CN217388040U - Platform track for inspection robot to go in and out along ground wire - Google Patents
Platform track for inspection robot to go in and out along ground wire Download PDFInfo
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- CN217388040U CN217388040U CN202220483514.7U CN202220483514U CN217388040U CN 217388040 U CN217388040 U CN 217388040U CN 202220483514 U CN202220483514 U CN 202220483514U CN 217388040 U CN217388040 U CN 217388040U
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- transmission line
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Abstract
The utility model discloses a robot discrepancy platform track is patrolled and examined along ground wire, including installing in the track support of platform and the convex rail of locating the track support, convex rail entry end is close to the transmission line ground wire, the exit end of convex rail extends to the platform inboard. The utility model discloses a can make the power transmission line that possesses the obstacle crossing function patrol and examine the robot along the ground wire and calmly, enter into the energy storage platform that charges of installing near shaft tower fast, carry out automatic charging to reduce the cost of labor of patrolling and examining the task.
Description
Technical Field
The utility model belongs to the technical field of electric power is patrolled and examined, especially, relate to and patrol and examine robot discrepancy platform technique.
Background
In the power industry, the most important long-distance power transmission mode is an overhead power transmission line, the stability and safety of the power transmission line directly influence the stability and safety of the whole power supply system, and the power transmission line is an 'artery' of national infrastructure and social development and plays a vital role. Therefore, it is necessary to periodically inspect the transmission line. At present, the main inspection mode is manual inspection and unmanned aerial vehicle inspection. At present, manual inspection mainly depends on auxiliary equipment such as naked eyes or telescopes to observe the defects of lines, and is high in strength and low in efficiency. Unmanned aerial vehicle patrols and examines and to lean on unmanned aerial vehicle's camera to observe the condition of circuit, controls difficultly, the accuracy is not high. Therefore, the robot for patrolling the power transmission line along the ground wire has a great prospect in the application of patrolling the overhead line.
At present, different types of power transmission line inspection robots are available at home and abroad, can quickly pass through a power transmission tower along a ground wire of the power transmission line, have certain obstacle-crossing capability, and can theoretically reduce the labor cost of inspection. Therefore, how to solve the problem of charging the power transmission line inspection robot on the power transmission line tower becomes a key point for realizing intelligent inspection. Therefore, the charging energy storage platform is arranged on the power transmission line tower, but the problem of access to the platform needs to be solved.
SUMMERY OF THE UTILITY MODEL
To prior art's defect, the utility model aims to solve the technical problem that an it is along ground wire inspection robot discrepancy platform track is provided, conveniently patrol and examine the robot reliably, get into the energy storage platform that charges fast, accomplish the standby function that charges.
In order to solve the technical problem, the utility model adopts the following technical scheme:
the utility model provides an it goes out platform track to patrol and examine robot along ground wire, is including installing in the track support of platform and the circular arc rail of locating the track support, circular arc rail entry end is close to the transmission line ground wire, the exit end of circular arc rail extends to the platform inboard.
Preferably, the section of the circular arc-shaped steel rail is circular, and the radius of the circular arc-shaped steel rail is consistent with the radius of the ground wire of the power transmission line.
Preferably, the track support comprises a vertical cross frame perpendicular to the ground wire of the power transmission line, a plurality of vertical suspensions vertically connected below the vertical cross frame, and a plurality of parallel cross frames connecting the vertical suspensions and the circular arc track.
Preferably, the number of the vertical cross frames is two, one vertical cross frame is connected with only one vertical suspension, and the vertical suspension is connected with the middle part of the outermost parallel cross frame.
Preferably, the parallel transverse frames and the circular arc-shaped steel rails are fixed by matching of the connecting bases and the bolts.
The utility model discloses a technical scheme, following beneficial effect has:
the robot for inspecting the ground wire of the power transmission line with the obstacle crossing function can enter a charging energy storage platform arranged near a tower stably and quickly to perform automatic charging, so that the labor cost of an inspection task is reduced.
In addition, consider that to use the scene for transmission line shaft tower, the utility model discloses an all subassemblies all adopt the equipment form, and the workman of being convenient for carries out the installation on the tower.
The utility model discloses a specific technical scheme and the beneficial effect that brings will give detailed disclosure in the following embodiment in combination with the accompanying drawings.
Drawings
The invention will be further described with reference to the accompanying drawings and specific embodiments:
fig. 1 is an overall structure diagram of the in-out platform track of the inspection robot along the ground wire of the utility model;
fig. 2 is a schematic diagram of the connection between the in-and-out platform track of the inspection robot along the ground wire and the transmission line tower of the utility model;
FIG. 3 is a schematic view of the connection between the middle arc-shaped steel rail and the square tube rail bracket of the present invention;
FIG. 4 is a schematic view of the ground wire inspection robot matched with the utility model;
in the figure: 100-power transmission line ground wire, 1-circular arc steel rail, 200-platform, 2-track support, 21-vertical cross frame, 211-connection base, 22-vertical suspension, 23-parallel cross frame, 3-first arm mechanism, 31-first arm mechanism advancing motor, 32-first arm mechanism rotating motor, 33-first arm mechanism lifting motor, 34-first arm mechanism Y-axis moving servo motor, 4-second arm mechanism, 5-third arm mechanism and 6-X-axis moving servo motor.
Detailed Description
The technical solutions of the embodiments of the present invention are explained and explained below with reference to the drawings of the embodiments of the present invention, but the embodiments described below are only preferred embodiments of the present invention, and not all embodiments. Based on the embodiments in the embodiment, other embodiments obtained by those skilled in the art without any creative work belong to the protection scope of the present invention.
It will be appreciated by those skilled in the art that features from the examples and embodiments described below may be combined with each other without conflict.
The utility model provides an it goes out platform track to patrol and examine robot along ground wire, refer to and show in fig. 1-3, including install in the track support 2 of platform 200 and locate the circular arc rail 1 of track support, circular arc rail entry end is close to transmission line ground wire 100, the exit end of circular arc rail extends to the platform inboard.
The section of the circular arc-shaped steel rail is circular, the radius of the circular arc-shaped steel rail is consistent with the radius of the ground wire of the power transmission line, and the circular arc-shaped steel rail is matched with the traveling wheel of the inspection robot.
As shown in fig. 2 and 3, the track support is made of square-mouth tubes by welding, and includes a vertical cross frame 21 perpendicular to the ground wire of the power transmission line, a plurality of vertical suspensions 22 vertically connected below the vertical cross frame, and a plurality of parallel cross frames 23 connecting the vertical suspensions and the circular arc-shaped track. The two vertical cross frames are arranged in parallel, one vertical cross frame is only connected with one vertical suspension, and the vertical suspension is connected with the middle part of one parallel cross frame on the outermost side. The parallel transverse frames 23 and the circular arc-shaped steel rails 1 are fixed by adopting internal threads and the connection base 211 matched with bolts.
As shown in fig. 4, with the utility model discloses supporting along ground wire inspection robot, including first arm-type mechanism 3, second arm-type mechanism 4, third arm-type mechanism 5 and along X axle removal servo motor 6. The three arm type mechanisms are different in stroke except that the servo motor is moved along the Y axis, other mechanisms are the same, and all the mechanisms comprise a traveling mechanism, a rotating mechanism, a lifting mechanism and the Y axis moving servo motor, the traveling mechanism comprises traveling wheels and traveling motors driving the traveling wheels to travel, the rotating mechanism comprises rotating motors driving the traveling mechanism to rotate, the lifting mechanism comprises lifting motors driving the traveling mechanism to lift, and each arm type mechanism is moved along the Y axis through the Y axis moving servo motor. The concrete structures of the advancing mechanism, the rotating mechanism and the lifting mechanism can all refer to the prior art. Taking the first arm mechanism 3 as an example, it includes a first arm mechanism advancing motor 31, a first arm mechanism rotating motor 32, a first arm mechanism lifting motor 33, and a first arm mechanism Y-axis movement servo motor 34. Only one X-axis movement servo motor 6 is used to complete the servo translation of the second arm mechanism 4 along the X-axis.
The ground wire inspection robot is used by the method of the utility model, which comprises a flow of driving into the platform and a flow of driving out the platform. The process of entering the platform mainly comprises the following steps:
a: ready to enter the platform. The inspection robot learns that the next line node is a platform track from the database, and then switches to a driving-in platform mode, specifically: the first arm mechanism 3 is arranged on the inner side of the ground wire, and the second arm mechanism 4 and the third arm mechanism 5 are arranged on the outer side of the ground wire; the first arm mechanism 3 drives the lifting motor to enable the self-height to pass through the second arm mechanism 4 and the third arm mechanism 5, and drives the servo motor to move along the Y axis to enable the first arm mechanism 3 to move towards the inner side of the ground wire. The servo motor 6 is moved by driving the X axis, and the position of the second arm mechanism 4 is changed to balance the gravity center of the robot.
B: the first arm mechanism 3 touches the platform track. After the whole inspection robot is switched to a driving-in platform mode, the whole inspection robot advances by means of the advancing motors of the second arm type mechanism and the third arm type mechanism until the travel switch of the first arm type mechanism 3 is touched by a steel rail in the middle of a platform track. At this time, the traveling motors of the second arm mechanism and the third arm mechanism stop rotating.
C: the first arm mechanism 3 is mounted on the platform rail. The first arm mechanism 3 is opposite to the platform rail by means of the matching of the rotating motor and the built-in rotary encoder, and then the lifting motor and the Y-axis moving servo motor are driven to enable the first arm mechanism 3 to descend and fall onto the platform rail.
D: and the inspection robot backs up. The moving motors of the first arm type mechanism, the second arm type mechanism and the third arm type mechanism rotate reversely for a certain distance until the first arm type mechanism 3 is close to the inlet of the platform track, all the moving motors stop rotating, and at the moment, the second arm type mechanism 4 retreats from the middle part of the platform track to the front of the inlet of the platform track.
E: the second arm mechanism 4 is disengaged from the ground. The second arm mechanism 4 moves upwards and towards the outer side of the ground wire by driving the lifting motor and moving the servo motor along the Y axis, then synchronously drives the lifting motors of the first arm mechanism, the second arm mechanism and the third arm mechanism, wherein the lifting motors of the first arm mechanism and the third arm mechanism ascend, the lifting motor of the second arm mechanism descends to enable the second arm mechanism 4 to drive the rotating motor to rotate 180 degrees to the inner side of the platform track 1, and finally the second arm mechanism 4 moves upwards and towards the inner side of the ground wire by driving the lifting motor and the Y axis to move the servo motor.
F-H: the platform rail on the second arm mechanism 4 acts. The whole process is similar to B-D.
I: the third arm mechanism 5 is disengaged from the ground. The whole process is similar to E
J-L: the third arm mechanism 5 moves along the platform rail. The whole process is similar to B-D.
M: and finishing the action of driving into the platform.
The process of exiting the platform mainly comprises the following steps:
a: ready to exit the platform. After the inspection robot is charged, after receiving the task of the outgoing platform, the inspection robot is switched to the outgoing platform mode, specifically: the first arm type mechanism 3 is arranged on the inner side of the ground wire, and the second arm type mechanism 4 and the third arm type mechanism 5 are arranged on the inner side of the platform track; and driving a lifting motor of the second arm type mechanism 4 to enable the second arm type mechanism 4 to be higher than the first arm type mechanism 3 and the third arm type mechanism 5, and driving the Y-axis movement servo motor to enable the Y-axis movement servo motor to move in the direction far away from the platform track.
B: the second arm mechanism 4 touches the platform track. After the whole inspection robot is switched to the mode of exiting the platform, the whole inspection robot reversely rotates by virtue of the traveling motors of the first arm mechanism 3 and the third arm mechanism 5 to exit the platform track until the travel switch of the second arm mechanism 4 is touched by a steel rail in the middle of the platform track. At this time, the traveling motors of the first arm mechanism 3 and the third arm mechanism 5 stop rotating.
C: the second arm mechanism 4 is mounted on the platform rail. The second arm mechanism 4 is directly opposite to the platform track by means of the matching of the rotating motor and the built-in rotary encoder, and then the lifting motor and the Y-axis moving servo motor are driven to enable the second arm mechanism 4 to descend and fall onto the platform track.
D: the third arm mechanism 5 is disengaged from the track. And driving the lifting motor and the Y-axis movement servo motor to enable the third arm type mechanism 5 to move upwards and away from the platform track, and enabling the advancing motors of the first arm type mechanism and the second arm type mechanism to rotate reversely for a certain distance until the second arm type mechanism 4 is close to the inlet of the platform track, and stopping the rotation of the advancing motors of the first arm type mechanism and the second arm type mechanism.
E: and the third arm mechanism 5 is grounded. The third arm type mechanism 5 is enabled to be over against the platform track by means of the matching of the rotating motor and the built-in rotating encoder, and then the lifting motor and the Y-axis moving servo motor are driven to enable the third arm type mechanism 5 to descend and fall onto the ground line of the power transmission line.
F-G, the ground wire on the second arm type mechanism 4 acts. The whole process is similar to D-E.
H-I: the ground wire on the first arm mechanism 3 moves. The whole process is similar to D-E.
J: and (5) finishing the action of pulling out the platform.
To sum up, the utility model adopts the arc track with the steel radius consistent with the ground wire radius of the power transmission line, thus reducing the complexity of the movement of the inspection robot when the inspection robot drives in and out of the platform track, and leading the inspection robot to enter the charging energy storage platform for charging simply and rapidly through the platform track; unique three-dimensional square mouth pipe assembly support design and based on the assembled design of connecting the base, greatly reduced the construction degree of difficulty on transmission line shaft tower, guaranteed orbital stability of platform and fastness simultaneously. Be different from current artifical replacement patrols and examines the scheme of robot battery, the utility model discloses the installation is simple, has fully utilized patrols and examines the original function of hindering more of robot, provides the condition for realizing patrolling and examining long-term automatic operation on the robot power transmission line.
The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and those skilled in the art should understand that the present invention includes but is not limited to the contents described in the drawings and the above specific embodiments. Any modification which does not depart from the functional and structural principles of the present invention is intended to be included within the scope of the claims.
Claims (5)
1. The utility model provides a follow ground wire and patrol and examine robot discrepancy platform track which characterized in that, is including installing in the track support of platform and the convex rail of locating the track support, convex rail entry end is close to the transmission line ground wire, convex rail's exit end extends to the platform inboard.
2. The track for the ground wire inspection robot access platform according to claim 1, wherein the section of the circular arc-shaped steel rail is circular and the radius of the circular arc-shaped steel rail is consistent with the radius of the ground wire of the power transmission line.
3. The track for the inspection robot along the ground wire in and out of the platform according to claim 1, wherein the track support comprises a vertical cross frame perpendicular to the ground wire of the power transmission line, a plurality of vertical suspensions vertically connected below the vertical cross frame, and a plurality of parallel cross frames connecting the vertical suspensions and the circular arc-shaped track.
4. The ground wire inspection robot access platform track according to claim 3, wherein two vertical cross frames are arranged in parallel, one vertical cross frame is connected with only one vertical suspension, and the vertical suspension is connected with the middle part of the outermost parallel cross frame.
5. The ground wire inspection robot access platform track according to claim 4, wherein the parallel crossbearers and the circular arc-shaped steel rails are fixed by matching of connecting bases and bolts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220483514.7U CN217388040U (en) | 2022-03-04 | 2022-03-04 | Platform track for inspection robot to go in and out along ground wire |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220483514.7U CN217388040U (en) | 2022-03-04 | 2022-03-04 | Platform track for inspection robot to go in and out along ground wire |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217388040U true CN217388040U (en) | 2022-09-06 |
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ID=83102475
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220483514.7U Active CN217388040U (en) | 2022-03-04 | 2022-03-04 | Platform track for inspection robot to go in and out along ground wire |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217388040U (en) |
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2022
- 2022-03-04 CN CN202220483514.7U patent/CN217388040U/en active Active
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