CN207691311U - A kind of double electricity transmission line inspection barrier-surpassing robot - Google Patents
A kind of double electricity transmission line inspection barrier-surpassing robot Download PDFInfo
- Publication number
- CN207691311U CN207691311U CN201721423643.2U CN201721423643U CN207691311U CN 207691311 U CN207691311 U CN 207691311U CN 201721423643 U CN201721423643 U CN 201721423643U CN 207691311 U CN207691311 U CN 207691311U
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- walking mechanism
- transmission line
- power transmission
- installation site
- support arm
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
The utility model discloses a kind of double electricity transmission line inspection barrier-surpassing robots, it includes body, the body is by being arranged several walking mechanisms setting in its both sides on power transmission line, and the walking mechanism per side is arranged on same root power transmission line, and the walking mechanism includes support arm and traveling wheel；The support arm upper end is connect with body activities, and in support arm lower end, the traveling wheel, which is arranged on power transmission line, drives body to be moved along power transmission line extending direction for traveling wheel setting；The support arm can forward or backward be swung along power transmission line extending direction, and traveling wheel is made to lift and be detached from power transmission line；On power transmission line extending direction, the walking mechanism mutual dislocation of body both sides is arranged, and the walking mechanism of homonymy is arranged at equal intervals.The robot can cross the conductor spacer on power transmission line；During obstacle detouring, out of service, raising routing inspection efficiency is not had to；Obstacle detouring is simple.
Description
Technical field
The utility model is related to power transmission lines to protect field, refer in particular to a kind of double electricity transmission line inspection barrier-surpassing robot.
Background technology
In order to ensure the normal operation of power circuit, need that transmission line of electricity progress periodic maintenance is conducive to understand circuit
Operation conditions can also find the variation of the defect and local environmental conditions of circuit and equipment in time, be provided for line maintenance maintenance
Data.Current power transmission line inspection is mainly carried out by the way of artificial detection, but China's transmission line of electricity mileage is long, coverage area
Extensively, some circuits also cross over mountain area, great river, meadow and virgin forest etc., this just makes inspection labor intensity big and is difficult to protect
Cyclic in-position measuring is demonstrate,proved, and influences inspection quality, while altitude hot-line operation, the security presence hidden danger of patrol officer.
To solve the above-mentioned problems, inspection is carried out to circuit using robot；And conductor spacer is provided on existing power transmission line,
For disperseing two power transmission lines, and these conductor spacers then become the obstacle of Robot circuit operation.
Utility model content
The purpose of this utility model is that：In view of the above problems, a kind of double electricity transmission line inspection obstacle detouring machine is provided
People, the robot can cross the conductor spacer on power transmission line；During obstacle detouring, out of service, raising routing inspection efficiency is not had to；Obstacle detouring
Simply.
The technical solution adopted in the utility model is as follows：
A kind of double electricity transmission line inspection barrier-surpassing robot, it includes body, and the body is by being arranged in the several of its both sides
Walking mechanism is arranged on power transmission line, and the walking mechanism per side is arranged on same root power transmission line, and the walking mechanism includes
Support arm and traveling wheel；The support arm upper end is connect with body activities, and traveling wheel is arranged in support arm lower end, the traveling wheel
It is arranged on power transmission line and body is driven to be moved along power transmission line extending direction；The support arm can be along power transmission line extending direction forward
Or swing backward, so that traveling wheel is lifted and is detached from power transmission line；On power transmission line extending direction, the walking mechanism of body both sides is mutual
It shifts to install, the walking mechanism of homonymy is arranged at equal intervals.
Due to above structure, which encounters obstacle during forward movement（Conductor spacer）Afterwards, the traveling wheel of side
It first lifting and surmounts obstacles, then put down reset again, the traveling wheel of the other side lifts again to surmount obstacles, and then puts down reset again, and two
The traveling wheel of side staggeredly is lifted to put down and be surmounted obstacles；
Robot can continue to move ahead without shutting down, improve obstacle detouring efficiency during obstacle detouring.Traveling wheel is simple
It is lifted out power transmission line, is not contacted with obstacle, robot and barrier crash are avoided, during avoiding obstacle detouring, power transmission line shake carries
Stability during high obstacle detouring.The robot architecture of the utility model, it is simply, easy to operate.
The robot of the utility model after coordinating various sensors, can very easily examine the state of power transmission line
It surveys.
Further, on power transmission line extending direction, the distance of the two neighboring walking mechanism installation site of homonymy is equal to separately
The distance of the two neighboring walking mechanism installation site in side.
Further, each walking mechanism installation site is away from the left adjacent walking mechanism installation site of its offside and/or the right side
The distance of adjacent walking mechanism installation site is equal.
Further, distance of each walking mechanism installation site away from its adjacent walking mechanism installation site is equal.
Due to above structure, the distance between each adjacent walking mechanism installation site is equal, and can ensure that traveling wheel lifts
When, body keeps balance under the support of other walking mechanisms.
Further, support arm upper end is rotatably connected on by swinging axle on body, and swinging axle is connected with oscillating motor,
The oscillating motor drives support arm to swing forward or backward；Traveling wheel is arranged by drive shaft in support arm lower end, driving
Axis is connected with driving motor, and the driving motor drives traveling wheel rotation.
Further, walking mechanism there are two being respectively provided at left and right sides of the body；It is left front on power transmission line extending direction
Walking mechanism and installation site mutual dislocation of the right pre-walking mechanism on body；Left back walking mechanism exists with right rear walking mechanism
Installation site mutual dislocation on body, and each distance of the walking mechanism installation site away from its adjacent walking mechanism installation site
It is equal.
Further, left/right pre-walking mechanism installation site is located at the front of right/left pre-walking mechanism, walks after left/right
Mechanism installation site is located at the front of right/left rear walking mechanism.
Further, obstacle detecting sensor is provided on body, the obstacle detecting sensor is located at body both sides, position
In front of each walking mechanism, for detecting setting in power transmission line, the obstacle being located in front of each walking mechanism；The obstacle
Detection sensor is connected with the controller on body；Oscillating motor and traction drive electricity are also connected on the controller
Machine.
In conclusion by adopting the above-described technical solution, the utility model has the beneficial effects that：
The robot obstacle detouring of the utility model is simple, during obstacle detouring, does not have to shut down, improves obstacle detouring efficiency.Obstacle detouring mistake
Cheng Zhong, robot motion is simple, and larger vibrations will not be generated on power transmission line, robot is avoided to be fallen from power transmission line.This
The robot of utility model after coordinating various sensors, can very easily be detected the state of power transmission line.
Description of the drawings
Fig. 1 is the front view of the utility model；
Fig. 2 is the vertical view of the utility model；
Fig. 3 is the right view of the utility model.
Specific implementation mode
Below in conjunction with the accompanying drawings, the utility model is described in detail.
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.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.
Embodiment 1
A kind of double electricity transmission line inspection barrier-surpassing robot, it includes body 1, if the body 1 is by being arranged in its both sides
Dry walking mechanism is arranged on power transmission line, and the walking mechanism per side is arranged on same root power transmission line, the walking mechanism packet
Include support arm 3 and traveling wheel 4；3 upper end of the support arm is flexibly connected with body 1, and traveling wheel 4 is arranged in 3 lower end of support arm, institute
State the setting of traveling wheel 4 drives body 1 to be moved along power transmission line extending direction on power transmission line；The support arm 3 can be along power transmission line
Extending direction is swung forward or backward, and traveling wheel 4 is made to lift and be detached from power transmission line；On power transmission line extending direction, 1 both sides of body
The setting of walking mechanism mutual dislocation, the walking mechanism of homonymy is arranged at equal intervals.
3 upper end of support arm is rotatably connected on by swinging axle on body 1, and swinging axle is connected with oscillating motor 2, the pendulum
Dynamic motor 2 drives support arm 3 to swing forward or backward；Traveling wheel 4 is arranged by drive shaft in 3 lower end of support arm, drive shaft
It is connected with driving motor, the driving motor drives traveling wheel 4 to rotate.
On power transmission line extending direction, the distance of the two neighboring walking mechanism installation site of homonymy is equal to the other side adjacent two
The distance of a walking mechanism installation site.
Obstacle detecting sensor is provided on body 1, the obstacle detecting sensor is located at 1 both sides of body, is located at each
In front of walking mechanism, for detecting setting in power transmission line, the obstacle being located in front of each walking mechanism；The obstacle detection passes
Sensor is connected with the controller on body 1；Oscillating motor 2 and traction drive motor 5 are also connected on the controller.
The obstacle detecting sensor, oscillating motor 2, traction drive motor 5 are by the power supply power supply on body 1.
Embodiment 2
The embodiment is substantially the same with embodiment 1, the difference is that：Each walking mechanism installation site is right away from its
The distance of the left adjacent walking mechanism installation site in side and/or right adjacent walking mechanism installation site is equal.
Embodiment 3
The embodiment is substantially the same with embodiment 1, the difference is that：Each walking mechanism installation site is adjacent away from its
The distance of walking mechanism installation site is equal.
Embodiment 4
The embodiment is substantially the same with embodiment 1,2,3, the difference is that：1 left and right sides of the body is respectively provided with
There are two walking mechanisms；On power transmission line extending direction, left front walking mechanism 3-1 and right pre-walking mechanism 3-2 is on body 1
Installation site mutual dislocation；Left back walking mechanism 3-3 and installation site mutual dislocations of the right rear walking mechanism 3-4 on body 1,
And each distance of the walking mechanism installation site away from its adjacent walking mechanism installation site is equal, i.e., homonymy walking mechanism is installed
Positional distance is equal, and the adjacent walking mechanism installation site of heteropleural is equal, and adjacent walking mechanism installation site constitutes equilateral triangle.
The left/right pre-walking mechanism 3-2 installation sites are located at the front of right/left pre-walking mechanism 3-1, go after left/right
Walk the front that mechanism 3-4 installation sites are located at right/left rear walking mechanism 3-3.
In the present embodiment, left front walking mechanism 3-1 installation sites are located at the front of right pre-walking mechanism 3-2, left back walking
Mechanism 3-3 installation sites are located at the front of right rear walking mechanism 3-4.Obstacle detection sensing is both provided in front of each walking mechanism
Device.Each walking mechanism includes an oscillating motor 2 and a traction drive motor 5.
Since in the utility model, traveling wheel 4 is staggered, the number of walking mechanism can be saved in this way, if traveling wheel 4
It is not staggered, then during obstacle detouring, totally 3 pairs of walking mechanisms, pre-walking mechanism lift before, during and after at least needing, latter two pairs
Walking mechanism supports body 1 to move；And in the utility model, 4 walking mechanisms are at least needed, one is lifted, other three
A walking mechanism support body 1 moves.
In the present embodiment, the obstacle detouring process of the robot is as follows：
Controller controls traction drive motor 5 and body 1 is driven to move；
Obstacle detecting sensor in front of left front walking mechanism 3-1, which detects in front of left front walking mechanism 3-1, obstacle
When the present embodiment in obstacle be conductor spacer, controller controls the rotation of left front oscillating motor, drive left front support arm 3 forward or to
Swing angle a afterwards makes left front traveling wheel lift, and body 1 continues to move along, and left front traveling wheel is made to surmount obstacles；
Obstacle detecting sensor in front of right pre-walking mechanism 3-2, which detects in front of right pre-walking mechanism 3-2, obstacle
When, controller controls left front oscillating motor rotation, makes the posteriorly or anteriorly swing angle a of left front support arm 3, resets；Then it controls
Oscillating motor rotates before device control is right, drives the swing angle a forward or backward of right anterior branch brace 3, so that right front walking wheel is lifted, machine
Body 1 continues to move along, and right front walking wheel is made to surmount obstacles；
Obstacle detecting sensor in front of left back walking mechanism 3-3, which detects in front of left back walking mechanism 3-3, obstacle
When, oscillating motor rotates before controller control is right, makes the posteriorly or anteriorly swing angle a of right anterior branch brace 3, resets；Then it controls
Device controls left back oscillating motor rotation, drives the swing angle a forward or backward of left back support arm 3, so that left back traveling wheel is lifted, machine
Body 1 continues to move along, and left back traveling wheel is made to surmount obstacles；
Obstacle detecting sensor in front of right rear walking mechanism 3-4, which detects in front of right rear walking mechanism 3-4, obstacle
When, controller controls left back oscillating motor rotation, makes the posteriorly or anteriorly swing angle a of left back support arm 3, resets；Then it controls
Oscillating motor rotates after device control is right, drives the swing angle a forward or backward of right rear support arm 3, so that right rear walking wheel is lifted, machine
Body 1 continues to move along, and right rear walking wheel is made to surmount obstacles；
Then it repeats the above process.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
All any modification, equivalent and improvement etc., should be included in the utility model made by within the spirit and principle of utility model
Protection domain within.
Claims (8)
1. a kind of double electricity transmission line inspection barrier-surpassing robot, it is characterised in that：It includes body（1）, the body（1）Pass through setting
Several walking mechanisms in its both sides are arranged on power transmission line, and the walking mechanism per side is arranged on same root power transmission line, institute
It includes support arm to state walking mechanism（3）And traveling wheel（4）；The support arm（3）Upper end and body（1）Flexible connection, traveling wheel
（4）It is arranged in support arm（3）Lower end, the traveling wheel（4）Setting drives body on power transmission line（1）Along power transmission line extending direction
It is mobile；The support arm（3）It can forward or backward be swung along power transmission line extending direction, make traveling wheel（4）It lifts and is detached from defeated
Electric wire；On power transmission line extending direction, body（1）The walking mechanism mutual dislocation of both sides is arranged, between walking mechanism of homonymy etc.
Every setting.
2. double electricity transmission line inspection barrier-surpassing robot according to claim 1, it is characterised in that：In power transmission line extending direction
On, the distance of the two neighboring walking mechanism installation site of homonymy be equal to the two neighboring walking mechanism installation site in the other side away from
From.
3. double electricity transmission line inspection barrier-surpassing robot according to claim 1, it is characterised in that：Each walking mechanism is installed
Distance of the position away from the left adjacent walking mechanism installation site of its offside and/or right adjacent walking mechanism installation site is equal.
4. double electricity transmission line inspection barrier-surpassing robot according to claim 1, it is characterised in that：Each walking mechanism installation position
The distance away from its adjacent walking mechanism installation site is set to be equal.
5. double electricity transmission line inspection barrier-surpassing robot according to claim 1, it is characterised in that：Support arm（3）Upper end is logical
It crosses swinging axle and is rotatably connected on body（1）On, swinging axle and oscillating motor（2）It is connected, the oscillating motor（2）Drive support arm
（3）It swings forward or backward；Traveling wheel（4）It is arranged in support arm by drive shaft（3）Lower end, drive shaft and driving motor phase
Even, the driving motor drives traveling wheel（4）Rotation.
6. the double electricity transmission line inspection barrier-surpassing robot according to one of claim 1 to 5, it is characterised in that：The body（1）
The left and right sides is respectively provided with there are two walking mechanism；On power transmission line extending direction, left front walking mechanism（3-1）With vehicle with walking machine before the right side
Structure（3-2）In body（1）On installation site mutual dislocation；Left back walking mechanism（3-3）With right rear walking mechanism（3-4）In machine
Body（1）On installation site mutual dislocation, and each walking mechanism installation site away from its adjacent walking mechanism installation site away from
From being equal.
7. double electricity transmission line inspection barrier-surpassing robot according to claim 6, it is characterised in that：Left/right pre-walking mechanism（3-
2）Installation site is located at right/left pre-walking mechanism（3-1）Front, left/right rear walking mechanism（3-4）Installation site be located at it is right/
Left back walking mechanism（3-3）Front.
8. double electricity transmission line inspection barrier-surpassing robot according to claim 1 or claim 7, it is characterised in that：Body（1）On be provided with
Obstacle detecting sensor, the obstacle detecting sensor are located at body（1）Both sides are located in front of each walking mechanism, for examining
It surveys and is arranged on power transmission line, the obstacle being located in front of each walking mechanism；The obstacle detecting sensor be mounted on body（1）
On controller be connected；It is also connected with oscillating motor on the controller（2）With traction drive motor（5）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721423643.2U CN207691311U (en) | 2017-10-31 | 2017-10-31 | A kind of double electricity transmission line inspection barrier-surpassing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721423643.2U CN207691311U (en) | 2017-10-31 | 2017-10-31 | A kind of double electricity transmission line inspection barrier-surpassing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207691311U true CN207691311U (en) | 2018-08-03 |
Family
ID=62989360
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721423643.2U Expired - Fee Related CN207691311U (en) | 2017-10-31 | 2017-10-31 | A kind of double electricity transmission line inspection barrier-surpassing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207691311U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110086115A (en) * | 2019-04-19 | 2019-08-02 | 国家电网有限公司 | A kind of power grid transmission line inspection device of view-based access control model |
-
2017
- 2017-10-31 CN CN201721423643.2U patent/CN207691311U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110086115A (en) * | 2019-04-19 | 2019-08-02 | 国家电网有限公司 | A kind of power grid transmission line inspection device of view-based access control model |
| CN110086115B (en) * | 2019-04-19 | 2020-06-19 | 国家电网有限公司 | Power grid power transmission line inspection device based on vision |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180803 Termination date: 20181031 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |