CN203967614U - A kind of ultra-high-tension power transmission line double earth wire walking inspection robot - Google Patents
A kind of ultra-high-tension power transmission line double earth wire walking inspection robot Download PDFInfo
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- CN203967614U CN203967614U CN201420315168.7U CN201420315168U CN203967614U CN 203967614 U CN203967614 U CN 203967614U CN 201420315168 U CN201420315168 U CN 201420315168U CN 203967614 U CN203967614 U CN 203967614U
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- 238000007689 inspection Methods 0.000 title claims abstract description 17
- 230000005540 biological transmission Effects 0.000 title claims abstract description 16
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 40
- 239000010959 steel Substances 0.000 claims abstract description 40
- 239000000203 mixtures Substances 0.000 claims abstract description 3
- 230000001429 stepping Effects 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N iron Chemical compound data:image/svg+xml;base64,PD94bWwgdmVyc2lvbj0nMS4wJyBlbmNvZGluZz0naXNvLTg4NTktMSc/Pgo8c3ZnIHZlcnNpb249JzEuMScgYmFzZVByb2ZpbGU9J2Z1bGwnCiAgICAgICAgICAgICAgeG1sbnM9J2h0dHA6Ly93d3cudzMub3JnLzIwMDAvc3ZnJwogICAgICAgICAgICAgICAgICAgICAgeG1sbnM6cmRraXQ9J2h0dHA6Ly93d3cucmRraXQub3JnL3htbCcKICAgICAgICAgICAgICAgICAgICAgIHhtbG5zOnhsaW5rPSdodHRwOi8vd3d3LnczLm9yZy8xOTk5L3hsaW5rJwogICAgICAgICAgICAgICAgICB4bWw6c3BhY2U9J3ByZXNlcnZlJwp3aWR0aD0nMzAwcHgnIGhlaWdodD0nMzAwcHgnIHZpZXdCb3g9JzAgMCAzMDAgMzAwJz4KPCEtLSBFTkQgT0YgSEVBREVSIC0tPgo8cmVjdCBzdHlsZT0nb3BhY2l0eToxLjA7ZmlsbDojRkZGRkZGO3N0cm9rZTpub25lJyB3aWR0aD0nMzAwJyBoZWlnaHQ9JzMwMCcgeD0nMCcgeT0nMCc+IDwvcmVjdD4KPHRleHQgeD0nMTM4JyB5PScxNzAnIGNsYXNzPSdhdG9tLTAnIHN0eWxlPSdmb250LXNpemU6NDBweDtmb250LXN0eWxlOm5vcm1hbDtmb250LXdlaWdodDpub3JtYWw7ZmlsbC1vcGFjaXR5OjE7c3Ryb2tlOm5vbmU7Zm9udC1mYW1pbHk6c2Fucy1zZXJpZjt0ZXh0LWFuY2hvcjpzdGFydDtmaWxsOiMzQjQxNDMnID5GPC90ZXh0Pgo8dGV4dCB4PScxNjUuNicgeT0nMTcwJyBjbGFzcz0nYXRvbS0wJyBzdHlsZT0nZm9udC1zaXplOjQwcHg7Zm9udC1zdHlsZTpub3JtYWw7Zm9udC13ZWlnaHQ6bm9ybWFsO2ZpbGwtb3BhY2l0eToxO3N0cm9rZTpub25lO2ZvbnQtZmFtaWx5OnNhbnMtc2VyaWY7dGV4dC1hbmNob3I6c3RhcnQ7ZmlsbDojM0I0MTQzJyA+ZTwvdGV4dD4KPC9zdmc+Cg== data:image/svg+xml;base64,PD94bWwgdmVyc2lvbj0nMS4wJyBlbmNvZGluZz0naXNvLTg4NTktMSc/Pgo8c3ZnIHZlcnNpb249JzEuMScgYmFzZVByb2ZpbGU9J2Z1bGwnCiAgICAgICAgICAgICAgeG1sbnM9J2h0dHA6Ly93d3cudzMub3JnLzIwMDAvc3ZnJwogICAgICAgICAgICAgICAgICAgICAgeG1sbnM6cmRraXQ9J2h0dHA6Ly93d3cucmRraXQub3JnL3htbCcKICAgICAgICAgICAgICAgICAgICAgIHhtbG5zOnhsaW5rPSdodHRwOi8vd3d3LnczLm9yZy8xOTk5L3hsaW5rJwogICAgICAgICAgICAgICAgICB4bWw6c3BhY2U9J3ByZXNlcnZlJwp3aWR0aD0nODVweCcgaGVpZ2h0PSc4NXB4JyB2aWV3Qm94PScwIDAgODUgODUnPgo8IS0tIEVORCBPRiBIRUFERVIgLS0+CjxyZWN0IHN0eWxlPSdvcGFjaXR5OjEuMDtmaWxsOiNGRkZGRkY7c3Ryb2tlOm5vbmUnIHdpZHRoPSc4NScgaGVpZ2h0PSc4NScgeD0nMCcgeT0nMCc+IDwvcmVjdD4KPHRleHQgeD0nMzUuMDQ1NScgeT0nNTMuNTkwOScgY2xhc3M9J2F0b20tMCcgc3R5bGU9J2ZvbnQtc2l6ZToyM3B4O2ZvbnQtc3R5bGU6bm9ybWFsO2ZvbnQtd2VpZ2h0Om5vcm1hbDtmaWxsLW9wYWNpdHk6MTtzdHJva2U6bm9uZTtmb250LWZhbWlseTpzYW5zLXNlcmlmO3RleHQtYW5jaG9yOnN0YXJ0O2ZpbGw6IzNCNDE0MycgPkY8L3RleHQ+Cjx0ZXh0IHg9JzUxLjA0MDknIHk9JzUzLjU5MDknIGNsYXNzPSdhdG9tLTAnIHN0eWxlPSdmb250LXNpemU6MjNweDtmb250LXN0eWxlOm5vcm1hbDtmb250LXdlaWdodDpub3JtYWw7ZmlsbC1vcGFjaXR5OjE7c3Ryb2tlOm5vbmU7Zm9udC1mYW1pbHk6c2Fucy1zZXJpZjt0ZXh0LWFuY2hvcjpzdGFydDtmaWxsOiMzQjQxNDMnID5lPC90ZXh0Pgo8L3N2Zz4K [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 229910052742 iron Inorganic materials 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000002493 climbing Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
Abstract
The utility model has been announced a kind of ultra-high-tension power transmission line double earth wire walking inspection robot, by fuselage system, control system, power-supply system, patrol and detection device (8), navigation and positioner (9), the most of composition of communication system (10) six, the utility model is simple in structure, easy to use, can effectively control the rotation of submerged bearing, on steel tower ground wire cross-arm, set up crane span structure, robot can be smoothly across tower on ground wire-crane span structure, double earth wire walking robot is walked on ground wire does not have too large spatial limitation, aspect energy supply, adopt solar panels-battery electric power storage scheme to realize continuous operation.
Description
Technical field
The utility model relates to a kind of ultra-high-tension power transmission line line inspection device.
Background technology
The artificial patrolling method that ultra-high-tension power transmission line is traditional, is subject to the impact of the factors such as landform situation, meteorological condition, peopleware, and line walking efficiency is low, the cycle is long, can not reflect in time line information.At present, ultra-high-tension power transmission line inspection robot is existing to emerge, and is all to walk on ground wire or wire solid wire, patrols and examines.Very difficult across tower when single line walking robot is met many points of column wires or large radian wire jumper, and line walking walking power is to be driven by storage battery, battery capacitance of storage is limited, online power taking technical sophistication, immature.Existing inspection robot is patrolled and examined for a long time for realizing, and must change battery by upper tower, has the hazards such as get an electric shock, fall.
Summary of the invention
In order to overcome the difficult problems such as the dangerous factor of existing solid wire walking inspection robot battery altering, online power taking difficulty, the utility model provides a kind of double earth wire walking robot structure, this robot sets up crane span structure on steel tower ground wire cross-arm, robot can be smoothly across tower on ground wire-crane span structure, double earth wire walking robot is walked on ground wire does not have too large spatial limitation, adopts solar panels-battery electric power storage scheme to realize continuous operation aspect energy supply.
For achieving the above object, the utility model solves the technical scheme that its technical problem adopts and is: a kind of ultra-high-tension power transmission line double earth wire walking inspection robot, by fuselage system, control system, power-supply system, patrol and detection device (8), navigation and positioner (9), the most of composition of communication system (10) six, its middle machine body system comprises vehicle frame angle steel A(1), diagonal brace angle steel (2), vehicle frame angle steel B(3), swivel bearing seat board (12), swivel bearing (13), bearing pedestal A(14), round end joint piece (15), feed rod (16), linear bearing (17), rotation shaft of wheel (18), bearing pedestal B(19), wheel fork (20), bearing holder (housing, cover) (22), spill wheel (23), motor mounting plate (24), control system comprises wheel hub motor (5), control cabinet (6), handle (7), stepping motor (21), is characterized by: vehicle frame angle steel A(1) and by two diagonal brace angle steel (2) and vehicle frame angle steel B(3) between the triangular supports that forms by bearing pedestal A(14), feed rod (16) is connected with linear bearing (17), storage battery (4) is equipped with in two diagonal brace angle steel (2) intersection, swivel bearing (13), bearing pedestal A(14 are housed) on swivel bearing seat board (12), (16) one of feed rods are round end joint piece (15), are connected with swivel bearing (13), other one by being arranged on linear bearing (17) and the vehicle frame angle steel B(3 of two diagonal brace angle steel (2) junction below) linear bearing (17) below central authorities, the vehicle frame angle steel A(1 of robot) and vehicle frame angle steel B(3) bottom is equipped with rotation shaft of wheel (18), bearing pedestal B(19), wheel fork (20), motor mounting plate (24) is being welded in wheel fork (20) outside, and stepping motor (21), bearing holder (housing, cover) (22), spill wheel (23) are housed on motor mounting plate (24).
Described power-supply system comprises storage battery (4), solar panels (11), and solar panels (11) are installed in parallel in vehicle frame angle steel A(1) and vehicle frame angle steel B(3) between, two diagonal brace angle steel (2) are equipped with storage battery (4) in intersection;
Described control system comprises that wheel hub motor (5), control cabinet (6), handle (7) are arranged on vehicle frame angle steel B(3) on.
Described is arranged on vehicle frame angle steel A(1 depending on checkout gear (8), navigation and positioner (9), communication system (10)), diagonal brace angle steel A/B(2) between feed rod (16) on.
Beneficial functional of the present utility model:
1,, when the utility model is walked on transmission line, can realize in 60 ° of parkings, reversing, climbing scope.
2, the utility model is walked on ground wire does not have too large spatial limitation, adopts solar panels-battery electric power storage scheme to realize continuous operation aspect energy supply.
3, the line walking function that can realize transmission line after line walking equipment, controlled in wireless and data transmission system is installed on this architecture basics.
The utility model advantage is:
1, operating efficiency is high, and the line walking time is long.
2, greatly reduce cost of labor, labour intensity, can reflect in time transmission line information, provide reliable guarantee for transmission line continues safe operation.
3, line walking data are enriched and can be stored, and can be circuit analysis in the future data are provided.
Brief description of the drawings
Fig. 1, inspection robot structural representation front view;
Fig. 2, inspection robot polished rod connection diagram end view;
Fig. 3, inspection robot bottom wheel figure;
Fig. 4, inspection robot bottom wheel front view;
Fig. 5, support bridge and iron tower structure schematic front view;
Fig. 6, support bridge and iron tower structure diagrammatic side view;
Marginal data: 1, vehicle frame angle steel A 2, diagonal brace angle steel 3, vehicle frame angle steel B 4, storage battery 5, wheel hub motor 6, control cabinet 7, handle 8, depending on checkout gear 9, navigation and positioner 10, communication system 11, solar panels 12, swivel bearing seat board 13, swivel bearing 14, bearing pedestal A15, round end joint piece 16, feed rod 17, linear bearing 18, rotation shaft of wheel 19, bearing pedestal B 20, wheel fork 21, stepping motor 22, bearing holder (housing, cover) 23, spill wheel 24, motor mounting plate 25, ground wire 26, ground wire cross-arm 27, support bridge A point 28, support bridge.
Embodiment
Now by reference to the accompanying drawings invention utility model content is described further.
At the upper mounting bracket bridge (28) of steel tower ground wire cross-arm (26), approaching support bridge A point (27) will be across tower time, send obstacle detouring signal, stepping motor (21) rotates to an angle and allows spill wheel (23) avoid obstacle to make obstacle detouring and prepare across tower, obstacle detouring across tower after stepping motor (21) reverse rotation certain angle, recover normal walking states.Storage battery (4) and solar panels (11) are installed, are connected circuit, double earth wire inspection robot is not subject to spatial limitation that solar panels can be installed at an upper portion thereof, realizes the charging to storage battery (4), the operation that crusing robot just can be continuous.Specifically implement by following three steps:
The first step: turn on the power switch, wheel hub motor self-lock switch in closing control case (6), it is closure state with wheel hub motor (5) that machine starts front spill wheel (23), twisting handle (7) is machined and is advanced;
Second step: when robot is in the time that ground wire (25) advances to support bridge A point (27), open stepping motor (21), after half-twist, stop, in accompanying drawing 4 shown in dotted line, robot continues to advance on support bridge (28), in the time that robot two trailing wheels just pass through support bridge B point (29), opens stepping motor (21), locked after 90 ° of reverse rotations, wheel hub motor (5) moves on;
The 3rd step: when robot advances to next A point (27), repeat the operation of second step.
Claims (4)
1. a ultra-high-tension power transmission line double earth wire walking inspection robot, by fuselage system, control system, power-supply system, patrol and detection device (8), navigation and positioner (9), the most of composition of communication system (10) six, its middle machine body system comprises vehicle frame angle steel A(1), diagonal brace angle steel (2), vehicle frame angle steel B(3), swivel bearing seat board (12), swivel bearing (13), bearing pedestal A(14), round end joint piece (15), feed rod (16), linear bearing (17), rotation shaft of wheel (18), bearing pedestal B(19), wheel fork (20), bearing holder (housing, cover) (22), spill wheel (23), motor mounting plate (24), control system comprises wheel hub motor (5), control cabinet (6), handle (7), stepping motor (21), it is characterized by: vehicle frame angle steel A(1) and by two diagonal brace angle steel (2) and vehicle frame angle steel B(3) between the triangular supports that forms by bearing pedestal A(14), feed rod (16) is connected with linear bearing (17), storage battery (4) is equipped with in two diagonal brace angle steel (2) intersection, swivel bearing (13), bearing pedestal A(14 are housed) on swivel bearing seat board (12), (16) one of feed rods are round end joint piece (15), are connected with swivel bearing (13), other one by being arranged on linear bearing (17) and the vehicle frame angle steel B(3 of two diagonal brace angle steel (2) junction below) linear bearing (17) below central authorities, the vehicle frame angle steel A(1 of robot) and vehicle frame angle steel B(3) bottom is equipped with rotation shaft of wheel (18), bearing pedestal B(19), wheel fork (20), motor mounting plate (24) is being welded in wheel fork (20) outside, and stepping motor (21), bearing holder (housing, cover) (22), spill wheel (23) are housed on motor mounting plate (24).
2. a kind of ultra-high-tension power transmission line double earth wire walking inspection robot according to claim 1, it is characterized by: described power-supply system comprises storage battery (4), solar panels (11), solar panels (11) are installed in parallel in vehicle frame angle steel A(1) and vehicle frame angle steel B(3) between, two diagonal brace angle steel (2) are equipped with storage battery (4) in intersection.
3. a kind of ultra-high-tension power transmission line double earth wire walking inspection robot according to claim 1, is characterized by: described control system comprises that wheel hub motor (5), control cabinet (6), handle (7) are arranged on vehicle frame angle steel B(3) on.
4. a kind of ultra-high-tension power transmission line double earth wire walking inspection robot according to claim 1, is characterized by: described is arranged on vehicle frame angle steel A(1 depending on checkout gear (8), navigation and positioner (9), communication system (10)), diagonal brace angle steel A/B(2) between feed rod (16) on.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420315168.7U CN203967614U (en) | 2014-06-13 | 2014-06-13 | A kind of ultra-high-tension power transmission line double earth wire walking inspection robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420315168.7U CN203967614U (en) | 2014-06-13 | 2014-06-13 | A kind of ultra-high-tension power transmission line double earth wire walking inspection robot |
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| Publication Number | Publication Date |
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| CN203967614U true CN203967614U (en) | 2014-11-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201420315168.7U Active CN203967614U (en) | 2014-06-13 | 2014-06-13 | A kind of ultra-high-tension power transmission line double earth wire walking inspection robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105429048A (en) * | 2015-12-18 | 2016-03-23 | 贵州南源电力科技股份有限公司 | Patrol robot lightweight method for electric transmission line and lightweight patrol robot |
| CN107482524A (en) * | 2017-07-13 | 2017-12-15 | 南京南瑞集团公司 | Power transmission line inspection robot with anti-falling function automatically up and down earth system |
| CN108555915A (en) * | 2016-07-13 | 2018-09-21 | 张悦 | A method of quick and precisely making an inspection tour steel tower |
-
2014
- 2014-06-13 CN CN201420315168.7U patent/CN203967614U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105429048A (en) * | 2015-12-18 | 2016-03-23 | 贵州南源电力科技股份有限公司 | Patrol robot lightweight method for electric transmission line and lightweight patrol robot |
| CN105429048B (en) * | 2015-12-18 | 2017-11-14 | 贵州南源电力科技股份有限公司 | The light-weighted method of crusing robot and lightweight crusing robot of transmission line of electricity |
| CN108555915A (en) * | 2016-07-13 | 2018-09-21 | 张悦 | A method of quick and precisely making an inspection tour steel tower |
| CN108555915B (en) * | 2016-07-13 | 2020-11-17 | 山东诺创电力科技有限公司 | Method for quickly and accurately inspecting iron tower |
| CN107482524A (en) * | 2017-07-13 | 2017-12-15 | 南京南瑞集团公司 | Power transmission line inspection robot with anti-falling function automatically up and down earth system |
| CN107482524B (en) * | 2017-07-13 | 2019-08-16 | 南京南瑞集团公司 | Power transmission line inspection robot with anti-falling function automatically up and down earth system |
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