CN208337023U - Crusing robot - Google Patents
Crusing robot Download PDFInfo
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- CN208337023U CN208337023U CN201820885256.9U CN201820885256U CN208337023U CN 208337023 U CN208337023 U CN 208337023U CN 201820885256 U CN201820885256 U CN 201820885256U CN 208337023 U CN208337023 U CN 208337023U
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- mainframe box
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Abstract
The utility model relates to a kind of crusing robots, comprising: mainframe box；Flight structure is installed on mainframe box, and flight structure includes flight bracket and rotor, and flight bracket is connected to mainframe box, and rotor is installed on flight bracket；Walking structure is installed on mainframe box, and walking structure includes mobile holder and walking support wheel, and mobile holder is connected to mainframe box, and walking support wheel is installed on mobile holder；Oblique photograph structure, including pick-up head mounting structure and multiple cameras, pick-up head mounting structure are installed on mainframe box, and multiple cameras are installed on pick-up head mounting structure, and the optical axis of multiple cameras is not parallel to each other.Above-mentioned crusing robot is moved by walking structure along transmission line of electricity after flying using flight structure to transmission line of electricity, constantly obtains the environment around transmission line of electricity by oblique photograph structure simultaneously in moving process.Moreover, because oblique photograph structure includes the different camera of angle of multiple optical axises, thus can multi-angle obtain environmental information.
Description
Technical field
The utility model relates to ultra-high-tension power transmission line detection device fields, more particularly to a kind of crusing robot.
Background technique
Ultra-high-tension power transmission line is the artery of electric system, and the development for being directly related to national economy and the people are just
Often life, therefore it is safely operated the attention increasingly by departments at different levels.Overhead transmission line will not only bear intrinsic machinery
The internal pressure of load and electric load, and also suffer the various external aggressions of natural environment.With the day product moon of time
It is tired, overhead transmission line certainly will be made various problems, such as wire strand breakage, lightning-arrest thread breakage, shaft tower inclination, insulator flashing, gold occur
Tool falls off, transmission line icing etc..Therefore, it in order to guarantee transmission line safety stable operation, needs to carry out carefully transmission line of electricity
Inspection is to prevent fortuitous event.
It is and current, it usually needs the robot for being used for wireline inspection is served to the conducting wire or ground wire of inspection route by manpower
On, upper and lower tower is very inconvenient, and not only patrol officer's physical demands is big, but also low efficiency, poor reliability, especially in charging operation
Route, the personal safety of operating personnel will receive very big threat.With the development of unmanned plane industry, carried out using unmanned plane defeated
The inspection of electric line is possibly realized, and unmanned plane, which can fly, carries out inspection to transmission line of electricity near transmission line of electricity, but due to common
Unmanned plane due to volume and structure limitation and existing cruising ability it is low, it is small at figure range, load it is small the disadvantages of, be also difficult to
The inspection of transmission line of electricity applied to environment complexity works.
Utility model content
Based on this, it is necessary to which aiming at the problem that common unmanned plane is dfficult to apply to the inspection of transmission line of electricity, providing one kind can
Crusing robot applied to polling transmission line.
A kind of crusing robot, the crusing robot include:
Mainframe box；
Flight structure, is installed on the mainframe box, and the flight structure includes flight bracket and rotor, the flight bracket
It is connected to the mainframe box, the rotor is rotatably installed on the flight bracket；
Walking structure, is installed on the mainframe box, and the walking structure includes mobile holder and walking support wheel, the row
It walks bracket and is connected to the mainframe box, the walking support wheel is rotatably installed on the mobile holder；And
Oblique photograph structure, including pick-up head mounting structure and multiple cameras, the pick-up head mounting structure are detachable
Ground is installed on the mainframe box, and multiple cameras are removably installed on the pick-up head mounting structure, and multiple institutes
The optical axis for stating camera is not parallel to each other.
Above-mentioned crusing robot can benefit due to being provided with flight structure, walking structure and oblique photograph structure simultaneously
It is moved by walking structure along transmission line of electricity after being flown with flight structure to transmission line of electricity, simultaneously by inclining in moving process
Tiltedly photography structure constantly obtains the environment around transmission line of electricity.Moreover, because oblique photograph structure includes the angle of multiple optical axises
Different cameras, thus can multi-angle obtain environmental information, so as to using the environmental information to surrounding's ring of transmission line of electricity
Three-dimensional modeling work is rapidly completed in border, and the survey of the environment attributes such as height, area, volume, the gradient, angle is then carried out according to model
Amount helps designer intuitively to know the ambient enviroment of transmission line of electricity, efficiently completes the Optimization Work of transmission line of electricity.
The oblique photograph structure includes the first camera and multiple circular main camera shootings in one of the embodiments,
The second camera of head surrounding, and the optical axis of relatively described first camera of the optical axis of multiple second cameras is in a clamp
Angle.
The oblique photograph structure includes first camera and four uniform rings around institute in one of the embodiments,
State the second camera of the first camera surrounding.
The pick-up head mounting structure includes multiple fixation brackets in hollow and annular in one of the embodiments, often
A camera is removably arranged in respectively in the fixed bracket.
The pick-up head mounting structure further includes connecting bracket and Buffer Unit, the company in one of the embodiments,
It connects bracket both ends and is separately connected the Buffer Unit and the fixed bracket, the connecting bracket is connected by the Buffer Unit
The mainframe box.
The pick-up head mounting structure, which is spaced apart, in one of the embodiments, is equipped with multiple camera mounting grooves, each
The camera, which respectively corresponds, is embedded at the camera mounting groove.
The mobile holder includes cross bar and vertical bar in one of the embodiments, and described vertical bar one end is connected to described
Mainframe box, the other end are connected to the cross bar, and the traveling wheel is set on the cross bar, and the central axis of the traveling wheel
Extending direction is vertical with the installation extending direction of vertical bar.
The crusing robot includes multiple flight brackets in one of the embodiments, multiple flight brackets one
End is fixed in the side wall of the mainframe box, and the other end extends to far from the mainframe box direction, and the rotor is rotatably mounted
In the flight bracket far from described mainframe box one end.
The crusing robot further includes undercarriage in one of the embodiments, and the undercarriage is installed on the master
Cabinet.
The crusing robot further includes control structure in one of the embodiments, and the control structure is the master
In cabinet, the control structure and the flight structure, walking structure and oblique photograph structure communication connection are to control
State the working condition of flight structure, walking structure and the oblique photograph structure.
Detailed description of the invention
Fig. 1 is the schematic diagram of the crusing robot of an embodiment.
Specific embodiment
The utility model is more fully retouched below with reference to relevant drawings for the ease of understanding the utility model,
It states.The preferred embodiment of the utility model is given in attached drawing.But the utility model can come in many different forms in fact
It is existing, however it is not limited to embodiment described herein.On the contrary, purpose of providing these embodiments is makes public affairs to the utility model
The understanding for opening content is more thorough and comprehensive.
It should be noted that it can directly on the other element when element is referred to as " being fixed on " another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to
To another element or it may be simultaneously present centering elements.Term as used herein " vertical ", " horizontal ", " left side ",
" right side " and similar statement are for illustrative purposes only.
Unless otherwise defined, all technical and scientific terms used herein are led with the technology for belonging to the utility model
The normally understood meaning of the technical staff in domain is identical.Terminology used in the description of the utility model herein only be
The purpose of description specific embodiment, it is not intended that in limitation the utility model.Term " and or " used herein includes
Any and all combinations of one or more related listed items.
As shown in Figure 1, a kind of crusing robot 100 of this better embodiment, for carrying out inspection to transmission line of electricity, with
The case where obtaining transmission line of electricity and ambient enviroment.The crusing robot 100 includes mainframe box 20 and is respectively arranged in mainframe box 20
Flight structure 40, walking structure 60 and oblique photograph structure 80.
Wherein, flight structure 40 includes flight bracket 42 and rotor 44, and flight bracket 42 is connected to mainframe box 20, rotor 44
Flight bracket 42 is rotatably installed on to make the crusing robot 100 have the function of flight, so as to fly to power transmission line
Around road and accurately fall on the transmission line.Walking structure 60 includes mobile holder 62 and walking support wheel 64, mobile holder 62
It is connected to mainframe box 20, walking support wheel 64 is rotatably installed on mobile holder 62, and walking support wheel 64 can be in power transmission line
Road walking is so that crusing robot 100 is moved along transmission line of electricity.Oblique photograph structure 80 include pick-up head mounting structure 82 and
Multiple cameras, pick-up head mounting structure 82 are removably installed in mainframe box 20, and multiple cameras, which are removably installed in, to be taken the photograph
On picture head mounting structure 82, and the optical axis of multiple cameras is not parallel to each other, so as to during moving along transmission line of electricity
Realize the real-time acquisition to transmission line of electricity ambient enviroment.
Above-mentioned crusing robot 100, due to being provided with flight structure 40, walking structure 60 and oblique photograph structure simultaneously
80, therefore moved by walking structure 60 along transmission line of electricity using rear in the flight to transmission line of electricity of flight structure 40, in movement
Constantly obtain the environment around transmission line of electricity by oblique photograph structure 80 simultaneously in the process.Moreover, because oblique photograph structure
80 include the different camera of angles of multiple optical axises, thus can multi-angle obtain environmental information, so as to be believed using the environment
Three-dimensional modeling work is rapidly completed to the ambient enviroment of transmission line of electricity in breath, then carries out height, area, volume, slope according to model
The measurement of the environment attributes such as degree, angle helps designer intuitively to know the ambient enviroment of transmission line of electricity, efficiently completes defeated
The Optimization Work of electric line.
Please continue to refer to Fig. 1, oblique photograph structure 80 includes the first camera 84 and multiple circular main camera surroundings
Second camera 86, and the optical axis of multiple second cameras 86 is in a certain angle with respect to the optical axis of the first camera 84, thus from
Different directions are shot, and the three-dimensional modeling work of transmission line of electricity ambient enviroment is completed to obtain the environmental information of different angle
Make, and is much larger than the coverage of a camera.It is appreciated that camera can be for focal length is shorter, the biggish wide-angle lens in visual angle
Head, can also be for focal length is longer, the lesser telephoto lens in visual angle is to obtain more detailed environment to obtain more environmental informations
Information can also be focal length and visual angle between the standard lens etc. between the above two.It can connect, the specific works parameter of camera
It is unlimited, it can be set as needed.
Specifically in the present embodiment, oblique photograph structure 80 includes first camera 84 and four uniform rings around the
The second camera 86 of one camera, 84 surrounding, and the company of the center of gravity of adjacent second camera 86 and the center of gravity of the first camera 84
Angle between line is substantially in 90 °, and two second cameras 86 being spaced apart from each other are oppositely arranged.That is, working as the survey monitor
When device people 100 walks along transmission line of electricity, the underface of the optical axis alignment crusing robot 100 of the first camera 84, wherein relatively
The extending direction of the optical axis alignment transmission line of electricity for two second cameras 86 being arranged (namely walking by crusing robot 100
Front and rear in the process), the optical axis of other two second camera 86 is directed at transmission line of electricity two sides (namely inspection machine
The left side and right side of people 100 in the process of walking).It is appreciated that the quantity and setting angle of camera are without being limited thereto, it can basis
Difference needs to be arranged.
Further, pick-up head mounting structure 82 includes multiple fixation brackets 822 in hollow and annular, fixed bracket 822
Inner sidewall and the shape of lateral wall of camera match, each camera is removably arranged in a fixed bracket respectively
In 822, the inner sidewall of fixed bracket 822 and the outer wall of camera are in close contact.Specifically in this embodiment, one of fixed
Bracket 822 is installed on the underface of mainframe box 20, and the central axis weight of the central axis of the fixation bracket 822 and mainframe box 20
It closes, to make the optical axis for the first camera 84 for being installed on the fixation bracket 822 towards the underface of mainframe box 20.It is other multiple
Fixed bracket 822 is fixed in 822 outer rim of fixation bracket immediately below mainframe box 20, and is located at the fixation bracket 822 of outer rim
It is located relatively at the fixation bracket 822 immediately below mainframe box 20 to be obliquely installed, to make to be installed on multiple the of the fixation bracket 822
The optical axis of two cameras 86 is mutually inclined to form different shooting angle.
In another embodiment, pick-up head mounting structure 82, which is spaced apart, is equipped with multiple camera mounting grooves, each camera
It respectively corresponds and is embedded at a camera mounting groove, and one of camera mounting groove is by remaining camera mounting groove spacer ring
Around.In this way, the first camera 84 is embedded in the camera mounting groove at middle part, second camera 86 is embedded at circular respectively
In the camera mounting groove of first camera, 84 place camera mounting groove, thus around the first camera 84.It is appreciated that taking the photograph
As the specific configuration of head mounting structure 82 is without being limited thereto, can be arranged according to actual needs.
In one embodiment, pick-up head mounting structure 82 further includes connecting bracket 824 and Buffer Unit 826, connecting bracket
824 both ends are separately connected Buffer Unit 826 and fixed bracket 822, and connecting bracket 824 connects mainframe box by Buffer Unit 826
20.In this way, shake of the camera during the work time because of crusing robot 100 can be avoided by the buffer function of Buffer Unit 826
It moves and influences shooting effect.Specifically, Buffer Unit 826 include two buffering connectors and be set to two buffering connectors it
Between multiple resilient snubbers, connecting bracket 824 by buffer connector be connected to mainframe box 20, resilient snubber is by with bullet
Property material (such as rubber) be made and there is certain elasticity, to reach damping effect.
Mobile holder 62 includes cross bar 622 and two vertical bars 624, and two vertical bars 624 are arranged in parallel and 624 one end of vertical bar connects
It is connected to mainframe box 20, the other end is connected to the both ends of cross bar 622.Two walking support wheels 64 are set to the length direction of cross bar 622
On both ends, and walk support wheel 64 central axis extending direction with install the extending direction of vertical bar 624 it is vertical.In this way,
The crusing robot 100 is moved by the rolling of walking support wheel 64 on the transmission line along transmission line of electricity.It is appreciated that row
The quantity for walking the structure of bracket 62 and support wheel 64 of walking is without being limited thereto, can be set as needed.
Crusing robot 100 includes multiple flight brackets 42, and multiple 42 one end of flight bracket are fixed in the side of mainframe box 20
Wall, the other end extend to far from 20 direction of mainframe box, and rotor 44 is rotatably installed on flight bracket 42 far from mainframe box 20 1
End.Specifically in one embodiment, flight bracket 42 is four, and four flight brackets 42 surround the surrounding for being fixed in mainframe box 20,
44 relative flight bracket 42 of rotor quickly rotates and crusing robot 100 is driven to fly.It is appreciated that the quantity of flight bracket 42
And installation site is unlimited, can need to be arranged according to different.
Further, crusing robot 100 further includes undercarriage (not shown), and undercarriage is installed on mainframe box 20 with to falling
Mainframe box 20 on the ground is played a supporting role.
Further, crusing robot 100 further includes control structure, and control structure is in mainframe box 20.Wherein, control knot
Structure and flight structure 40, walking structure 60 and oblique photograph structure 80 are communicated to connect respectively to control flight structure 40, walking is tied
The working condition of structure 60 and oblique photograph structure 80.In this way, flight structure 40, walking structure 60, oblique photograph structure 80 are being controlled
It cooperates under the control of structure processed, completes the tasks such as flight, the line of fall and the acquisition image of crusing robot 100.
Above-mentioned crusing robot 100 is fallen on the transmission line after can flying to transmission line of electricity, and along transmission line of electricity row
It walks and inspection is carried out to transmission line of electricity.In the flight of crusing robot 100 and walking process, oblique photograph structure 80 can carry out more
The environment information acquisition of angle, and then intuitive threedimensional model is obtained, it to complete comprehensive inspection to transmission line of electricity, and is excellent
Change Transmission Line Design to bring great convenience.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
Above-described embodiments merely represent several embodiments of the utility model, the description thereof is more specific and detailed,
But it cannot be understood as the limitations to utility model patent range.It should be pointed out that for the common skill of this field
For art personnel, without departing from the concept of the premise utility, various modifications and improvements can be made, these are belonged to
The protection scope of the utility model.Therefore, the scope of protection shall be subject to the appended claims for the utility model patent.
Claims (10)
1. a kind of crusing robot, which is characterized in that the crusing robot includes:
Mainframe box；
Flight structure, is installed on the mainframe box, and the flight structure includes flight bracket and rotor, the flight bracket connection
In the mainframe box, the rotor is rotatably installed on the flight bracket；
Walking structure, is installed on the mainframe box, and the walking structure includes mobile holder and walking support wheel, the walking branch
Frame is connected to the mainframe box, and the walking support wheel is rotatably installed on the mobile holder；And
Oblique photograph structure, including pick-up head mounting structure and multiple cameras, the pick-up head mounting structure are removably pacified
Loaded on the mainframe box, multiple cameras are removably installed on the pick-up head mounting structure, and multiple described are taken the photograph
As the optical axis of head is not parallel to each other.
2. crusing robot according to claim 1, which is characterized in that the oblique photograph structure includes the first camera
And multiple second cameras around the first camera surroundings, and the optical axis of multiple second cameras relatively described the
The optical axis of one camera is in a certain angle.
3. crusing robot according to claim 2, which is characterized in that the oblique photograph structure includes one first and takes the photograph
As head and four uniform rings are around the second camera of the first camera surrounding.
4. crusing robot according to claim 1, which is characterized in that the pick-up head mounting structure, which includes multiple, is in
Empty cricoid fixed bracket, each camera are removably arranged in respectively in the fixed bracket.
5. crusing robot according to claim 4, which is characterized in that the pick-up head mounting structure further includes connection branch
Frame and Buffer Unit, the connecting bracket both ends are separately connected the Buffer Unit and the fixed bracket, the connecting bracket
The mainframe box is connected by the Buffer Unit.
6. crusing robot according to claim 1, which is characterized in that the pick-up head mounting structure is spaced apart equipped with more
A camera mounting groove, each camera, which respectively corresponds, is embedded at the camera mounting groove.
7. crusing robot according to claim 1, which is characterized in that the mobile holder includes cross bar and vertical bar, institute
It states vertical bar one end and is connected to the mainframe box, the other end is connected to the cross bar, and the walking support wheel is set on the cross bar,
And the extending direction of the central axis of the walking support wheel is vertical with the extending direction of the vertical bar.
8. crusing robot according to claim 1, which is characterized in that the crusing robot includes multiple flight branch
Frame, multiple flight bracket one end are fixed in the side wall of the mainframe box, and the other end extends to far from the mainframe box direction,
The rotor is rotatably installed on the flight bracket far from described mainframe box one end.
9. crusing robot according to claim 1, which is characterized in that the crusing robot further includes undercarriage, institute
It states undercarriage and is installed on the mainframe box.
10. crusing robot according to claim 1, which is characterized in that the crusing robot further includes control structure,
The control structure is the control structure and the flight structure, walking structure and the oblique photograph in the mainframe box
Structure is communicated to connect to control the working condition of the flight structure, walking structure and the oblique photograph structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820885256.9U CN208337023U (en) | 2018-06-07 | 2018-06-07 | Crusing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820885256.9U CN208337023U (en) | 2018-06-07 | 2018-06-07 | Crusing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208337023U true CN208337023U (en) | 2019-01-04 |
Family
ID=64773889
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820885256.9U Active CN208337023U (en) | 2018-06-07 | 2018-06-07 | Crusing robot |
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| CN (1) | CN208337023U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110707593A (en) * | 2019-08-31 | 2020-01-17 | 王远伦 | Electric power inspection robot |
| CN111289534A (en) * | 2020-03-19 | 2020-06-16 | 云南电网有限责任公司电力科学研究院 | Overhead conductor aging detection device and method |
| CN111595301A (en) * | 2020-05-20 | 2020-08-28 | 福建省伟志地理信息科学研究院 | Aerial surveying device for geographic information system and surveying method thereof |
| CN112027100A (en) * | 2020-09-11 | 2020-12-04 | 国网新疆电力有限公司电力科学研究院 | Inspection device for high-voltage cable |
| CN114654444A (en) * | 2022-04-08 | 2022-06-24 | 中广核核电运营有限公司 | Inspection robot |
-
2018
- 2018-06-07 CN CN201820885256.9U patent/CN208337023U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110707593A (en) * | 2019-08-31 | 2020-01-17 | 王远伦 | Electric power inspection robot |
| CN111289534A (en) * | 2020-03-19 | 2020-06-16 | 云南电网有限责任公司电力科学研究院 | Overhead conductor aging detection device and method |
| CN111595301A (en) * | 2020-05-20 | 2020-08-28 | 福建省伟志地理信息科学研究院 | Aerial surveying device for geographic information system and surveying method thereof |
| CN112027100A (en) * | 2020-09-11 | 2020-12-04 | 国网新疆电力有限公司电力科学研究院 | Inspection device for high-voltage cable |
| CN114654444A (en) * | 2022-04-08 | 2022-06-24 | 中广核核电运营有限公司 | Inspection robot |
| CN114654444B (en) * | 2022-04-08 | 2024-05-10 | 中广核核电运营有限公司 | Inspection robot |
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200925 Address after: 510620 Tianhe District, Guangzhou, Tianhe South Road, No. two, No. 2, No. Patentee after: Guangzhou Power Supply Bureau of Guangdong Power Grid Co.,Ltd. Address before: 510620 Tianhe District, Guangzhou, Tianhe South Road, No. two, No. 2, No. Patentee before: GUANGZHOU POWER SUPPLY Co.,Ltd. |
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| TR01 | Transfer of patent right |