CN204304317U - Transmission line polling robot falling proof device - Google Patents
Transmission line polling robot falling proof device Download PDFInfo
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- CN204304317U CN204304317U CN201520008213.9U CN201520008213U CN204304317U CN 204304317 U CN204304317 U CN 204304317U CN 201520008213 U CN201520008213 U CN 201520008213U CN 204304317 U CN204304317 U CN 204304317U
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Abstract
The utility model provides a kind of transmission line polling robot falling proof device, comprise body, road wheel, wheel shaft, rotor, safety strap and main control unit, described body is Π shape framed structure, road wheel rotates and is arranged on wheel shaft, the two ends of wheel shaft are separately fixed on the two side of body, and rotor is connected with body by rotor connecting arm, and one end of safety strap is fixed on body directly or indirectly, the other end of safety strap is fixed on crusing robot, and main control unit and rotor are electrically connected.Transmission line polling robot for disengaging wire provides a pulling force contrary with direction of falling, and avoids crusing robot to fall, improves the safety that crusing robot is walked on wire.The utility model belongs to power transmission lines overhauling area of maintenance.
Description
Technical field
The utility model relates to a kind of fender guard of overhead transmission line inspection device, belongs to power transmission lines overhauling area of maintenance.
Background technology
At present, robot routine inspection mode generally leading () line is as the track of advancing of robot.Transmission pressure has certain radian, can wave under wind action, and " transmission line galloping " describes Galloping of Overhead Transmission Line amplitude in book can reach more than 10m.When crusing robot crosses over the obstacle such as wire clamp, spacer bar on the wire waved, clamping device can occur cannot the situation of accurate positioning lead, causes transmission line polling robot to depart from wire, fall rapidly.Can be there is certain error in the mechanical action of crusing robot, cause clamping device can not clamping wire effectively, easily makes robot depart from from wire, fall rapidly.Distance between the wire of high pressure overhead power line and ground is generally at tens meters, and transmission line of electricity gallery bad environments, complexity, transmission line polling robot can cause badly damaged after falling, and expendable breaking-up even occurs.
Summary of the invention
The purpose of this utility model is: provide transmission line polling robot falling proof device, transmission line polling robot for disengaging wire provides a pulling force contrary with direction of falling, avoid crusing robot to fall, improve the safety that crusing robot is walked on wire.
Scheme of the present utility model is as follows: transmission line polling robot falling proof device, comprise body, road wheel, wheel shaft, rotor, safety strap and main control unit, described body is Π shape framed structure, road wheel rotates and is arranged on wheel shaft, the two ends of wheel shaft are separately fixed on the two side of body, rotor is connected with body by rotor connecting arm, one end of safety strap is fixed on body directly or indirectly, the other end of safety strap is fixed on crusing robot, and main control unit and rotor are electrically connected.
Preferably, described main control unit comprises falling proof device controller and the wireless communication module be electrically connected with falling proof device controller respectively and rotor motor driver, and the rotor motor driver in described rotor and main control unit is electrically connected.
Preferably, described rotor totally four, and four rotors between two symmetrically distribution be arranged on the both sides of body, in main control unit, be provided with four rotor motor drivers accordingly, each rotor is electrically connected with a rotor motor driver correspondingly.
Preferably, each rotor comprises rotor, rotor motor and rotor retaining frame, and rotor is by rotor driven by motor, and rotor retaining frame covers on the outside of rotor, and the rotor motor in described rotor motor driver and rotor is electrically connected.
Preferably, also include U-shaped ring, the two ends of U-shaped ring are all fixed on body, and one end of described safety strap is fixed on U-shaped ring, and one end of safety strap is fixedly installed on body by U-shaped interannular ground connection.
Preferably, also include pivot arm and pivot arm engine installation, pivot arm is fixedly installed on the lower end of organism sidewall, pivot arm engine installation is fixed on body or pivot arm, pivot arm engine installation drives pivot arm swing to close or to open the lower ending opening of body, also be provided with the pivot arm engine installation actuator be electrically connected with falling proof device controller in described main control unit, the pivot arm engine installation actuator in pivot arm engine installation and main control unit is electrically connected.
Preferably, the side that described body lower end is relative with pivot arm is also provided with mechanical lock buckle, when pivot arm swings to the position of closed body lower ending opening, the swinging end of mechanical lock buckle locking rotating pivoted arm, also be provided with the mechanical lock buckle actuator be electrically connected with falling proof device controller in described main control unit, the mechanical lock buckle actuator in mechanical lock buckle and main control unit is electrically connected.
Preferably, described falling proof device controller comprises power module, processor chips and D/A conversion chip.
Described crusing robot falling proof device has two kinds of mode of operations: walking states and flight across obstacle state on line.Crusing robot is followed crusing robot by safety strap dragging falling proof device and is walked on (transmission of electricity) wire.When crusing robot detects and travel path exists obstacle, send the instruction of across obstacle to falling proof device.After the main control unit of falling proof device receives the instruction of across obstacle, starting rotor provides a lift upwards for falling proof device, road wheel is separated with wire, makes falling proof device depart from wire completely, with obstacle on the mode crossover track flown; After falling proof device body enters wire scope, falling proof device progressively adjusts spatial attitude under the remote control of crusing robot, makes road wheel and conductive contact; Close rotor, make wire by the gravity of road wheel carrying falling proof device, make falling proof device enter walking states on line.
Compared with prior art, major advantage is when falling proof device runs into obstacle on line to the utility model, is crossed over rapidly the common impairments on wire by main control unit control falling proof device; When inspection machine human body departs from wire, the pulling force that falling proof device provides an enough large direction of falling with robot contrary by safety strap to robot body, cause badly damaged to avoid robot to fall, efficiently avoid unnecessary economic loss, the utility model effectively can improve the safety that crusing robot is walked on the line.
Accompanying drawing explanation
Fig. 1 is main TV structure schematic diagram of the present utility model;
Fig. 2 is the plan structure schematic diagram of rotor part;
Fig. 3 is the principle sketch of main control unit.
Detailed description of the invention
For making the purpose of this utility model, technical scheme and advantage clearly, below with reference to accompanying drawings the utility model is described in further detail.
Embodiment
With reference to Fig. 1, Fig. 2 and Fig. 3, the transmission line polling robot falling proof device that the present embodiment provides, comprising:
Body 1, road wheel 2, wheel shaft 6, rotor 3, safety strap 4, main control unit 5, rotor connecting arm 11, U-shaped ring 7, pivot arm 8 and pivot arm engine installation 9;
Described body 1 is Π shape framed structure, road wheel 2 rotates and is arranged on wheel shaft 6, the two ends of wheel shaft 6 are separately fixed on the two side of body 1, rotor 3 is connected with body 1 by rotor connecting arm 11, the two ends of U-shaped ring 7 are all fixed on body 1, one end of described safety strap 4 is fixed on U-shaped ring 7, and namely one end of safety strap 4 is fixedly installed on body 1 by U-shaped ring 7 indirectly, and the other end of safety strap 4 is fixed on crusing robot;
Wireless communication module 52, rotor motor driver 53, pivot arm engine installation actuator 54 and mechanical lock buckle actuator 55 that main control unit 5 comprises falling proof device controller 51 and is electrically connected with falling proof device controller 51 respectively, described falling proof device controller 51 comprises power module 511, processor chips 512 and D/A conversion chip 513;
Rotor 3 totally four, and four rotors 3 between two symmetrically distribution be arranged on the both sides of body 1, in main control unit 5, be provided with four rotor motor drivers 53 accordingly, the rotor motor 32 in each rotor 3 is electrically connected with a rotor motor driver 53 correspondingly.
Each rotor 3 comprises rotor 31, rotor motor 32 and rotor retaining frame 33; rotor 31 is driven by rotor motor 32; rotor retaining frame 33 is for covering on the ring protection frame outside rotor 31; for the protection of rotor 31, described rotor motor driver 53 is electrically connected with the rotor motor 32 in rotor 3.
Pivot arm 8 is fixedly installed on the lower end of body 1 sidewall, pivot arm engine installation 9 is fixed on body 1, pivot arm engine installation 9 drives pivot arm 8 to swing to close or open the lower ending opening of body 1, and pivot arm engine installation 9 is electrically connected with the pivot arm engine installation actuator 54 in main control unit 5.
The side that body 1 lower end is relative with pivot arm 8 is also provided with mechanical lock buckle 10, when pivot arm 8 swings to the position of closed body 1 lower ending opening, the swinging end of mechanical lock buckle 10 locking rotating pivoted arm 8, mechanical lock buckle 10 is electrically connected with the mechanical lock buckle actuator 55 in main control unit 5.
Crusing robot drags described falling proof device by safety strap 4 and follows crusing robot and walk on wire 12.When crusing robot detects and travel path exists obstacle, sent the instruction of across obstacle to falling proof device by communication.After main control unit 5 in falling proof device receives the instruction of across obstacle, starting 4 rotor motors 32 provides a lift upwards for falling proof device, and road wheel 2 is separated with wire 12; Falling proof device unlocks mechanical lock buckle 10 by mechanical lock buckle actuator 55, control pivot arm engine installation 9 by pivot arm engine installation actuator 54 to rotate pivot arm 8 and pivot arm 8 is paralleled with the side of body 1 (unlock effect time parallel best, avoid, between wire and pivot arm 8, scratching occurs), make pivot arm 8 open body 1 lower ending opening; Falling proof device receives the telecommand of crusing robot, according to the output valve of pre-defined algorithm adjustment D/A conversion chip, changes the driving voltage of rotor motor 32, adjustment rotor motor 32 rotating speed; The rotating speed that falling proof device adjusts 4 rotor motors 32 simultaneously progressively changes the spatial attitude of falling proof device, makes falling proof device depart from wire 12 completely, with obstacle on the mode crossover track flown; After the body 1 of falling proof device enters wire 12 scope, falling proof device progressively adjusts spatial attitude under the remote control of crusing robot, and road wheel 2 is contacted with wire 12; Falling proof device rotates pivot arm 8, makes pivot arm 8 and the body 1 of falling proof device form a closed framework, locking mechanical lock buckle 10; Falling proof device closes 4 rotor motors 32 simultaneously, makes wire 12 carry the gravity of falling proof device by road wheel 2, makes falling proof device enter walking states on line.
Claims (8)
1. transmission line polling robot falling proof device, comprise body (1), road wheel (2), wheel shaft (6), rotor (3), safety strap (4) and main control unit (5), described body (1) is Π shape framed structure, road wheel (2) rotates and is arranged on wheel shaft (6), the two ends of wheel shaft (6) are separately fixed on the two side of body (1), rotor (3) is connected with body (1) by rotor connecting arm (11), one end of safety strap (4) is fixed on body (1) directly or indirectly, and main control unit (5) and rotor (3) are electrically connected.
2. transmission line polling robot falling proof device according to claim 1, it is characterized in that: described main control unit (5) comprises falling proof device controller (51) and the wireless communication module (52) be electrically connected with falling proof device controller (51) respectively and rotor motor driver (53), described rotor (3) is electrically connected with the rotor motor driver (53) in main control unit (5).
3. transmission line polling robot falling proof device according to claim 1 or 2, it is characterized in that: described rotor (3) totally four, and four rotors (3) between two symmetrically distribution be arranged on the both sides of body (1), in main control unit (5), be provided with four rotor motor drivers (53) accordingly, each rotor (3) is electrically connected with a rotor motor driver (53) correspondingly.
4. transmission line polling robot falling proof device according to claim 1 or 2, it is characterized in that: each rotor (3) comprises rotor (31), rotor motor (32) and rotor retaining frame (33), rotor (31) is driven by rotor motor (32), rotor retaining frame (33) covers on the outside of rotor (31), and described rotor motor driver (53) is electrically connected with the rotor motor (32) in rotor (3).
5. transmission line polling robot falling proof device according to claim 1 or 2, it is characterized in that: also include U-shaped ring (7), the two ends of U-shaped ring (7) are all fixed on body (1), one end of described safety strap (4) is fixed on U-shaped ring (7), and one end of safety strap (4) is fixedly installed on body (1) indirectly by U-shaped ring (7).
6. transmission line polling robot falling proof device according to claim 1 or 2, it is characterized in that: also include pivot arm (8) and pivot arm engine installation (9), pivot arm (8) is fixedly installed on the lower end of body (1) sidewall, pivot arm engine installation (9) is fixed on body (1) or pivot arm (8), pivot arm engine installation (9) drives pivot arm (8) swing to close or to open the lower ending opening of body (1), the pivot arm engine installation actuator (54) be electrically connected with falling proof device controller (51) is also provided with in described main control unit (5), pivot arm engine installation (9) is electrically connected with the pivot arm engine installation actuator (54) in main control unit (5).
7. transmission line polling robot falling proof device according to claim 1 or 2, it is characterized in that: the side that described body (1) lower end is relative with pivot arm (8) is also provided with mechanical lock buckle (10), when pivot arm (8) swings to the position of closed body (1) lower ending opening, the swinging end of mechanical lock buckle (10) locking rotating pivoted arm (8), the mechanical lock buckle actuator (55) be electrically connected with falling proof device controller (51) is also provided with in described main control unit (5), mechanical lock buckle (10) is electrically connected with the mechanical lock buckle actuator (55) in main control unit (5).
8. transmission line polling robot falling proof device according to claim 2, is characterized in that: described falling proof device controller (51) comprises power module (511), processor chips (512) and D/A conversion chip (513).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520008213.9U CN204304317U (en) | 2015-01-07 | 2015-01-07 | Transmission line polling robot falling proof device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520008213.9U CN204304317U (en) | 2015-01-07 | 2015-01-07 | Transmission line polling robot falling proof device |
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| CN204304317U true CN204304317U (en) | 2015-04-29 |
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| CN201520008213.9U Active CN204304317U (en) | 2015-01-07 | 2015-01-07 | Transmission line polling robot falling proof device |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106542371A (en) * | 2016-11-25 | 2017-03-29 | 国网河南省电力公司周口供电公司 | It is a kind of to make somebody a mere figurehead ground wire from recovery type 10KV |
| CN107672798A (en) * | 2017-10-04 | 2018-02-09 | 佛山市领卓科技有限公司 | A kind of Electric aircraft |
| CN108528556A (en) * | 2018-03-10 | 2018-09-14 | 中国人民解放军空军工程大学 | Movable body based on rotor aerodynamic force and its climb wall method |
| CN110265913A (en) * | 2019-03-19 | 2019-09-20 | 陈永春 | A kind of transmission line polling robot falling proof device |
| CN111786230A (en) * | 2020-05-29 | 2020-10-16 | 国网瑞嘉(天津)智能机器人有限公司 | Grounding ring installation device, grounding ring installation robot and grounding ring installation method |
| GB2625447A (en) * | 2023-04-11 | 2024-06-19 | Univ Shihezi | Real-time adjustable clamping walking device for flying-walking inspection robot for transmission line |
-
2015
- 2015-01-07 CN CN201520008213.9U patent/CN204304317U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106542371A (en) * | 2016-11-25 | 2017-03-29 | 国网河南省电力公司周口供电公司 | It is a kind of to make somebody a mere figurehead ground wire from recovery type 10KV |
| CN107672798A (en) * | 2017-10-04 | 2018-02-09 | 佛山市领卓科技有限公司 | A kind of Electric aircraft |
| CN108528556A (en) * | 2018-03-10 | 2018-09-14 | 中国人民解放军空军工程大学 | Movable body based on rotor aerodynamic force and its climb wall method |
| CN108528556B (en) * | 2018-03-10 | 2023-12-01 | 中国人民解放军空军工程大学 | Moving body based on rotor wing aerodynamic force and wall climbing method thereof |
| CN110265913A (en) * | 2019-03-19 | 2019-09-20 | 陈永春 | A kind of transmission line polling robot falling proof device |
| CN111786230A (en) * | 2020-05-29 | 2020-10-16 | 国网瑞嘉(天津)智能机器人有限公司 | Grounding ring installation device, grounding ring installation robot and grounding ring installation method |
| CN111786230B (en) * | 2020-05-29 | 2024-05-10 | 国网瑞嘉(天津)智能机器人有限公司 | Grounding ring mounting device, grounding ring mounting robot and grounding ring mounting method |
| GB2625447A (en) * | 2023-04-11 | 2024-06-19 | Univ Shihezi | Real-time adjustable clamping walking device for flying-walking inspection robot for transmission line |
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