CN209963642U - Electric power inspection and laser obstacle removal integrated robot - Google Patents
Electric power inspection and laser obstacle removal integrated robot Download PDFInfo
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- CN209963642U CN209963642U CN201921096876.5U CN201921096876U CN209963642U CN 209963642 U CN209963642 U CN 209963642U CN 201921096876 U CN201921096876 U CN 201921096876U CN 209963642 U CN209963642 U CN 209963642U
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Abstract
The utility model discloses an electric power is patrolled and examined, integrative robot is cleared up to laser, including GPU unit and clearance barrier system, clearance barrier system sets firmly the upper surface at quick-witted case including clearance barrier arm, guide rail and two sets of mechanical operation arm, two sets of mechanical operation arm sliding connection on the guide rail. The utility model finishes obstacle crossing when the mechanical operating arm meets the obstacle on the overhead line; the obstacle clearing task is completed through the laser obstacle clearing device, and the inspection work of the overhead line can be realized through the intelligent processing core device.
Description
Technical Field
The utility model belongs to the technical field of electric power is patrolled and examined and is cleared up the barrier, especially, relate to an electric power is patrolled and examined, laser is cleared up integrative robot of barrier.
Background
Overhead transmission lines in the field environment are usually wound by foreign matters such as kites and plastic bags, so that potential safety hazards exist in the transmission lines. At present, the work of removing obstacles in patrolling and examining of power transmission line mostly uses the manual work to patrol and examine the obstacles removing as the main, and supplementary manned helicopter, unmanned aerial vehicle, robot carry sensing equipment and carry out the automation and patrol and examine, and manual obstacles removing adopts modes such as cutting machine cutting formula, arm grabbing formula, unmanned aerial vehicle flame projecting, laser cannon usually, still need the people to operate, and intensity of labour is big, requires highly to workman's skill level. With the aging of population, the inspection and obstacle removal workers face a series of difficult problems of severe working environment, gradually reduced number of skilled workers, increased inspection and obstacle removal working strength, long working period and the like.
Disclosure of Invention
Big, the long shortcoming of operation cycle time of working strength of patrolling and examining obstacles removing in order to overcome prior art, the utility model aims at providing an electric power patrols and examines, integrative robot is cleared up to laser, the utility model discloses can live working, carry out information acquisition and processing, transmission along patrolling and examining the route, usable laser obstacles removing device clears away the non-metallic foreign matter on the transmission line simultaneously, replaces the manual work to engage in the work of patrolling and examining obstacles removing of high danger, high strength, has improved the work efficiency of patrolling and examining obstacles removing.
In order to realize the purpose of the utility model, the utility model adopts the following technical scheme:
a power inspection and laser obstacle clearing integrated robot comprises a GPU unit and an obstacle clearing system, wherein the obstacle clearing system comprises a laser obstacle clearing device, a guide rail and two groups of mechanical operation arms, the guide rail is fixedly arranged on the upper surface of a case, the two groups of mechanical operation arms are connected on the guide rail in a sliding manner, each group of mechanical operation arms comprises a sliding block, a hydraulic lifting rod A, a hydraulic lifting rod B, a support, a driving wheel and a guide wheel, the sliding block is assembled on the guide rail, the lower end of the support is connected on the upper surface of the sliding block, the hydraulic lifting rod A and the hydraulic lifting rod B are arranged on the upper surface of the support in parallel, a bracket is respectively and fixedly arranged on the cylinder body of the hydraulic lifting rod A, B, a guide wheel is arranged between the upper ends of the two brackets, a motor fixing seat is fixedly arranged at the end part of a piston rod of the hydraulic lifting rod A, the motor is fixedly arranged on the motor fixing seat, a driving wheel is sleeved on an output shaft of the motor, and the driving wheel corresponds to the guide wheel; the laser obstacle clearing device comprises an electric holder and a laser, the laser is installed on the electric holder, the electric holder is fixedly connected to the lower side face of the left end portion of the guide rail, and the electric holder and the GPU unit realize signal transmission through a communication module.
Preferably, the intelligent video camera further comprises a case, the GPU unit is arranged in the case, and a battery, a laser radar, a dual-light pod, a binocular camera, a navigation module, a temperature measurement module, a voice output module and an image transmission module which are externally connected with the GPU unit through an onboard communication interface are further arranged in the case.
Preferably, the double-light gondola is arranged on the lower bottom surface of the cabinet.
Preferably, the laser radar is arranged on the right end face of the case.
Preferably, the front and rear end surfaces of the cabinet are provided with protection plates.
Due to the adoption of the technical scheme, the utility model discloses following superiority has:
1. when an obstacle is encountered on the overhead line, under the control of the GPU unit, the driving wheels are driven to lift through the lifting of the hydraulic lifting rods A, B, so that the obstacle passes through the space between the hydraulic lifting rods A, B, and the obstacle crossing is completed;
2. the obstacle clearing task is completed through the laser obstacle clearing device, and the cloud deck is controlled through the GPU unit, so that the angle of the laser device is adjusted, and the obstacle clearing is facilitated;
3. through intelligent processing core device, can realize the work of patrolling and examining of overhead line.
Drawings
Fig. 1 is a schematic structural view of the present invention;
FIG. 2 is an exploded view of the present invention;
fig. 3 is a schematic structural view of the laser obstacle remover of the present invention;
FIG. 4 is an enlarged view taken at I in FIG. 2;
in the figure: 1. a chassis; 2. a dual-light pod; 3. a laser radar; 4. a laser obstacle clearing device; 4.1, an electric pan-tilt; 4.2, a laser; 5. a guide rail; 6. a protection plate; 7. a mechanical operating arm; 7.1, a sliding block; 7.2, a support; 7.3, a hydraulic lifting rod A; 7.4, a hydraulic lifting rod B; 7.5, a bracket; 7.6, a motor; 7.7, a guide wheel; 7.8, driving wheels.
Detailed Description
The technical solution of the present invention will be further described in detail with reference to the accompanying drawings and embodiments.
With reference to fig. 1-4, an electric power inspection and laser obstacle clearing integrated robot comprises a GPU unit and an obstacle clearing system including a laser obstacle clearing device 4, a guide rail 5 and two sets of mechanical operating arms 7, wherein the guide rail 5 is fixedly arranged on the upper surface of a case 1, the two sets of mechanical operating arms 7 are slidably connected to the guide rail 5, each set of mechanical operating arms 7 includes a slider 7.1, a hydraulic lifting rod a7.3, a hydraulic lifting rod B7.4, a support 7.2, a driving wheel 7.8 and a guide wheel 7.7, the slider 7.1 is assembled on the guide rail 5, the lower end of the support 7.2 is connected to the upper surface of the slider 5, the hydraulic lifting rod a7.3 and the hydraulic lifting rod B7.4 are arranged in parallel on the upper surface of the support 7.2, a support 7.5 is respectively fixedly arranged on a cylinder body of a hydraulic lifting rod A, B, the guide wheel 7.7 is arranged between the upper ends of the two supports 7.5, a motor fixing seat is fixedly arranged at the end of a piston rod of the hydraulic lifting rod a7.3, a driving wheel 7.8 is sleeved on an output shaft of the motor 7.6, and the driving wheel 7.8 corresponds to the guide wheel 7.7; laser clearance barrier ware 4 include electronic cloud platform 4.1 and laser instrument 4.2, laser instrument 4.2 is installed on electronic cloud platform 4.1, electronic cloud platform 4.1 fixed connection is on the downside of the left end portion of guide rail 5, electronic cloud platform 4.1 passes through communication module with the GPU unit and realizes signal transmission.
The utility model discloses an integrated robot still includes quick-witted case 1, and the GPU unit sets up in quick-witted case to still be provided with in the quick-witted case and pass through the battery, laser radar 3, two optical pod 2, two mesh cameras, navigation module, temperature measurement module, speech output module, picture pass module and the communication module of onboard communication interface external connection with the GPU unit;
the front and rear end surfaces of the case 1 are provided with protection plates 6.
A electric power patrol inspection, integrative robot of laser obstacles removing for install and use on the overhead line, can realize automatic walking on the overhead line on the one hand, and can stride across obstacles such as stockbridge damper, suspension clamp, crimping pipe, concrete action process as follows:
when an obstacle is encountered, a motor in a mechanical operation arm at the front end of the guide rail stops working, a driving wheel, a guide wheel and a power transmission conductor are in a relative locking state, then the GPU unit identifies the obstacle and controls a hydraulic lifting rod A, B on the mechanical operation arm at the front end to descend, the hydraulic lifting rod A drives the driving wheel to descend, so that the distance between the guide wheel and the driving wheel is gradually increased and the driving wheel reaches a proper position, then the mechanical operation arm at the rear end continues to move forwards, the obstacle passes through the hydraulic lifting arm A, B at the front end, and after the obstacle crosses the country, the GPU unit controls the hydraulic lifting rod A, B at the front end to move upwards and return the guide wheel to the initial position, so that the guide wheel and the driving wheel at the front end clamp the overhead line again; when the rear mechanical operating arm needs to cross the obstacle, the action process of the rear mechanical operating arm is the same as that of the front mechanical operating arm, and finally the two groups of the front mechanical operating arm and the rear mechanical operating arm complete the obstacle crossing process.
On the other hand, the power patrol can be realized, and the specific description is as follows:
the utility model discloses in the walking process on the overhead line, the GPU unit carries out the interaction of data through communication module (WIFI, 4G mobile communication), picture biography module and ground basic station, high in the clouds server or the server of electric wire netting surveillance center, is handled the analysis by the server to the data collection to visual display to patrolling and examining the result, the electric wire netting managers can look over at management terminal, management terminal is computer, cell-phone, panel computer, looks over in real time and patrols and examines the result, and carry out remote management to patrolling and examining task and equipment; the intelligent processing core device 8 is powered by a battery, the GPU unit is used as a processing core for operating a deep learning algorithm, and is externally connected with a laser radar, a dual-optical pod, a binocular camera, a navigation module, a temperature measurement module, a voice output module, an image transmission module and a communication module through an onboard communication interface; the voice output module is used for transmitting external voice, and in addition, proper sensor equipment can be selected and installed according to the requirement of the inspection task.
The GPU unit can also control the electric holder to rotate left and right and up and down, so that the emitting position of the laser is adjusted, and the obstacle is convenient to clear.
In addition, the laser can control the emitting power, adjust the effective distance and set the action time, so that the effect of cutting the non-metallic foreign matters without damaging the power transmission equipment can be achieved.
The laser is LIMO25-F200-ADL9xx or LIMO32-F400-ADL9xx manufactured by LIMO company in Germany.
Claims (5)
1. The utility model provides an electric power is patrolled and examined, integrative robot is cleared up to laser, includes GPU unit and clearance barrier system, its characterized in that: the obstacle clearing system comprises a laser obstacle clearing device, a guide rail and two groups of mechanical operation arms, wherein the guide rail is fixedly arranged on the upper surface of a case, the two groups of mechanical operation arms are connected on the guide rail in a sliding manner, each group of mechanical operation arms comprises a sliding block, a hydraulic lifting rod A, a hydraulic lifting rod B, a support, a driving wheel and a guide wheel, the sliding block is assembled on the guide rail, the lower end of the support is connected onto the upper surface of the sliding block, the hydraulic lifting rod A and the hydraulic lifting rod B are arranged on the upper surface of the support in parallel, a support is respectively and fixedly arranged on a cylinder body of the hydraulic lifting rod A, B, the guide wheel is arranged between the upper ends of the two supports, a motor fixing seat is fixedly arranged at the end part of a piston rod of the hydraulic lifting rod A, the motor is fixedly arranged; the laser obstacle clearing device comprises an electric holder and a laser, the laser is installed on the electric holder, the electric holder is fixedly connected to the lower side face of the left end portion of the guide rail, and the electric holder and the GPU unit realize signal transmission through a communication module.
2. The power inspection and laser obstacle clearing integrated robot according to claim 1, characterized in that: the intelligent television set comprises a GPU unit, a battery, a laser radar, a dual-optical pod, a binocular camera, a navigation module, a temperature measurement module, a voice output module and a picture transmission module, wherein the GPU unit is arranged in the case, and the battery, the laser radar, the dual-optical pod, the binocular camera, the navigation module, the temperature measurement module, the voice output module and the picture transmission module are externally connected with the GPU unit through an onboard communication interface.
3. The power inspection and laser obstacle clearing integrated robot according to claim 2, characterized in that: the dual-light pod is arranged on the lower bottom surface of the case.
4. The power inspection and laser obstacle clearing integrated robot according to claim 2, characterized in that: the laser radar is arranged on the right end face of the case.
5. The power inspection and laser obstacle clearing integrated robot according to claim 2, characterized in that: and the front end surface and the rear end surface of the case are provided with protective plates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921096876.5U CN209963642U (en) | 2019-07-15 | 2019-07-15 | Electric power inspection and laser obstacle removal integrated robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921096876.5U CN209963642U (en) | 2019-07-15 | 2019-07-15 | Electric power inspection and laser obstacle removal integrated robot |
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| Publication Number | Publication Date |
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| CN209963642U true CN209963642U (en) | 2020-01-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201921096876.5U Active CN209963642U (en) | 2019-07-15 | 2019-07-15 | Electric power inspection and laser obstacle removal integrated robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112615301A (en) * | 2020-12-10 | 2021-04-06 | 拓航科技有限公司 | Unmanned aerial vehicle electric power inspection video identification laser obstacle clearing system |
| CN112960132A (en) * | 2021-03-26 | 2021-06-15 | 中国能源建设集团江苏省电力设计院有限公司 | Distributed shared nest and unmanned aerial vehicle inspection method for power line of distributed shared nest |
-
2019
- 2019-07-15 CN CN201921096876.5U patent/CN209963642U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112615301A (en) * | 2020-12-10 | 2021-04-06 | 拓航科技有限公司 | Unmanned aerial vehicle electric power inspection video identification laser obstacle clearing system |
| CN112960132A (en) * | 2021-03-26 | 2021-06-15 | 中国能源建设集团江苏省电力设计院有限公司 | Distributed shared nest and unmanned aerial vehicle inspection method for power line of distributed shared nest |
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