CN214100588U - Distribution lines patrols and examines robot - Google Patents
Distribution lines patrols and examines robot Download PDFInfo
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- CN214100588U CN214100588U CN202022272891.XU CN202022272891U CN214100588U CN 214100588 U CN214100588 U CN 214100588U CN 202022272891 U CN202022272891 U CN 202022272891U CN 214100588 U CN214100588 U CN 214100588U
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- 238000007689 inspection Methods 0.000 claims abstract description 40
- 238000004891 communication Methods 0.000 claims abstract description 9
- 239000000969 carrier Substances 0.000 claims abstract description 4
- 230000007246 mechanism Effects 0.000 claims description 7
- 230000000694 effects Effects 0.000 abstract description 2
- 238000009825 accumulation Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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Abstract
The utility model particularly relates to a distribution lines patrols and examines robot, include: the device comprises a workbench, a guide wheel bracket, two connecting rods, two traveling wheels, two traveling wheel carriers, a driving motor, a communication unit and a controller, wherein the guide wheel bracket is connected with the workbench; the communication unit and the controller are both installed on the workbench, a plurality of inspection equipment is arranged on the workbench, and the plurality of inspection equipment and the driving motor are both connected with the controller. The utility model discloses a substantive effect is: can replace the personnel of patrolling and examining to patrol and examine distribution lines, distribution lines patrols and examines the robot and remove and gather distribution lines information on distribution lines, reduces artificial intervention, and it is more convenient to patrol and examine work to distribution lines.
Description
Technical Field
The utility model relates to a distribution lines field of patrolling and examining, concretely relates to distribution lines patrols and examines robot.
Background
With the development of national economy of China, the construction of a power grid is accelerated continuously, the scale of a distribution line is larger and larger, and the distribution range is extremely wide. Distribution lines have a certain influence on the quality of the daily power supply. Once the distribution line cannot stably operate, the power supply quality is easily affected, and meanwhile inestimable loss is easily caused to power supply enterprises. Therefore, the country puts higher requirements on the operation of the distribution line, and further strengthens the safety and stability of the operation of the distribution line.
The traditional inspection mode has a plurality of hidden dangers, the in-place and inspection conditions of inspection personnel cannot be objectively and truly mastered, and the condition of missed inspection is serious. And the inspection personnel have different respective knowledge and experience accumulation degrees, so the filled content cannot catch the focus and essence, and the time and the complexity are wasted. And a large amount of data are collected, processed and analyzed in the later stage of inspection, so that the workload is large, the loss is serious, and the qualitative and quantitative evaluation on the work of workers is difficult.
Disclosure of Invention
The to-be-solved technical problem of the utility model is: there is a need for a robot that can replace an inspector to inspect a distribution line.
A distribution line inspection robot, comprising: the device comprises a workbench, a guide wheel bracket, two connecting rods, two traveling wheels, two traveling wheel carriers, a driving motor, a communication unit and a controller, wherein the guide wheel bracket is connected with the workbench; the communication unit and the controller are both installed on the workbench, a plurality of inspection equipment is arranged on the workbench, and the plurality of inspection equipment and the driving motor are both connected with the controller.
The inspection robot replaces inspection personnel to perform inspection work through the distribution line inspection robot. When the distribution lines patrols and examines the robot and receive work order, the work of controller control driving motor drives the leading wheel and moves forward, and the walking wheel of rear side passes through the connecting rod and drives also to move forward, patrols and examines the whole forward movement along the distribution lines of robot. When the line inspection robot moves, the inspection equipment on the workbench is started to perform specified inspection actions, the inspection task is completed, the detected information of the distribution line is stored in the controller, and the information of the distribution line is sent to the control center through the communication unit for analysis and processing of the information.
Preferably, the steering mechanism further comprises a steering mechanism, the guide wheel support is connected with the workbench in a rotating mode, the steering mechanism comprises a steering motor, a steering driving gear and a steering driven gear, the steering motor is installed on the workbench, the steering driving gear is connected with the steering motor, the steering driven gear is fixedly connected with the guide wheel support, and the steering driving gear is meshed with the steering driven gear.
When the inspection robot encounters a circuit turning in the advancing process, the steering motor receives a working instruction to drive the steering driving gear to rotate, the steering driven gear meshed with the steering driving gear rotates along with the steering driving gear, and further, the guide wheel gear frame drives the guide wheel to correspondingly rotate to finish turning operation.
Preferably, the two ends of the connecting rod are provided with hinge columns, one end of the connecting rod is connected with the workbench through the hinge columns, and the other end of the connecting rod is connected with the walking wheel frame through the hinge columns.
The hinge posts at the two ends of the connecting rod provide support and connection for the connecting rod, the connecting rod is connected with the workbench and the walking wheel carrier through the hinge posts and can rotate relatively, and the walking wheel can normally move along with the guide wheel on the distribution line.
Preferably, the guide wheel comprises an inner wheel, obstacle crossing wheels and limiting wheels, two end faces of the inner wheel are respectively connected with the two obstacle crossing wheels, the two obstacle crossing wheels are respectively connected with the two limiting wheels, the outer diameter of each obstacle crossing wheel is larger than that of the inner wheel, the outer diameter of each limiting wheel is larger than that of each obstacle crossing wheel, the outer diameter of one side, far away from the inner wheel, of each limiting wheel is larger than that of the other side, and the inner wheel, the obstacle crossing wheels and the limiting wheels are fixedly connected through screws.
The guide wheel consists of an inner wheel, an obstacle crossing wheel and a limiting wheel. The inner wheel, the obstacle crossing wheel and the limiting wheel have different structures and different functions.
Preferably, the inner wheel side is concave.
The concave side of the inner wheel is matched with the shape of the distribution line, so that the inner wheel can move more stably on the distribution line.
Preferably, the side surface of the inner wheel is provided with a punctiform bulge.
The point-shaped bulges are used for increasing the friction force of the contact surface of the inner wheel and the distribution line.
Preferably, the surface of the obstacle crossing wheel is distributed with raised lines for crossing the obstacle, and the cross section of each raised line is in a tooth shape.
The serrated wheel surface increases the gripping force of the obstacle crossing wheel when the obstacle crossing wheel passes through an obstacle.
Preferably, a plurality of hollows are processed on the wheel surface of the limiting wheel.
The limiting wheel is used for limiting the guide wheel to slide out of the distribution line when the distribution line inspection robot passes through a large obstacle.
Preferably, the hinge post on the connecting rod is rotatably connected with the workbench through the mounting part.
The hinge post is rotatably connected with the workbench through the mounting part, so that the connecting rod can rotate more conveniently.
As preferred, equipment of patrolling and examining includes camera, infrared thermal imager and GPS locater, camera, infrared thermal imager and GPS locater all are connected with the controller.
The inspection equipment is used for acquiring state signals of the distribution lines. The robot comprises a camera, an infrared thermal imager, a GPS (global positioning system) locator and a power distribution line fault point, wherein the camera is used for observing the surrounding environment of the robot in English, the infrared thermal imager is used for searching the fault point of the power distribution line, and the GPS locator is used for determining the current geographic position of the robot.
The utility model discloses a substantive effect is: the utility model discloses can replace the personnel of patrolling and examining to patrol and examine distribution lines, distribution lines patrols and examines the robot and remove and gather distribution lines information on distribution lines, reduces artificial intervention, makes the work of patrolling and examining to distribution lines more convenient.
Drawings
Fig. 1 is a schematic structural diagram of the first embodiment.
Fig. 2 is a schematic structural view of a guide wheel support according to the first embodiment.
Fig. 3 is a schematic view of a guide wheel bracket mounting structure according to the first embodiment.
Fig. 4 is a schematic view of a guide wheel according to the first embodiment.
Fig. 5 is a schematic view of the installation of the guide wheel in the first embodiment.
FIG. 6 is a schematic view of a hinge pillar according to the first embodiment.
In the figure, the device comprises a workbench 1, a guide wheel bracket 2, a driving motor 4, a guide wheel 5, a connecting rod 6, a traveling wheel 7, a traveling wheel carrier 8, a steering motor 9, a steering driven gear 10, a steering driving gear 11, a mounting part 12, a hinge column 13, an inner wheel 14, an obstacle crossing wheel 15, a limiting wheel 16 and a screw rod.
Detailed Description
The technical solution of the present invention is further specifically described below by way of specific examples.
The first embodiment is as follows:
a distribution line inspection robot, as shown in fig. 1, comprising: the device comprises a workbench 1, a guide wheel 4, a guide wheel bracket 2, two connecting rods 5, two walking wheels 6, two walking wheel carriers 7, a driving motor 3, a communication unit and a controller. The guide wheel bracket 2 is connected with the workbench 1, the guide wheel 4 is rotatably arranged on the guide wheel bracket 2, the driving motor 3 is fixedly arranged on the guide wheel bracket 2, the driving motor 3 is connected with the guide wheel 4, two ends of the connecting rod 5 are respectively rotatably connected with the workbench 1 and the walking wheel carrier 7, and the walking wheel 6 is rotatably arranged on the walking wheel carrier 7; communication unit and controller all install on workstation 1, are equipped with a plurality of on workstation 1 and patrol and examine equipment, a plurality of patrol and examine equipment and driving motor 3 and all be connected with the controller. Still including steering mechanism, as shown in fig. 2, fig. 3, leading wheel support 2 rotates with workstation 1 to be connected, and steering mechanism includes steering motor 8, turns to driving gear 10 and turns to driven gear 9, and steering motor 8 installs on workstation 1, turn to driving gear 10 and turn to motor 8 and be connected, turn to driven gear 9 with leading wheel support 2 fixed connection turns to driving gear 10 and turns to driven gear 9 meshing. The two ends of the connecting rod 5 are provided with hinge posts 12, one end of the connecting rod 5 is connected with the workbench 1 through the hinge posts 12, and the other end of the connecting rod 5 is connected with the walking wheel carrier 7 through the hinge posts 12. As shown in fig. 6, the hinge post 12 of the link 5 is rotatably connected to the table 1 via the mounting portion 11.
As shown in fig. 4, the guide wheel 4 includes an inner wheel 13, an obstacle crossing wheel 14, and a restricting wheel 15. Two end faces of the inner wheel 13 are respectively connected with two obstacle crossing wheels 14, the two obstacle crossing wheels 14 are respectively connected with two limiting wheels 15, the outer diameter of each obstacle crossing wheel 14 is larger than that of the inner wheel 13, and the outer diameter of each limiting wheel 15 is larger than that of each obstacle crossing wheel 14. The outer diameter of one side of the limiting wheel 15 far away from the inner wheel 13 is larger than that of the other side, and the limiting wheel is in an unfolding umbrella shape. As shown in fig. 5, the inner wheel 13, the obstacle detouring wheel 14 and the restricting wheel 15 are fixedly connected by a screw 16. The inner wheel 13, the obstacle crossing wheel 14 and the limiting wheel 15 are moved simultaneously by the driving motor. The inner wheel 13 is concave on the side surface, matched with the shape of the distribution line, and provided with a point-shaped bulge on the contact surface with the distribution line, so that the friction of the contact surface is increased. Raised strips for obstacle crossing are distributed on the surface of the obstacle crossing wheel 14, and the cross sections of the raised strips are in a tooth shape. The wheel surface of the limiting wheel 15 is provided with a plurality of hollows.
The inspection equipment comprises a camera, an infrared thermal imager and a GPS locator, and the camera, the infrared thermal imager and the GPS locator are all connected with the controller. When the inspection robot starts to work, the inspection equipment starts to work simultaneously, and inspection signals such as the surrounding environment condition of the inspection robot, the state of a distribution line, the geographic position of the inspection robot and the like are acquired.
When the robot starts to work on the distribution line, the robot is electrified for self-checking, and enters a standby state after the self-checking is finished. When the controller receives a working instruction, the controller sends a signal of forward rotation of the motor, the guide wheel 4 forwards rotates, the distribution line moves forwards, and the inspection robot integrally walks forwards. Meanwhile, the camera, the infrared thermal imager and the GPS start working. The camera observes the robot surrounding environment, and the infrared thermal imager looks for the fault point, and GPS fixes a position and confirms the current geographical position of patrolling and examining robot. And image signals formed by the camera and the infrared thermal imager are sent to the control center through the memory. Remote or local staff can receive information such as images and the like sent by the robot on site through the receiving device. The transmitted information includes the voltage and current of the battery of the robot, the working state of the motor, the intensity of the satellite signal received by the GPS, and the like, and the signals are simultaneously transmitted and displayed together with the acquired image signal.
The above-described embodiments are only preferred embodiments of the present invention, and are not intended to limit the present invention in any way, and other variations and modifications may be made without departing from the scope of the claims.
Claims (10)
1. The utility model provides a distribution lines patrols and examines robot which characterized in that includes: a workbench, a guide wheel bracket, two connecting rods, two walking wheels, two walking wheel carriers, a driving motor, a communication unit and a controller,
the guide wheel bracket is connected with the workbench, the guide wheel is rotatably installed on the guide wheel bracket, the driving motor is fixedly installed on the guide wheel bracket and connected with the guide wheel, two ends of the connecting rod are respectively rotatably connected with the workbench and the walking wheel carrier, and the walking wheel is rotatably installed on the walking wheel carrier;
communication unit and controller all install on the workstation, be equipped with a plurality of on the workstation and patrol and examine equipment, a plurality of patrol and examine equipment and driving motor and all be connected with the controller.
2. The distribution line inspection robot according to claim 1, further comprising a steering mechanism, wherein the guide wheel support is rotatably connected with the workbench, the steering mechanism comprises a steering motor, a steering driving gear and a steering driven gear, the steering motor is mounted on the workbench, the steering driving gear is connected with the steering motor, the steering driven gear is fixedly connected with the guide wheel support, and the steering driving gear is meshed with the steering driven gear.
3. The distribution line inspection robot according to claim 1 or 2, wherein hinge posts are mounted at two ends of the connecting rod, one end of the connecting rod is connected with the workbench through the hinge posts, and the other end of the connecting rod is connected with the walking wheel carrier through the hinge posts.
4. The distribution line inspection robot according to claim 3, wherein the guide wheels comprise an inner wheel, obstacle crossing wheels and limiting wheels, two end faces of the inner wheel are respectively connected with the two obstacle crossing wheels, the two obstacle crossing wheels are respectively connected with the two limiting wheels, the outer diameter of the obstacle crossing wheels is larger than that of the inner wheel, the outer diameter of the limiting wheels is larger than that of the obstacle crossing wheels, the outer diameter of one side, far away from the inner wheel, of the limiting wheels is larger than that of the other side, and the inner wheel, the obstacle crossing wheels and the limiting wheels are fixedly connected through screws.
5. The power distribution line inspection robot according to claim 4, wherein the inner wheel side surfaces are concave.
6. The inspection robot according to claim 5, wherein the inner wheel includes point-like projections on the sides thereof.
7. The distribution line inspection robot according to claim 4, 5 or 6, wherein raised lines for obstacle crossing are distributed on the surface of the obstacle crossing wheel, and the cross section of each raised line is in a tooth shape.
8. The power distribution line inspection robot according to claim 7, wherein a plurality of hollows are machined in the wheel surface of the limiting wheel.
9. The inspection robot for the distribution lines as recited in claim 3, wherein the hinge post of the connecting rod is rotatably connected to the worktable through the mounting portion.
10. The distribution lines inspection robot according to claim 1, wherein the inspection equipment comprises a camera, an infrared thermal imager and a GPS locator, and the camera, the infrared thermal imager and the GPS locator are all connected with the controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022272891.XU CN214100588U (en) | 2020-10-13 | 2020-10-13 | Distribution lines patrols and examines robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022272891.XU CN214100588U (en) | 2020-10-13 | 2020-10-13 | Distribution lines patrols and examines robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214100588U true CN214100588U (en) | 2021-08-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022272891.XU Expired - Fee Related CN214100588U (en) | 2020-10-13 | 2020-10-13 | Distribution lines patrols and examines robot |
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| Country | Link |
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| CN (1) | CN214100588U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115078916A (en) * | 2022-07-21 | 2022-09-20 | 国网山东省电力公司潍坊市寒亭区供电公司 | Distribution lines fault locating device |
-
2020
- 2020-10-13 CN CN202022272891.XU patent/CN214100588U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115078916A (en) * | 2022-07-21 | 2022-09-20 | 国网山东省电力公司潍坊市寒亭区供电公司 | Distribution lines fault locating device |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210831 |
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| CF01 | Termination of patent right due to non-payment of annual fee |