises long-armed push rod (1-2) and the long-armed push-rod electric machine (1-1) that bilateral symmetry arranges, drive long-armed push rod (1-2) to complete the lifting action of long-armed assembly (1) by long-armed push-rod electric machine (1-1), on long-armed push rod (1-2) top, long-armed roller (1-4) is set, wherein the long-armed roller of a side is provided with long-armed roller motor (1-5), formed the walking driving mechanism of long-armed assembly (1) by long-armed roller (1-4) and long-armed roller motor (1-5), the long-armed roller of a side (1-4) below is provided with the first travel switch (1-3) therein, be provided with the second travel switch (1-6) at the front end of the long-armed roller of opposite side.
3. a kind of power transmission line inspection according to claim 2 robot, it is characterized in that, described galianconism assembly (2) comprises galianconism push rod (2-2) and the galianconism push-rod electric machine (2-1) that bilateral symmetry arranges, drive galianconism push rod (2-2) to complete the lifting action of galianconism assembly (2) by galianconism push-rod electric machine (2-1), on the top of galianconism push rod (2-2), galianconism roller (2-4) is set, wherein a side galianconism roller is provided with galianconism roller motor (2-5), below this galianconism roller, be provided with third trip switch (2-3), be provided with fourth line journey switch (2-6) at its front end.
4. a kind of power transmission line inspection according to claim 3 robot, it is characterized in that, described rotating shaft assembly (3) comprises the interior axle (3-2) and the outer shaft (3-5) that are set with by gap fiting mode, described interior axle (3-2) top is by the fixing assembling of galianconism contiguous block (3-1) and galianconism assembly (2), the fixing assembling of interior axle (3-2) lower end and galianconism rotary drive motor (5) output, described outer shaft (3-5) is by the fixing assembling of long-armed contiguous block (3-6) and long-armed assembly (1), outer shaft (3-5) is also by the gear drive (7) and the fixing assembling of long-armed rotary drive motor (6) output that are made up of driving gear (7-1) and driven gear (7-2).
5. a kind of power transmission line inspection according to claim 4 robot, it is characterized in that, between the interior axle (3-2) of described rotating shaft assembly (3) and outer shaft (3-5), be provided with sleeve (3-3) and thrust ball bearing with flat seat (3-4), between outer shaft (3-5) and casing (4), bearing assembly (3-7) be set.
6. a kind of power transmission line inspection according to claim 5 robot, is characterized in that, in its walking process, and long-armed assembly (1) and both angle α=45 ° of galianconism assembly (2).
7. a kind of power transmission line inspection according to claim 6 robot, it is characterized in that, described long-armed rotary drive motor (6), galianconism rotary drive motor (5), long-armed push-rod electric machine (1-1), galianconism push-rod electric machine (2-1), long-armed roller motor (1-5) and galianconism roller motor (2-5) are all connected with power supply (8), provide power by power supply (8) for it.
8. a kind of power transmission line inspection according to claim 7 robot, it is characterized in that, described the first travel switch (1-3), the second travel switch (1-6), third trip switch (2-3) and fourth line journey switch (2-6) are all connected with microprocessor (9) input, and described microprocessor (9) output is connected with the control switch of long-armed rotary drive motor (6), galianconism rotary drive motor (5), long-armed push-rod electric machine (1-1), galianconism push-rod electric machine (2-1), long-armed roller motor (1-5) and galianconism roller motor (2-5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420364744.7U CN203942206U (en) | 2014-07-03 | 2014-07-03 | One power transmission line inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420364744.7U CN203942206U (en) | 2014-07-03 | 2014-07-03 | One power transmission line inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203942206U true CN203942206U (en) | 2014-11-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420364744.7U Expired - Fee Related CN203942206U (en) | 2014-07-03 | 2014-07-03 | One power transmission line inspection robot |
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| CN (1) | CN203942206U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104332893A (en) * | 2014-11-17 | 2015-02-04 | 武汉科技大学 | Mechanical arm of high-voltage line patrol robot |
| CN104682310A (en) * | 2015-03-18 | 2015-06-03 | 成都东唐金开科技有限公司 | Deicing protection device for high-voltage cable |
| CN105098657A (en) * | 2015-09-16 | 2015-11-25 | 国网江西省电力公司赣东北供电分公司 | Novel power transmission line walking robot and obstacle-navigation method |
| CN106992469A (en) * | 2017-05-31 | 2017-07-28 | 长沙理工大学 | A kind of hot line maintenance robot and its upper and lower line control method |
| CN107538478A (en) * | 2016-06-23 | 2018-01-05 | 中国人民解放军军械工程学院 | A kind of flat creeping system based on spiral vice mechanism |
| CN107947025A (en) * | 2016-05-12 | 2018-04-20 | 山东大学 | Inspection robot mechanical structure and its obstacle-detouring method based on subdivision wheel and mechanical arm |
| CN108695804A (en) * | 2018-08-03 | 2018-10-23 | 榆林学院 | A kind of suspension running gear on icing electric wire |
-
2014
- 2014-07-03 CN CN201420364744.7U patent/CN203942206U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104332893A (en) * | 2014-11-17 | 2015-02-04 | 武汉科技大学 | Mechanical arm of high-voltage line patrol robot |
| CN104682310A (en) * | 2015-03-18 | 2015-06-03 | 成都东唐金开科技有限公司 | Deicing protection device for high-voltage cable |
| CN105098657A (en) * | 2015-09-16 | 2015-11-25 | 国网江西省电力公司赣东北供电分公司 | Novel power transmission line walking robot and obstacle-navigation method |
| CN107947025A (en) * | 2016-05-12 | 2018-04-20 | 山东大学 | Inspection robot mechanical structure and its obstacle-detouring method based on subdivision wheel and mechanical arm |
| CN107947025B (en) * | 2016-05-12 | 2020-03-03 | 山东大学 | Line inspection robot mechanical structure based on split wheel and mechanical arm and obstacle crossing method thereof |
| CN107538478A (en) * | 2016-06-23 | 2018-01-05 | 中国人民解放军军械工程学院 | A kind of flat creeping system based on spiral vice mechanism |
| CN106992469A (en) * | 2017-05-31 | 2017-07-28 | 长沙理工大学 | A kind of hot line maintenance robot and its upper and lower line control method |
| CN106992469B (en) * | 2017-05-31 | 2018-08-14 | 长沙理工大学 | A kind of hot line maintenance robot and its upper and lower line control method |
| CN108695804A (en) * | 2018-08-03 | 2018-10-23 | 榆林学院 | A kind of suspension running gear on icing electric wire |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141112 Termination date: 20160703 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |