CN208069857U - A kind of line climbing robot for detecting transmission line of electricity service condition - Google Patents
A kind of line climbing robot for detecting transmission line of electricity service condition Download PDFInfo
- Publication number
- CN208069857U CN208069857U CN201820172290.1U CN201820172290U CN208069857U CN 208069857 U CN208069857 U CN 208069857U CN 201820172290 U CN201820172290 U CN 201820172290U CN 208069857 U CN208069857 U CN 208069857U
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- reduction gearing
- arm
- main body
- transmission line
- service condition
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Abstract
The utility model provides a kind of line climbing robot for detecting transmission line of electricity service condition, including main body frame, main body fixed structure, rocking bar, hinge, rocking arm fixed structure, connect bolt, front and back rocking arm, brushless motor, generator shaft gear, first reduction gearing, second reduction gearing, third reduction gearing, 4th reduction gearing and U-type groove, the top end of front and back rocking arm bends inwards to form groove, brushless motor driving motor shaft gear rotates, the rotation of generator shaft gear passes sequentially through the first reduction gearing, second reduction gearing and third reduction gearing drive the rotation of the 4th reduction gearing, the rotation of 4th reduction gearing drives front arm and rear arm to be moved forward and backward by carrying out the rocking bar that height is connect with front arm and rear arm.The utility model substitutes artificial detection with robot, the problems such as efficiently solving that man efficiency is low, labor intensity is high, operating environment requirement is high and artificial detection dangerous property.
Description
Technical field
The utility model is related to robot fields, and in particular to the one kind that can voluntarily advance along the line is for detecting transmission line of electricity
The line climbing robot of service condition.
Background technology
With the development of economy and society, the electricity consumption of country is increasing, also have benefited from the weight of national high voltage power transmission technology
Quantum jump, more and more power grids are established, and at the same time also give the work that ordinary maintenance detection is carried out to transmission line of electricity
Personnel bring white elephant, artificial detection not only inefficiency, of high cost but also constituted to the life security of worker
It directly or potentially threatens, is unfavorable for the progress and development of national entirety.
Currently, be that testing staff climbs to by aerial ladder on transmission line of electricity to the principal mode of the detection of transmission line of electricity, a step
Step walks to another tower seat from a tower seat, to reach to the transmission line faultlocating purpose in section.Because electric power is to society
The special role that can develop, so in most cases wireline inspection can only charge progress, if testing staff's protection less than
Position will constitute life security serious threat, and the electromagnetic radiation of high-tension line also can be potential to the generation of the body of worker
Harmful effect.Distance is farther out between adjacent tower seat and circuit is higher from the ground, including natural environment it is complicated and changeable etc.
Interior uncontrollable factor can propose more requirements to testing staff and operating environment too much, this can not only reduce working efficiency and also can
The safety of staff is endangered, or even a regional development can be influenced.Therefore, it is necessary to design a kind of adaptable, cost
Line machine is climbed in relatively low, intelligent and high-efficiency the progress transmission line of electricity service condition detection that the mankind can be replaced to be engaged in more hazardous activity
Device people.
Utility model content
For the demand to transmission line faultlocating, and mainly by manual maintenance detection present situation, the utility model proposes
A kind of line climbing robot for detecting transmission line of electricity service condition substitutes artificial detection with robot, effectively solves artificial
The problems such as inefficiency, labor intensity are high, operating environment requires high and artificial detection dangerous property.
The utility model to achieve the goals above, the technical solution adopted is that：
It is a kind of for detecting the line climbing robot of transmission line of electricity service condition, including main body frame, main body fixed structure, shake
Bar, hinge, rocking arm fixed structure, connection bolt, front arm and rear arm, the main body frame is interior to be equipped with brushless motor, motor
Shaft gear, the first reduction gearing, the second reduction gearing, third reduction gearing and the 4th reduction gearing, first reduction gearing,
Second reduction gearing and the third reduction gearing include radius small one and large one two gears and two gears it is solid
Be scheduled on same axis, the generator shaft gear is engaged with the gear wheel of the first deceleration reduction gearing, the first reduction gearing it is small
Gear and the gear wheel of the engagement of the gear wheel of the second reduction gearing, the pinion gear of the second reduction gearing and third reduction gearing are nibbled
It closes, the pinion gear of third reduction gearing and the 4th reduction gearing engagement, is extended through in the middle part of the 4th reduction gearing described
Rocking bar, rocking bar extend through the main body fixed structure and main body frame, and the ends of the left and right ends of rocking bar passes sequentially through described
Hinge and the connection bolt carry out height with the front arm and the rear arm and connect, and are set below front arm and rear arm
There are U-type groove, the rocking arm fixed structure that the lower section of front arm and rear arm is connected with main body frame by the U-type groove, shakes
The top end of arm bends inwards to form groove；
The brushless motor drives the generator shaft gear rotation, the rotation of generator shaft gear to pass sequentially through described first and subtract
Fast gear, second reduction gearing and the third reduction gearing drive the 4th reduction gearing rotation, the 4th reducing gear
Before and after the rotation of wheel drives front arm and rear arm to carry out by the rocking bar being connect with front arm and rear arm progress height
It is mobile.Gear radius difference can reduce the rotating speed of the output of generator shaft gear, to enable front and back rocking arm with one more
The speed of safety and steady keeps advancing, and a pair of of rocking arm swing and two-arm are finally driven under the rotation of the 4th reduction gearing
Can staggeredly it advance, being intermeshed between gear can ensure that the minimal consumption of energy transmission improves capacity usage ratio.
Preferably, the top of the front arm and rear arm is double-layer structure, is set between two layers of the double-layer structure
There is holder that it is mutually connected, to ensure the overall structure intensity of front and back rocking arm.
Preferably, the bottom end of the main body frame, which is equipped with, can carry out the accessory of counterweight, accessory can according to actual conditions into
Row counterweight improves stability when its work for reducing the center of gravity of entire robot.
Preferably, the material selection rigid plastics of the front arm and rear arm has good insulating properties so that work
When electric current robot will not be impacted and be injured.
Preferably, the main body frame, main body fixed structure, generator shaft gear, the first reduction gearing, the second reducing gear
Wheel, third reduction gearing, the 4th reduction gearing, rocking bar, hinge, connection bolt and the material of rocking arm fixed structure select hard
Plastics maximize the insulating properties for ensureing robot, and prevent the electromagnetic induction of transmission line of electricity to the influence of robot.
Preferably, further include monitoring device and hand held image reception device, the monitoring device includes one with bat
It takes the photograph and the image taken is converted into being sent in real time after electric signal described by the camera of wireless transmission function, the camera
Hand held image reception device.
Preferably, the monitoring device is fixed on the main body frame, the angle of the camera in monitoring device
It tilts and can be rotated being formed in certain angular range with horizontal direction upwards so that can be adjusted at any time according to actual needs
Shooting angle, it is ensured that with definite angle shot to transmission line of electricity.
Preferably, the hand held image reception device includes hand held image reception device switch, antenna, picture signal
Converter, 51 microcontrollers, power supply unit and liquid crystal display, open hand held image reception device switch, and hand held image receives
Each component of device is powered, and antenna captures the electric signal for receiving the camera conversion and passes it to picture signal conversion
Device, the electric signal of reception is processed into picture signal by image signal converter in real time, and is sent under the control of 51 microcontrollers
Liquid crystal display is shown that testing staff can be directly observed eminence by observing the image that liquid crystal display is fed back
The service condition of transmission line of electricity.
By using above-mentioned technical proposal, the advantageous effects of the utility model are：
(1) gear radius difference can reduce the rotating speed of the output of generator shaft gear, to enable front and back rocking arm with one
The speed of a more safety and steady keeps advancing, and a pair of of rocking arm swing is finally driven under the rotation of the 4th reduction gearing simultaneously
And two-arm can staggeredly advance, being intermeshed between gear can ensure that the minimal consumption of energy transmission improves capacity usage ratio；
(2) top of front arm and rear arm is all made of double-layer structure, to ensure the overall structure intensity of front and back rocking arm；(3) machine
The agent structure of people mainly uses rigid plastics material, has good insulating properties so that electric current will not be to robot when work
It impacts and injures, and the electromagnetic induction of transmission line of electricity can be prevented to the influence of robot, both can be suitably used for common electricity
The detection of net can be used for the detection to high-voltage fence；(4) bottom end of main body frame is equipped with the accessory that can carry out counterweight so that
Counterweight can be carried out to accessory according to actual conditions, effectively reduce the center of gravity of entire robot, improve stability when its work；
(5) camera can adjust shooting angle at any time according to actual needs, it can be ensured that with definite angle shot to transmission line of electricity；
(6) line climbing robot overall structure is light and handy, and flexibility is strong, manipulates simply, and practical purpose is strong, high degree of automation, and work people
Member can check the service condition of the transmission line of electricity of eminence on ground at station, so as to determine abort situation, reduce thing
Therefore risk and improve operating efficiency.
Description of the drawings
Fig. 1 is the structural schematic diagram of the line climbing robot for detecting transmission line of electricity service condition.
Fig. 2 is the structural schematic diagram of hand held image reception device.
Wherein, 1- main body frames, 2- main body fixed structures, 3- rocking bars, 4- hinges, 5- connection bolts, 6- rocking arm fixed knots
Structure, 7- rocking arms (front arm or rear arm), 8- grooves, 9- holders, 10- brushless motors, 11- generator shaft gears, 12- first slow down
Gear, the second reduction gearing of 13-, 14- third reduction gearing, the 4th reduction gearing of 15-, 16- cameras, 17- accessories, 18- drive
Dynamic device switch, 19- hand held image reception devices, 20- antennas, 21- image signal converters, 22-51 microcontrollers, 23- electricity
Source portion, 24- liquid crystal displays, 25- hand held image reception devices switch.
Specific implementation mode
The utility model is specifically described below in conjunction with the accompanying drawings：
A kind of line climbing robot for detecting transmission line of electricity service condition combined with Figure 1 and Figure 2, including main body frame 1,
Main body fixed structure 2, rocking bar 3, hinge 4, rocking arm fixed structure 6, connection bolt 5, front arm and rear arm, on main body frame 1
It is provided with driving device switch 18, brushless motor 10, generator shaft gear 11, the first reduction gearing 12, the is equipped in main body frame 1
Two reduction gearing 13, third reduction gearing 14 and the 4th reduction gearing 15, the first reduction gearing 12, the second reduction gearing 13 and
Three reduction gearing 14 include radius small one and large one two gears and two gears be fixed on same axis, motor shaft tooth
Wheel 11 is engaged with the gear wheel of the first deceleration reduction gearing 12, the pinion gear of the first reduction gearing 12 and the second reduction gearing 13
The gear wheel engagement of gear wheel engagement, the pinion gear of the second reduction gearing 13 and third reduction gearing 14, third reduction gearing 14
Pinion gear and the engagement of the 4th reduction gearing 15, the middle part of the 4th reduction gearing 15 extends through rocking bar 3, and rocking bar 3 extends through
The end of main body fixed structure 2 and main body frame 1, the left and right ends of rocking bar 3 passes sequentially through hinge 4 and connection bolt 5 and before shakes
Arm carries out height with rear arm and connects, and the lower section of front arm and rear arm is equipped with U-type groove, and rocking arm fixed structure 6 will by U-type groove
The lower section of front arm and rear arm is connected with main body frame 1, ensures that it can freely activity, rocking arm 7 be (preceding to shake in a certain range
Arm and rear arm) top end bend inwards to form groove 8.The top of front arm and rear arm is double-layer structure, double-deck
It being equipped with holder 9 between two layers of structure it is mutually connected, the bottom end of main body frame 1 is equipped with the accessory 17 that can carry out counterweight,
Rocking arm 7 (front arm and rear arm), main body frame 1, main body fixed structure 2, generator shaft gear 11, the first reduction gearing 12,
Two reduction gearing 13, third reduction gearing 14, the 4th reduction gearing 15, rocking bar 3, hinge 4, connection bolt 5 and rocking arm fixed knot
The material of structure 6 selects rigid plastics.
Line climbing robot for detecting transmission line of electricity service condition further includes that monitoring device and hand held image receive dress
19 are set, monitoring device includes a camera 16 with shooting and wireless transmission function, the image that camera 16 will take
It is converted into being sent to hand held image reception device 19 after electric signal in real time.Monitoring device is fixed on main body frame 1, monitoring dress
The angle for the camera 16 set is tilted and can be rotated being formed in certain angular range with horizontal direction upwards.Hand-held figure
As reception device 19 include hand held image reception device switch 25, antenna 20, image signal converter 21,51 microcontrollers 22,
Power supply unit 23 and liquid crystal display 24 open hand held image reception device switch 25,19 each portion of hand held image reception device
Part is powered, and antenna 20 captures the electric signal for receiving the conversion of camera 16 and passes it to image signal converter 21, image letter
The electric signal of reception is processed into picture signal by number converter 21 in real time, and is sent to liquid crystal under the control of 51 microcontrollers 22
Display screen 24 is shown.
10 driving motor shaft gear 11 of brushless motor rotates, and the rotation of generator shaft gear 11 passes sequentially through the first reduction gearing
12, the second reduction gearing 13 and third reduction gearing 14 drive the rotation of the 4th reduction gearing 15, the rotation of the 4th reduction gearing 15
Front arm and rear arm is driven to be moved forward and backward by carrying out the rocking bar 3 that height is connect with front arm and rear arm.
When work, testing staff puts line climbing robot on pinnacled transmission line of electricity, opens 18 He of driving device switch
Hand held image reception device switch 25 can be observed directly by hand held image reception device 19 after confirming its normal work
The forward travel state of line climbing robot and the service condition of transmission line of electricity, easy, efficient, safety.
Certainly, the above description is not intended to limit the present invention, and the utility model is also not limited to the example above,
The variations, modifications, additions or substitutions that those skilled in the art are made in the essential scope of the utility model, are also answered
Belong to the scope of protection of the utility model.
Claims (8)
1. a kind of line climbing robot for detecting transmission line of electricity service condition, which is characterized in that solid including main body frame, main body
Determine structure, rocking bar, hinge, rocking arm fixed structure, connection bolt, front arm and rear arm, is equipped in the main body frame brushless
Motor, generator shaft gear, the first reduction gearing, the second reduction gearing, third reduction gearing and the 4th reduction gearing, described first
Reduction gearing, second reduction gearing and the third reduction gearing include radius small one and large one two gears and this two
A gear is fixed on same axis, and the generator shaft gear is engaged with the gear wheel of the first deceleration reduction gearing, and first slows down
The engagement of the gear wheel of the pinion gear of gear and the second reduction gearing, the pinion gear of the second reduction gearing and third reduction gearing it is big
Gear engages, and the pinion gear of third reduction gearing and the 4th reduction gearing engagement, the middle part of the 4th reduction gearing is through logical
The rocking bar is crossed, rocking bar extends through the main body fixed structure and main body frame, and the end of the left and right ends of rocking bar leads to successively
It crosses the hinge and the connection bolt and the front arm and the rear arm carries out height and connect, front arm and rear arm
Lower section is equipped with U-type groove, and the rocking arm fixed structure is by the U-type groove by the lower section of front arm and rear arm and main body frame phase
Even, the top end of rocking arm bends inwards to form groove；
The brushless motor drives the generator shaft gear rotation, the rotation of generator shaft gear to pass sequentially through first reducing gear
Wheel, second reduction gearing and the third reduction gearing drive the 4th reduction gearing rotation, the 4th reduction gearing
Rotation drives front arm and rear arm to be moved forward and backward by carrying out the rocking bar that height is connect with front arm and rear arm.
2. a kind of line climbing robot for detecting transmission line of electricity service condition according to claim 1, which is characterized in that
The bottom end of the main body frame is equipped with the accessory that can carry out counterweight.
3. a kind of line climbing robot for detecting transmission line of electricity service condition according to claim 1, which is characterized in that
The top of the front arm and rear arm is double-layer structure, holder is equipped between two layers of the double-layer structure it is mutually solid
Even.
4. a kind of line climbing robot for detecting transmission line of electricity service condition according to claim 3, which is characterized in that
The material selection rigid plastics of the front arm and rear arm.
5. a kind of line climbing robot for detecting transmission line of electricity service condition according to claim 4, which is characterized in that
The main body frame, main body fixed structure, generator shaft gear, the first reduction gearing, the second reduction gearing, third reduction gearing,
4th reduction gearing, rocking bar, hinge, connection bolt and the material of rocking arm fixed structure select rigid plastics.
6. a kind of line climbing robot for detecting transmission line of electricity service condition according to claim 1, which is characterized in that
Further include monitoring device and hand held image reception device, the monitoring device includes one with shooting and wireless transmission function
Camera, the image taken is converted into being sent to the hand held image in real time after electric signal and receives dress by the camera
It sets.
7. a kind of line climbing robot for detecting transmission line of electricity service condition according to claim 6, which is characterized in that
The monitoring device is fixed on the main body frame, and the angle of the camera in monitoring device tilts and can be upwards
It is formed in certain angular range and is rotated with horizontal direction.
8. a kind of line climbing robot for detecting transmission line of electricity service condition described according to claim 6 or 7, feature exist
In the hand held image reception device includes hand held image reception device switch, antenna, image signal converter, 51 lists
The mechanical, electrical source portion of piece and liquid crystal display, open hand held image reception device switch, and each component of hand held image reception device is logical
Electricity, antenna capture the electric signal for receiving the camera conversion and pass it to image signal converter, picture signal
The electric signal of reception is processed into picture signal by converter in real time, and is sent to liquid crystal display under the control of 51 microcontrollers and is given
With display.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820172290.1U CN208069857U (en) | 2018-01-31 | 2018-01-31 | A kind of line climbing robot for detecting transmission line of electricity service condition |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820172290.1U CN208069857U (en) | 2018-01-31 | 2018-01-31 | A kind of line climbing robot for detecting transmission line of electricity service condition |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208069857U true CN208069857U (en) | 2018-11-09 |
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ID=64036745
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820172290.1U Expired - Fee Related CN208069857U (en) | 2018-01-31 | 2018-01-31 | A kind of line climbing robot for detecting transmission line of electricity service condition |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208069857U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112517453A (en) * | 2020-11-16 | 2021-03-19 | 周包勇 | Pole-climbing cleaning device for flagpole |
| IT202000009271A1 (en) * | 2020-04-28 | 2021-10-28 | Giuseppe Carbone | Device for automated monitoring of power lines |
-
2018
- 2018-01-31 CN CN201820172290.1U patent/CN208069857U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| IT202000009271A1 (en) * | 2020-04-28 | 2021-10-28 | Giuseppe Carbone | Device for automated monitoring of power lines |
| CN112517453A (en) * | 2020-11-16 | 2021-03-19 | 周包勇 | Pole-climbing cleaning device for flagpole |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181109 Termination date: 20190131 |