CN213386343U - Transmission line patrols line robot transport mechanism - Google Patents
Transmission line patrols line robot transport mechanism Download PDFInfo
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- CN213386343U CN213386343U CN202022441907.5U CN202022441907U CN213386343U CN 213386343 U CN213386343 U CN 213386343U CN 202022441907 U CN202022441907 U CN 202022441907U CN 213386343 U CN213386343 U CN 213386343U
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Abstract
The utility model discloses a transmission line inspection robot transportation mechanism, which relates to the technical field of transmission line inspection, and comprises a guide rail, a transportation device, a positioning device and a butt joint device; the transportation device is used for transporting the inspection robot back and forth between the ground and the top of the iron tower; the positioning device is used for performing a speed reduction positioning function on the conveying device in the conveying process of the inspection robot, so that the conveying device can automatically judge the butt joint position on the guide rail; the docking device can be docked with the transportation device, and the docking device can convey the inspection robot back and forth between the ground wire working point and the transportation device. The utility model provides a patrol line robot and need repeated the problem of building interim hoisting system when transporting from the automation transportation problem at ground transportation iron tower top and patrol line robot, reduced the staff quantity when patrolling line robot uses, promoted the conveying efficiency who patrols line robot from ground to the operating position, and can effectively ensure the transportation safety of robot, the practicality is strong.
Description
Technical Field
The utility model relates to a transmission line patrols and examines technical field, especially relates to a transmission line patrols line robot transport mechanism.
Background
The high-voltage transmission line is a main way of power transmission, and is used for regularly inspecting the transmission line so as to find and eliminate hidden dangers in time, and has important significance for preventing major accidents of a power system. The traditional power transmission line inspection is mainly performed in a manual mode or by a helicopter, the manual inspection cost is low, but the efficiency is low, the inspection period is long, and the defects of high labor intensity, multiple subjective factors, insufficient inspection and the like exist; the helicopter is high in cruising efficiency, but has the problems of potential flight safety hazards and high cost. With the continuous promotion of the informatization, intellectualization and automation levels of power grids in China, in order to improve the safe and reliable operation level of high-voltage power transmission lines, the power transmission line inspection robot replaces manual inspection and becomes the development trend of future inspection. The inspection robot integrates a visible light or infrared camera, adopts an autonomous or remote control mode, replaces a person to walk on a power transmission line, inspects the power transmission line equipment, and timely discovers accident potential of power grid operation.
At present, the line patrol robot which is widely researched and applied mainly works on a ground wire of a power transmission line, but the self weight of the line patrol robot is large, and a maintainer needs to convey the line patrol robot to a wire or a ground wire position at the top of an iron tower from the ground and install the line patrol robot to a working position. To the maintainer, when climbing the iron tower high altitude, it is great relatively to hand-carry the inspection robot degree of difficulty, and present main mode of transportation relies on at iron tower top installation fixed pulley, adopts equipment such as hank to grind on ground to lift by crane, and the personnel that need are more, and the system layout is comparatively complicated, and efficiency is lower.
In summary, at present, no mature automatic scheme for transporting the line patrol robot to the installation position at the top of the iron tower from the ground exists, and the line patrol robot needs to be repeatedly built every time the line patrol robot is used. Therefore, how to transport the inspection robot from the ground to the working position fast and safely, the problem that the inspection robot needs to be built by a repeating system every time when in use is avoided, the number of workers when the inspection robot is used is reduced, the transportation efficiency of the inspection robot from the ground to the working position is improved, the transportation safety of the inspection robot is effectively guaranteed, and the problem to be solved is solved urgently.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a transmission line inspection robot transport mechanism for to patrol the line robot and transport the iron tower top from ground, can solve the automatic transportation problem of patrolling the line robot, avoid patrolling the line robot and all will carry out the problem that the repetitive system built at every turn use, reduce the staff quantity when patrolling the line robot and using, promote the conveying efficiency of patrolling the line robot from ground to the operating position, and can effectively ensure the transportation safety of robot.
In order to achieve the above object, the utility model provides a following scheme:
the utility model provides a transmission line inspection robot transport mechanism mainly includes:
the guide rails are longitudinally arranged along the tower body of the iron tower;
the transportation device is slidably mounted on the guide rail and is used for conveying the inspection robot back and forth between the ground and the top of the iron tower;
the positioning device is fixed at the top of the guide rail and used for performing a speed reduction positioning function on the conveying device in the conveying process of the inspection robot so that the conveying device can automatically judge the butt joint position on the guide rail;
the butt joint device is fixed at the top of the iron tower and can be in butt joint with the conveying device, so that the inspection robot is positioned between the conveying device and the butt joint device in an alternating mode, and the butt joint device can convey the inspection robot between the ground wire working point and the conveying device back and forth.
Optionally, the guide rail is formed by splicing a plurality of rail sections, and an installation gap is reserved between every two adjacent rail sections.
Optionally, the transportation device comprises a power device and a fixed frame; the line patrol robot is arranged on the fixing frame; the fixed frame is slidably arranged on the guide rail; the power device is arranged at the bottom of the fixing frame and is hinged with the fixing frame through a connecting pin.
Optionally, power device includes battery, motor, reduction gear, band-type brake and controller, the controller with the reduction gear the band-type brake and the equal electric connection of positioner after positioner triggers speed reduction or locate function, the controller can control the motor or the band-type brake, so that conveyer speed reduction or automatic stop.
Optionally, the power device is provided with a remote controller for remotely controlling the transportation device to move up and down on the guide rail.
Optionally, the positioning device includes a deceleration limiting block and a terminal limiting block, the deceleration limiting block is installed on the inner side of the top end of the guide rail, and the terminal limiting block is installed on the outer side of the top end of the guide rail and is higher than the deceleration limiting block; the transportation device is provided with a first proximity switch and a second proximity switch which are respectively used for detecting the speed reduction limiting block and the terminal limiting block, and the first proximity switch and the second proximity switch are electrically connected with the controller.
Optionally, the fixed frame comprises a vertical beam, a horizontal beam and a cross beam for mounting the inspection robot; the horizontal beams are connected to two ends of the vertical beam, and the horizontal beams and the vertical beam are vertically arranged in the same plane; the cross beam is vertically arranged at the top of the vertical beam and is perpendicular to the plane of the horizontal beam and the vertical beam; the beams are connected through corner fittings, T-shaped bolts and nuts, the lower end of the cross beam is provided with an inclined strut, and the inclined strut is connected with the vertical beam through the corner fittings, the T-shaped bolts and the nuts.
Optionally, a clamping plate is arranged at the outer end of the cross beam, and the inspection robot is clamped by the clamping plate in a suspended state; be provided with the blotter on the vertical roof beam for to patrolling line robot auxiliary stay, can play the cushioning effect in patrolling line robot transportation.
Optionally, an outer guide structure, an inner guide structure and/or a side guide structure are arranged between the fixed frame and the guide rail, and are used for ensuring that the fixed frame can only move up and down along the guide rail.
Optionally, each group of guide structures is provided with a plurality of groups, and the guide structures are fixed on the fixing frame through T-shaped bolts and nuts; and the axial distance L between two adjacent groups of guide structures is adjustable.
Optionally, the butt joint device is of a steel cable structure, the butt joint device is laid along an iron tower, and the terminal is connected with a working point on a ground wire of the inspection robot.
The utility model discloses for prior art gain following technological effect:
the utility model provides a transmission line patrols line robot transport mechanism, the problem of patrolling line robot from the automatic transportation problem at ground transportation iron tower top and patrolling line robot transportation time need repeatedly set up interim hoisting system has been solved, only with the installation use conveyer can, conveyer uses the completion after, dismantle from the guide rail, along with the robot transport away can, the staff's quantity when patrolling line robot uses has been reduced, the conveying efficiency of patrolling line robot from ground to the operating position has been promoted, and can effectively ensure the transportation safety of robot, therefore, the clothes hanger is strong in practicability.
Furthermore, the utility model discloses a conveyer can be along with the problem that line inspection robot structural variation and change, only need change the structure of mount can, power device can multiplex, improves the adaptability of system.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural view of the transmission line inspection robot transportation mechanism of the utility model;
FIG. 2 is a schematic structural view of the transportation device of the present invention;
FIG. 3 is a schematic view of the connection structure between the fixing frame and the power device of the present invention;
fig. 4 is an exploded view of the main structure of the fixing frame of the present invention;
fig. 5 is a schematic structural view of the fixing frame of the present invention;
fig. 6 is a schematic view of the outer guide structure of the present invention;
fig. 7 is a schematic view of the inner guide structure of the present invention;
fig. 8 is a schematic view of a side guide structure of the present invention;
fig. 9 is a structural view of a first proximity switch of the fixing frame of the present invention;
fig. 10 is a structural view of a second proximity switch of the fixing frame of the present invention;
FIG. 11 is a sectional structure view of the fixing frame of the present invention;
fig. 12 is a schematic view of the structure of the guide rail of the present invention;
wherein the reference numerals are: 1. a guide rail; 2. a transportation device; 21. a power plant; 22. a fixed mount; 221. a vertical beam; 222. a horizontal beam; 223. a cross beam; 224. bracing; 225. a clamping plate; 226. a cushion pad; 23. a connecting pin; 24. a first proximity switch; 25. a second proximity switch; 26. an outer guide structure; 261. an outer guide; 262. an outer guide wheel; 27. an inner guide structure; 271. an inner guide sleeve; 272. a guide bearing; 28. a side guide structure; 281. a side guide sleeve; 282. a side guide wheel; 283. a gasket; 3. a line patrol robot; 4. a positioning device; 41. a deceleration stop block; 42. a terminal limiting block; 5. a docking device; 6. a corner fitting I; 7. a second corner fitting; 8. a T-bolt; 9. and a nut.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
The utility model aims at providing a transmission line inspection robot transport mechanism for to patrol the line robot and transport the iron tower top from ground, can solve the automatic transportation problem of patrolling the line robot, avoid patrolling the line robot and all will carry out the problem that the repetitive system built at every turn use, reduce the staff quantity when patrolling the line robot and using, promote the conveying efficiency of patrolling the line robot from ground to the operating position, and can effectively ensure the transportation safety of robot.
In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention is described in detail with reference to the accompanying drawings and the detailed description.
The first embodiment is as follows:
as shown in fig. 1-2, the present embodiment provides a transmission line inspection robot transportation mechanism, which is used for transporting an inspection robot 3 from the ground to the top of an iron tower, and mainly comprises a guide rail 1, a transportation device 2, a positioning device 4, and a docking device 5.
In this embodiment, the guide rail 1 is a rigid rail, is arranged along the body of the iron tower, and is formed by splicing standard sections with standard lengths, and serves as an operation rail of the transportation device 2 on one hand and an installation structure of the positioning device 4 on the other hand. The guide rail 1 is a guide rail structure disclosed in the patent with the application number of 201810263516.3, and details thereof are not repeated herein.
In this embodiment, as shown in fig. 2 to 3, the transportation device 2 is a main transportation carrier of the inspection robot 3, and is composed of a power device 21 and a fixed frame 22, the power device 21 and the fixed frame 22 are split structures, and the two are respectively provided with a connecting ring structure at the connection position for hinging through a connecting pin 23. As shown in fig. 4-5, the fixing frame 22 is a fixing structure for the inspection robot 2, and can be adjusted according to the structure of the inspection robot. Specifically, the method comprises the following steps: as shown in fig. 4, the main body of the fixing frame 22 is composed of 2 vertical beams 221, 2 horizontal beams 222, and 2 cross beams 223, and the beams are connected through a first corner piece 6, a T-shaped bolt 8 and a nut 9. The cross member 223 is provided with a clamp plate 225 which is a clamping position of the inspection robot 3 and is to bear the weight of the inspection robot 3 itself. Because the clamping plate 3 is located at the outer end of the cross beam 223, which is the main acting point of the inspection robot 3, the lower end of the cross beam 223 is provided with an inclined strut 224, and the inclined strut is connected with the vertical beam 221 through a second corner fitting 7, a T-shaped bolt 8 and a nut 9. The vertical beam 221 is provided with a cushion pad 226 which is used as an auxiliary support of the inspection robot 3 and plays a role in buffering impact in the transportation process of the inspection robot. Wherein, each roof beam all preferentially adopts comparatively ripe aluminum alloy ex-trusions in the market, and aluminum alloy ex-trusions structure is as shown in fig. 11, and its periphery all has the groove type structure that can install, can install other additional structure.
In this embodiment, the power device 21 is a power module of the transportation device 2, and mainly comprises a battery, a motor, a reducer, a band-type brake, a controller, and the like, and moves along the guide rail by using pressing force and friction between the power device and the guide rail 1, so as to drive the fixing frame 22 to move up and down along the guide rail. The transportation device 2 can be controlled by ground operators in a remote control way and respectively moves up and down along the guide rail; because the iron tower is high, the conveyer 2 is at the operation in-process that makes progress, and ground personnel are difficult to rely on the eyesight to judge the position of conveyer, and then operate through the remote controller, need make conveyer 2 judge its butt joint position on the guide rail by oneself with the help of positioner 4 on the guide rail simultaneously to effectively stop in butt joint position department and realize the effective butt joint with butt joint device. The power device 21 is the power device disclosed in the patent with the application number of 201910069854.8, and the detailed structure and operation principle are not described herein.
In this embodiment, as shown in fig. 4, three kinds of guiding structures, namely an outer guiding structure 26, an inner guiding structure 27 and a side guiding structure 28, are arranged between the fixing frame 22 and the guide rail 1, and each group of guiding structures is preferably provided with 4 groups, and all the groups are installed and fixed in the groove-shaped structure of the vertical beam 221 through the T-shaped bolt 8 and the nut 9. Because the groove-shaped structures around the vertical beam 221 are through grooves, the distance L between the guide structure on the upper part and the guide structure on the lower part can be continuously adjusted and can be adjusted according to the actual situation on site, so that the best stress characteristic is realized, and the adaptability of the system is improved.
In this embodiment, as shown in fig. 6, the outer guide structure 26 is mainly composed of an outer guide member 261 and an outer guide wheel 262, and the outer guide member 261 and the outer guide wheel 262 are connected by a screw thread. As shown in fig. 7, the inner guide structure 27 is mainly composed of an inner guide sleeve 271 and a guide bearing 272, and the T-bolt 8 in the structure is both the central mounting shaft of the inner guide sleeve 271 and the guide bearing 272 and the fixing member on the vertical beam 221. As shown in fig. 8, the side guide structure is schematically shown in fig. 8, and is composed of a pad 283, a side guide wheel 282, and a side guide sleeve 281. As shown in fig. 12, the outer guide wheel contacts the surface C of the guide rail 1, the guide bearing 272 contacts the surface a of the guide rail 1, and the two cooperate to limit the degree of freedom of the mount 22 on the guide rail 1. At the same time, the side guide wheels 282 contact the B-faces on both sides of the guide rail 1, and restrict the degree of freedom of the mount 22 on the guide rail. Under the combined action of the outer guide structure 26, the inner guide structure 27 and the side guide structure 28, the fixing frame 22 only has the freedom of movement along the axial direction of the guide rail 1. It is ensured that the holder 22 can only move up and down along the guide rail.
In this embodiment, as shown in fig. 9-10, the positioning device 4 includes a deceleration limiting block 41 and a terminal limiting block 42, the deceleration limiting block 41 is installed on the inner side of the top end of the guide rail 1, and the acting surface of the deceleration limiting block 41 is parallel to the axis of the guide rail 1; the terminal limiting block 42 is installed on the outer side of the top end of the guide rail 1 and is higher than the speed reduction limiting block 41, and the action surface of the terminal limiting block 42 is perpendicular to the axis of the guide rail 1. The speed reduction limiting block 41 and the terminal limiting block 42 are at a certain distance, so that the speed reduction positioning function is performed on the transportation device 2 in the transportation process of the inspection robot, and the transportation device 2 finally just reaches the butt joint position with the butt joint device 5.
Correspondingly, two magnetic induction type proximity switches, namely a first proximity switch 24 and a second proximity switch 25, are mounted on the fixing frame 22, and the structural diagrams are shown in fig. 9-10. In the transportation process of the transportation device 2 from bottom to top, the first proximity switch 24 reaches the position of the speed reduction limiting block 41 first, the switch signal inside the first proximity switch 24 is triggered, the transportation device is decelerated, and the normal operation speed V of the transportation device 2 is reduced0Reduced to a slower speed V1The speed impact when the transport apparatus 2 stops next step is reduced to achieve better docking accuracy. When the transport device 2 continues to move at the speed V1And when the second proximity switch 25 moves upwards and reaches the position of the terminal limit block 42, a switch signal inside the second proximity switch 25 is triggered, so that the transportation device is automatically stopped, and the butt joint with the butt joint device 5 is realized. After the transport device 2 has stopped in the docking position, the inspection robot 3 is started, moved from the clamping plate 225 of the holder 22 to the docking device 5 and along the cable laid on the docking device 5 to the working point on the ground of the inspection robot. When the inspection robot 3 returns, the inspection robot 3 is buttedThe device 5 moves to the fixed frame 22 of the transporting device 2, the ground operator operates the remote controller to enable the transporting device 2 loaded with the inspection robot 3 to move downwards along the guide rail 1, and in the downward movement process, the movement speed of the transporting device is not influenced by a proximity switch signal and always keeps the normal movement speed V0. The deceleration program and the braking program are set by the existing program, and are not described in detail.
In this embodiment, as shown in fig. 1, the docking device 5 is installed and fixed on the iron tower, is mainly of a steel cable structure, is laid along the iron tower, and is finally connected to a working point on the ground wire of the inspection robot, after the transportation device 2 is docked with the docking device 5, the inspection robot 3 is separated from the fixing frame 22 and enters the docking device 5, or gets off from the ground wire of the iron tower, passes through the docking device 5, and returns to the fixing position on the fixing frame 22.
In summary, the beneficial effects brought by the embodiment are as follows:
1. the problem of automatic transportation of the inspection robot from the ground to the top of the iron tower is solved;
2. the problem that the transportation device can change along with the structural change of the inspection robot is solved, only the design of the fixing frame is changed, the power device can be reused, and the adaptability of the system is improved;
3. the problem of need repeatedly set up interim system of lifting by crane when patrolling line robot transportation is solved, only with the installation use conveyer can, after the conveyer uses the completion, dismantle from the guide rail, can be transported away along with the robot together.
It should be noted that, as is obvious to a person skilled in the art, the invention is not limited to details of the above-described exemplary embodiments, but can be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein, and any reference signs in the claims are not intended to be construed as limiting the claim concerned.
The utility model discloses a concrete example is applied to explain the principle and the implementation mode of the utility model, and the explanation of the above example is only used to help understand the method and the core idea of the utility model; meanwhile, for the general technical personnel in the field, according to the idea of the present invention, there are changes in the concrete implementation and the application scope. In summary, the content of the present specification should not be construed as a limitation of the present invention.
Claims (10)
1. The utility model provides a transmission line inspection robot transport mechanism which characterized in that includes:
the guide rails are longitudinally arranged along the tower body of the iron tower;
the transportation device is slidably mounted on the guide rail and is used for conveying the inspection robot back and forth between the ground and the top of the iron tower;
the positioning device is fixed at the top of the guide rail and used for performing a speed reduction positioning function on the conveying device in the conveying process of the inspection robot so that the conveying device can automatically judge the butt joint position on the guide rail;
the butt joint device is fixed at the top of the iron tower and can be in butt joint with the conveying device, so that the inspection robot is positioned between the conveying device and the butt joint device in an alternating mode, and the butt joint device can convey the inspection robot between the ground wire working point and the conveying device back and forth.
2. The transmission line patrol robot transportation mechanism according to claim 1, wherein the transportation device comprises a power device and a fixed frame; the line patrol robot is arranged on the fixing frame; the fixed frame is slidably arranged on the guide rail; the power device is arranged at the bottom of the fixing frame and is hinged with the fixing frame through a connecting pin.
3. The transmission line inspection robot transportation mechanism of claim 2, wherein the power device comprises a battery, a motor, a speed reducer, a brake and a controller, the controller is electrically connected with the speed reducer, the brake and the positioning device, and after the positioning device triggers a speed reduction or positioning function, the controller can control the motor or the brake to enable the transportation device to slow down or automatically stop.
4. The line patrol robot transportation mechanism according to claim 2 or 3, wherein the power unit is equipped with a remote controller for remotely controlling the transportation unit to move up and down on the guide rail.
5. The transmission line inspection robot transportation mechanism according to claim 2, wherein the fixed frame comprises a vertical beam, a horizontal beam and a cross beam for mounting the inspection robot; the horizontal beams are connected to two ends of the vertical beam, and the horizontal beams and the vertical beam are vertically arranged in the same plane; the cross beam is vertically arranged at the top of the vertical beam and is perpendicular to the plane of the horizontal beam and the vertical beam; the beams are connected through corner fittings, T-shaped bolts and nuts, the lower end of the cross beam is provided with an inclined strut, and the inclined strut is connected with the vertical beam through the corner fittings, the T-shaped bolts and the nuts.
6. The transmission line inspection robot transportation mechanism of claim 5, wherein a clamping plate is arranged at the outer end of the beam, and the inspection robot is clamped by the clamping plate in a suspended state; be provided with the blotter on the vertical roof beam for to patrolling line robot auxiliary stay, can play the cushioning effect in patrolling line robot transportation.
7. The transmission line inspection robot transportation mechanism according to claim 3, wherein the positioning device includes a deceleration limiting block and a terminal limiting block, the deceleration limiting block is mounted on the inner side of the top end of the guide rail, and the terminal limiting block is mounted on the outer side of the top end of the guide rail and is higher than the deceleration limiting block; the transportation device is provided with a first proximity switch and a second proximity switch which are respectively used for detecting the speed reduction limiting block and the terminal limiting block, and the first proximity switch and the second proximity switch are electrically connected with the controller.
8. The transportation mechanism of the line patrol robot of the power transmission line according to claim 2, wherein an outer guide structure, an inner guide structure and/or a side guide structure is/are arranged between the fixed frame and the guide rail, and used for ensuring that the fixed frame can only move up and down along the guide rail.
9. The transmission line inspection robot transportation mechanism of claim 8, wherein each group of guide structures is provided with a plurality of groups and is fixed on the fixed frame through T-shaped bolts and nuts; and the axial distance L between two adjacent groups of guide structures is adjustable.
10. The transportation mechanism of the line patrol robot for the power transmission line according to claim 1, wherein the butt joint device is of a steel cable structure and is laid along an iron tower, and a terminal is connected with a working point on a ground wire of the line patrol robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022441907.5U CN213386343U (en) | 2020-10-29 | 2020-10-29 | Transmission line patrols line robot transport mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022441907.5U CN213386343U (en) | 2020-10-29 | 2020-10-29 | Transmission line patrols line robot transport mechanism |
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| CN213386343U true CN213386343U (en) | 2021-06-08 |
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| CN202022441907.5U Active CN213386343U (en) | 2020-10-29 | 2020-10-29 | Transmission line patrols line robot transport mechanism |
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