CN206272148U - A kind of transmission line polling robot - Google Patents
A kind of transmission line polling robot Download PDFInfo
- Publication number
- CN206272148U CN206272148U CN201621398426.8U CN201621398426U CN206272148U CN 206272148 U CN206272148 U CN 206272148U CN 201621398426 U CN201621398426 U CN 201621398426U CN 206272148 U CN206272148 U CN 206272148U
- Authority
- CN
- China
- Prior art keywords
- human body
- inspection machine
- transmission line
- robot
- machine human
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
- Rehabilitation Tools (AREA)
Abstract
The utility model is applied to robot field, there is provided a kind of transmission line polling robot, including：Inspection machine human body, two groups of walking mechanisms being arranged on inspection machine human body, walking mechanism include：Pothook type support, outer rim stay reeded insulation wheel, support telescoping mechanism and bracket rotating mechanism, outer rim stays reeded insulation wheel to be fixed in pothook type support by central rotating shaft, the bottom of pothook type support is connected with inspection machine human body, and support telescoping mechanism and bracket rotating mechanism are arranged at the junction of pothook type frame bottom and inspection machine human body；Crusing robot in the utility model is when barrier is run into, barrier side walking mechanism causes that pothook type support rotates laterally by support telescoping mechanism and bracket rotating mechanism, enable barrier side walking mechanism avoiding obstacles, therefore, can avoid wire clamp in circuit, damper and drainage thread, therefore patrolling and examining for the transmission line of electricity of long range can be realized.
Description
Technical field
The utility model belongs to robot field, more particularly to a kind of transmission line polling robot.
Background technology
Current China mainly realizes long range power transmission and distribution by the way of high pressure and EHV transmission lines road.With warp
The total length and area coverage of the fast development ultra-high-tension power transmission line of Ji also are continuing to increase, and power department is to ultra-high-tension power transmission line
Maintenance electric energy can safely and efficiently be conveyed to ultra-high-tension power transmission line serve vital effect, can thus prevent in advance
Generation of the ultra-high-tension power transmission line compared with major break down, it is ensured that the energization of power system is safe and reliable.
Because transmission line of electricity is chronically exposed to field, being influenceed by mechanical tension and some natural conditions for a long time can be by
Gradually aging or appearance is stranded, weares and teares, corrode etc., and power department can periodically be detected to ultra-high-tension power transmission line, repair to ensure
Transmission line of electricity it is safe and reliable, traditional high-voltage test mode is manual detection, there is inefficiency, security difference etc.
Shortcoming.Existing crusing robot has multiple driving wheels to take on the line, and usual driving wheel at least two, driving wheel is by one
Individual DC brushless motor drives and rotates, and when driving wheel is rotated, just realizes crusing robot walking on the line, but line
There must be some obstacles on road, the function of the driving wheel without leaping over obstacles of existing crusing robot causes survey monitor
The transmission line of electricity that device people is patrolled and examined between the tower of intelligent patrol detection two.
Utility model content
The utility model embodiment provides a kind of transmission line polling robot, it is intended to solve existing crusing robot
Problem of the driving wheel without leaping over obstacles function.
The utility model is achieved in that a kind of transmission line polling robot, including：Inspection machine human body, set
Two groups of walking mechanisms being placed on the inspection machine human body, it is characterised in that the walking mechanism includes：Pothook type branch
Frame, outer rim stay reeded insulation wheel, support telescoping mechanism and bracket rotating mechanism, and the outer rim stays reeded insulation wheel logical
Cross central rotating shaft to be fixed in the pothook type support, the bottom of the pothook type support connects with the inspection machine human body
Connect, the support telescoping mechanism and the bracket rotating mechanism are arranged at the pothook type frame bottom and the crusing robot
The junction of body；
Every group of walking mechanism at least includes two walking mechanisms.
Further, the support telescoping mechanism is made up of linear electric motors and expansion link, and the linear electric motors are arranged at institute
Inspection machine human body is stated, the output shaft of the linear electric motors is connected with described expansion link one end, the other end of the expansion link
Fixed with the pothook type frame bottom；
The bracket rotating mechanism is made up of electric rotating machine, rotary shaft, and the electric rotating machine is arranged at the inspection machine
Human body, the output shaft of the electric rotating machine is connected with one end of the rotary shaft, the other end of the rotary shaft and the extension
Hook frame bottom is fixed.
Further, two groups of walking mechanisms symmetrically set on the inspection machine human body axis on direction of being expert at
Put.
Further, the equidistant setting of the walking mechanism.
Further, infrared distance measurement device is provided with foremost in the inspection machine human body direct of travel, be used for
The obstacle distance of inspection machine human body described in detection preceding object object distance.
The infrared distance measurement device includes：Infra-red ray transmitting unit, infrared receiver unit and computing unit, infrared ray hair
Penetrate unit is used to receive the infrared ray reflected through barrier, the calculating for launching infrared ray, infrared receiver unit
Unit is connected with infra-red ray transmitting unit and infrared receiver unit, and time difference and ultrared is received based on ultrared transmitting
Spread speed, calculates the obstacle distance of preceding object object distance robot body.
When barrier is run into, barrier side walking mechanism passes through support to crusing robot in the utility model
Telescoping mechanism and bracket rotating mechanism cause that pothook type support rotates laterally so that barrier side walking mechanism can keep away
Barrier is opened, accordingly, it is capable to wire clamp, damper and drainage thread in avoiding circuit, therefore the transmission line of electricity of long range can be realized
Patrol and examine.
Brief description of the drawings
Fig. 1 is the structural representation of the transmission line polling robot that the utility model embodiment is provided.
Specific embodiment
In order that the purpose of this utility model, technical scheme and advantage become more apparent, below in conjunction with accompanying drawing and implementation
Example, is further elaborated to the utility model.It should be appreciated that specific embodiment described herein is only used to explain
The utility model, is not used to limit the utility model.
The structural representation of the transmission line polling robot that Fig. 1 is provided for the utility model embodiment, for the ease of saying
It is bright, the part related to the utility model is only shown.
A kind of transmission line polling robot, including：Inspection machine human body 1, it is arranged on inspection machine human body
Two groups of walking mechanisms 2, every group of walking mechanism at least includes two walking mechanisms 2, and the walking mechanism 2 includes：Pothook type support 3,
Outer rim stays reeded insulation wheel 4, support telescoping mechanism and bracket rotating mechanism, and the outer rim stays reeded insulation wheel 4 to lead to
Cross central rotating shaft to be fixed in the pothook type support 3, the bottom of the pothook type support 3 and the inspection machine human body 1
Connection, the support telescoping mechanism and the bracket rotating mechanism are arranged at the pothook type frame bottom 3 and the survey monitor
The junction of device human body 1.
When barrier is run into, controller drives telescoping mechanism to be lifted up pothook type support 3 foremost so that insulation wheel
4 leave electric wire 5, then control rotating mechanism so that pothook type support 3 outwards rotates, so that walking mechanism 2 foremost avoids barrier
Hinder thing, now, remaining at least one walking mechanism 2 coordinates with another group of walking mechanism 2, can still make robot body steady
Advance, after walking mechanism 2 foremost complete obstacle avoidance thing, controller control support telescoping mechanism and bracket rotating mechanism make
The insulation wheel 4 for obtaining front end recovers original states, until next walking mechanism 2 is moved at barrier, now, second row
Walk mechanism 2 and repeat first action of walking mechanism 2, all avoiding obstacles of all of walking mechanism 2.
, when barrier is run into, barrier side walking mechanism 2 is by branch for crusing robot in the utility model
Frame telescoping mechanism and bracket rotating mechanism cause that pothook type support 3 rotates laterally so that barrier side walking mechanism 2
Energy avoiding obstacles, accordingly, it is capable to wire clamp, damper and drainage thread in avoiding circuit, therefore the power transmission line of long range can be realized
Road is patrolled and examined.
Additionally, insulation wheel 4 is fixed on transmission of electricity electric wire by pothook type support 3, pothook type support 3 can be played prevents insulation
Take turns the effect breakked away.
In the utility model, support telescoping mechanism is made up of linear electric motors and expansion link, and linear electric motors are arranged at patrols and examines
On robot body, the output shaft of linear electric motors is connected with expansion link one end, the other end and the pothook type frame bottom of expansion link
It is fixed；Bracket rotating mechanism is made up of electric rotating machine and rotary shaft, and electric rotating machine is arranged on inspection machine human body, electric rotating
The output shaft of machine is connected with one end of rotary shaft, and the other end and the pothook type frame bottom of rotary shaft are fixed.
In the utility model, two groups of walking mechanisms 2 are expert at the axis pair on direction on inspection machine human body
Claim to set；The walking mechanism 2 that control system need to only design side carries out avoidance program, and the walking mechanism 2 of opposite side is running into barrier
Using identical row avoidance program, the operand of control system can be reduced when hindering thing.
In the utility model, the walking mechanism 2 in every group is placed equidistant；Avoidance program need to only design first vehicle with walking machine
The avoidance program of structure 2, walking mechanism 2 afterwards can be entered in Seiko barrier using first avoidance program of walking mechanism
One step reduces the operand of control system.
In the utility model, there is infrared distance measurement device foremost in robot body 1, for detecting preceding object thing
Away from the obstacle distance of robot body；
The infrared distance measurement device includes：Infra-red ray transmitting unit, infrared receiver unit and computing unit, infrared ray hair
Penetrate unit is used to receive the infrared ray reflected through barrier, the calculating for launching infrared ray, infrared receiver unit
Unit is connected with infra-red ray transmitting unit and infrared receiver unit, and time difference and ultrared is received based on ultrared transmitting
Spread speed, calculates the obstacle distance of preceding object object distance robot body, it is to avoid collide.
Preferred embodiment of the present utility model is the foregoing is only, is not used to limit the utility model, it is all at this
Any modification, equivalent and improvement made within the spirit and principle of utility model etc., should be included in the utility model
Protection domain within.
Claims (5)
1. a kind of transmission line polling robot, including：Inspection machine human body, it is arranged on the inspection machine human body
Two groups of walking mechanisms, it is characterised in that the walking mechanism includes：Pothook type support, outer rim stay reeded insulation wheel, support
Telescoping mechanism and bracket rotating mechanism, the outer rim stay reeded insulation wheel to be fixed on the pothook type branch by central rotating shaft
In frame, the bottom of the pothook type support is connected with the inspection machine human body, the support telescoping mechanism and the support
Rotating mechanism is arranged at the junction of the pothook type frame bottom and the inspection machine human body；
Every group of walking mechanism at least includes two walking mechanisms.
2. transmission line polling robot as claimed in claim 1, it is characterised in that the support telescoping mechanism is by straight-line electric
Machine and expansion link are constituted, and the linear electric motors are arranged at the inspection machine human body, the output shaft of the linear electric motors and institute
The connection of expansion link one end is stated, the other end of the expansion link is fixed with the pothook type frame bottom；
The bracket rotating mechanism is made up of electric rotating machine and rotary shaft, and the electric rotating machine is arranged at the crusing robot sheet
Body, the output shaft of the electric rotating machine is connected with one end of the rotary shaft, the other end of the rotary shaft and the pothook type
Frame bottom is fixed.
3. transmission line polling robot as claimed in claim 1, it is characterised in that two groups of walking mechanisms are on patrolling and examining
Axis of the robot body on direct of travel is symmetrical arranged.
4. transmission line polling robot as claimed in claim 3, it is characterised in that the equidistant setting of the walking mechanism.
5. transmission line polling robot as claimed in claim 1, it is characterised in that advanced in the inspection machine human body
Direction is provided with infrared distance measurement device foremost, barrier for detecting inspection machine human body described in preceding object object distance
Distance；
The infrared distance measurement device includes：Infra-red ray transmitting unit, infrared receiver unit and computing unit, infrared emitting list
Unit is used to receive the infrared ray reflected through barrier, the computing unit for launching infrared ray, infrared receiver unit
It is connected with infra-red ray transmitting unit and infrared receiver unit, time difference and ultrared propagation is received based on ultrared transmitting
Speed, calculates the obstacle distance of preceding object object distance robot body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621398426.8U CN206272148U (en) | 2016-12-20 | 2016-12-20 | A kind of transmission line polling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621398426.8U CN206272148U (en) | 2016-12-20 | 2016-12-20 | A kind of transmission line polling robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206272148U true CN206272148U (en) | 2017-06-20 |
Family
ID=59047365
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621398426.8U Expired - Fee Related CN206272148U (en) | 2016-12-20 | 2016-12-20 | A kind of transmission line polling robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206272148U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108347006A (en) * | 2018-04-27 | 2018-07-31 | 广州供电局有限公司 | Upkeep operation robot |
| CN108963854A (en) * | 2018-06-07 | 2018-12-07 | 成都金甲虫科技有限公司 | A kind of high-voltage line crusing robot |
| CN109397237A (en) * | 2018-10-29 | 2019-03-01 | 国网甘肃省电力公司建设分公司 | A kind of robot for overhauling walking mechanism |
-
2016
- 2016-12-20 CN CN201621398426.8U patent/CN206272148U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108347006A (en) * | 2018-04-27 | 2018-07-31 | 广州供电局有限公司 | Upkeep operation robot |
| CN108963854A (en) * | 2018-06-07 | 2018-12-07 | 成都金甲虫科技有限公司 | A kind of high-voltage line crusing robot |
| CN109397237A (en) * | 2018-10-29 | 2019-03-01 | 国网甘肃省电力公司建设分公司 | A kind of robot for overhauling walking mechanism |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206272148U (en) | A kind of transmission line polling robot | |
| CN206023148U (en) | A kind of multi-functional deicing robot of transmission line of electricity two-conductor line | |
| CN206491215U (en) | A kind of high-altitude power equipment scarer based on photovoltaic power supply | |
| CN104917130A (en) | Line patrol deicing robot and obstacle crossing method thereof | |
| CN206099897U (en) | Photovoltaic power plant with trouble recognition function | |
| WO2016054930A1 (en) | Cage energy supply system and control method therefor | |
| CN202268648U (en) | Inspection robot for high-voltage line | |
| CN205397795U (en) | Elevator car with ultraviolet germicidal device | |
| CN206923564U (en) | Electrification contact network Intelligent bird expelling robot | |
| CN203544187U (en) | Inspection robot suitable for electric transmission line with strain section | |
| CN106857494A (en) | A kind of laser bird dispeller | |
| CN204742358U (en) | Supersound drives bird ware | |
| CN202722358U (en) | Special intelligent bird dispeller for electrified railways | |
| CN205068700U (en) | Transmission line overhauls protection against electric shock early warning system | |
| CN205311368U (en) | Trolley bus's ground power supply device | |
| CN204647036U (en) | A kind of driving mechanism of transmission line polling robot road wheel | |
| CN108832727A (en) | Cable tunnel inspection robot system and its control method based on wireless charging | |
| CN103795156A (en) | Rail transit non-contact power supply device with honeycomb-type coils and power supply method thereof | |
| CN207161143U (en) | A kind of mine automation sectional power supply system | |
| CN204228889U (en) | Single-core high-voltage cable screen armour ground connection on-line intelligence monitoring system | |
| CN203490830U (en) | Light transmission trigger device | |
| CN203161276U (en) | Interval type cable tunnel ventilation cooling device | |
| CN208076630U (en) | A kind of cable detecting device of high reliability | |
| CN207940280U (en) | Steel tower intelligent bird driving device | |
| CN206865010U (en) | A kind of unidirectional anti-race line apparatus |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170620 Termination date: 20171220 |