CN204021041U - A kind of traveling gear for overhead power transmission line crusing robot - Google Patents
A kind of traveling gear for overhead power transmission line crusing robot Download PDFInfo
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- CN204021041U CN204021041U CN201420436458.7U CN201420436458U CN204021041U CN 204021041 U CN204021041 U CN 204021041U CN 201420436458 U CN201420436458 U CN 201420436458U CN 204021041 U CN204021041 U CN 204021041U
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 40
- 239000000725 suspension Substances 0.000 claims abstract description 29
- 210000000481 breast Anatomy 0.000 claims description 13
- 238000009413 insulation Methods 0.000 claims description 7
- 230000002265 prevention Effects 0.000 claims description 3
- 230000009184 walking Effects 0.000 abstract description 7
- 230000009194 climbing Effects 0.000 abstract description 2
- 238000004891 communication Methods 0.000 abstract description 2
- 230000007797 corrosion Effects 0.000 abstract description 2
- 238000005260 corrosion Methods 0.000 abstract description 2
- 230000005611 electricity Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 5
- 238000013461 design Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000007689 inspection Methods 0.000 description 3
- 239000004020 conductor Substances 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 239000012212 insulator Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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Abstract
A kind of traveling gear for overhead power transmission line crusing robot.It comprises main body and driver train: main body comprises n shape suspension basket, front wheel, rear roller, protection telescopic shaft, left camera and right camera; N shape suspension basket middle opening top is provided with front wheel and rear roller, and the below of front wheel and rear roller is provided with protection telescopic shaft; The inside of n shape suspension basket is provided with control system and driver train; Left camera and right camera are the vision sensor being arranged on two side column lower ends, left and right on n shape suspension basket respectively.The utility model effect: real-time video communication, shooting has all-dimensional multi-angle ability, accurately can detect the channel case under transmission line of electricity corrosion, the disconnected problem such as stock, damage and circuit.Have from advocating peace remote control double working modes.Self-contained battery and electric power storage can complete 5 kilometers of circuits walkings.Smooth running and possess the hill climbing ability that the gradient is 15 degree.Stockbridge damper and shaft tower in reliable span line.Possess self-lock ability, prevent unexpected dropping.
Description
Technical field
The utility model belongs to power circuit polling technical field, particularly relates to a kind of traveling gear for overhead power transmission line crusing robot.
Background technology
At present, the inspection robot of domestic and international research mainly contains two types, one class is the overhead power line inspection robot without obstacle crossing function, this technology is external comparatively ripe, and studies in China starting is late, is in laboratory stage, and this kind of robot generally needs artificial participation, in time running into obstacle, need people to assist its crossing over blockage, scope of work is little, and degree of automation is low.An other class is the robot possessing autonomous crossing over blockage, obstacle in autonomous inspection robot energy span line, can implement to patrol and examine operation on a large scale, for a long time, but great majority is still in conceptual phase, though make certain gains, produce the product being applicable to market very few.
At present, the method for patrolling and examining overhead power transmission line mainly contains two kinds:
1. ground appearance method: adopt naked eyes or glass to observe local electric wireline.This method labour intensity is large, work efficiency and detection accuracy low, poor reliability.
2. aerophotographic method: utilize autogyro to patrol and examine.Although this method is apart from close, improve detection efficiency and precision, overhead power transmission line can from the visual field of viewer or camera-shooting and recording device quickly through, add technical risk, and costly.
And in recent years along with the development of mobile robot technology, patrol and examine for overhead power line and provide new mobile platform.Crusing robot can live line work, creep along power transmission line with certain speed, and the obstacles such as stockbridge damper, strain clamp, suspension clamp, shaft tower can be crossed over, the sensor apparatus of carrying is utilized to implement proximity test to shaft tower, wire and lightning conductor, insulator, line hardware, line channel etc., what replace workman to carry out electric power circuit patrols and examines work, can improve the work efficiency of patrolling and examining further and patrol and examine precision, and the expense dropped into is low.Therefore the traveling gear studying and be designed for overhead power transmission line crusing robot is significant.
Summary of the invention
In order to solve the problem, the purpose of this utility model is to provide a kind of traveling gear for overhead power transmission line crusing robot.
In order to achieve the above object, the traveling gear for overhead power transmission line crusing robot that the utility model provides comprises: main body and driver train: wherein main body comprises n shape suspension basket, front wheel, rear roller, protection telescopic shaft, left camera and right camera; Wherein: n shape suspension basket is the casing of n word shape, the open top in the middle of it is provided with front wheel and rear roller, and the below of front wheel and rear roller is provided with protection telescopic shaft; The inside of n shape suspension basket is provided with control system and driver train; Left camera and right camera are the vision sensor being arranged on two side column lower ends, left and right on n shape suspension basket respectively.
Described front wheel is identical with rear roller structure, and it comprises breast wheel, antiskid insulation rubber cushion and two sprocket wheels; Breast wheel is that reeded pulley is established in centre; Antiskid insulation rubber cushion is arranged on the bottom of groove; Sprocket wheel is the circular gear with sprocket that diameter is greater than breast wheel, and two sprocket wheels are arranged on the both sides of breast wheel respectively.
Described driver train comprises roller driving mechanism and protection telescopic shaft driver train; Roller driving mechanism is the actuating device of rear roller, and it comprises: motor, electric machine support, transmission shaft, drive sprocket, chain, driven sprocket, driven shaft and fixed support; Wherein: the open top that electric machine support is fixed on n shape suspension basket is inner; Motor is arranged on electric machine support; One end of transmission shaft is connected with motor, and the other end is fixed on the center of drive sprocket; Fixed support be arranged in parallel by two pieces and the adapter plate that upper end is connected on the lateral surface of the open top of n shape suspension basket forms; The two ends of driven shaft are separately positioned on two pieces of adapter plate bottoms on fixed support; The middle part of driven sprocket and rear roller is fixed on driven shaft side by side, and wherein driven sprocket is positioned at below drive sprocket, and driven sprocket and drive sprocket are interconnected by chain;
Protection telescopic shaft driver train is the retractable driving device of flexible prevention shaft, and it comprises: small-sized steering machine and steering wheel support; Wherein steering wheel support installing is in a side column inside of n shape suspension basket, and small-sized steering machine is arranged on steering wheel support, and is connected with one end of protection telescopic shaft.
Be connected and fixed by stay bearing plate between described front wheel and rear roller.
The result of use of the traveling gear for overhead power transmission line crusing robot that the utility model provides:
1) real-time video communication, shooting has all-dimensional multi-angle ability, accurately can detect the channel case under transmission line of electricity corrosion, the disconnected problem such as stock, damage and circuit.
2) have from advocating peace remote control double working modes.
4) self-contained battery and electric power storage can complete 5 kilometers of circuits walkings.
5) smooth running and possess the hill climbing ability that the gradient is 15 degree.
6) stockbridge damper and shaft tower in reliable span line.
7) possess self-lock ability, prevent unexpected dropping.
Accompanying drawing explanation
The spatial structure view of the overhead power transmission line crusing robot that Fig. 1 provides for the utility model.
The interior views of the overhead power transmission line crusing robot that Fig. 2 provides for the utility model.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the traveling gear for overhead power transmission line crusing robot that the utility model provides is described in detail.
As shown in Figure 1 and Figure 2, the traveling gear of overhead power transmission line crusing robot that the utility model provides comprises main body and driver train: wherein main body comprises n shape suspension basket 1, front wheel 2, rear roller 3, protection telescopic shaft 4, left camera 5 and right camera 6; Wherein: n shape suspension basket 1 is the casing of n word shape, the open top in the middle of it is provided with front wheel 2 and rear roller 3, and the below of front wheel 2 and rear roller 3 is provided with protection telescopic shaft 4; The inside of n shape suspension basket 1 is provided with control system and driver train; Left camera 5 and right camera 6 are the vision sensor being arranged on two side column lower ends, left and right on n shape suspension basket 1 respectively;
Described front wheel 2 is identical with rear roller 3 structure, and it comprises breast wheel 19, antiskid insulation rubber cushion 20 and two sprocket wheels 21; Breast wheel 19 is for establishing reeded pulley in centre; Antiskid insulation rubber cushion 20 is arranged on the bottom of groove; Sprocket wheel 21 is greater than the circular gear with sprocket of breast wheel 19 for diameter, and two sprocket wheels 21 are arranged on the both sides of breast wheel 19 respectively.
Front wheel 2 and rear roller 3 adopt rear-guard to design, and driving principle, as the Electrical Bicycle of family expenses, is connected and fixed by stay bearing plate between two rollers, to ensure on a horizon.When on overhead power transmission line 27 during accessible walking, the groove on front wheel 2 and rear roller 3 will be stuck on overhead power transmission line 27; And antiskid insulation rubber cushion 20 can be guaranteed to walk on the overhead conductor line 27 with certain slope at robot; In order to keep robot energy stabilized walking, each device in n shape suspension basket 1 needs strict consideration left and right weight balancing, therefore configures clump weight and is absolutely necessary.
Described driver train comprises roller driving mechanism and protection telescopic shaft driver train; Roller driving mechanism is the actuating device of rear roller 3, and it comprises: motor 11, electric machine support 12, transmission shaft 13, drive sprocket 14, chain 15, driven sprocket 16, driven shaft 17 and fixed support 18; Wherein: the open top that electric machine support 12 is fixed on n shape suspension basket 1 is inner; Motor 11 is arranged on electric machine support 12; One end of transmission shaft 13 is connected with motor 11, and the other end is fixed on the center of drive sprocket 14; Fixed support 18 be arranged in parallel by two pieces and the adapter plate that upper end is connected on the lateral surface of the open top of n shape suspension basket 1 forms; The two ends of driven shaft 17 are separately positioned on two pieces of adapter plate bottoms on fixed support 18; The middle part of driven sprocket 16 and rear roller 3 is fixed on driven shaft 17 side by side, and wherein driven sprocket 16 is positioned at below drive sprocket 14, and driven sprocket 16 and drive sprocket 14 are interconnected by chain 15;
Protection telescopic shaft driver train is the retractable driving device of flexible prevention shaft 4, and it comprises: small-sized steering machine 22 and steering wheel support 23; Wherein steering wheel support 23 is arranged on a side column inside of n shape suspension basket 1, and small-sized steering machine 22 is arranged on steering wheel support 23, and is connected with one end of protection telescopic shaft 4.
The principle of work of the traveling gear of the overhead power transmission line crusing robot now provided by the utility model is described below: this overhead power transmission line crusing robot in use, n shape suspension basket 1 is suspended on overhead power transmission line 27 by the groove of breast wheel 19 on front wheel 2 and rear roller 3, protect telescopic shaft 4 protruding simultaneously, to be locked on overhead power transmission line 27 by n shape suspension basket 1, when walking on overhead power transmission line 27 for preventing robot, run into accidental fall when strong wind etc. disturbs; When the accessible walking of straight line, motor 11 drives drive sprocket 14 to rotate by transmission shaft 13, then drives driven sprocket 16 to rotate by chain 15, and then drives rear roller 3 to rotate by driven shaft 17; When stockbridge damper appears in the overhead power transmission line 27 running into front, action makes protection telescopic shaft 4 be fully retracted by small-sized steering machine 22, to cross stockbridge damper, then again protruding and continue to move ahead.When running into the obstacle that shaft tower etc. cannot be gone beyond, on front wheel 2 and rear roller 3, the sprocket wheel 21 at two ends is just walked manually building on the auxiliary chain strip guide rail of head of mast, exceedes shaft tower thus.This roller design makes robot can accessible walking on line, does not need various turning, changes arm action, greatly reduce the control complexity of system, thus serviceability can be made to be greatly improved.
The overhead power transmission line crusing robot that the utility model provides mainly is used on overhead power transmission line 27, be used for patrolling and examining three phase transmission line and line lower channel situation, the roller design of medial launder two ends sprocket-type coordinates chain guide, can avoid crossing over obstacle on complicated line, greatly simplify the complexity of control system, and enhance the reliability of aloft work, danger, the manual operation of consuming time, effort and operation of cruising costly can be replaced, substantially increase the efficiency of line data-logging, thus the normal operation of electric system can be ensured.
It is more than the utility model preferably detailed description of the invention; but the protection domain of utility model is not limited thereto; anyly be familiar with those skilled in the art in the technical scope that the utility model discloses, the change that can expect easily or replace all should be encompassed in protection domain of the present utility model.
Claims (4)
1. for a traveling gear for overhead power transmission line crusing robot, it is characterized in that: the described traveling gear for overhead power transmission line crusing robot comprises main body and driver train: wherein main body comprises n shape suspension basket (1), front wheel (2), rear roller (3), protection telescopic shaft (4), left camera (5) and right camera (6); Wherein: the casing that n shape suspension basket (1) is n word shape, open top in the middle of it is provided with front wheel (2) and rear roller (3), and the below of front wheel (2) and rear roller (3) is provided with protection telescopic shaft (4); The inside of n shape suspension basket () 1 is provided with control system and driver train; Left camera (5) and right camera (6) are the vision sensor being arranged on two side column lower ends, the upper left and right of n shape suspension basket (1) respectively.
2. the traveling gear for overhead power transmission line crusing robot according to claim 1, it is characterized in that: described front wheel (2) is identical with rear roller (3) structure, it comprises breast wheel (19), antiskid insulation rubber cushion (20) and two sprocket wheels (21); Breast wheel (19) is for establishing reeded pulley in centre; Antiskid insulation rubber cushion (20) is arranged on the bottom of groove; Sprocket wheel (21) is greater than the circular gear with sprocket of breast wheel (19) for diameter, and two sprocket wheels (21) are arranged on the both sides of breast wheel (19) respectively.
3. the traveling gear for overhead power transmission line crusing robot according to claim 1, is characterized in that: described driver train comprises roller driving mechanism and protection telescopic shaft driver train; Roller driving mechanism is the actuating device of rear roller (3), and it comprises: motor (11), electric machine support (12), transmission shaft (13), drive sprocket (14), chain (15), driven sprocket (16), driven shaft (17) and fixed support (18); Wherein: the open top that electric machine support (12) is fixed on n shape suspension basket (1) is inner; Motor (11) is arranged on electric machine support (12); One end of transmission shaft (13) is connected with motor (11), and the other end is fixed on the center of drive sprocket (14); Fixed support (18) be arranged in parallel by two pieces and the adapter plate that upper end is connected on the lateral surface of the open top of n shape suspension basket (1) forms; The two ends of driven shaft (17) are separately positioned on the upper two pieces of adapter plate bottoms of fixed support (18); The middle part of driven sprocket (16) and rear roller (3) is fixed on driven shaft (17) side by side, wherein driven sprocket (16) is positioned at drive sprocket (14) below, and driven sprocket (16) and drive sprocket (14) are interconnected by chain (15);
Protection telescopic shaft driver train is the retractable driving device of flexible prevention shaft (4), and it comprises: small-sized steering machine (22) and steering wheel support (23); Wherein steering wheel support (23) is arranged on a side column inside of n shape suspension basket (1), and small-sized steering machine (22) is arranged on steering wheel support (23), and is connected with one end of protection telescopic shaft (4).
4. the traveling gear for overhead power transmission line crusing robot according to claim 1, is characterized in that: be connected and fixed by stay bearing plate between described front wheel (2) and rear roller (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420436458.7U CN204021041U (en) | 2014-08-04 | 2014-08-04 | A kind of traveling gear for overhead power transmission line crusing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420436458.7U CN204021041U (en) | 2014-08-04 | 2014-08-04 | A kind of traveling gear for overhead power transmission line crusing robot |
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| CN204021041U true CN204021041U (en) | 2014-12-17 |
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| CN201420436458.7U Expired - Lifetime CN204021041U (en) | 2014-08-04 | 2014-08-04 | A kind of traveling gear for overhead power transmission line crusing robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108660940A (en) * | 2018-07-11 | 2018-10-16 | 中国铁建电气化局集团第工程有限公司 | A kind of electronic construction operation platform of suspension type monorail traffic |
| CN109616944A (en) * | 2018-12-14 | 2019-04-12 | 杭州申昊科技股份有限公司 | HV Transmission Line Routing Inspection robot |
| CN109642878A (en) * | 2016-08-18 | 2019-04-16 | 魁北克电力公司 | For checking the device and method of power line |
| CN110514251A (en) * | 2019-09-27 | 2019-11-29 | 国网内蒙古东部电力有限公司建设分公司 | A kind of interrupt device and its detection method |
| CN111917062A (en) * | 2020-09-15 | 2020-11-10 | 周彦彤 | Novel high-altitude cable climbing type unmanned aerial vehicle street lamp based on big data and patrol and wire-pulling method |
| CN111917060A (en) * | 2020-09-15 | 2020-11-10 | 周彦彤 | High-altitude power cable maintenance and patrol unmanned aerial vehicle unit based on big data |
-
2014
- 2014-08-04 CN CN201420436458.7U patent/CN204021041U/en not_active Expired - Lifetime
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109642878A (en) * | 2016-08-18 | 2019-04-16 | 魁北克电力公司 | For checking the device and method of power line |
| CN109642878B (en) * | 2016-08-18 | 2022-03-04 | 魁北克电力公司 | Apparatus and method for inspecting power line |
| CN108660940A (en) * | 2018-07-11 | 2018-10-16 | 中国铁建电气化局集团第工程有限公司 | A kind of electronic construction operation platform of suspension type monorail traffic |
| CN109616944A (en) * | 2018-12-14 | 2019-04-12 | 杭州申昊科技股份有限公司 | HV Transmission Line Routing Inspection robot |
| CN109616944B (en) * | 2018-12-14 | 2020-10-16 | 杭州申昊科技股份有限公司 | High-voltage transmission line inspection robot |
| CN110514251A (en) * | 2019-09-27 | 2019-11-29 | 国网内蒙古东部电力有限公司建设分公司 | A kind of interrupt device and its detection method |
| CN111917062A (en) * | 2020-09-15 | 2020-11-10 | 周彦彤 | Novel high-altitude cable climbing type unmanned aerial vehicle street lamp based on big data and patrol and wire-pulling method |
| CN111917060A (en) * | 2020-09-15 | 2020-11-10 | 周彦彤 | High-altitude power cable maintenance and patrol unmanned aerial vehicle unit based on big data |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee | ||
| CP02 | Change in the address of a patent holder |
Address after: 300010 Tianjin city Hebei District Wujing Road No. 39 Patentee after: State Grid Corporation of China Patentee after: STATE GRID TIANJIN ELECTRIC POWER Co. Address before: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing Patentee before: State Grid Corporation of China Patentee before: STATE GRID TIANJIN ELECTRIC POWER Co. |
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| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20141217 |