CN205317494U - A capability test platform for transmission line patrols and examines robot - Google Patents
A capability test platform for transmission line patrols and examines robot Download PDFInfo
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- CN205317494U CN205317494U CN201521079786.7U CN201521079786U CN205317494U CN 205317494 U CN205317494 U CN 205317494U CN 201521079786 U CN201521079786 U CN 201521079786U CN 205317494 U CN205317494 U CN 205317494U
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- cable
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- transmission line
- robot
- testing platform
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Abstract
The utility model relates to a capability test platform for transmission line patrols and examines robot, the test platform comprises a support, drive wheel and gyrostat are installed respectively to the frame both ends, and the hookup has annular cable between drive wheel and the gyrostat, and the drive wheel is driven to switch through by actuating mechanism and moves, and the gyration of cooperation gyrostat makes annular cable realize the transmission, patrol and examine the robot and hang through travelling wheel mechanism realize capability test on the cable, its occupation space is little, and the cost is low, and the cable inclination can infinitely variable control, and cable transmission speed can be according to the speed self -adaptive control of robot walking.
Description
Technical field
This utility model relates to the test device technique field of crusing robot on aerial high-voltage power transmission line, especially a kind of Testing Platform for transmission line polling robot.
Background technology
At present, along with the market competition that Utilities Electric Co. faces ever-increasing electricity needs, higher power supply reliability requires and encourages, it is very fast that route inspecting robot patrols and examines technical development on aerial high-voltage power transmission line, particularity due to aerial high-voltage power transmission line, the early stage performance test of crusing robot is difficult to carry out in actual circuit, it is simulated typically via building small-sized test circuit, there is cost height in this way, occupied ground is big, circuit angle of inclination regulates difficulty, and the short robot of circuit can not long lasting for shortcomings such as testing results.
Utility model content
The purpose of this utility model is in that to solve above-mentioned the deficiencies in the prior art, and a kind of Testing Platform for transmission line polling robot is provided, it takes up room little, and cost is low, cable inclination angle can step-less adjustment, cable transmission speed can regulate according to the speed adaptive of robot ambulation.
This utility model solves its technical problem and be the technical scheme is that
A kind of Testing Platform for transmission line polling robot, including support, it is characterized in that, described support two ends are separately installed with driving wheel and gyroscope wheel, couple between driving wheel with gyroscope wheel and have annular cable, driving wheel driven by driving mechanism switch through dynamic, coordinate gyroscope wheel revolution, making annular cable realize transmission, crusing robot is hung on by traveling wheel mechanism and realizes performance test on cable.
Adopt the Testing Platform for transmission line polling robot of this structure, by cable being arranged to the form of motion, namely cable passes through the driving effect of driving wheel and the circulation gyroscopic action of gyroscope wheel, make the crusing robot being suspended on cable can realize walking, but the distance of walking can be offset by the transmission of cable again, its core is to utilize the frictional force between cable and crusing robot traveling wheel mechanism to make crusing robot realize relative movement on cable, distance without simulating aerial cable on-the-spot draws cable, just can realize the dynamic locomopion of crusing robot, thus the test of the comparison of the various parameters realized under the state that works long hours of crusing robot and function.
It takes up room little, and cost is low, and platform control system can communicate wirelessly with robot, the various operational factors of real-time read machine people, and analyzes and processes; Cable transmission speed can according to the speed of travel Automatic adjusument of the crusing robot read; According to automatically calculating the distance that crusing robot has been walked, in conjunction with the catenary equation between actual field overhead high voltage line span, by changing the inclination angle of cable, overhead high voltage line is simulated.
This utility model can also adopt techniques below measure to solve:
Described cable is annular cable; The material of cable can adopt the material of real aerial high-voltage power transmission line wire or steel strand wires or other approximate performances to substitute.
Described support includes upper bracket, upper bracket one end is rotatably connected to driving wheel by fixture, it is fixed with driving mechanism near upper bracket one end of fixture, driving mechanism drives driving wheel to rotate by connector, the upper bracket other end is connected with gyroscope wheel by strainer, is regulated the degree of tightness of cable by strainer; By the driving of driving mechanism, it is achieved that the circulation back and forth of cable, constituting relative motion with crusing robot, it is simple and reasonable for structure.
Described upper bracket is provided with first sensor, the second sensor and the 3rd sensor.
Described support also includes base, and base is by being vertically installed with intermediate support, and upper bracket is rotatably connected on intermediate support, makes the relative intermediate support in upper bracket two ends realize oscilaltion; In order to simulate the catenary radian of overhead high voltage line, the climbing capacity of test crusing robot, upper bracket is arranged to the form of seesaw, what namely wherein rise that the other end declines on one end waves form, upper bracket specifically can be realized waving by intermediate support by this utility model relatively, make that one end of cable rises the other end to decline, simulate the state of climbing or descending.
Being connected to lifting mechanism between side and the upper bracket of described intermediate support, lifting mechanism makes the relative intermediate support in upper bracket two ends realize oscilaltion; The concrete form of waving is to be realized by lifting mechanism, its simple in construction, it is possible to use the structure of simple oil cylinder, it is also possible to be simple screw-rod structure.
Described lifting mechanism includes fixing cylinder and expansion link, and fixing cylinder one end is fixed on the side of intermediate support, and expansion link is socketed in fixing cylinder and can be relatively fixed cylinder and realizes flexible, and the end of expansion link is connected with upper bracket; As specific embodiment, described lifting mechanism is by the combination of expansion link with fixing cylinder, and it is extended or retracted that expansion link can be relatively fixed cylinder, waves thus controlling the relative intermediate support of upper bracket.
Described base is provided with control box; Control to install in box wiring board or chip etc., control driving mechanism and lifting mechanism work.
The beneficial effects of the utility model are:
A kind of Testing Platform for transmission line polling robot of the present utility model, it takes up room little, and cost is low, and platform control system can communicate wirelessly with robot, the various operational factors of real-time read machine people, and analyzes and processes; Cable transmission speed can according to the speed of travel Automatic adjusument of the crusing robot read; According to automatically calculating the distance that crusing robot has been walked, in conjunction with the catenary equation between actual field overhead high voltage line span, by changing the inclination angle of cable, overhead high voltage line is simulated.
Accompanying drawing explanation
Fig. 1 is the structural representation of utility model and crusing robot.
Fig. 2 is the schematic diagram that this utility model analog cable inclination angle carries out crusing robot performance test.
Fig. 3 is the schematic diagram that this utility model analog cable inclination angle carries out crusing robot performance test.
Detailed description of the invention
Below in conjunction with drawings and Examples, this utility model is further illustrated.
As shown in Figure 1 to Figure 3, a kind of Testing Platform for transmission line polling robot, including support 1, described support 1 two ends are separately installed with driving wheel 2 and gyroscope wheel 3, couple between driving wheel 2 with gyroscope wheel 3 and have cable 5, driving wheel 2 driven by driving mechanism 4 switch through dynamic, coordinate gyroscope wheel 3 revolution, making cable 5 realize transmission, crusing robot 6 is hung on by traveling wheel mechanism 601 and realizes performance test on cable 5.
Adopt the Testing Platform for transmission line polling robot of this structure, by cable (i.e. cable 5) being arranged to the form of motion, namely cable passes through the driving effect of driving wheel 2 and the circulation gyroscopic action of gyroscope wheel 3, make the crusing robot 6 being suspended on cable 5 can realize walking, but the distance of walking can be offset by the transmission of cable 5 again, its core is to utilize the frictional force between cable and crusing robot 6 traveling wheel mechanism 601 to make crusing robot 6 realize relative movement on cable 5, distance without simulating aerial cable on-the-spot draws cable, just can realize the dynamic locomopion of crusing robot 6, thus the test of the comparison of the various parameters realized under the state that works long hours of crusing robot 6 and function.
It takes up room little, and cost is low, and platform control system can communicate wirelessly with crusing robot 6, reads the various operational factors of crusing robot 6 in real time, and analyzes and processes; Cable 5 transmission speed can according to the speed of travel Automatic adjusument of the crusing robot 6 read; According to automatically calculating the distance that crusing robot 6 has been walked, in conjunction with the catenary equation between actual field overhead high voltage line span, by changing the inclination angle of cable 5, overhead high voltage line is simulated.
More specifically embodiment as the present embodiment:
Described cable 5 is annular cable; The material of cable 5 can adopt the material of real aerial high-voltage power transmission line wire or steel strand wires or other approximate performances to substitute.
Described support 1 includes upper bracket 101, upper bracket 101 one end is rotatably connected to driving wheel 2 by fixture 101-1, it is fixed with driving mechanism 4 near upper bracket 101 one end of fixture 101-1, driving mechanism 4 drives driving wheel 2(driving wheel 2 to be provided with fifth wheel 201 by connector 7 to couple with connector 7) rotation, upper bracket 101 other end is connected with gyroscope wheel 3 by strainer 8, is regulated the degree of tightness of cable by strainer 8; Driving by driving mechanism 4, it is achieved that the circulation back and forth of cable, constitutes relative motion with crusing robot 6, and it is simple and reasonable for structure.
Described upper bracket 101 is provided with first sensor the 9, second sensor 10 and the 3rd sensor 11; Sensor 11 is cable obliquity sensor; follow upper bracket 101 to wave; the inclination angle of detection cable 5; and feed back to control system, for the control to cable 5 inclination angle, sensor 9,10 detects whether crusing robot 6 gets too close to driving wheel/gyroscope wheel; feed back to control system; for stopping in emergency of platform control system or crusing robot 6, the safety of protection crusing robot 6, it is to avoid damage.
Described support 1 also includes base 102, and base 102 is by being vertically installed with intermediate support 103, and upper bracket 101 is rotatably connected on intermediate support 103, makes the relative intermediate support 103 in upper bracket 101 two ends realize oscilaltion; In order to simulate the catenary radian of overhead high voltage line, the climbing capacity of test crusing robot 6, upper bracket 101 is arranged to the form of seesaw, namely wherein one end (driving wheel 2) the rising other end (gyroscope wheel 3) decline wave form, upper bracket 101 specifically can be realized waving by intermediate support 103 by this utility model relatively, make that one end of cable rises the other end to decline, simulate the state of climbing or descending.
Being connected to lifting mechanism 13 between side and the upper bracket 101 of described intermediate support 103, lifting mechanism 13 makes the relative intermediate support 103 in upper bracket 101 two ends realize oscilaltion; The concrete form of waving is to be realized by lifting mechanism 13, its simple in construction, it is possible to make the structure of simple cylinder, oil cylinder, it is also possible to be simple screw-rod structure.
Described lifting mechanism 13 includes fixing cylinder 1301 and expansion link 1302, fixing cylinder 1301 one end is fixed on the side of intermediate support 103, expansion link 1302 is socketed in fixing cylinder 1301 and can be relatively fixed cylinder 1301 and realizes flexible, and the end of expansion link 1302 is connected with upper bracket 101; As specific embodiment, the combination by expansion link 1302 with fixing cylinder 1301 of the described lifting mechanism 13, expansion link 1302 can be relatively fixed cylinder 1301 depths or indentation, waves thus controlling the relative intermediate support 103 of upper bracket 101.
Described base 102 is provided with control box 14; Control to install in box 14 wiring board or chip etc., control driving mechanism 4 and lifting mechanism 13 works.
Particular embodiments described above, is only this utility model preferred embodiment, the equivalent arrangements such as done according to this utility model claim, all should be technology of the present utility model and is contained.
Claims (8)
1. the Testing Platform for transmission line polling robot, including support (1), it is characterized in that, described support (1) two ends are separately installed with driving wheel (2) and gyroscope wheel (3), couple between driving wheel (2) with gyroscope wheel (3) and have cable (5), driving wheel (2) driven by driving mechanism (4) switch through dynamic, coordinate the revolution of gyroscope wheel (3), making cable (5) realize transmission, crusing robot (6) is hung on by traveling wheel mechanism (601) and realizes performance test on cable (5).
2. according to claim 1 for the Testing Platform of transmission line polling robot, it is characterized in that, described cable (5) is annular cable.
3. according to claim 2 for the Testing Platform of transmission line polling robot, it is characterized in that, described support (1) includes upper bracket (101), upper bracket (101) one end is rotatably connected to driving wheel (2) by fixture (101-1), it is fixed with driving mechanism (4) near upper bracket (101) one end of fixture (101-1), driving mechanism (4) drives driving wheel (2) to rotate by connector (7), upper bracket (101) other end is connected with gyroscope wheel (3) by strainer (8), the degree of tightness of cable is regulated by strainer (8).
4. according to claim 3 for the Testing Platform of transmission line polling robot, it is characterized in that, described upper bracket (101) is provided with first sensor (9), the second sensor (10) and the 3rd sensor (11).
5. according to claim 2 for the Testing Platform of transmission line polling robot, it is characterized in that, described support (1) also includes base (102), base (102) is by being vertically installed with intermediate support (103), upper bracket (101) is rotatably connected on intermediate support (103), makes the relative intermediate support in upper bracket (101) two ends (103) realize oscilaltion.
6. according to claim 5 for the Testing Platform of transmission line polling robot, it is characterized in that, being connected to lifting mechanism (13) between side and the upper bracket (101) of described intermediate support (103), lifting mechanism (13) makes the relative intermediate support in upper bracket (101) two ends (103) realize oscilaltion.
7. according to claim 6 for the Testing Platform of transmission line polling robot, it is characterized in that, described lifting mechanism (13) includes fixing cylinder (1301) and expansion link (1302), fixing cylinder (1301) one end is fixed on the side of intermediate support (103), expansion link (1302) is socketed in fixing cylinder (1301) and can be relatively fixed cylinder (1301) and realizes flexible, and the end of expansion link (1302) is connected with upper bracket (101).
8. according to claim 5 for the Testing Platform of transmission line polling robot, it is characterized in that, described base (102) is provided with control box (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521079786.7U CN205317494U (en) | 2015-12-22 | 2015-12-22 | A capability test platform for transmission line patrols and examines robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521079786.7U CN205317494U (en) | 2015-12-22 | 2015-12-22 | A capability test platform for transmission line patrols and examines robot |
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| Publication Number | Publication Date |
|---|---|
| CN205317494U true CN205317494U (en) | 2016-06-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201521079786.7U Withdrawn - After Issue CN205317494U (en) | 2015-12-22 | 2015-12-22 | A capability test platform for transmission line patrols and examines robot |
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| CN (1) | CN205317494U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105424397A (en) * | 2015-12-22 | 2016-03-23 | 广东科凯达智能机器人有限公司 | Performance testing platform of power transmission line polling robot |
| CN109507550A (en) * | 2018-11-21 | 2019-03-22 | 广州供电局有限公司 | Robot rotor grading ring validation checking device and detection method |
| CN109612754A (en) * | 2018-11-30 | 2019-04-12 | 国电南瑞科技股份有限公司 | A kind of line robot grade climbing performance detection device |
-
2015
- 2015-12-22 CN CN201521079786.7U patent/CN205317494U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105424397A (en) * | 2015-12-22 | 2016-03-23 | 广东科凯达智能机器人有限公司 | Performance testing platform of power transmission line polling robot |
| CN105424397B (en) * | 2015-12-22 | 2017-12-01 | 广东科凯达智能机器人有限公司 | A kind of Testing Platform for transmission line polling robot |
| CN109507550A (en) * | 2018-11-21 | 2019-03-22 | 广州供电局有限公司 | Robot rotor grading ring validation checking device and detection method |
| CN109507550B (en) * | 2018-11-21 | 2021-02-02 | 广东电网有限责任公司广州供电局 | Device and method for detecting validity of equalizing ring of robot rotor wing |
| CN109612754A (en) * | 2018-11-30 | 2019-04-12 | 国电南瑞科技股份有限公司 | A kind of line robot grade climbing performance detection device |
| CN109612754B (en) * | 2018-11-30 | 2021-06-04 | 国电南瑞科技股份有限公司 | Climbing performance detection device for line robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160615 Effective date of abandoning: 20171201 |
|
| AV01 | Patent right actively abandoned |