CN208522357U - The crusing robot of transmission line of electricity - Google Patents
The crusing robot of transmission line of electricity Download PDFInfo
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- CN208522357U CN208522357U CN201821025749.1U CN201821025749U CN208522357U CN 208522357 U CN208522357 U CN 208522357U CN 201821025749 U CN201821025749 U CN 201821025749U CN 208522357 U CN208522357 U CN 208522357U
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- transmission line
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- crusing robot
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Abstract
The utility model relates to a kind of crusing robots of transmission line of electricity, including processing mechanism, aviation mechanism, roller moving mechanism and equipment of removing obstacles；Processing mechanism includes being installed in the intracorporal processor of shell；The upper end of shell is arranged in one side of roller moving mechanism；Equipment of removing obstacles is arranged in the lower end of shell；One side of aviation mechanism is arranged in shell；Processor is electrically connected with aviation mechanism, roller moving mechanism, equipment of removing obstacles respectively.The utility model can be realized online removing floating material, simplifies operation procedure of removing obstacles, reduces the consumption of man power and material, improve elimination efficiency.
Description
Technical field
The utility model relates to robotic technology fields, more particularly to a kind of crusing robot of transmission line of electricity.
Background technique
With the development of society and the continuous expansion of urban construction scale, the distribution of transmission line of electricity is more and more intensive, defeated
It is easy to hang up floating material in electric line.If being easy to cause transmission line equipment short circuit, having a power failure if hanging with drift on transmission line of electricity
Etc. external force malicious event；Even cause line tripping and forced line outage accident.Traditional floating removed on transmission line of electricity
Object is manually to remove floating material by professional.
During realization, inventor has found that at least there are the following problems in traditional technology: traditional artificial removing transmission of electricity
Floating material on route, the activity duration is long, and manpower and material resources consumption is big, and elimination efficiency is low.
Utility model content
Based on this, it is necessary to which, for the floating material on traditional artificial removing transmission line of electricity, the activity duration is long, manpower and material resources
Consumption is big, and the problem that elimination efficiency is low, provides a kind of crusing robot of transmission line of electricity.
To achieve the goals above, the utility model embodiment provides a kind of crusing robot of transmission line of electricity, including
Processing mechanism, aviation mechanism, roller moving mechanism and equipment of removing obstacles；Processing mechanism includes being installed in the intracorporal processor of shell；
The upper end of shell is arranged in one side of roller moving mechanism；Equipment of removing obstacles is arranged in the lower end of shell；Flight
One side of mechanism is set on shell；
Processor is electrically connected with aviation mechanism, roller moving mechanism, equipment of removing obstacles respectively.
In one of the embodiments, roller moving mechanism include roller devices and be connected to roller devices and shell it
Between support rod.
In one of the embodiments, roller moving mechanism further include first motor and be connected to processor and first electricity
Roller drive between machine；
First motor connects roller devices.
In one of the embodiments, roller devices include the first idler wheel, the second idler wheel and be connected to the first idler wheel and
Roller connecting rod between second idler wheel.
Equipment of removing obstacles in one of the embodiments, includes rotation regulating mechanism and laser aid；
One end of rotation regulating mechanism connects shell, and the other end connects laser aid.
Rotation regulating mechanism includes the first fixed link, the second fixed link and is connected to the in one of the embodiments,
Rotation axis between one fixed link and the second fixed link；
First fixed link connects shell；Second fixed link connects laser aid.
Rotation regulating mechanism further includes the second motor and is connected to processor and the second motor in one of the embodiments,
Between rotating driver；
Second motor connects rotation axis.
Aviation mechanism includes rotor driver and is connected between rotor driver and shell in one of the embodiments,
Flight connecting rod.
In one of the embodiments, rotor driver include rotor part, third motor and be connected to processor and third electricity
Flight driver between machine；
Third motor connects rotor part.
It in one of the embodiments, further include the photographic device being installed on shell；Photographic device connects processor.
A technical solution in above-mentioned technical proposal is had the following advantages and beneficial effects:
The upper end of shell is arranged in a side based on roller moving mechanism；Equipment of removing obstacles is arranged in the lower end of shell；
One side of aviation mechanism is arranged in shell, and processor is electrically connected with aviation mechanism, idler wheel mechanism, equipment of removing obstacles respectively.Pass through
Processor controls aviation mechanism and starts work, so that crusing robot flight is online；Processor controls roller moving mechanism starting
Work, in the floating material on transmission line of electricity, starts equipment work of removing obstacles so that crusing robot is walked on the transmission line
Make, by removing obstacles, equipment cuts floating material, realize it is online remove floating material, simplify operation procedure of removing obstacles, reduce manpower and
The consumption of material resources, improves elimination efficiency.
Detailed description of the invention
Fig. 1 is the first structure diagram of the crusing robot of transmission line of electricity in one embodiment；
Fig. 2 is the second structural schematic diagram of the crusing robot of transmission line of electricity in one embodiment；
Fig. 3 is the first electrical block diagram of the crusing robot of transmission line of electricity in one embodiment；
Fig. 4 is the second circuit structural schematic diagram of the crusing robot of transmission line of electricity in one 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
It is more thorough and comprehensive to open content.
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.
It is traditional to the online operating difficulties of crusing robot in order to solve, and problem at high cost, the utility model are implemented
Example provides a kind of crusing robot of transmission line of electricity.Fig. 1 is the first structure diagram of the crusing robot of transmission line of electricity.Such as
Shown in Fig. 1, it may include processing mechanism 110, aviation mechanism 120, roller moving mechanism 130 and equipment 140 of removing obstacles；Processing mechanism
110 include the processor 114 being installed in shell 112；The upper end of shell 112 is arranged in one side of roller moving mechanism 130
Portion；Equipment 140 of removing obstacles is arranged in the lower end of shell 112；One side of aviation mechanism 120 is set on shell 112；Processor
114 are electrically connected with aviation mechanism 120, roller moving mechanism 130, equipment of removing obstacles 140 respectively.
Wherein, processor 114 refers to the device with the functions such as signal processing and signal transmission.Optionally, processor
114 can be single-chip microcontroller, ARM (Advanced RISC Machine, risc microcontroller), DSP (Digital Signal
Processing, Digital Signal Processing) or FPGA (Field-Programmable Gate Array, field-programmable gate array
Column).Preferably, the mature and inexpensive single-chip microcontroller of performance can be used in processor.Shell 112 can be metal shell, can also be with
It is non-metal shell.Aviation mechanism 120 refers to that the mechanism that constant weight flies can be carried.Aviation mechanism 120 can be
Quadrotor aviation mechanism is also possible to six rotor flying mechanisms etc..The corresponding flight that aviation mechanism 120 can be transmitted according to processor
Instruction is flown.Idler wheel mechanism 130 can be used for rolling walking on the transmission line.Equipment of removing obstacles 140 refers to cut
The equipment of barrier.Equipment of removing obstacles 140 can be laser and remove obstacles equipment.Laser equipment of removing obstacles can be cut by outgoing laser beam
Hang floating material on the transmission line.
Specifically, when the crusing robot electrifying startup of transmission line of electricity, processor 110 can run existing computer journey
Sequence, starting aviation mechanism 120 works, so that aviation mechanism flies close to transmission line of electricity, so that idler wheel is online；Start idler wheel
Walking mechanism 130 works, and the crusing robot of transmission line of electricity may make to roll walking on the transmission line.The inspection of transmission line of electricity
Robot can start equipment 140 of removing obstacles close to when hanging floating material on the transmission line, so that equipment 140 of removing obstacles is directed at the drift
Floating object is cut.Preferably, laser beam cutting floating material can be transmitted in equipment of removing obstacles 140.
Further, when the crusing robot electrifying startup of transmission line of electricity, operator can be by operating remote control device, control
Processor 110 processed runs existing computer program.Operator operates remote control device starting aviation mechanism 120 and works, so that
Aviation mechanism flies close to transmission line of electricity, so that idler wheel is online；Operator operates remote control device and starts idler wheel vehicle with walking machine
Structure 130 works, and the crusing robot of transmission line of electricity may make to roll walking on the transmission line.The crusing robot of transmission line of electricity
Close to when hanging floating material on the transmission line, equipment 140 of removing obstacles can be started so that equipment 140 of removing obstacles be aligned the floating material into
Row cutting.
In a specific embodiment, roller moving mechanism 130 including roller devices 134 and is connected to roller devices
Support rod 132 between 134 and shell 112.
Wherein, roller devices 134 can be used to roll-sliding on the transmission line, and then drive crusing robot in power transmission line
It walks road.Roller devices 134 may include multiple idler wheels.Preferably, roller devices 134 include 2 idler wheels.Support rod 132 can
To be installed between roller devices 134 and shell 112.
Further, roller devices 134 including the first idler wheel 135, the second idler wheel 139 and are connected to the first idler wheel 135
And the second roller connecting rod 137 between idler wheel 139.
Wherein, groove corresponding with the power transmission line is offered respectively on the first idler wheel 135 and the second idler wheel 139, this is recessed
Slot, which can install power transmission line, makes idler wheel (the first idler wheel 135 and the second idler wheel 139) be slidably matched with power transmission line.It ensure that idler wheel
Rotation on power transmission line, while but also the connection of idler wheel and power transmission line is stronger.One end of roller connecting rod 137 can connect
The fixing piece of the first idler wheel 135 is connect, the other end can connect the fixing piece of the second idler wheel 139.Preferably, processor 114 can be passed through
It drives the first idler wheel 135 to rotate, the rotation of the second idler wheel 139 is driven by roller connecting rod 137, and then realize that robot is transmitting electricity
Stable equilibrium walks on line.
In a specific embodiment, equipment of removing obstacles 140 includes rotation regulating mechanism and laser aid 142；Rotation is adjusted
The one end for saving mechanism connects shell 112, and the other end connects laser aid 142.
Wherein, rotation regulating mechanism can be used for adjusting the rotation angle of laser aid 142.Optionally, rotation regulating mechanism
Adjustable laser aid 142 rotates horizontally；142 vertical rotary of laser aid is adjusted in rotation regulating mechanism.Laser aid 142 refers to
Be the device that can generate laser beam.Laser aid 142 may include laser, and laser on startup, can produce for cutting
Cut the laser beam of floating material.
Specifically, when the crusing robot of transmission line of electricity is close to floating material, processor can run existing computer journey
Sequence adjusts the angle of laser aid 142 by control rotation regulating mechanism, so that the laser output of laser aid 142 is aligned
Floating material.After the laser output of laser aid 142 is directed at floating material, start laser aid 142, so that laser aid exports
Laser beam realizes that floating material is cut on the transmission line to extension, ensure that transmission line safety is run, eliminate operator
The personal risk of member.Preferably, rotation regulating mechanism work and laser aid can be controlled by operator's remote controller
142 work.
Further, rotation regulating mechanism includes the first fixed link 144, the second fixed link 146 and to be connected to first solid
Rotation axis 148 between fixed pole 144 and the second fixed link 146.First fixed link 144 connects shell 112；Second fixed link 146
Connect laser aid 142.
Wherein, the first fixed link 144 can be the bar of strip.Second fixed link 146 can be the bar of strip.
Specifically, one end of the first fixed link 144 is fixedly connected with shell 112, and the other end activity of the first fixed link 144 connects
Switch through moving axis 148.One end of second fixed link 146 is fixedly connected with laser aid 142, the other end activity of the second fixed link 146
Connect rotation axis 148.When the crusing robot of transmission line of electricity is close to floating material, processor can run existing computer journey
Sequence drives laser aid 142 to rotate, so that the laser of laser aid 142 by control rotation axis rotation by the second fixed link
Delivery outlet is directed at floating material.After the laser output of laser aid 142 is directed at floating material, start laser aid 142, so that
Laser aid outgoing laser beam realizes that floating material is cut on the transmission line to extension, reduces the consumption of man power and material,
Improve elimination efficiency.
In a specific embodiment, aviation mechanism 120 including rotor driver 122 and is connected to rotor driver 122
Flight connecting rod 124 between shell 112.
Wherein, flight connecting rod 124 can be telescopic connecting rod.One end of flight connecting rod 124 can be fixedly connected
Shell, the other end can be fixedly connected with rotor driver 122.Rotor driver 122 can be used to that crusing robot is driven to fly, rotor driver
122 may further be used to the flight attitude of adjustment robot.
Further, crusing robot further includes the support foot rest 150 for connecting shell 112.Wherein, support foot rest 150 can
For playing buffer function in dropping process in crusing robot.The shock for avoiding crusing robot and ground influences.It is excellent
Choosing, one end of support foot rest 150 is connected with shell 112, the settable supporting pad of the other end of support foot rest 150, the supporting pad
It can be used for being bonded fixation with ground.
In above-described embodiment, the upper end of shell is arranged in the side based on roller moving mechanism；The lower end of shell
Equipment of removing obstacles is set；The side setting of aviation mechanism in shell, processor respectively with aviation mechanism, idler wheel mechanism, removing obstacles sets
Standby electrical connection.Aviation mechanism is controlled by processor and starts work, so that crusing robot flight is online；Processor controls idler wheel
Walking mechanism starts work, so that crusing robot is walked on the transmission line, in the floating material on transmission line of electricity, opens
Dynamic equipment work of removing obstacles, by removing obstacles, equipment cuts floating material, realizes and removes floating material online, simplifies operation procedure of removing obstacles,
The consumption for reducing man power and material, improves elimination efficiency.
In one embodiment, as shown in Fig. 2, further including the photographic device 150 being installed on shell 112；Photographic device
150 connection processors 114.
Wherein, photographic device 150 can connect mobile terminal by wireless communication.Mobile terminal can be mobile phone, plate or
Computer etc..
Specifically, shooting picture data can be transferred to mobile terminal by photographic device 150, and operator is facilitated to observe in real time
The crusing robot picture in operation process on the transmission line.The picture that operator can shoot according to photographic device 150, it is real
When remote control adjustment laser aid 142 angle cut so that floating material on the transmission line is hung in the alignment of laser aid 142
It cuts, realizes online removing floating material, simplify operation procedure of removing obstacles, reduce the consumption of man power and material, improve removing effect
Rate.
In one embodiment, as shown in figure 3, roller moving mechanism further includes first motor 324 and is connected to processing
Roller drive 322 between device 310 and first motor 324；First motor 324 connects roller devices 326.
Wherein, first motor 324 can be stepper motor.Roller drive 322 refers to that driving first motor 324 works
Driver.
Specifically, operating instruction (such as rolling travel commands) can be transferred to roll drive device 322 by processor 310, be led to
Crossing roller drive 322 drives first motor 324 to rotate, and then drives roller devices rotation, realizes and exists to crusing robot
It walks and operates on transmission line of electricity.
Further, rotation regulating mechanism further includes the second motor 334 and is connected to processor 310 and the second motor 334
Between rotating driver 332；Second motor 334 connects rotation axis 336.
Wherein, the second motor 334 can be stepper motor.Rotating driver 332 refers to driving the second motor 324 work
Driver.
Specifically, operating instruction (such as rotation regulating command) can be transferred to rotating driver 322 by processor 310, be led to
It crosses rotating driver 332 and drives the rotation of the second motor 334, and then drive rotation axis rotation, realize the angle tune to laser aid
Section.
Further, rotor driver includes rotor part 346, third motor 344 and is connected to processor 310 and third motor
Flight driver 342 between 344；Third motor 344 connects rotor part 346.
Specifically, processor 310 can transmit instruction (such as flight directive) to flight driver 342, pass through flight driver
342 driving third motors 344 rotate, and then drive 346 rotation work of rotor part by machine shaft, realize that crusing robot leans on
The flight of nearly transmission line of electricity.
It can be existing by being run in processor it should be noted that rolling travel commands, rotation regulating command and flight directive
Some computer programs obtain.
Based on the present embodiment, aviation mechanism is controlled by processor and starts work, so that crusing robot flight is online；Place
It manages device control roller moving mechanism and starts work, so that crusing robot is walked on the transmission line, on transmission line of electricity
Floating material when, starting is removed obstacles equipment work, and by removing obstacles, equipment cuts floating material, realize it is online remove floating material, simplify
It removes obstacles operation procedure, reduces the consumption of man power and material, improve elimination efficiency.
In one embodiment, as shown in figure 4, photographic device 350 connects processor 310.
Specifically, shooting picture data can be transferred to mobile terminal by photographic device 350, and staff is facilitated to observe in real time
Picture in the online flight course of crusing robot.The picture that operator can shoot according to photographic device 350, real time remote control tune
The angle of whole laser aid 338 is realized so that the floating material that the alignment of laser aid 338 is hung on the transmission line is cut
Line removes floating material, simplifies operation procedure of removing obstacles, reduces the consumption of man power and material, improve elimination efficiency.
It should be noted that connecting line thicker in Fig. 3 and Fig. 4 is used to indicate mechanical connection relationship.For example, first motor
Roller devices are connected by machine shaft.
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 of transmission line of electricity, which is characterized in that including processing mechanism, aviation mechanism, roller moving mechanism
And equipment of removing obstacles；The processing mechanism includes being installed in the intracorporal processor of shell；
The upper end of the shell is arranged in one side of the roller moving mechanism；The lower end setting of the shell is described clear
Hinder equipment；One side of the aviation mechanism is set on the shell；
The processor is electrically connected with the aviation mechanism, the roller moving mechanism, the equipment of removing obstacles respectively.
2. the crusing robot of transmission line of electricity according to claim 1, which is characterized in that the roller moving mechanism includes
Roller devices and the support rod being connected between the roller devices and the shell.
3. the crusing robot of transmission line of electricity according to claim 2, which is characterized in that the roller moving mechanism also wraps
The roller drive for including first motor and being connected between the processor and the first motor；
The first motor connects the roller devices.
4. the crusing robot of transmission line of electricity according to claim 3, which is characterized in that the roller devices include first
Idler wheel, the second idler wheel and the roller connecting rod being connected between first idler wheel and second idler wheel.
5. the crusing robot of transmission line of electricity according to claim 1, which is characterized in that the equipment of removing obstacles includes rotation
Regulating mechanism and laser aid；
One end of the rotation regulating mechanism connects the shell, and the other end connects the laser aid.
6. the crusing robot of transmission line of electricity according to claim 5, which is characterized in that the rotation regulating mechanism includes
First fixed link, the second fixed link and the rotation axis being connected between first fixed link and second fixed link；
First fixed link connects the shell；Second fixed link connects the laser aid.
7. the crusing robot of transmission line of electricity according to claim 6, which is characterized in that the rotation regulating mechanism also wraps
The rotating driver for including the second motor and being connected between the processor and second motor；
Second motor connects the rotation axis.
8. the crusing robot of transmission line of electricity according to claim 1, which is characterized in that the aviation mechanism includes rotor
Device and the flight connecting rod being connected between the rotor driver and the shell.
9. the crusing robot of transmission line of electricity according to claim 8, which is characterized in that the rotor driver includes rotor
Part, third motor and the flight driver being connected between the processor and the third motor；
The third motor connects the rotor part.
10. according to claim 1 to the crusing robot of transmission line of electricity described in 9 any one, which is characterized in that further include dress
If photographic device on the housing；
The photographic device connects the processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821025749.1U CN208522357U (en) | 2018-06-29 | 2018-06-29 | The crusing robot of transmission line of electricity |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821025749.1U CN208522357U (en) | 2018-06-29 | 2018-06-29 | The crusing robot of transmission line of electricity |
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| Publication Number | Publication Date |
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| CN208522357U true CN208522357U (en) | 2019-02-19 |
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ID=65337862
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| Application Number | Title | Priority Date | Filing Date |
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| CN201821025749.1U Active CN208522357U (en) | 2018-06-29 | 2018-06-29 | The crusing robot of transmission line of electricity |
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| CN (1) | CN208522357U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022105750A1 (en) * | 2020-11-18 | 2022-05-27 | 衢州光明电力投资集团有限公司赋腾科技分公司 | Power-saving transmission line patrolling unmanned aerial vehicle |
-
2018
- 2018-06-29 CN CN201821025749.1U patent/CN208522357U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022105750A1 (en) * | 2020-11-18 | 2022-05-27 | 衢州光明电力投资集团有限公司赋腾科技分公司 | Power-saving transmission line patrolling unmanned aerial vehicle |
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| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200930 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. |