A kind of high-voltage line crusing robot
Technical field
The present invention relates to crusing robot fields, and in particular to a kind of high-voltage line crusing robot.
Background technology
The necessary access that ultra-high-tension power transmission line is transmitted as electric energy, working condition directly influence the reliable of electric system
Property, it is related to social normal operation.Power line and shaft tower attachment are chronically exposed to field, and power transmission line is subject to lasting machinery
The influence of the factors such as power, electrical flashover, material aging, can generate it is stranded, abrasion, corrosion equivalent damage, it is necessary in time repair or more
It changes.Therefore, it is necessary to periodical inspection inspection, to find and to remove a hidden danger in time, the generation prevented accident are carried out to transmission line of electricity.
Traditional method for inspecting mainly by the forms such as manually estimating, manually estimates heavy workload and condition is arduous, to mountain
For the inspection of the transmission line of electricity of area and leap great rivers, there is very big difficulty.Therefore, patrolled automatically using robot
Line becomes a kind of necessary means for ensureing circuit safe operation.But the ultra-high-tension power transmission lines such as spacer, stockbridge damper, suspension clamp
Upper common barrier can influence the traveling of robot on circuit, and therefore, leaping over obstacles can not be kept away in crusing robot work
The problem of exempting from.
Based on this, a kind of high pressure inspection barrier-surpassing robot is proposed, operating position is in the ground wire of high voltage transmission line, the machine
People may span across the obstacles such as spacer, stockbridge damper, and the video monitoring apparatus loaded using robot sets transmission line of electricity and its correlation
It applies and carries out failure inspection.
The content of the invention
The purpose of the present invention is overcome the deficiencies of the prior art and provide a kind of efficient stable, the high pressure with obstacle crossing function
Line crusing robot.
The present invention includes preceding image capturing system 1, rear image capturing system 6, preceding advance system 2, rear advance system 7, preceding
Jacking system 4, rear jacking system 10, preceding lateral adjustments system 5, rear lateral adjustments system 11, preceding wire lashing system 3, rear hanging wire system
System 8, control system 9, shell 12, which is characterized in that the preceding jacking system 4, rear jacking system 10, preceding lateral adjustments system 5,
Lateral adjustments system 11, preceding wire lashing system 3, rear wire lashing system 8, control system 9 are fixed on robot bottom afterwards;Before described laterally
Regulating system 5, rear lateral adjustments system 11, control system 9 are inside shell 12;The preceding lateral adjustments system 5 and preceding lifting
System 4 is connected;The preceding jacking system 4 is connected with preceding advance system 2;The preceding jacking system 4 and preceding 1 phase of image capturing system
Even;Lateral adjustments system 11, rear jacking system 10, rear advance system 7,6 connection mode of rear image capturing system are with before after described
Lateral adjustments system 5, preceding jacking system 4, preceding advance system 2,1 connection mode of preceding image capturing system are identical.
The preceding image capturing system 1 includes camera 13, mounting base for camera head 14;The camera 13 is pacified with camera
It fills seat 14 to be connected, be connected in the mounting base for camera head 14 with the top constraint lid 15 of jacking system.
The preceding advance system 2 includes traveling driving motor 17, idler wheel 18, movable motor fixed seat 16, the idler wheel 18
It is connected with traveling driving motor 17, motor is mounted in movable motor fixed seat 16, in the movable motor fixed seat 16 with before
Jacking system 4 is connected.
The preceding jacking system 4 includes top constraint lid 15, longitudinal screw mandrel 19, longitudinal restraint optical axis 20, lifting driving electricity
Machine 21, lifting motor fixed seat 22;19 upper and lower ends of longitudinal screw mandrel constrain lid 15 and lifting driving motor with top respectively
21 are connected;The lifting driving motor 21 is mounted in lifting motor fixed seat 22;The longitudinal restraint optical axis 20 has two, position
In 19 both sides of longitudinal screw mandrel, connection top constrains lid 15 and lifting motor fixed seat 22 to longitudinal restraint optical axis respectively about 20;Institute
Lifting motor fixed seat 22 is stated with preceding lateral adjustments system 5 to be connected.
The preceding lateral adjustments system 5 includes side constraint lid 23, lateral confinement optical axis 24, horizontal drive motor 25, horizontal stroke
To screw 26, cross motor fixed seat 27;26 both ends of cross lead screw constrain lid 23 and horizontal drive motor with side respectively
25 are connected, and the horizontal drive motor 25 is mounted in cross motor fixed seat 27;The lateral confinement optical axis 24 has two, point
Not Wei Yu 26 both sides of cross lead screw, 24 both ends of lateral confinement optical axis connect side constraint lid 23 and cross motor fixed seat respectively
27;The side constraint lid 23 and cross motor fixed seat 27 are fixed on robot bottom.
The preceding wire lashing system 3 include hanging wire lever arm 28, top torsionspring 29, top two-freedom mechanical hook 30,
Side torsionspring 31, side catch 32, ball 33;Described 28 one end of hanging wire lever arm is connected with robot bottom, the other end with
Top torsionspring 29 is connected;The top torsionspring 29 is connected with top two-freedom mechanical hook 30;The top two is certainly
It is connected by degree mechanical hook 30 with side torsionspring 31;The side torsionspring 31 is connected with side catch 32;Two freely
Degree mechanical hook and side catch are equipped with ball 33 with high-voltage line contact surface.
The control system 9 includes microprocessor, motor drive module, wireless transport module, power module;The control
System 9 is fixed on robot bottom.
The shell 12 is connected with robot bottom.
Image capturing system 6 is similar with preceding 1 structure of image capturing system after described;It is described after advance system 7 and move ahead into
2 structure of system is similar;Jacking system 10 is similar with preceding 4 structure of jacking system after described;Lateral adjustments system 11 is with before after described
5 structure of lateral adjustments system is similar;Wire lashing system 8 is similar with preceding 3 structure of wire lashing system after described.
Beneficial effects of the present invention.
(1)Camera is carried on top, can monitor high-voltage line surface condition in real time, completes high-voltage line patrol task.
(2)Common impairments on circuit are may span across, to the adaptable of working environment.
Description of the drawings
Fig. 1 is each general system diagram of the present invention.
Fig. 2 is the general structure schematic diagram of the present invention.
Fig. 3 is the preceding image capturing system schematic diagram of the present invention.
Fig. 4 is of the invention moves ahead into system schematic.
Fig. 5 is the preceding jacking system schematic diagram of the present invention.
Fig. 6 is the preceding lateral adjustments system schematic of the present invention.
Fig. 7 is the preceding wire lashing system schematic diagram of the present invention.
Component in attached drawing representated by each label:1st, preceding image capturing system;2nd, preceding advance system;3rd, preceding wire lashing system;
4th, preceding jacking system;5th, preceding lateral adjustments system;6th, rear image capturing system;7th, rear advance system, 8, rear wire lashing system;9th, control
System processed;10th, rear jacking system;11st, rear lateral adjustments system;12nd, shell;13rd, camera;14th, mounting base for camera head;15、
Top constraint lid;16th, movable motor fixed seat;17th, traveling driving motor;18 idler wheels;19th, longitudinal screw mandrel;20th, longitudinal restraint light
Axis;21st, driving motor is lifted;22nd, lifting motor fixed seat;23rd, side constraint lid;24th, lateral confinement optical axis;25th, laterally drive
Dynamic motor;26th, cross lead screw;27th, cross motor fixed seat;28th, hanging wire lever arm;29th, top torsionspring;30th, two-freedom
Mechanical hook;31st, side torsionspring;32nd, side catch;33rd, ball.
Specific embodiment
The present invention is described further below in conjunction with the accompanying drawings.In the figure the present invention include preceding image capturing system 1, after
Image capturing system 6, preceding advance system 2, rear advance system 7, preceding jacking system 4, rear jacking system 10, preceding lateral adjustments system
5th, rear lateral adjustments system 11, preceding wire lashing system 3, rear wire lashing system 8, control system 9, shell 12, which is characterized in that before described
Jacking system 4, rear jacking system 10, preceding lateral adjustments system 5, rear lateral adjustments system 11, preceding wire lashing system 3, rear hanging wire system
System 8, control system 9 are fixed on robot bottom;The preceding lateral adjustments system 5, rear lateral adjustments system 11, control system 9
Inside shell 12;The preceding lateral adjustments system 5 is connected with preceding jacking system 4;The preceding jacking system 4 and preceding advance system
2 are connected;The preceding jacking system 4 is connected with preceding image capturing system 1;Lateral adjustments system 11 after described, rear jacking system 10,
Afterwards advance system 7,6 connection mode of rear image capturing system and preceding lateral adjustments system 5, preceding jacking system 4, preceding advance system 2,
Preceding 1 connection mode of image capturing system is identical.
The preceding image capturing system 1 includes camera 13, mounting base for camera head 14;The camera 13 is pacified with camera
Seat 14 is filled to be connected;The mounting base for camera head 14 is connected with the top constraint lid 15 of jacking system.
The preceding advance system 2 includes traveling driving motor 17, idler wheel 18, movable motor fixed seat 16, the idler wheel 18
It is connected with motor, motor is mounted in movable motor fixed seat 16;The movable motor fixed seat 16 and preceding 4 phase of jacking system
Even.
The preceding jacking system 4 includes top constraint lid 15, longitudinal screw mandrel 19, longitudinal restraint optical axis 20, lifting driving electricity
Machine 21, lifting motor fixed seat 22;19 upper and lower ends of longitudinal screw mandrel constrain lid 15 and lifting driving motor with top respectively
21 are connected;The lifting driving motor 21 is mounted in lifting motor fixed seat 22, has two in the longitudinal restraint optical axis 20,
Positioned at 19 both sides of longitudinal screw mandrel, connection top constrains lid 15 and lifting motor fixed seat 22 to longitudinal restraint optical axis respectively about 20;
The lifting motor fixed seat 22 is connected with preceding lateral adjustments system 5.
The preceding lateral adjustments system 5 includes side constraint lid 23, lateral confinement optical axis 24, horizontal drive motor 25, horizontal stroke
To screw 26, cross motor fixed seat 27;26 both ends of cross lead screw constrain lid 23 and horizontal drive motor with side respectively
25 are connected, and the horizontal drive motor 25 is mounted in cross motor fixed seat 27;The lateral confinement optical axis 24 has two, point
Not Wei Yu 26 both sides of cross lead screw, 24 both ends of lateral confinement optical axis connect side constraint lid 23 and cross motor fixed seat respectively
27;The side constraint lid 23 and cross motor fixed seat 27 are fixed on robot bottom.
The preceding wire lashing system 3 include hanging wire lever arm 28, top torsionspring 29, top two-freedom mechanical hook 30,
Side torsionspring 31, side catch 32, ball 33;Described 28 one end of hanging wire lever arm is connected with robot bottom, the other end with
Top torsionspring 29 is connected;The top torsionspring 29 is connected with top two-freedom mechanical hook 30;The top two is certainly
It is connected by degree mechanical hook 30 with side torsionspring 31;The side torsionspring 31 is connected with side catch 32;Two freely
Degree mechanical hook and side catch are equipped with ball 33 with high-voltage line contact surface.
The control system 9 includes microprocessor, motor drive module, wireless transport module, power module;Micro- place
Reason device controls the rotation of each motor by motor drive module;The microprocessor receives 13 acquired image of camera letter
Number, geoceiver is transferred to by wireless transport module;The wireless transport module receives the instruction of geoceiver, and will
Instruction is transferred to microprocessor;The control system 9 is fixed on robot bottom.
The shell 12 is connected with robot bottom.
Image capturing system 6 is similar with preceding 1 structure of image capturing system after described;It is described after advance system 7 and move ahead into
2 structure of system is similar;Jacking system 10 is similar with preceding 4 structure of jacking system after described;Lateral adjustments system 11 is with before after described
5 structure of lateral adjustments system is similar;Wire lashing system 8 is similar with preceding 3 structure of wire lashing system after described.
Working method:When high-voltage line crusing robot is in normal inspection on high-voltage line, preceding advance system 2 and rear advance are
7 work of system, driving idler wheel 18 is above high-voltage line, and band mobile robot is advanced, and preceding wire lashing system 3 and rear wire lashing system 8 are as auxiliary
Fixation is helped, the stabilization that high pressure crusing robot is kept to advance.Image capturing system 1 gathers high-tension line graph in real time by camera 13
As data, and pass through control system 9 and transfer data to geoceiver.
When high-voltage line crusing robot runs into lateral separation stick, the side catch 32 of wire lashing system is blocked, at this time side
Square torsionspring 31 twists deformation under force, and when side catch 32 is by obstacle, side torsionspring 31 is in bullet
Recover under the action of power, side catch 32 is made to recover home position, keep the stabilization of hanging wire.
When high-voltage line crusing robot advances to high voltage transmission line tower, support insulator can block travelling route.In order to cross over
Obstacle, preceding advance system 2 rise under the adjusting of preceding jacking system 3, leave high-voltage line.Preceding lateral adjustments system 4 adjusts preceding liter
Drop system 3 and preceding advance system 2, away from high-voltage line.Robot is by preceding wire lashing system 3, rear wire lashing system 8 and rear system of advancing
System 7 keeps stablizing, and advances under the driving of rear advance system 7.Current advance system 2 crosses support insulator, preceding laterally to adjust
5 reverse operation of section system, jacking system 3 and preceding advance system 2 before adjusting, advance system 2 is located exactly at high voltage transmission line before making
Top, advance system 2 moves down before jacking system 3 controls, and preceding advance system 2 falls on high voltage transmission line.Preceding advance system 2
It travels forward with rear advance system 7 driving robot, when support insulator is contacted with preceding wire lashing system 3, since high-voltage line has
Certain inclination angle, angle connects into obtuse angle, top two-freedom mechanical hook 30 with support insulator between high-voltage line and support insulator
There are one upward component when touching, top torsionspring 29 is made to twist deformation, top two-freedom mechanical hook 30 is counterclockwise
It rotating, when going to side catch 32 and being contacted with support insulator, side torsionspring 31 twists deformation under force,
Side catch 32 is made to pass through support insulator.After support insulator, side catch 32 and top two under the action of elastic force
Degree of freedom mechanical hook 30 recovers the stabilization that initial position keeps robot.3 operation principle phase of wire lashing system 8 and preceding wire lashing system afterwards
Together;Advance system 7, rear jacking system 10 and 11 obstacle detouring working method of rear lateral adjustments system and preceding advance system 2, preceding lifting afterwards
System 4 is similar with preceding 5 obstacle detouring mode of lateral adjustments system, the final whole obstacle detouring for realizing robot.
The above is only the preferred embodiment of the present invention, it is noted that for those skilled in the art,
Without departing from the structure of the invention, several improvements and modifications can also be made, these improvements and modifications also should be regarded as this
The protection domain of invention.