CN214479061U - Folding type distribution line inspection robot - Google Patents
Folding type distribution line inspection robot Download PDFInfo
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- CN214479061U CN214479061U CN202022275066.5U CN202022275066U CN214479061U CN 214479061 U CN214479061 U CN 214479061U CN 202022275066 U CN202022275066 U CN 202022275066U CN 214479061 U CN214479061 U CN 214479061U
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- 238000007689 inspection Methods 0.000 title claims description 51
- 238000004891 communication Methods 0.000 claims abstract description 10
- 239000000969 carrier Substances 0.000 claims abstract description 4
- 230000007246 mechanism Effects 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 4
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- 230000005540 biological transmission Effects 0.000 description 6
- 230000000875 corresponding effect Effects 0.000 description 3
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- 238000001514 detection method Methods 0.000 description 2
- 238000009472 formulation Methods 0.000 description 2
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Abstract
The utility model relates to a folded form distribution lines patrols and examines robot, a serial communication port, include: the device comprises a workbench, guide wheels, a guide wheel bracket, two folding connecting rods, two walking wheels, two walking wheel carriers, a driving motor, a communication unit, a controller and a battery. The folding connecting rod includes two sets of folding rods, screw rod, nut slider, folding connecting rod frame, connecting block and servo motor, communication unit and controller are all installed on the workstation, it patrols and examines the rack to be equipped with a plurality of on the workstation, it has a plurality of to patrol and examine equipment to patrol and examine to install on the rack. The utility model discloses a substantive effect is: the utility model discloses can replace the personnel of patrolling and examining to carry out the operation of patrolling and examining to the distribution lines to the walking on the distribution lines meets and can make the action when turning round and keep self balanced.
Description
Technical Field
The utility model relates to a distribution lines field of patrolling and examining, concretely relates to folded type 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.
Publication number CN205921295U, announcement date 2017, 02 month 01, discloses a device for a power transmission line inspection robot to perform inspection work, which includes: a memory part for storing line data; the task making component is connected with the storage device and used for making a routing inspection plan of the power transmission line routing inspection robot; the detection component is connected with the task formulation component and is used for detecting whether the functions of the power transmission line inspection robot are normal or not after the inspection plan formulation is finished; and the monitoring sensor is connected with the detection component and used for monitoring the running state of the power transmission line inspection robot in real time. The device can enable the power transmission line inspection robot to automatically complete inspection work, and the power transmission line inspection robot can operate reliably, so that the inspection work efficiency is improved.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: there is a need for a robot that can replace an inspector to inspect a distribution line and rotate an inspection device to reverse synchronously after the inspection robot reverses.
The utility model provides a robot is patrolled and examined to concertina type distribution lines which characterized in that includes: a workbench, a guide wheel bracket, two folding connecting rods, two walking wheels, two walking wheel carriers, a driving motor, a communication unit, a controller and a battery,
the guide wheel bracket is connected with the workbench, the guide wheel is rotatably arranged on the guide wheel bracket, the driving motor is fixedly arranged on the guide wheel bracket and connected with the guide wheel, the travelling wheel is rotatably arranged on a travelling wheel frame,
the two ends of the folding connecting rod are provided with hinge posts, the hinge posts on the folding connecting rod are rotatably connected with the workbench, the other end of the folding connecting rod is connected with the walking wheel frame through the hinge posts,
the folding connecting rod comprises two groups of folding rods, a screw rod, a nut sliding block, a folding connecting rod frame, a connecting block and a servo motor, wherein the folding rods comprise four short rods and a plurality of long connecting rods, the plurality of long rods are divided into two groups, the two groups of long rods are the same in quantity, the long rods in each group are connected end to end in a rotating manner, the middle parts of the long rods in the same sequence in each group are connected in an end to end manner to form four free ends, one end of each short rod is respectively connected with one free end in a rotating manner, the other ends of the two short rods are connected with the folding connecting rod frame in a rotating manner, the other ends of the two short rods are connected with the connecting block in a rotating manner, the nut sliding block is connected with the middle part of the first long rod in each group in a rotating manner, the nut sliding block is connected with the screw rod in a threaded manner, the folding connecting rod frame is fixedly connected with the servo motor, and the connecting block is fixedly connected with a hinge post at one end of the folding connecting rod, the servo motor is fixedly connected with the hinge column at the other end of the folding connecting rod,
communication unit and controller are all installed on the workstation, be equipped with a plurality of on the workstation and patrol and examine the rack, it has a plurality of to patrol and examine equipment to patrol and examine the rack installation, a plurality of is patrolled and examined equipment, servo motor and driving motor and all is connected with the controller, the battery is installed on the workstation, the battery is all the other equipment power supplies.
This distribution lines robot can walk on the distribution lines, replaces the personnel of patrolling and examining to accomplish the task of patrolling and examining to the distribution lines. When the distribution line inspection robot receives a working instruction, the controller controls the driving motor to work to drive the guide wheels to move forwards along the distribution line, and the two walking wheels on the rear side also move forwards along with the driving of the folding connecting rod. When the line inspection robot moves forwards, the inspection equipment performs specified inspection task work and transmits the collected distribution line information to the control center through the communication unit. Patrol and examine the robot and meet when turning at distribution lines walking in-process, patrol and examine the robot and can take place the slope, through the length adjustment of folding link, can make and patrol and examine the robot keep balance. The inspection robot can complete the adjustment of the length of the folding connecting rod when the inspection robot needs to turn around. Folding connecting rod has increased the stability of this distribution lines inspection robot when walking on the circuit.
Preferably, 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. When turning, the folding connecting rod also makes corresponding action in order to promote the stability of patrolling and examining robot walking on the distribution lines.
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 guide wheel screws.
The guide wheel consists of an inner wheel, an obstacle crossing wheel and a limiting wheel. The inner wheel of the guide wheel, the obstacle crossing wheel and the limiting wheel have different structures and are respectively used for different working contents, so that the guiding stability of the guide wheel is improved, and the walking stability of the inspection robot is further improved.
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.
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 camera is used for observing the surrounding environment of the robot, the infrared thermal imager is used for searching fault points of the 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 carry out the operation of patrolling and examining to the distribution lines to the walking on the distribution lines meets and can make the action when turning round and keep self balanced.
Drawings
Fig. 1 is a schematic structural diagram of the first embodiment.
Fig. 2 is a schematic view of the installation of the guide wheel in the first embodiment.
Fig. 3 is a schematic structural view of a guide wheel according to the first embodiment.
Fig. 4 is a schematic view of a folding link structure according to the first embodiment.
Fig. 5 is an exploded view of a folding link according to an embodiment.
In the figure, 1, a workbench, 2, a steering motor, 3, a battery, 4, an inspection equipment frame, 5, a guide wheel frame, 6, a guide wheel, 7, a driving motor, 8, a servo motor, 9, a folding connecting rod, 10, a walking wheel frame, 11, a walking wheel, 12, a steering driven gear, 13, a steering driving gear, 14, an installation part, 15, a folding connecting rod frame, 16, a short rod, 17, a long rod, 18, a connecting block, 19, a screw rod, 20, a nut sliding block, 21, a hinge column, 22, an inner wheel, 23, an obstacle crossing wheel, 24 and a limiting wheel.
Detailed Description
The technical solution of the present invention will be further specifically described below by way of specific examples.
The first embodiment is as follows:
the utility model provides a folding type distribution lines patrols and examines robot which characterized in that includes: workstation 1, leading wheel 6, direction wheel carrier 5, two folding connecting rod 9, two walking wheels 11, two walking wheel carriers 10, driving motor 7, communication unit, controller and battery 3, direction wheel carrier 10 with workstation 1 is connected, and leading wheel 6 rotates and installs on direction wheel carrier 10, and driving motor 7 fixed mounting is on direction wheel carrier 5, and driving motor 7 is connected with leading wheel 6, and walking wheel 11 rotates and installs on walking wheel carrier 10, and hinge post 21 is installed at folding connecting rod 9 both ends, and hinge post 21 on the folding connecting rod 9 rotates with workstation 1 to be connected, and the other end of folding connecting rod 9 passes through hinge post 21 and is connected with walking wheel carrier 10.
The folding connecting rod 9 comprises two groups of folding rods, a screw rod 19, a nut sliding block 20, a folding connecting rod frame 15, a connecting block 18 and a servo motor 8. The folding rod comprises four short rods 16 and a plurality of long rods 17, the long rods 17 are divided into two groups, and the two groups of long rods 17 are the same in number. The long rods 17 of each group are connected end to end in a rotating way, and the middle parts of the long rods 17 in the same sequence in each group are connected in a rotating way. Two groups of long rods 17 are connected end to form four free ends, and one end of each of the four short rods 16 is rotatably connected with one free end. The other ends of the two short rods 16 are rotatably connected with the folding connecting rod frame 15, and the other ends of the other two short rods 16 are rotatably connected with the connecting block 18. The nut sliding block 20 is rotatably connected with the middle part of the first long rod 17 in each group, and the nut sliding block 20 is in threaded connection with the screw rod 19. The folding connecting rod frame 15 is fixedly connected with the servo motor 8, the connecting block 18 is fixedly connected with a hinge column 21 at one end of the folding connecting rod 9, and the servo motor 8 is fixedly connected with the hinge column 21 at the other end of the folding connecting rod 9. When the inspection robot meets a turn in the walking process of the distribution line, the inspection robot can incline, and the inspection robot can keep balance through the length adjustment of the folding connecting rod 9. When the length of the folding connecting rod 9 needs to be reduced, the servo motor 8 works, the control screw rod 19 enables the nut sliding block 20 to move, the folding rod contracts, and the length of the folding connecting rod 9 is reduced. The inspection robot can complete the adjustment of the length of the folding connecting rod 9 when the inspection robot needs to turn around.
Communication unit and controller are all installed on workstation 1, are equipped with on workstation 1 and patrol and examine equipment rack 4, patrol and examine and install a plurality of on the equipment rack 5 and patrol and examine equipment, and a plurality of is patrolled and examined equipment, servo motor 8 and driving motor 7 and all is connected with the controller, and battery 3 installs on workstation 1, and battery 3 is all the power supplies for all the other equipment.
The distribution line inspection robot described in this embodiment further includes a steering mechanism. The steering mechanism comprises a steering motor 2, a steering driving gear 13 and a steering driven gear 12, the steering motor 2 is installed on the workbench 1, the steering driving gear 13 is connected with the steering motor 2, the steering driven gear 12 is fixedly connected with the guide wheel support 5, and the steering driving gear 13 is meshed with the steering driven gear 12. When the inspection robot walks on a distribution line and needs to turn, the controller sends an instruction to the steering motor 2, the steering motor 2 makes corresponding action to drive the steering driving gear 13 and the steering driven gear 12 to move, and correspondingly, the guide wheel 6 moves along with the steering driving gear and the steering driven gear to adjust the advancing direction of the guide wheel 6 and the inspection robot.
The guide wheel 6 includes an inner wheel 22, an obstacle crossing wheel 23, and a restricting wheel 24. Two end faces of the inner wheel 22 are respectively connected with two obstacle crossing wheels 23, and the two obstacle crossing wheels 23 are respectively connected with two limiting wheels 24. The outer diameter of the obstacle crossing wheel 23 is larger than that of the inner wheel 22, the outer diameter of the limiting wheel 24 is larger than that of the obstacle crossing wheel 23, and the outer diameter of one side, far away from the inner wheel 22, of the limiting wheel 24 is larger than that of the other side. The inner wheel 22, the obstacle crossing wheel 23 and the limiting wheel 24 are fixedly connected through the guide wheel 6 and the screw rod 19. The side surface of the inner wheel 22 is concave and the side surface is provided with a point-shaped bulge. Raised lines for obstacle crossing are distributed on the surface of the obstacle crossing wheel 23, and the cross section of each raised line is in a tooth shape. The wheel surface of the limiting wheel 24 is provided with a plurality of hollows.
Wherein, equipment of patrolling and examining includes camera, infrared thermal imager and GPS locater, and camera, infrared thermal imager and GPS locater all are connected with the controller. When the line inspection robot walks forwards along the distribution line, the camera, the infrared thermal imager and the GPS start to work. 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, current, motor working state of the robot battery 3, satellite signal intensity received by the GPS, etc., and these signals are simultaneously transmitted and displayed together with the collected image signal.
Before 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 6 rotates forward, the guide wheel 6 moves forward along the distribution line, and the inspection robot can normally and integrally move forward.
When the telescopic type distribution line inspection robot meets the distribution line and needs to turn at a radian, the guide wheel 6 is controlled by the controller, the guide wheel 6 deflects leftwards or rightwards, and the rotating speeds of the two walking wheels 11 are changed simultaneously. When the robot need deflect to the right if patrolling and examining, because the inner circle radius is little, the outer lane radius is big when turning, in order to prevent that the walking wheel 11 on right side and distribution lines from droing, consequently need the corresponding length that reduces folding connecting rod 9 on right side. The servo motor 8 works to drive the screw rod 19 to rotate, the folding connecting rod 9 contracts, and the length is shortened.
When the inspection robot receives a turning instruction, the servo motor 8 works to drive the screw rod 19 to rotate, the folding connecting rod 9 contracts, and the length is shortened. Meanwhile, the driving motor 8 is reversed to drive the guide wheel 6 to retreat, and the running speed is synchronous with the retracting speed of the folding connecting rod 9. When the guide wheel 6 and the two walking wheels 11 run in a linear state, the servo motor 8 works to drive the screw rod 19 to rotate, so that the folding connecting rod 9 starts to extend outwards, and when the folding connecting rod 9 is unfolded to a specified length, the operation is finished.
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 spirit of the invention as set forth in the claims.
Claims (8)
1. The utility model provides a folding type distribution lines patrols and examines robot which characterized in that includes: a workbench, a guide wheel bracket, two folding connecting rods, two walking wheels, two walking wheel carriers, a driving motor, a communication unit, a controller and a battery,
the guide wheel bracket is connected with the workbench, the guide wheel is rotatably arranged on the guide wheel bracket, the driving motor is fixedly arranged on the guide wheel bracket and connected with the guide wheel, the travelling wheel is rotatably arranged on a travelling wheel frame,
the two ends of the folding connecting rod are provided with hinge posts, the hinge posts on the folding connecting rod are rotatably connected with the workbench, the other end of the folding connecting rod is connected with the walking wheel frame through the hinge posts,
the folding connecting rod comprises two groups of folding rods, a screw rod, a nut sliding block, a folding connecting rod frame, a connecting block and a servo motor, wherein the folding rods comprise four short rods and a plurality of long connecting rods, the plurality of long rods are divided into two groups, the two groups of long rods are the same in quantity, the long rods in each group are connected end to end in a rotating manner, the middle parts of the long rods in the same sequence in each group are connected in an end to end manner to form four free ends, one end of each short rod is respectively connected with one free end in a rotating manner, the other ends of the two short rods are connected with the folding connecting rod frame in a rotating manner, the other ends of the two short rods are connected with the connecting block in a rotating manner, the nut sliding block is connected with the middle part of the first long rod in each group in a rotating manner, the nut sliding block is connected with the screw rod in a threaded manner, the folding connecting rod frame is fixedly connected with the servo motor, and the connecting block is fixedly connected with a hinge post at one end of the folding connecting rod, the servo motor is fixedly connected with the hinge column at the other end of the folding connecting rod,
communication unit and controller are all installed on the workstation, be equipped with a plurality of on the workstation and patrol and examine the rack, it has a plurality of to patrol and examine equipment to patrol and examine the rack installation, a plurality of is patrolled and examined equipment, servo motor and driving motor and all is connected with the controller, the battery is installed on the workstation, the battery is all the other equipment power supplies.
2. The folding type power distribution line inspection robot according to claim 1, further comprising a steering mechanism, wherein 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 folding type power distribution line inspection robot according to claim 2, 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 guide wheel screws.
4. The folding power distribution line inspection robot according to claim 3, wherein the inner wheel side surfaces are concave.
5. The folding type power distribution line inspection robot according to claim 4, wherein the inner wheel is provided with dot-shaped protrusions on a side surface thereof.
6. The folding type power distribution line inspection robot according to claim 3, 4 or 5, 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.
7. The folding type power distribution line inspection robot according to claim 6, wherein a plurality of hollows are processed on the wheel surface of the limiting wheel.
8. The folding power distribution line 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 |
|---|---|---|---|
| CN202022275066.5U CN214479061U (en) | 2020-10-13 | 2020-10-13 | Folding type distribution line inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022275066.5U CN214479061U (en) | 2020-10-13 | 2020-10-13 | Folding type distribution line inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214479061U true CN214479061U (en) | 2021-10-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022275066.5U Expired - Fee Related CN214479061U (en) | 2020-10-13 | 2020-10-13 | Folding type distribution line inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214479061U (en) |
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2020
- 2020-10-13 CN CN202022275066.5U patent/CN214479061U/en not_active Expired - Fee Related
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20211022 |
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| CF01 | Termination of patent right due to non-payment of annual fee |