CN206135500U - Inspection robot induction electricity -taking system - Google Patents
Inspection robot induction electricity -taking system Download PDFInfo
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- CN206135500U CN206135500U CN201621057126.3U CN201621057126U CN206135500U CN 206135500 U CN206135500 U CN 206135500U CN 201621057126 U CN201621057126 U CN 201621057126U CN 206135500 U CN206135500 U CN 206135500U
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- wheel support
- inspection robot
- subdivision
- walking
- magnetic
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
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Abstract
The utility model discloses an inspection robot induction electricity -taking system belongs to the robotechnology field. Inspection robot induction electricity -taking system include by magnetic materials constitute can closed magnetic loop inspection robot, the last control mechanism that opens and shuts who gets the electric installation and be used for controlling the magnetic loop that is provided with of inspection robot, get the coil of electric installation including a plurality of numbers of turns of winding on the magnetic loop. Compared with the prior art, the utility model discloses an inspection robot induction electricity -taking system has the intensity of labour of alleviateing, reduces the running cost, and can guarantee the long -time continued work of inspection robot, improves the advantage of patrolling line efficiency and security.
Description
Technical field
This utility model is related to robotics, particularly relates to a kind of inspection robot sensing electricity getting system.
Background technology
It is the major way of long range transmission ＆ distribution electric power using high pressure and supertension overhead power transmission line.Electric lines of force and shaft tower adnexa
Be chronically exposed to field, because by lasting mechanical tension, electrically dodge iron, material aging is affected and is easily produced stranded, mill
Damage, corrode equivalent damage, such as repair not in time and change, originally small breakage and defect may expand, and ultimately result in serious thing
Therefore, cause large-area power failure and huge economic loss.The development of inspection robot technology, is the inspection work of high voltage transmission line
Make there is provided new technological means, inspection robot can be carried out making an inspection tour, be overhauled to circuit, be that the normal operation of power system is carried
For effectively guarantee.
Inspection robot needs to complete the works such as walking, across obstacle, cleaning debris, video and image transmitting on the line
Make, this is accomplished by enough supplies of electric power.In prior art, inspection robot uses common rechargeable battery, such as ni-mh electricity
Pond, lithium battery etc., due to the particularity of inspection robot working environment, itself can not possibly carry very big battery, therefore line walking
Robot often works and is accomplished by for a period of time removing charging or changes battery, and this is just to inspection robot long lasting for work band
Obstacle is carried out, has reduced line walking efficiency, and increased danger, these factors can greatly limit extensively making for inspection robot
With.Ensure that inspection robot long lasting for work, raising line walking efficiency and safety therefore, it is necessary to provide one kind
Electricity getting device.
Utility model content
The technical problems to be solved in the utility model is to provide a kind of guarantee inspection robot long lasting for work, improves
The inspection robot sensing electricity getting system of line walking efficiency and safety.
To solve above-mentioned technical problem, it is as follows that this utility model provides technical scheme：
A kind of inspection robot senses electricity getting system, including be made up of permeability magnetic material can closed magnetic loop line walking machine
People, is provided with electricity getting device and the folding control mechanism for controlling magnetic loop, the electricity getting device on the inspection robot
Including the coil of some numbers of turn being wrapped on magnetic loop.
Further, the inspection robot includes frame, and at least one walking unit is provided with the frame, its
In：
The walking unit includes a walking wheel support, and road wheel, the coil are provided with the walking wheel support
Be wrapped on the walking wheel support, be additionally provided with the walking unit and return for magnetic being collectively forming with the walking wheel support
The magnetic conductive pole on road, described in the folding control mechanism controls, walking wheel support and magnetic conductive pole are mutually butted or separate；
Or, the walking unit includes a pair for the forming magnetic loop subdivision wheels that can be rotated in lateral
Frame, subdivision wheel support described in the folding control mechanism controls are mutually butted or separate, and are additionally provided with the subdivision wheel support
Subdivision wheel, the subdivision wheel support include active subdivision wheel support and driven subdivision wheel support, the active subdivision wheel support and
The winding direction that coil and the coil are provided with driven subdivision wheel support is identical.
Further, the road wheel, walking wheel support, magnetic conductive pole and folding control mechanism are provided with permeability magnetic material, with
Form the magnetic loop of closure；
Or, the subdivision wheel support, subdivision wheel and folding control mechanism are provided with permeability magnetic material, to form the magnetic of closure
Loop；
Or, the subdivision wheel top is provided with and is mutually butted or detached external iron core, and the external iron core is by outer
Put support to be fixedly connected with the subdivision wheel support, the subdivision wheel support, external stent, external iron core and folding control mechanism
Permeability magnetic material is provided with, to form the magnetic loop of closure.
Further, the outer surface of the walking wheel support or subdivision wheel support adopts non-permeable material, the row
Walk hollow structure is inside wheel and walking wheel support or the subdivision wheel and subdivision wheel support and filled out using permeability magnetic material
Fill, the external iron core, external stent and folding control mechanism adopt permeability magnetic material.
Further, the non-permeable material adopts austenitic stainless steel, engineering plastics or carbon fiber, the magnetic conduction material
Material is using stalloy, permalloy or magnetic conduction powder.
Further, the inspection robot sensing electricity getting system also includes rectification charging module and battery, the coil
Outfan connect the rectification charging module, the outfan of the rectification charging module is connected with for for the line walking machine
The battery that people powers.
This utility model has the advantages that：
What inspection robot of the present utility model sensing electricity getting system included being made up of permeability magnetic material can closed magnetic loop
Inspection robot, is provided with electricity getting device and the folding control mechanism for controlling magnetic loop, electricity getting device on inspection robot
Including the coil of some numbers of turn being wrapped on magnetic loop.During inspection robot normal work, it is wrapped on closed magnetic loop
Coil produces faradic current in the presence of electrical lead primary current, uses for inspection robot such that it is able to make line walking machine
Device people is realized long lasting for work, it is to avoid cause security incident because electricity is too low, while inspection robot replaces prior art
Middle ground ocular estimate and aerophotographic method transmission pressure is carried out patrolling and examining, be safeguarded, can solve manual inspection method high labor intensive,
The problem that inefficiency, detection accuracy are low and the aerophotographic method cost of transportation is high.To sum up, compared with prior art, this utility model
With the operating cost that reduces labor intensity, reduces, and ensure that inspection robot, long lasting for work, improves line walking efficiency
With the advantage of safety.
Description of the drawings
Fig. 1 is the frame for movement schematic diagram that inspection robot of the present utility model senses electricity getting system；
Fig. 2 is the front view structural representation of the austenite steel plate of inspection robot sensing electricity getting system of the present utility model
Figure；
Fig. 3 is the left view structural representation of the austenite steel plate of inspection robot sensing electricity getting system of the present utility model
Figure；
Fig. 4 is the top view structural representation of the austenite steel plate of inspection robot sensing electricity getting system of the present utility model
Figure；
Fig. 5 is the front view structural representation of the austenite stainless steel of inspection robot sensing electricity getting system of the present utility model
Figure；
Fig. 6 is the left view structural representation of the austenite stainless steel of inspection robot sensing electricity getting system of the present utility model
Figure；
Fig. 7 is the top view structural representation of the austenite stainless steel of inspection robot sensing electricity getting system of the present utility model
Figure；
Fig. 8 is the structural representation of the magnetic loop of inspection robot sensing electricity getting system of the present utility model；
Fig. 9 is the theory structure schematic diagram that inspection robot of the present utility model senses electricity getting system.
Specific embodiment
To make the technical problems to be solved in the utility model, technical scheme and advantage clearer, below in conjunction with accompanying drawing
And specific embodiment is described in detail.
On the one hand, this utility model provides a kind of inspection robot and senses electricity getting system, as shown in Fig. 1～9, including by leading
Magnetic material constitute can closed magnetic loop inspection robot 1, electricity getting device 2 is provided with inspection robot 1 and for controlling
The folding control mechanism 3 of magnetic loop, electricity getting device 2 include the coil 4 of some numbers of turn being wrapped on magnetic loop.
The sensing electricity getting device of inspection robot of the present utility model, during inspection robot normal work, is wrapped in closure
Coil on magnetic loop produces faradic current in the presence of electrical lead primary current, uses for inspection robot, so as to
Inspection robot is enough made to realize long lasting for work, it is to avoid to cause security incident because electricity is too low, while inspection robot generation
Transmission pressure is carried out patrolling and examining, safeguarded for ground ocular estimate in prior art and aerophotographic method, manual inspection method can be solved
The problem that high labor intensive, inefficiency, detection accuracy are low and the aerophotographic method cost of transportation is high.To sum up, compared with prior art,
This utility model has and reduces labor intensity, reduces operating cost, and ensure that inspection robot, long lasting for work, is carried
High line walking efficiency and the advantage of safety.
Preferably, inspection robot 1 includes frame, and at least one walking unit is provided with frame, wherein：
Walking unit includes a walking wheel support, is provided with road wheel on walking wheel support, and coil 4 is wrapped in road wheel
On support, it is additionally provided with walking unit for being collectively forming the magnetic conductive pole of magnetic loop, folding control mechanism 3 with walking wheel support
Control walking wheel support and magnetic conductive pole are mutually butted or separate；
Or, walking unit includes a pair for the forming magnetic loop subdivision wheel supports that can be rotated in lateral, opens
Close the control subdivision wheel support of controlling organization 3 to be mutually butted or separate, on subdivision wheel support, be additionally provided with subdivision wheel 7, subdivision wheel
Frame includes being all provided with active subdivision wheel support 8 and driven subdivision wheel support 9, active subdivision wheel support 8 and driven subdivision wheel support 9
The winding direction for being equipped with coil 4 and coil 4 is identical.
During inspection robot normal work, road wheel or subdivision wheel are in folding control mechanism and walking wheel support or subdivision wheel
Set up in the presence of support on the line, be wrapped in walk wheel support or the coil around subdivision wheel support, in electromagnetic induction
Effect is lower to produce faradic current, uses for inspection robot, be mutually butted or detached subdivision wheel support on coil winding side
To identical, the faradic current for being prevented from producing is cancelled out each other.
Further, road wheel, walking wheel support, magnetic conductive pole and folding control mechanism 3 are provided with permeability magnetic material；Or,
Subdivision wheel support, subdivision wheel 7 and folding control mechanism 3 are provided with permeability magnetic material；Or, 7 top of subdivision wheel is provided with mutually right
Connect or detached external iron core 10, external iron core 10 is fixedly connected with subdivision wheel support by external stent 11, subdivision wheel support,
External stent 11, external iron core 10 and folding control mechanism 3 are provided with permeability magnetic material.Above-mentioned design can form the magnetic of closure and return
Road, improves charge efficiency, in addition, the external iron core of design can improve the accuracy and fastness of subdivision wheel docking, increases line walking
The safety of machine man-hour.
Non-magnetic is adopted as the outside of further improvement of the utility model, walking wheel support or subdivision wheel support
Hollow structure is inside material, road wheel and walking wheel support or subdivision wheel 7 and subdivision wheel support and magnetic conduction material is adopted
Material filling, external iron core 10, external stent 11 and folding control mechanism 3 adopt permeability magnetic material.In addition, non-permeable material is adopted
With austenitic stainless steel, engineering plastics or carbon fiber, permeability magnetic material adopts stalloy, permalloy or magnetic conduction powder, wherein：
As shown in figs. 2 to 4, walk wheel support or subdivision wheel support adopts rectangle wheel arm, rectangle wheel arm include to
Few two blocks of austenite steel plates 24, by stalloy between adjacent austenite steel plate 24 and inside road wheel or subdivision wheel 7
23 fillings；
Or, as shown in Fig. 5～7, walking wheel support or subdivision wheel support adopt austenite stainless steel 25, austenite stainless steel
25th, filled by stalloy 23 inside road wheel or subdivision wheel 7；
Or, external iron core 10, external stent 11, magnetic conductive pole and folding control mechanism 3 adopt silicon steel material, road wheel
Stalloy 23 is provided with frame between support and magnetic conductive pole.
As shown in figure 8, the design can make magnetic field road wheel, walking wheel support, magnetic conductive pole and folding control mechanism or
Person's subdivision wheel support, subdivision wheel and folding control mechanism or subdivision wheel support, external stent, external iron core and folding control machine
The loop of closure is formed between structure, and the field circuit of on-closed-circuit is in atmosphere, with the high material of permeability as medium
Magnetic field, magnetic flux are far longer than the magnetic field with air as medium, and the faradic current that the former produces is also much larger than the latter, it is possible to increase
Charge efficiency.In addition to the above-mentioned embodiment for being given, which can also be adopted well known to a person skilled in the art various other
Mode, here is omitted.
In order to prevent subdivision wheel support from breaking coil when separating, coil 4 is being mutually butted or detached subdivision wheel support
Between line can be designed as helical structure or waveform configuration 12.In addition, the number of turn of the winding of coil 4 should be according to transmission line of electricity
Voltage and charging voltage are calculated and are determined.
Further, each subdivision wheel support top is provided with motor mounting rack 13, is provided with water on motor mounting rack 13
The direct current generator 14 and decelerator 15 of flat raft row, decelerator 15 can be connected with subdivision wheel 7 by shaft coupling 16, and this design can
It is to improve the stability of subdivision wheel docking, easy to control.Further, folding control mechanism includes base 17, sets on base 17
It is equipped with horizontally arranged folding motor 18 and gear drive, gear drive is included for driving the active of active subdivision wheel support 8
Gear 20 and it is connected with driving gear 20 and for driving the driven gear 21 of driven subdivision wheel support 9, folding motor 18 to pass through
Power transmission shaft 19 drives driving gear 20.Gear transmission mode has reliable operation, compact conformation, efficiency high and life-span length etc. excellent
Point, it is possible to increase the stationarity and accuracy of active subdivision wheel support and driven subdivision wheel support action.In addition, gear drive is adopted
Cannot be used up all-gear drive, gear drive is fixedly connected with subdivision wheel support by bolt 22.Bolt connection have simple structure,
The advantages of connecting reliable, easy to loading and unloading.
In this utility model, inspection robot sensing electricity getting system also includes rectification charging module 5 and battery 6, coil 4
Outfan connection rectification charging module 5, the outfan of rectification charging module 5 is connected with the electricity for powering for inspection robot 1
Pond 6.During inspection robot normal work, it is wrapped in the coil on closed magnetic loop and produces in the presence of electrical lead primary current
Raw faradic current, faradic current are converted to galvanic current through rectification charging module.In addition, as shown in figure 9, rectification charging
Module 5 includes rectification module and Voltage stabilizing module, and rectification module includes current rectifying and wave filtering circuit 26 and secondary current rectifying and wave filtering circuit 27, surely
Die block adopts half-bridge mu balanced circuit 28, and rectification charging module 5 also includes charging current control circuit 29, charging enables circuit
30th, low-voltage protection circuit 31 and low battery warning devicess, wherein：
The input of the outfan connection half-bridge mu balanced circuit 28 of current rectifying and wave filtering circuit 26, the output of half-bridge mu balanced circuit 28
Hold the input of connecting secondary current rectifying and wave filtering circuit 27, the outfan connection charging current control electricity of secondary current rectifying and wave filtering circuit 27
The input on road 29, the outfan connection battery 6 of charging current control circuit 29, the outfan of battery 6 are connected with low-voltage variation
The input of circuit 31, the outfan of low-voltage protection circuit 31 are connected with the enable circuit 30 that charges, and are charged and are enabled the defeated of circuit 30
Go out end and be connected with charging current control circuit 29.Charging current control circuit controls to charge by obtaining battery information to enable electricity
The switch on road, when the electricity of battery is less than 80%, the enable circuit ON that charges charges for battery, meanwhile, low-voltage protection circuit
Charging can also be opened and enable circuit, be charged when battery is fully charged after and enable circuit disconnection, when the electricity of battery is 80%～100%
Between when do not charge, limit charging times, extend battery service life, when barrier is run into, stop charging the battery, if
When battery electric quantity is too low, low battery warning devicess alert notice surface personnel prevents security incident.
On the other hand, this utility model also provides the electricity-fetching method that a kind of above-mentioned inspection robot senses electricity getting system,
Including：
Step 1：Constantly, each pair subdivision wheel 7 is in folding control mechanism 3 and subdivision wheel support for 1 normal work of inspection robot
In the presence of dock so as to be erected on transmission line of electricity, now, be wrapped in coil 4 on subdivision wheel support and produce faradic current,
Faradic current is converted into galvanic current through rectification charging module 5, is that battery 6 charges, uses for inspection robot 1；
Step 2：When barrier is run into, subdivision wheel 7 is separated simultaneously in the presence of folding control mechanism 3 and subdivision wheel support
Depart from transmission line of electricity, now, stop charging to battery 6；
Step 3：After clearing the jumps, subdivision wheel 7 is docked in the presence of folding control mechanism 3 and subdivision wheel support lays equal stress on
Newly it is erected on transmission line of electricity, the coil 4 being wrapped on subdivision wheel support produces faradic current, and faradic current is through rectification charging
Module 5 is converted into galvanic current, continues as battery 6 and charges, uses for inspection robot 1, after battery 6 is fully charged, knot
Beam charges.
Inspection robot of the present utility model senses the electricity-fetching method of electricity getting system, the line being wrapped in around subdivision wheel support
Circle, produces faradic current in the presence of electromagnetic induction, and the faradic current of generation is converted to stable straight by rectification charging module
Stream electricity, is that battery charges, uses for inspection robot, inspection robot can be made to realize long lasting for work, it is to avoid line walking
Robot causes security incident because electricity is too low；When running into barrier, subdivision wheel is in folding control mechanism and subdivision wheel support
Circuit is separated and is departed under effect, now, is not charged；After clearing the jumps, subdivision wheel is in folding control mechanism and subdivision
Dock in the presence of wheel support and be erected on circuit again, form the magnetic loop of closure, continue as battery charging.In addition, needing
It is noted that after clearing the jumps, when the electricity of battery can not continue as battery charging when higher than 50%, so as to limit
Charging times processed, extend the service life of battery.
To sum up, this utility model is solved in prior art, artificial line walking high labor intensive and aircraft line walking operating cost
High problem, and conventional obstacles (such as insulator chain, aluminium hydraulic pressed connecting pipe, suspension clamp etc.) can be crossed, realize to the continuous of circuit
Patrol and examine, safeguard, and, electricity getting device can provide electricity for inspection robot, it is ensured that inspection robot is long lasting for work.
Therefore, compared with prior art, this utility model has and reduces labor intensity, reduces operating cost, and ensure that line walking machine
Device people improves the advantage of line walking efficiency and safety long lasting for work.
The above is preferred implementation of the present utility model, it is noted that for the ordinary skill of the art
For personnel, on the premise of without departing from principle described in the utility model, some improvements and modifications can also be made, these improvement
Also protection domain of the present utility model is should be regarded as with retouching.
Claims (6)
1. a kind of inspection robot senses electricity getting system, it is characterised in that include being made up of permeability magnetic material can closed magnetic loop
Inspection robot, electricity getting device and the folding control mechanism for controlling magnetic loop, institute are provided with the inspection robot
State the coil of some numbers of turn that electricity getting device includes being wrapped on magnetic loop.
2. inspection robot according to claim 1 senses electricity getting system, it is characterised in that the inspection robot includes
Frame, is provided with least one walking unit in the frame, wherein：
The walking unit includes a walking wheel support, and road wheel, the coil winding are provided with the walking wheel support
On the walking wheel support, it is additionally provided with the walking unit for being collectively forming magnetic loop with the walking wheel support
Magnetic conductive pole, described in the folding control mechanism controls, walking wheel support and magnetic conductive pole are mutually butted or separate；
Or, the walking unit includes a pair for the forming magnetic loop subdivision wheel supports that can be rotated in lateral, institute
State subdivision wheel support described in folding control mechanism controls to be mutually butted or separate, on the subdivision wheel support, be additionally provided with subdivision
Wheel, the subdivision wheel support include active subdivision wheel support and driven subdivision wheel support, the active subdivision wheel support and driven
The winding direction that coil and the coil are provided with subdivision wheel support is identical.
3. inspection robot according to claim 2 senses electricity getting system, it is characterised in that wherein：
The road wheel, walking wheel support, magnetic conductive pole and folding control mechanism are provided with permeability magnetic material, are returned with the magnetic for forming closure
Road；
Or, the subdivision wheel support, subdivision wheel and folding control mechanism are provided with permeability magnetic material, are returned with the magnetic for forming closure
Road；
Or, the subdivision wheel top is provided with and is mutually butted or detached external iron core, and the external iron core passes through external
Frame is fixedly connected with the subdivision wheel support, and the subdivision wheel support, external stent, external iron core and folding control mechanism are arranged
There is permeability magnetic material, to form the magnetic loop of closure.
4. inspection robot according to claim 3 senses electricity getting system, it is characterised in that the walking wheel support or
The outer surface of subdivision wheel support adopts non-permeable material, the road wheel and walking wheel support or the subdivision wheel and subdivision
Hollow structure is inside wheel support and is filled using permeability magnetic material, the external iron core, external stent and folding control machine
Structure adopts permeability magnetic material.
5. inspection robot according to claim 4 senses electricity getting system, it is characterised in that the non-permeable material is adopted
With austenitic stainless steel, engineering plastics or carbon fiber, the permeability magnetic material is using stalloy, permalloy or magnetic conduction powder.
6. according to the arbitrary described inspection robot sensing electricity getting system of claim 1-5, it is characterised in that the line walking machine
People's sensing electricity getting system also includes rectification charging module and battery, and the outfan of the coil connects the rectification charging module,
The outfan of the rectification charging module is connected with the battery for powering for the inspection robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621057126.3U CN206135500U (en) | 2016-09-14 | 2016-09-14 | Inspection robot induction electricity -taking system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621057126.3U CN206135500U (en) | 2016-09-14 | 2016-09-14 | Inspection robot induction electricity -taking system |
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| Publication Number | Publication Date |
|---|---|
| CN206135500U true CN206135500U (en) | 2017-04-26 |
Family
ID=58570121
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621057126.3U Active CN206135500U (en) | 2016-09-14 | 2016-09-14 | Inspection robot induction electricity -taking system |
Country Status (1)
| Country | Link |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106253421A (en) * | 2016-09-14 | 2016-12-21 | 济南舜风科技有限公司 | Inspection robot sensing electricity getting system |
| CN109896012A (en) * | 2019-04-22 | 2019-06-18 | 华北电力大学（保定） | Double-deck more rotor power transmission line inspection devices |
-
2016
- 2016-09-14 CN CN201621057126.3U patent/CN206135500U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106253421A (en) * | 2016-09-14 | 2016-12-21 | 济南舜风科技有限公司 | Inspection robot sensing electricity getting system |
| CN109896012A (en) * | 2019-04-22 | 2019-06-18 | 华北电力大学（保定） | Double-deck more rotor power transmission line inspection devices |
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