CN213535129U - High tension transmission line stockbridge damper playback robot - Google Patents
High tension transmission line stockbridge damper playback robot Download PDFInfo
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- CN213535129U CN213535129U CN202022764215.4U CN202022764215U CN213535129U CN 213535129 U CN213535129 U CN 213535129U CN 202022764215 U CN202022764215 U CN 202022764215U CN 213535129 U CN213535129 U CN 213535129U
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- aerial vehicle
- unmanned aerial
- stockbridge damper
- controller
- homing
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Abstract
The utility model provides a high tension transmission line stockbridge damper homing robot, including unmanned aerial vehicle, unmanned aerial vehicle fuselage upper portion is provided with insulating barrier, and insulating barrier one side is provided with operating manipulator and running gear, and unmanned aerial vehicle fuselage lower part is provided with stockbridge damper homing controller, and stockbridge damper homing controller is connected with operating manipulator and running gear respectively; the stockbridge damper return controller is connected with the unmanned aerial vehicle, and the unmanned aerial vehicle is connected with a ground remote controller. The utility model discloses overall structure designs compactly, utilizes unmanned aerial vehicle to shift steadily to patrol and examine the stockbridge damper on the transmission line, when finding the stockbridge damper and appearing shifting, after surmounting the obstacle through unmanned aerial vehicle, snatchs the stockbridge damper playback to utilizing the arm on the unmanned aerial vehicle, and whole working process is steady quick, and the operational safety is high, has replaced traditional manual work mode.
Description
Technical Field
The utility model relates to a high tension transmission line stockbridge damper shifts the technical field who patrols and examines, especially relates to a high tension transmission line stockbridge damper playback robot.
Background
At present, the return of the shockproof hammer of the power transmission line is completed by manual live working, the manual working efficiency is low under high-altitude, high-voltage and severe-environment high-risk conditions, and due to the wide application of an extra-high voltage power grid and a multi-loop tower, the voltage grade is higher and higher, the distance between phases is closer and closer, and the manual live working is extremely dangerous; the patent application number is "201811155293.5", and the patent name is "a transmission line stockbridge damper live overhaul robot" discloses a robot that can melt the stockbridge damper on the transmission line fast in winter and overhaul the stockbridge damper on the transmission line, but above-mentioned patent is to detecting whether the stockbridge damper appears and damages, can not handle the stockbridge damper playback that appears shifting, consequently need urgent to develop a device and replace the artifical safe high-efficient live working who realizes the stockbridge damper playback of circuit.
SUMMERY OF THE UTILITY MODEL
To the stockbridge damper playback on present transmission line accomplish by artifical live working, the very dangerous technical problem of artifical live working, the utility model provides a high tension transmission line stockbridge damper playback robot.
In order to solve the above problem, the technical scheme of the utility model is so realized:
a high-voltage transmission line stockbridge damper homing robot comprises an unmanned aerial vehicle, wherein an insulating partition plate is arranged at the upper part of a body of the unmanned aerial vehicle, an operating manipulator and a travelling mechanism are arranged on one side of the insulating partition plate, a stockbridge damper homing controller is arranged at the lower part of the body of the unmanned aerial vehicle, and the stockbridge damper homing controller is respectively connected with the operating manipulator and the travelling mechanism; the stockbridge damper return controller is connected with the unmanned aerial vehicle, and the unmanned aerial vehicle is connected with a ground remote controller.
Preferably, unmanned aerial vehicle includes unmanned aerial vehicle fuselage and rotor, and the rotor symmetry sets up on the unmanned aerial vehicle fuselage and be provided with unmanned aerial vehicle controller in the unmanned aerial vehicle fuselage, is provided with radar detection ware on the unmanned aerial vehicle, and unmanned aerial vehicle controller is connected with radar detection ware, unmanned aerial vehicle controller respectively with stockbridge damper controller and ground remote controller wireless connection.
Preferably, the operation manipulator includes rotation cloud platform, shoulder joint, telescopic link, elbow joint, wrist joint and claw, rotates the cloud platform and installs on the unmanned aerial vehicle fuselage, and the shoulder joint is installed on the base and the one end swing joint of shoulder joint and telescopic link, the other end and the elbow joint swing joint of telescopic link, elbow joint and wrist joint swing joint, the last claw of installing of wrist joint, telescopic link and rotation cloud platform all are connected with stockbridge damper return controller.
Preferably, the walking mechanism comprises two groups of mechanical arms, the two groups of mechanical arms are symmetrically arranged on the body of the unmanned aerial vehicle, walking wheels are arranged on the upper portions of the two groups of mechanical arms, clamping jaws are arranged on one sides of the walking wheels, the walking wheels and the clamping jaws slide on the wires, a walking motor is arranged in the body of the unmanned aerial vehicle, and the output end of the walking motor is connected with the walking wheels through a crawler; and the walking motor is connected with the vibration damper return controller.
Compared with the prior art, the beneficial effects of the utility model are that:
the utility model discloses overall structure designs compactly, utilize on the unmanned aerial vehicle radar detector and stockbridge damper homing controller to patrol and examine the stockbridge damper on the transmission line steadily, when the aversion appears in the discovery stockbridge damper, when meetting the barrier on overhead conductor promptly through the action of climbing of control unmanned aerial vehicle arm in grades, preceding arm loosens the wire and extends forward, hang again on the wire after accomplishing obstacle crossing, arm adopts the same method of preceding arm to cross the obstacle after the same reason, regard as after whole robot to cross the barrier and accomplish obstacle crossing, snatch stockbridge damper cooperation unmanned aerial vehicle speed transform through the last manipulator of control unmanned aerial vehicle afterwards, it drives the stockbridge damper homing jointly to put attitude conversion and descending position, whole working process is steady quick, the operation safety is high, traditional manual work mode has been replaced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, 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 view of the working state of the present invention.
Fig. 2 is a schematic structural view of the robot hand of fig. 1.
In the figure, 1 is the unmanned aerial vehicle fuselage, 2 is stockbridge damper return controller, 3 is insulating baffle, 4 is the walking wheel, 5 is the clamping jaw, 6 is the arm, 7 is the manipulator, 71 is for rotating the cloud platform, 72 is the shoulder joint, 73 is the telescopic link, 74 is the elbow joint, 75 is the wrist joint, 76 is the claw.
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 any creative effort belong to the protection scope of the present invention.
As shown in fig. 1, the high-voltage transmission line stockbridge damper homing robot comprises an unmanned aerial vehicle, wherein the unmanned aerial vehicle comprises an unmanned aerial vehicle body 1 and rotor wings, the rotor wings are symmetrically arranged on the unmanned aerial vehicle body 1, an unmanned aerial vehicle controller is arranged in the unmanned aerial vehicle body, a radar detector is arranged on the unmanned aerial vehicle, the unmanned aerial vehicle controller is connected with the radar detector, an insulating partition plate 3 is arranged at the upper part of the unmanned aerial vehicle, a manipulator 7 and a travelling mechanism are arranged on one side of the insulating partition plate 3, a stockbridge damper homing controller 2 is arranged at the lower part of the unmanned aerial vehicle, and the stock; the stockbridge damper return controller 2 is connected with an unmanned aerial vehicle, the unmanned aerial vehicle is connected with a ground remote controller, and the unmanned aerial vehicle controller is respectively connected with the stockbridge damper return controller 2 and the ground remote controller.
As shown in fig. 2, the manipulator 7 includes a rotating holder 71, a shoulder joint 72, an expansion link 73, an elbow joint 74, a wrist joint 75, and a claw portion 76, the shoulder joint 72, the expansion link 73, the elbow joint 74, the wrist joint 75, and the claw portion 76 are all flexibly connected, the rotating holder 71 is mounted on the unmanned aerial vehicle body 1, the shoulder joint 72 is mounted on the rotating holder 71, the shoulder joint 72 is movably connected with one end of the expansion link 73, the other end of the expansion link 73 is movably connected with the elbow joint 74, the elbow joint 74 is movably connected with the wrist joint 75, the claw portion 76 is mounted on the wrist joint 75, and both the expansion link 73 and the rotating holder 71 are connected with the stockbridge controller 2.
The walking mechanism comprises two groups of mechanical arms 6, the two groups of mechanical arms 6 are symmetrically arranged on an unmanned aerial vehicle body 1, the two groups of symmetrical mechanical arms are used for realizing the balance of the force in the walking of the robot, the walking wheels 4 are arranged on the upper parts of the two groups of mechanical arms 6, clamping jaws 5 are arranged on one sides of the walking wheels 4, the walking wheels 4 and the clamping jaws 5 slide on a wire, the wire is clamped by the clamping jaws for protecting the wire, the robot is prevented from falling under the influence of other factors such as wind pendulum and the like, meanwhile, in order to meet the equipotential operation capability of the robot, an equipotential technology is adopted, the walking wheels have the equipotential function, the robot is guaranteed to be equipotential with the wire all the time, a; the traveling motor 4 is connected with the shockproof hammer return controller 2.
In the actual working, the robot is on-line: after the robot takes off from the ground by using the rotor wing, the robot is gradually close to the lead under manual remote control, the robot is automatically controlled after the robot and the lead are within a certain distance range by visual inspection, when the robot rises to a certain distance from the lead, an unmanned aerial vehicle radar system is started, the recognition and detection of the lead are automatically completed through a radar detector, and then the distance between the robot and the lead is calculated and then the robot is controlled by a controller to perform posture adjustment to complete automatic on-line action;
a sliding stage: the robot slides on the line by virtue of the travelling wheels, the travelling wheels are controlled by the motor positioned in the cabin to drive the rollers to slide, and the motor is positioned in the cabin, so that inductive discharge between the high-voltage wire and the motor can be effectively avoided; the sliding mode can realize that the robot conveniently and quickly walks on line, thereby increasing the flexibility and saving the consumption of the power supply of the robot;
and (3) a live working stage: after the robot finishes online, insulated live-wire operation can be carried out as required; the stockbridge damper resetting controller judges whether the high-voltage transmission line condition is possibly damaged or not through the line information of the high-voltage transmission line acquired by a radar detector or an image acquisition device, and if the transmission line is intact, the original set flight line is kept unchanged; if the high-voltage transmission line vibration damper possibly shifts, the obstacle-crossing mobile platform is required to grab the line and land, the mechanism form and the flight path are changed, the obstacle-crossing mobile platform slowly descends to the position where the vibration damper corresponding to the high-voltage transmission line possibly shifts, and the high-voltage transmission line is subjected to on-line inspection; after the on-line inspection is finished, the controller controls the robot to change the mechanism shape, the robot stably, slowly and vertically flies away from the high-voltage transmission line, and the high-voltage transmission line is prevented from greatly oscillating;
obstacle crossing or offline stage: when the robot walks on the line, obstacles such as a spacer, an insulator string or a tower and the like are encountered, obstacle crossing is carried out, two groups of mechanical arms on the robot adopt climbing actions similar to people, when the robot encounters the obstacles on an overhead conductor, a front arm loosens the conductor to extend forwards, the robot is hung on the conductor again after obstacle crossing is finished, and after the same, the arm adopts the same method to cross the obstacles, and the robot is regarded as finishing the obstacle crossing after the whole robot crosses the obstacles; the device finishes the return work of the vibration damper by controlling the speed change, the state change and the landing position change of the unmanned aerial vehicle body, so that the robot bypasses a barrier from one side after being separated from a lead and then goes on line; and if the robot finishes line patrol, directly operating the robot to be offline.
The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. The high-voltage transmission line stockbridge damper homing robot is characterized by comprising an unmanned aerial vehicle, wherein an insulating partition plate (3) is arranged at the upper part of the unmanned aerial vehicle, a manipulator (7) and a travelling mechanism are arranged on one side of the insulating partition plate (3), a stockbridge damper homing controller (2) is arranged at the lower part of the unmanned aerial vehicle, and the stockbridge damper homing controller (2) is respectively connected with the manipulator (7) and the travelling mechanism; the stockbridge damper return controller (2) is connected with an unmanned aerial vehicle, and the unmanned aerial vehicle is connected with a ground remote controller.
2. The high-voltage transmission line stockbridge damper homing robot of claim 1, wherein the unmanned aerial vehicle comprises an unmanned aerial vehicle body (1) and rotors, the rotors are symmetrically arranged on the unmanned aerial vehicle body (1) and an unmanned aerial vehicle controller is arranged in the unmanned aerial vehicle body, a radar detector is arranged on the unmanned aerial vehicle, the unmanned aerial vehicle controller is connected with the radar detector, and the unmanned aerial vehicle controller is respectively connected with the stockbridge damper homing controller (2) and a ground remote controller.
3. The high-voltage transmission line stockbridge damper homing robot of claim 1, wherein the manipulator (7) comprises a rotating pan-tilt (71), a shoulder joint (72), a telescopic rod (73), an elbow joint (74), a wrist joint (75) and a claw part (76), the rotating pan-tilt (71) is installed on the unmanned aerial vehicle body (1), the shoulder joint (72) is installed on the rotating pan-tilt (71), the shoulder joint (72) is movably connected with one end of the telescopic rod (73), the other end of the telescopic rod (73) is movably connected with the elbow joint (74), the elbow joint (74) is movably connected with the wrist joint (75), the claw part (76) is installed on the wrist joint (75), and the telescopic rod (73) and the rotating pan-tilt (71) are both connected with the stockbridge damper homing controller (2).
4. The high-voltage transmission line stockbridge damper homing robot of claim 1, wherein the travelling mechanism comprises two groups of mechanical arms (6), the two groups of mechanical arms (6) are symmetrically installed on the unmanned aerial vehicle body (1), travelling wheels (4) are arranged at the upper parts of the two groups of mechanical arms (6), clamping jaws (5) are arranged on one sides of the travelling wheels (4), the travelling wheels (4) and the clamping jaws (5) slide on a guide line, a travelling motor is installed in the unmanned aerial vehicle body (1), and the output end of the travelling motor is connected with the travelling wheels (4) through a crawler; the walking motor is connected with the shockproof hammer return controller (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022764215.4U CN213535129U (en) | 2020-11-25 | 2020-11-25 | High tension transmission line stockbridge damper playback robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022764215.4U CN213535129U (en) | 2020-11-25 | 2020-11-25 | High tension transmission line stockbridge damper playback robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213535129U true CN213535129U (en) | 2021-06-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022764215.4U Active CN213535129U (en) | 2020-11-25 | 2020-11-25 | High tension transmission line stockbridge damper playback robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213535129U (en) |
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2020
- 2020-11-25 CN CN202022764215.4U patent/CN213535129U/en active Active
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