CN204517277U - A kind of three-dimension flexible arm patrol vehicle - Google Patents
A kind of three-dimension flexible arm patrol vehicle Download PDFInfo
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- CN204517277U CN204517277U CN201520232047.0U CN201520232047U CN204517277U CN 204517277 U CN204517277 U CN 204517277U CN 201520232047 U CN201520232047 U CN 201520232047U CN 204517277 U CN204517277 U CN 204517277U
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- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 13
- 229910052744 lithium Inorganic materials 0.000 claims description 13
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- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 1
- 239000010931 gold Substances 0.000 description 1
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Abstract
The utility model discloses a kind of three-dimension flexible arm patrol vehicle, comprise body installation and the palm closing device set gradually before, during and after described body installation respectively, connect three-dimension flexible arm mechanism between any two described palm closing devices; And above-mentioned three-dimension flexible arm patrol vehicle also includes video camera, data storage and the structure such as cloud terminal and remote cloud server.The three-dimension flexible arm patrol vehicle that the utility model provides, improves camera apparatus, improves system interconnect framework, significantly improve the efficiency of instant power-line patrolling.
Description
Technical field
The utility model relates to electric power facility detection field, particularly relates to a kind of three-dimension flexible arm patrol vehicle.
Background technology
At present, because domestic electrical network scale constantly expands, and transmission line distributes, wide point is many, overwhelming majority transmission line is away from cities and towns, residing (namely a lot of transmission line is distributed between high and steep mountains) with a varied topography, natural environment is severe, and power line and shaft tower annex long term exposure are in the wild.The impact of the mechanical tension that these transmission lines not only will be continued, electrically flashover, material aging and produce disconnected stock, wearing and tearing, corrosion equivalent damage, also will stand the extraneous infringement such as filth, thunderbolt, high wind, landslide, depression, bird pest and artificial destruction.
Therefore, the management of circuit regular visit is the element task effectively ensureing electric line and device security thereof; Line data-logging object is Timeliness coverage process earlier damage, defect and jeopardizes the hidden danger of line security, thus ensures electric line safety and power system stability.The method for inspecting of current overhead transmission line mainly relies on line walking robot (i.e. patrol vehicle) to implement;
But, patrol vehicle line walking traditional at present takes the picture pick-up device function used poor (such as: use common camera), and line walking result is all temporarily be stored on memory, when patrol vehicle is regained, carrying out transferring and using of line walking information; Obviously, such line walking mode can not find the position of accident circuit timely and accurately, and traditional patrol vehicle lacks instant messages propagation function simultaneously, and it will have impact on line walking quality and line walking efficiency to a great extent.
In sum, how overcoming the limitation of traditional patrol vehicle of the prior art, line walking quality is low, the inefficient technological deficiency of line walking, is those skilled in the art's problem demanding prompt solutions.
Utility model content
The purpose of this utility model is to provide a kind of three-dimension flexible arm patrol vehicle, to solve the problem.
In order to achieve the above object, the technical solution of the utility model is achieved in that
The utility model embodiment provides a kind of three-dimension flexible arm patrol vehicle, comprise body installation and the palm closing device set gradually before, during and after described body installation respectively, connect three-dimension flexible arm mechanism between any two described palm closing devices, wherein:
Described palm closing device is provided with two relative road wheels; Described palm closing device is used for closed two road wheels clamping lightning conducter when ground-engaging wheel is walked on the line, and after running into barrier, open two road wheel avoiding barriers;
Described three-dimension flexible arm mechanism comprises the telescopic arm, rotary joint and the elbow joint that connect successively; Described telescopic arm is for realizing the horizontal extension between two described palm closing devices; Described rotary joint is used for realization and horizontally rotates and face upward the described elbow joint of rotation of bowing; Described elbow joint is for realizing the preposition described palm closing device of rotary actuation and rearmounted described palm closing device;
Also include video camera, data storage and cloud terminal and remote cloud server;
Described video camera is monopod video camera; And described video camera is two-way high resolution CCD video camera, described in two-way, high resolution CCD video camera is arranged on the front-end and back-end of body installation respectively;
Described data storage is electrically connected with described video camera and described cloud terminal respectively; And described cloud terminal realizes wireless signal with described remote cloud server is connected.
Preferably, can embodiment as one, high resolution CCD video camera described in two-way is arranged on the front-end and back-end of body installation respectively by bolt.
Preferably, can embodiment as one, described data storage also realizes communicating to connect by CAN with described video camera and described cloud terminal respectively.
Preferably, can embodiment as one, described three-dimension flexible arm patrol vehicle also comprises laser range finder; Described laser range finder is arranged on the front of described body installation.
Preferably, can embodiment as one, described three-dimension flexible arm patrol vehicle also comprises bifurcated line identification sensor; Described bifurcated line identification sensor is arranged on the front of described body installation.
Preferably, can embodiment as one, described three-dimension flexible arm patrol vehicle also comprises drive unit; Described drive unit is walked for driving described road wheel; Described three-dimension flexible arm patrol vehicle also comprises braking device; Described braking device is used for braking described road wheel.
Preferably, can embodiment as one, in the concrete structure of described three-dimension flexible arm mechanism:
Described telescopic arm realizes the horizontal extension between two described palm closing devices by rack and pinion drive mechanism; Described rotary joint, by two motor-driven gear pairs, realizes horizontally rotating and face upward rotation of bowing; Described elbow joint realizes upper and lower rotary motion by a motor.
Preferably, can embodiment as one, described three-dimension flexible arm patrol vehicle also comprises power controling box; Described power controling box is used for powering to described palm closing device, described three-dimension flexible arm mechanism and described drive unit and braking device; And described power controling box is electrically connected with described palm closing device, described three-dimension flexible arm mechanism and described drive unit and braking device respectively.
Preferably, can embodiment as one, described body installation, described palm closing device, described three-dimension flexible arm mechanism are aluminium alloy or titanium alloy structure part.
Preferably, can embodiment as one, be provided with lithium battery in described power controling box, described lithium battery is high density aviation lithium battery.
Compared with prior art, the advantage of the utility model embodiment is:
A kind of three-dimension flexible arm patrol vehicle that the utility model provides, the primary structure analyzing above-mentioned three-dimension flexible arm patrol vehicle is known: it is primarily of body installation 1 and the palm closing device 2, three-dimension flexible arm mechanism 3 and the video camera 4 that set gradually before, during and after described body installation 1 respectively, data storage 5 and the structure such as cloud terminal 6 and remote cloud server 7 composition;
Wherein, the folding palm structure of what above-mentioned palm closing device adopted is middle opposite opened road wheel, described palm closing device is used for closed two road wheels clamping lightning conducter when ground-engaging wheel is walked on the line, and after running into barrier, open two road wheel avoiding barriers; Simultaneously palm closing device can stretch by carrying out horizontal in conjunction with three-dimension flexible arm mechanism, rotates elbow joint and the preposition and rearmounted palm closing device of driven rotary; Utilize palm closing device and above-mentioned three-dimension flexible arm mechanism can realize various motion (comprising flexible, revolution and rotation), its better adaptability.
Most importantly, the patrol vehicle mechanical system in the utility model embodiment is also provided with video camera 4, data storage 5 and cloud terminal 6 and remote cloud server 7; Described data storage is electrically connected with described video camera and described cloud terminal respectively; And described cloud terminal realizes wireless signal with described remote cloud server is connected; Because said system framework realizes interconnected by remote cloud server, reach based on the shared object of the platform of Internet of Things.A lot of information can be passed to remote cloud server fast efficiently, the line walking quality of so perfect overall three-dimension flexible arm patrol vehicle and line walking efficiency.The above-mentioned system architecture practicality having high speed interconnect concurrently is stronger.Adopt two-way high resolution CCD video camera (and being monopod video camera), described in two-way, high resolution CCD video camera is arranged on the front-end and back-end of body installation respectively simultaneously; Above-mentioned high resolution CCD video camera significantly can promote the clear quality of photographic images and the shooting efficiency of three-dimension flexible arm patrol vehicle.
Accompanying drawing explanation
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is execution modes more of the present utility model, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
The agent structure schematic diagram of the three-dimension flexible arm patrol vehicle that Fig. 1 provides for the utility model embodiment;
The side-looking structural representation of the palm closing device in the three-dimension flexible arm patrol vehicle that Fig. 2 the utility model embodiment provides;
The partial structurtes schematic diagram of the three-dimension flexible arm mechanism in the three-dimension flexible arm patrol vehicle that Fig. 3 provides for the utility model embodiment;
Electrical system partial structurtes configuration diagram in the three-dimension flexible arm patrol vehicle that Fig. 4 provides for the utility model embodiment.
Embodiment
Be clearly and completely described the technical solution of the utility model below in conjunction with accompanying drawing, obviously, described embodiment is the utility model part embodiment, instead of whole embodiments.Based on the embodiment in the utility model, those of ordinary skill in the art are not making the every other embodiment obtained under creative work prerequisite, all belong to the scope of the utility model protection.
In description of the present utility model, it should be noted that, orientation or the position relationship of the instruction such as term " " center ", " on ", D score, "left", "right", " vertically ", " level ", " interior ", " outward " they be based on orientation shown in the drawings or position relationship; be only the utility model and simplified characterization for convenience of description; instead of instruction or imply the device of indication or element must have specific orientation, with specific azimuth configuration and operation, therefore can not be interpreted as restriction of the present utility model.In addition, term " first ", " second ", " the 3rd " only for describing object, and can not be interpreted as instruction or hint relative importance.
In description of the present utility model, it should be noted that, unless otherwise clearly defined and limited, term " installation ", " being connected ", " connection " should be interpreted broadly, and such as, can be fixedly connected with, also can be removably connect, or connect integratedly; Can be mechanical connection, also can be electrical connection; Can be directly be connected, also indirectly can be connected by intermediary, can be the connection of two element internals.For the ordinary skill in the art, concrete condition the concrete meaning of above-mentioned term in the utility model can be understood.
Also by reference to the accompanying drawings the utility model is described in further detail below by specific embodiment.
See Fig. 1, Fig. 2 and Fig. 3, a kind of three-dimension flexible arm patrol vehicle that the utility model embodiment provides, comprise body installation 1 and the palm closing device 2 set gradually before, during and after described body installation 1 respectively, connect three-dimension flexible arm mechanism 3 between any two described palm closing devices, wherein:
As shown in Figure 2, described palm closing device 2 is provided with two relative road wheels 21; Described palm closing device is used for closed two road wheels clamping lightning conducter when ground-engaging wheel is walked on the line, and after running into barrier, open two road wheel avoiding barriers;
As shown in Figure 3, described three-dimension flexible arm mechanism 3 comprises the telescopic arm 31, rotary joint 32 and the elbow joint 33 that connect successively; Described telescopic arm is for realizing the horizontal extension between two described palm closing devices; Described rotary joint is used for realization and horizontally rotates and face upward the described elbow joint of rotation of bowing; Described elbow joint is for realizing the preposition described palm closing device of rotary actuation and rearmounted described palm closing device;
Described three-dimension flexible arm patrol vehicle also includes video camera 4, data storage 5 and cloud terminal 6 and remote cloud server 7; Described video camera is monopod video camera; And described video camera is two-way high resolution CCD video camera, high resolution CCD video camera described in two-way is arranged on the front-end and back-end (namely high resolution CCD video camera described in two-way is arranged on the front-end and back-end of body installation respectively by bolt) of body installation respectively;
As shown in Figure 4, described data storage 5 is electrically connected with described video camera 4 and described cloud terminal 6 respectively; And described cloud terminal 6 realizes wireless signal with described remote cloud server 7 is connected.
The primary structure analyzing above-mentioned three-dimension flexible arm patrol vehicle is known: it is primarily of body installation 1 and the palm closing device 2, three-dimension flexible arm mechanism 3 and the video camera 4 that set gradually before, during and after described body installation 1 respectively, data storage 5 and the structure such as cloud terminal 6 and remote cloud server 7 composition;
Wherein, the folding palm structure of what above-mentioned palm closing device adopted is middle opposite opened road wheel, described palm closing device is used for closed two road wheels clamping lightning conducter when ground-engaging wheel is walked on the line, and after running into barrier, open two road wheel avoiding barriers; Simultaneously palm closing device can stretch by carrying out horizontal in conjunction with three-dimension flexible arm mechanism, rotates elbow joint and the preposition and rearmounted palm closing device of driven rotary; Utilize palm closing device and above-mentioned three-dimension flexible arm mechanism can realize various motion (comprising flexible, revolution and rotation), its better adaptability.
Most importantly, the patrol vehicle mechanical system in the utility model embodiment is also provided with video camera 4, data storage 5 and cloud terminal 6 and remote cloud server 7; Described data storage is electrically connected with described video camera and described cloud terminal respectively; And described cloud terminal realizes wireless signal with described remote cloud server is connected; Because said system framework realizes interconnected by remote cloud server, reach based on the shared object of the platform of Internet of Things.A lot of information can be passed to remote cloud server fast efficiently, the line walking quality of so perfect overall three-dimension flexible arm patrol vehicle and line walking efficiency.The above-mentioned system architecture practicality having high speed interconnect concurrently is stronger.Adopt two-way high resolution CCD video camera (and being monopod video camera), described in two-way, high resolution CCD video camera is arranged on the front-end and back-end of body installation respectively simultaneously; Above-mentioned high resolution CCD video camera significantly can promote the clear quality of photographic images and the shooting efficiency of three-dimension flexible arm patrol vehicle.
It should be noted that; Described video camera is two-way high resolution CCD video camera, and described in two-way, high resolution CCD video camera is arranged on the front-end and back-end of body installation respectively; Wherein, high resolution CCD video camera described in a road is used for from nearly angle shot transmission line, insulator, line hardware, shaft tower and line channel target image; High resolution CCD video camera described in another road is used for from nearly angle shot transmission line, insulator, line hardware, shaft tower and line channel target image.Respectively from far and near angle shot transmission line, insulator, line hardware, shaft tower and line channel target image, judge whether facility damages and destroy by operating personnel according to image, and observation line paths situation.
Below the concrete structure of the three-dimension flexible arm patrol vehicle that the utility model embodiment provides and concrete technique effect are done and describe in detail:
Preferably, can embodiment as one, described data storage also realizes communicating to connect by CAN with described video camera and described cloud terminal respectively.
It should be noted that, additionally provide another connected mode between three-dimension flexible arm patrol vehicle system configuration in the utility model embodiment, namely realized by bus mode interconnected.The utility model embodiment adopts CAN to realize communication connection, avoids the technological deficiency in conventional art.Be connected with circuit specific implementation CAN modes such as power amplification circuits especially by CAN transceiver, this utility model embodiment is repeated no longer one by one
Preferably, can embodiment as one, described three-dimension flexible arm patrol vehicle also comprises laser range finder; Described laser range finder is arranged on the front of described body installation.
Preferably, can embodiment as one, described three-dimension flexible arm patrol vehicle also comprises bifurcated line identification sensor; Described bifurcated line identification sensor is arranged on the front of described body installation.
It should be noted that, the utility model embodiment has also installed laser range finder and bifurcated line identification sensor additional in order to add roadblock recognition capability and the function of above-mentioned three-dimension flexible arm patrol vehicle.
Preferably, can embodiment as one, described three-dimension flexible arm patrol vehicle also comprises drive unit; Described drive unit is walked for driving described road wheel; Described three-dimension flexible arm patrol vehicle also comprises braking device; Described braking device is used for braking described road wheel.
Preferably, can embodiment as one, in the concrete structure of described three-dimension flexible arm mechanism:
Described telescopic arm realizes the horizontal extension between two described palm closing devices by rack and pinion drive mechanism; Described rotary joint, by two motor-driven gear pairs, realizes horizontally rotating and face upward rotation of bowing; Described elbow joint realizes upper and lower rotary motion by a motor.
Preferably, can embodiment as one, described three-dimension flexible arm patrol vehicle also comprises power controling box; Described power controling box is used for powering to described palm closing device, described three-dimension flexible arm mechanism and described drive unit and braking device; And described power controling box is electrically connected with described palm closing device, described three-dimension flexible arm mechanism and described drive unit and braking device respectively.
In concrete structure, described body installation, described palm closing device, described three-dimension flexible arm mechanism are aluminium alloy or titanium alloy structure part.
Preferably, can embodiment as one, be provided with lithium battery in described power controling box, described lithium battery is high density aviation lithium battery.
It should be noted that, described body installation, described palm closing device, described three-dimension flexible arm mechanism are aluminium alloy or titanium alloy structure part.Be provided with lithium battery in described power controling box, described lithium battery is high density aviation lithium battery.
It should be noted that, the utility model embodiment is in patrol vehicle car body design, according to circuit, gold utensil, shaft tower and attachment data storehouse thereof, and climatic environment model, under guarantee Rigidity and strength prerequisite, design novel car body motion principle, simplify body construction, select the light materials such as aluminium alloy, reduce drive motors, adopt high density aviation lithium battery.
The Intelligent line patrolling lighting body device that the utility model embodiment provides, its system architecture is perfect, and it is high that line walking result transmits treatment effeciency, has the functions such as high-efficiency network is interconnected, efficient monitoring, and simultaneously with good economic benefit and social benefit.
Last it is noted that above each embodiment is only in order to illustrate the technical solution of the utility model, be not intended to limit; Although be described in detail the utility model with reference to foregoing embodiments, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein some or all of technical characteristic; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the scope of each embodiment technical scheme of the utility model.
Claims (10)
1. a three-dimension flexible arm patrol vehicle, is characterized in that,
Comprise body installation and the palm closing device set gradually before, during and after described body installation respectively, connect three-dimension flexible arm mechanism between any two described palm closing devices, wherein:
Described palm closing device is provided with two relative road wheels; Described palm closing device is used for closed two road wheels clamping lightning conducter when ground-engaging wheel is walked on the line, and after running into barrier, open two road wheel avoiding barriers;
Described three-dimension flexible arm mechanism comprises the telescopic arm, rotary joint and the elbow joint that connect successively; Described telescopic arm is for realizing the horizontal extension between two described palm closing devices; Described rotary joint is used for realization and horizontally rotates and face upward the described elbow joint of rotation of bowing; Described elbow joint is for realizing the preposition described palm closing device of rotary actuation and rearmounted described palm closing device;
Also include video camera, data storage and cloud terminal and remote cloud server;
Described video camera is monopod video camera; And described video camera is two-way high resolution CCD video camera, described in two-way, high resolution CCD video camera is arranged on the front-end and back-end of body installation respectively;
Described data storage is electrically connected with described video camera and described cloud terminal respectively; And described cloud terminal realizes wireless signal with described remote cloud server is connected.
2. three-dimension flexible arm patrol vehicle as claimed in claim 1, is characterized in that,
High resolution CCD video camera described in two-way is arranged on the front-end and back-end of body installation respectively by bolt.
3. three-dimension flexible arm patrol vehicle as claimed in claim 1, is characterized in that,
Described data storage also realizes communicating to connect by CAN with described video camera and described cloud terminal respectively.
4. three-dimension flexible arm patrol vehicle as claimed in claim 1, is characterized in that,
Described three-dimension flexible arm patrol vehicle also comprises laser range finder; Described laser range finder is arranged on the front of described body installation.
5. three-dimension flexible arm patrol vehicle as claimed in claim 1, is characterized in that,
Described three-dimension flexible arm patrol vehicle also comprises bifurcated line identification sensor; Described bifurcated line identification sensor is arranged on the front of described body installation.
6. three-dimension flexible arm patrol vehicle as claimed in claim 1, is characterized in that,
Described three-dimension flexible arm patrol vehicle also comprises drive unit; Described drive unit is walked for driving described road wheel;
Described three-dimension flexible arm patrol vehicle also comprises braking device; Described braking device is used for braking described road wheel.
7. three-dimension flexible arm patrol vehicle as claimed in claim 6, is characterized in that,
In the concrete structure of described three-dimension flexible arm mechanism:
Described telescopic arm realizes the horizontal extension between two described palm closing devices by rack and pinion drive mechanism; Described rotary joint, by two motor-driven gear pairs, realizes horizontally rotating and face upward rotation of bowing; Described elbow joint realizes upper and lower rotary motion by a motor.
8. three-dimension flexible arm patrol vehicle as claimed in claim 7, is characterized in that,
Described three-dimension flexible arm patrol vehicle also comprises power controling box; Described power controling box is used for powering to described palm closing device, described three-dimension flexible arm mechanism and described drive unit and braking device; And described power controling box is electrically connected with described palm closing device, described three-dimension flexible arm mechanism and described drive unit and braking device respectively.
9. three-dimension flexible arm patrol vehicle as claimed in claim 1, is characterized in that,
Described body installation, described palm closing device, described three-dimension flexible arm mechanism are aluminium alloy or titanium alloy structure part.
10. three-dimension flexible arm patrol vehicle as claimed in claim 8, is characterized in that,
Be provided with lithium battery in described power controling box, described lithium battery is high density aviation lithium battery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520232047.0U CN204517277U (en) | 2015-04-16 | 2015-04-16 | A kind of three-dimension flexible arm patrol vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520232047.0U CN204517277U (en) | 2015-04-16 | 2015-04-16 | A kind of three-dimension flexible arm patrol vehicle |
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| CN204517277U true CN204517277U (en) | 2015-07-29 |
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| CN201520232047.0U Expired - Fee Related CN204517277U (en) | 2015-04-16 | 2015-04-16 | A kind of three-dimension flexible arm patrol vehicle |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105429081A (en) * | 2015-12-17 | 2016-03-23 | 赵国良 | Intelligent ice layer reduction system of power transmission line |
| CN105680396A (en) * | 2015-12-17 | 2016-06-15 | 李福军 | Intelligent electric transmission line ice layer cutting system |
| CN107085431A (en) * | 2017-05-26 | 2017-08-22 | 华南理工大学 | A kind of line walking module and its control method applied to automatic running on transmisson line dolly |
-
2015
- 2015-04-16 CN CN201520232047.0U patent/CN204517277U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105429081A (en) * | 2015-12-17 | 2016-03-23 | 赵国良 | Intelligent ice layer reduction system of power transmission line |
| CN105680396A (en) * | 2015-12-17 | 2016-06-15 | 李福军 | Intelligent electric transmission line ice layer cutting system |
| CN107085431A (en) * | 2017-05-26 | 2017-08-22 | 华南理工大学 | A kind of line walking module and its control method applied to automatic running on transmisson line dolly |
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