CN2778492Y - Robot capable of self-walking along 110KV transmission line - Google Patents
Robot capable of self-walking along 110KV transmission line Download PDFInfo
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- CN2778492Y CN2778492Y CN 200520080928 CN200520080928U CN2778492Y CN 2778492 Y CN2778492 Y CN 2778492Y CN 200520080928 CN200520080928 CN 200520080928 CN 200520080928 U CN200520080928 U CN 200520080928U CN 2778492 Y CN2778492 Y CN 2778492Y
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Abstract
The utility model relates to a robot capable of self-walking along 110KV transmission lines, which is composed of a robot main body, a control device, sensors, a detection device and a wireless image transmission device, wherein the control device and the wireless image transmission device are installed in a control box in the middle of the robot main body; position sensors are installed on the end of each joint motor of the robot; a distance measuring sensor and a visual sensor CCD which is used for detecting obstacles are installed on the front part of each hand; the detection device comprises a high-speed ball camera and a thermal imaging device which are connected with the robot main body through a holder. The utility model can stably walk on 110KV transmission lines for automatically spanning various obstacles on the transmission lines to replace people to carry out the line patrol work of the transmission lines. The utility model lightens the workload of the line patrol of the transmission lines, enhances work efficiency and detection accuracy, and achieves the outstanding characteristic of ensuring the safe operation of the transmission lines.
Description
(1) technical field
The utility model relates to a kind of robot, particularly a kind of robot along the autonomous walking of 110kV power transmission line
(2) background technology
Electric power transfer must rely on ultra-high-tension power transmission line, and its safe and stable operation directly has influence on the reliability of power system, because the transmission line of electricity distribution is multi-point and wide-ranging, much is in away from cities and towns, and of living in a varied topography, natural environment is abominable.Power line and shaft tower annex long term exposure are in the open air, because of the influence of the mechanical tension that is continued, electric flashover, material aging produces disconnected strand, wearing and tearing, corrosion equivalent damage, change as untimely reparation, originally small breakage and defective just may enlarge, finally cause major accident, cause large-area power-cuts, thereby cause great economic loss and serious social influence.So, must carry out the periodical inspection inspection to transmission line of electricity, grasp at any time and understand the ruuning situation of transmission line of electricity and the situation of change in circuit surrounding environment and route protection district, so that in time find and remove a hidden danger, power supply safety is guaranteed in trouble-saving generation.
Traditional safety inspection is called line walking, mainly comprises manpower line walking, vehicle line walking and helicopter line walking.Manpower line walking efficient is low, and labour intensity is big, also is subjected to great river, great river, the restriction of geographical conditions such as high mountain; The vehicle line walking is subjected to the restriction of traffic above-ground, and the vehicle line walking can't be realized in a lot of places; The expense of helicopter line walking is higher, is difficult to reach the tour precision that needs.Many at present employing manpowers are estimated or are observed the line walking work of finishing by telescope.
The fast development of Robotics for patrolling and examining of ultra-high-tension power transmission line provides new approach, makes and adopts robot to replace the manpower line walking to become possibility.
(3) summary of the invention
For overcoming the deficiencies in the prior art, the utility model provide a kind of can steadily walking on the 110kV transmission line of electricity, independently cross over various obstacles on the power transmission line, can replace manually carrying out transmission line of electricity line walking, alleviate power transmission line inspection workload, increase work efficiency and accuracy of detection, reach the robot that guarantees the transmission line of electricity safe operation along the autonomous walking of 110kV power transmission line.
A kind of robot along the autonomous walking of 110kV power transmission line is made up of robot body, control device, sensor, checkout gear and wireless image transmission equipment; Control device and wireless image transmission equipment are installed in the middle control cabinet of robot body, position sensor is installed in the end of each joint motor of robot, the vision sensor CCD that distance measuring sensor and detection obstacle are used is installed in the place ahead of every hand, and checkout gear comprises that the clipping the ball video camera links to each other with robot body by The Cloud Terrace with thermal imaging system.
Described robot body is made up of control cabinet, front and back flexible arm, drive unit, brake gear, palm closing device, as shown in Figure 1.Before and after the flexible arm structure identical, be positioned at the control cabinet both sides and become symmetrical structure, the control cabinet top is an arm with Telescopic, former and later two flexible arms are connected on the control cabinet by the turbine and worm decelerator respectively; Every hand is made of two palms, and the palm closing device is installed in the wrist place, and drive unit and brake gear are installed on the palm.
Described front and back flexible arm is formed by shoulder joint, big arm, elbow joint, forearm, wrist joint and hand, and wherein preceding flexible arm as shown in Figure 2.Preceding shoulder joint is fixedlyed connected with control cabinet, on the shoulder joint, preceding big arm linked to each other by the preceding elbow joint that is made of motor-driven decelerator with preceding forearm before preceding big arm was connected, and preceding forearm links to each other with preceding wrist joint with remote holder, back flexible arm is identical with preceding flexible arm structure, as shown in Figure 1; Shoulder joint is made up of motor and accurate worm type of reduction gearing, horizontal rotating disc and vertical dial, and motor is connected with vertical dial with horizontal rotating disc by accurate worm type of reduction gearing.
Described drive unit comprises the identical back hand driving device of structure, preceding hand driving device and middle hand driving device, and each drive unit is made up of drive motors, bevel gear decelerator and driving wheel, and its structural representation as shown in Figure 3.Drive motors links to each other with the power transmission shaft of driving wheel by the bevel gear decelerator, and the input and output shaft of bevel gear is vertical relation, and drive unit is installed on the palm rest; Crossing over wire clamp, dangle and can open, realize that the driving wheel of crossing over is middle separate type during wire jumper, driving wheel adopts high strength, high resiliency, high coefficient of friction material.
Described brake gear comprises the identical back lever brake of structure, middle lever brake and preceding lever brake, and brake gear is installed on the palm rest, and this device is by the brake motor, and screw mechanism and slider-crank mechanism are formed, as shown in Figure 4.The brake motor directly links to each other with screw mechanism, and slider-crank mechanism is by a gear and screw mechanism engagement.
Described palm closing device is made up of screw mechanism and triangle force-increasing mechanism 26, shown in Fig. 4 the latter half.Drive motors is installed in the bottom of screw mechanism, and screw mechanism links to each other with the triangle force-increasing mechanism, and leg-of-mutton two hypotenuses are equipped with slide block respectively.
Described control device is installed in the middle control cabinet of robot body, is made up of management level, planning layer and execution level, and management level are connected by wireless channel with planning layer, and planning layer links to each other by the serial communication line with execution level (slave computer); Its overall structure block diagram as shown in Figure 5.Management level are made up of ground monitoring computer and wireless device, and the ground monitoring computer is formed with wireless device and is connected by order wire; Planning layer is by robot body master computer PC104 and image pick-up card, I/O card, sonac, CCD, clipping the ball video camera and infrared thermography are formed, sonac, CCD, clipping the ball video camera and infrared thermography are by image pick-up card, and the I/O card is connected with computer PC 104; Execution level (slave computer) is made up of single chip computer AT 89S52, the motor of being with encoder and driver module, limit switch, and motor is connected with single chip computer AT 89S52 by driver module, and limit switch is installed in two extreme position of lowering or hoisting gear and closing device.
In the described sensor, ultrasonic range finder sensor produces PID#615078-6500 with the U.S., and the vision sensor CCD of aid identification barrier type produces STC-635CC with Japan; The joint position sensor produces MAXON500 line 3 passages numeral MR encoder with Switzerland; The small-sized limit switch 1LS-J700 of extra long life.
Described checkout gear adopts HS-PT480C intelligent high-speed ball video camera and hermaCAM E2 thermal imaging system, all links to each other with robot body by The Cloud Terrace; The wireless image transmission equipment is installed in the middle control cabinet of robot body, and the antenna of wireless device stretches out outside the control cabinet; The wireless image transmission equipment is with homemade Transvideo 900 serial mobile wireless vision facilities.
During use, after robot reached the standard grade, the ground monitoring computer sent the start control command, and robot body computer PC 104 is after receiving action command, and driven machine people walks along the power transmission line phase line; In the process of walking, checkout gear constantly detects the situation of the place ahead barrier, the clipping the ball video camera is taken the duty of circuit and robot itself simultaneously, the image that photographed is real-time transmitted to the ground handling base station by wireless device, the ground handling base station judges to the situation of circuit whether decision is safeguarded circuit; Simultaneously the duty of robot itself is monitored, whether decision is intervened the motion of robot.When there was stockbridge damper in the place ahead, robot can directly ascend.When detecting suspension clamp, robot stops walking, adjusts; Robot can cross over suspension clamp, turning wire jumper voluntarily.
The utlity model has reasonable in design, can on the 110kV transmission line of electricity, steadily walk, independently cross over the various obstacles on the power transmission line, replace the people to carry out the line walking work of transmission line of electricity, alleviate the workload of power transmission line inspection, the precision of increasing work efficiency and detecting reaches the outstanding feature of guaranteeing the transmission line of electricity safe operation.
(4) description of drawings
Fig. 1 body construction schematic diagram of the present utility model.
Flexible arm structural representation in Fig. 2 the utility model.
Driving device structure schematic diagram in Fig. 3 the utility model.
Skidding and palm closing device structural representation in Fig. 4 the utility model.
Fig. 5 the utility model middle controller overall structure block diagram.
Wherein, 1, back hand driving device, 2, back lever brake, 3, middle hand driving device, 4, middle lever brake, 5, preceding hand driving device, 6, preceding lever brake, 7, back wrist joint, 8, back forearm, 9, back elbow joint, 10, the big arm in back, 11, back shoulder joint, 12, control cabinet, 13, preceding shoulder joint, 14, preceding big arm, 15, preceding elbow joint, 16, preceding forearm, 17, preceding wrist joint, 18, locker, 19, left side driving wheel half 20, right driving wheel half, 21, the bevel gear decelerator, 22, drive motors, 23, the abnormity brake block, 24, slider-crank mechanism, 25, the brake motor, 26, the triangle force-increasing mechanism, 27, power transmission line, 28, shoulder joint turbine and worm decelerator, 29, the brake gear screw mechanism, 30, the closing device screw mechanism.
(5) specific embodiment
Embodiment: structure of the present utility model such as Fig. 1, Fig. 2, Fig. 3, Fig. 4 and shown in Figure 5, a kind of robot along the autonomous walking of 110kV power transmission line is made up of robot body, control device, sensor, checkout gear and wireless image transmission equipment; Control device and wireless image transmission equipment are installed in the middle control cabinet 12 of robot body, position sensor is installed in the end of each joint motor of robot, the vision sensor CCD that distance measuring sensor and detection obstacle are used is installed in the place ahead of every hand, and checkout gear comprises that video camera links to each other with robot body by The Cloud Terrace with thermal imaging system.
Described robot body is made up of control cabinet 12, front and back flexible arm, drive unit 1,3,5, brake gear 2,4,6, palm closing device, as shown in Figure 1.Before and after the flexible arm structure identical, be positioned at control cabinet 12 both sides and become symmetrical structure, control cabinet 12 tops are the arms with Telescopic, former and later two flexible arms are connected on the control cabinet 12 by shoulder joint turbine and worm decelerator 28 respectively; Every hand is made of two palms, and the palm closing device is installed in the wrist place, and drive unit 1,3,5 and brake gear 2,4,6 are installed on the palm.
Described front and back flexible arm is formed by shoulder joint 11,13, big arm 10,14, elbow joint 9,15, forearm 8,16, wrist joint 7,17 and hand, and wherein preceding flexible arm as shown in Figure 2.Preceding shoulder joint 13 is fixedlyed connected with control cabinet 12, preceding big arm 14 is connected on the preceding shoulder joint 13, preceding big arm 14 links to each other by the preceding elbow joint 15 that is made of motor-driven decelerator with preceding forearm 16, preceding forearm 16 links to each other with preceding wrist joint 17 with remote holder, back flexible arm is identical with preceding flexible arm structure, as shown in Figure 1; Shoulder joint is made up of motor and accurate worm type of reduction gearing, horizontal rotating disc and vertical dial, and motor is connected with vertical dial with horizontal rotating disc by accurate worm type of reduction gearing.
Described drive unit comprises the identical back hand driving device 1 of structure, preceding hand driving device 5 and middle hand driving device 3, and each drive unit is made up of drive motors 22, bevel gear decelerator 21 and driving wheel 19,20, and its structural representation as shown in Figure 3.Drive motors 22 links to each other with the power transmission shaft of driving wheel 19,20 by bevel gear decelerator 21, and the input and output shaft of bevel gear is vertical relation, and drive unit is installed on the palm rest; Crossing over wire clamp, dangle and can open, realize that the driving wheel of crossing over 19,20 is middle separate type during wire jumper, driving wheel 19,20 adopts high strength, high resiliency, high coefficient of friction material.
Described brake gear comprises the identical back lever brake 2 of structure, middle lever brake 4 and preceding lever brake 6, brake gear is installed on the palm rest, this device is by brake motor 25, and screw mechanism 29,30 and slider-crank mechanism 24 are formed, as shown in Figure 4.Brake motor 25 directly links to each other with screw mechanism 29,30, and slider-crank mechanism 24 is by a gear and screw mechanism 29,30 engagements.
Described palm closing device is made up of screw mechanism 29,30 and triangle force-increasing mechanism 26, shown in Fig. 4 the latter half.Drive motors 22 is installed in the bottom of brake gear screw mechanism 29, and closing device screw mechanism 30 links to each other with triangle force-increasing mechanism 26, and leg-of-mutton two hypotenuses are equipped with slide block respectively.
Described control device is installed in the middle control cabinet of robot body, is made up of management level, planning layer and execution level, and management level connect by wireless channel with planning layer, and planning layer links to each other by the serial communication line with execution level (slave computer); Its overall structure block diagram as shown in Figure 5.Management level are made up of ground monitoring computer and wireless device, and the ground monitoring computer is formed with wireless device and is connected by order wire; Planning layer is by robot body master computer PC104 and image pick-up card, I/O card, sonac, CCD, clipping the ball video camera and infrared thermography are formed, sonac, CCD, clipping the ball video camera and infrared thermography are by image pick-up card, and the I/O card is connected with computer PC 104; Execution level (slave computer) is made up of single chip computer AT 89S52, the motor of being with encoder and driver module, limit switch, and motor is connected with single chip computer AT 89S52 by driver module, and limit switch is installed in two extreme position of lowering or hoisting gear and closing device.
In the described sensor, ultrasonic range finder sensor produces PID#615078-6500 with the U.S., and the vision sensor CCD of aid identification barrier type produces STC-635CC with Japan; The joint position sensor produces MAXON500 line 3 passages numeral MR encoder with Switzerland; The small-sized limit switch 1LS-J700 of extra long life.
Described checkout gear adopts HS-PT480C intelligent high-speed ball video camera and hermaCAM E2 thermal imaging system, all links to each other with robot body by The Cloud Terrace; The wireless image transmission equipment is installed in the middle control cabinet of robot body, and the antenna of wireless device stretches out outside the control cabinet; The wireless image transmission equipment is with homemade Transvideo 900 serial mobile wireless vision facilities.
Claims (9)
1, a kind of robot along the autonomous walking of 110kV power transmission line is characterized in that robot is made up of robot body, control device, sensor, checkout gear and wireless image transmission equipment; Control device and wireless image transmission equipment are installed in the middle control cabinet of robot body, position sensor is installed in the end of each joint motor of robot, the vision sensor CCD that distance measuring sensor and detection obstacle are used is installed in the place ahead of every hand, and checkout gear comprises that the clipping the ball video camera links to each other with robot body by The Cloud Terrace with thermal imaging system.
2, the robot along the autonomous walking of 110kV power transmission line as claimed in claim 1, it is characterized in that, robot body is made up of control cabinet, front and back flexible arm, drive unit, brake gear, palm closing device, before and after the flexible arm structure identical, be positioned at the control cabinet both sides and become symmetrical structure, the control cabinet top is an arm with Telescopic, former and later two flexible arms are connected on the control cabinet by the turbine and worm decelerator respectively; Every hand is made of two palms, and the palm closing device is installed in the wrist place, and drive unit and brake gear are installed on the palm.
3, robot along the autonomous walking of 110kV power transmission line as claimed in claim 1 or 2, it is characterized in that, described front and back flexible arm is by shoulder joint, big arm, elbow joint; forearm; wrist joint and hand are formed; preceding shoulder joint is fixedlyed connected with control cabinet; preceding big arm is connected on the preceding shoulder joint; preceding big arm links to each other by the preceding elbow joint that is made of motor-driven decelerator with preceding forearm; preceding forearm links to each other with preceding wrist joint with remote holder; the back flexible arm is identical with preceding flexible arm structure; shoulder joint is by motor and accurate worm type of reduction gearing; horizontal rotating disc and vertical dial are formed, and motor is connected with vertical dial with horizontal rotating disc by accurate worm type of reduction gearing.
4, the robot along the autonomous walking of 110kV power transmission line as claimed in claim 1 or 2, it is characterized in that, described drive unit comprises the identical back hand driving device of structure, preceding hand driving device and middle hand driving device, each drive unit is made up of drive motors, bevel gear decelerator and driving wheel, drive motors links to each other with the power transmission shaft of driving wheel by the bevel gear decelerator, the input and output shaft of bevel gear is vertical relation, and drive unit is installed on the palm rest; Crossing over wire clamp, dangle and can open, realize that the driving wheel of crossing over is middle separate type during wire jumper, driving wheel adopts high strength, high resiliency, high coefficient of friction material.
5, the robot along the autonomous walking of 110kV power transmission line as claimed in claim 1 or 2, it is characterized in that, described brake gear comprises the identical back lever brake of structure, middle lever brake and preceding lever brake, brake gear is installed on the palm rest, this device is by the brake motor, screw mechanism and slider-crank mechanism are formed, and the brake motor directly links to each other with screw mechanism, and slider-crank mechanism is by a gear and screw mechanism engagement.
6, the robot along the autonomous walking of 110kV power transmission line as claimed in claim 1 or 2, it is characterized in that, described palm closing device is made up of screw mechanism and triangle force-increasing mechanism 26, drive motors is installed in the bottom of screw mechanism, screw mechanism links to each other with the triangle force-increasing mechanism, and leg-of-mutton two hypotenuses are equipped with slide block respectively.
7, the robot along the autonomous walking of 110kV power transmission line as claimed in claim 1, it is characterized in that, described control device is installed in the middle control cabinet of robot body, form by management level, planning layer and execution level, management level are connected by wireless channel with planning layer, and planning layer links to each other by the serial communication line with execution level (slave computer); Management level are made up of ground monitoring computer and wireless device, and the ground monitoring computer is formed with wireless device and is connected by order wire; Planning layer is by robot body master computer PC104 and image pick-up card, I/O card, sonac, CCD, clipping the ball video camera and infrared thermography are formed, sonac, CCD, clipping the ball video camera and infrared thermography are by image pick-up card, and the I/O card is connected with computer PC 104; Execution level (slave computer) is made up of single chip computer AT 89S52, the motor of being with encoder and driver module, limit switch, and motor is connected with single chip computer AT 89S52 by driver module, and limit switch is installed in two extreme position of lowering or hoisting gear and closing device.
8, the robot along the autonomous walking of 110kV power transmission line as claimed in claim 1, it is characterized in that, in the described sensor, ultrasonic range finder sensor produces PID#615078-6500 with the U.S., and the vision sensor CCD of aid identification barrier type produces STC-635CC with Japan; The joint position sensor produces MAXON 500 lines 3 passages numeral MR encoder with Switzerland; The small-sized limit switch 1LS-J700 of extra long life.
9, the robot along the autonomous walking of 110kV power transmission line as claimed in claim 1 is characterized in that, described checkout gear adopts HS-PT480C intelligent high-speed ball video camera and hermaCAM E2 thermal imaging system, all links to each other with robot body by The Cloud Terrace; The wireless image transmission equipment is installed in the middle control cabinet of robot body, and the antenna of wireless device stretches out outside the control cabinet; The wireless image transmission equipment is with homemade Transvideo 900 serial mobile wireless vision facilities.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 200520080928 CN2778492Y (en) | 2005-03-18 | 2005-03-18 | Robot capable of self-walking along 110KV transmission line |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 200520080928 CN2778492Y (en) | 2005-03-18 | 2005-03-18 | Robot capable of self-walking along 110KV transmission line |
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| CN2778492Y true CN2778492Y (en) | 2006-05-10 |
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| CN 200520080928 Expired - Fee Related CN2778492Y (en) | 2005-03-18 | 2005-03-18 | Robot capable of self-walking along 110KV transmission line |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102317041A (en) * | 2010-02-10 | 2012-01-11 | 电力研究所有限公司 | Route inspecting robot and system |
| CN102317040A (en) * | 2010-02-10 | 2012-01-11 | 电力研究所有限公司 | Route inspecting robot and system |
| CN105698848A (en) * | 2015-12-14 | 2016-06-22 | 杭州腾瑞电气有限公司 | Intelligent ice and fire monitoring robot |
| CN108471080A (en) * | 2018-03-14 | 2018-08-31 | 福州市星旺成信息科技有限公司 | A kind of network optimization operating analysis equipment |
| CN108582090A (en) * | 2017-12-29 | 2018-09-28 | 浙江帝恒实业有限公司 | The supervisory-controlled robot moved on freeway guardrail |
| CN109060170A (en) * | 2018-09-05 | 2018-12-21 | 贵州创联电气科技有限公司 | A kind of distributed fiber temperature measuring device for power grid |
| CN110861073A (en) * | 2019-11-18 | 2020-03-06 | 云南电网有限责任公司电力科学研究院 | Visual detection system and method of robot based on overhead high-voltage transmission line |
| CN110970830A (en) * | 2019-12-03 | 2020-04-07 | 国网河南省电力公司鹤壁供电公司 | Transmission line obstacle detection device |
| CN112072544A (en) * | 2020-08-25 | 2020-12-11 | 杭州电子科技大学 | Walking type power line obstacle crossing inspection robot along line |
-
2005
- 2005-03-18 CN CN 200520080928 patent/CN2778492Y/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102317041A (en) * | 2010-02-10 | 2012-01-11 | 电力研究所有限公司 | Route inspecting robot and system |
| CN102317040A (en) * | 2010-02-10 | 2012-01-11 | 电力研究所有限公司 | Route inspecting robot and system |
| CN105698848A (en) * | 2015-12-14 | 2016-06-22 | 杭州腾瑞电气有限公司 | Intelligent ice and fire monitoring robot |
| CN105698848B (en) * | 2015-12-14 | 2018-03-30 | 杭州九极科技有限公司 | A kind of intelligent ice thermal monitoring robot |
| CN108582090A (en) * | 2017-12-29 | 2018-09-28 | 浙江帝恒实业有限公司 | The supervisory-controlled robot moved on freeway guardrail |
| CN108471080A (en) * | 2018-03-14 | 2018-08-31 | 福州市星旺成信息科技有限公司 | A kind of network optimization operating analysis equipment |
| CN109060170A (en) * | 2018-09-05 | 2018-12-21 | 贵州创联电气科技有限公司 | A kind of distributed fiber temperature measuring device for power grid |
| CN110861073A (en) * | 2019-11-18 | 2020-03-06 | 云南电网有限责任公司电力科学研究院 | Visual detection system and method of robot based on overhead high-voltage transmission line |
| CN110970830A (en) * | 2019-12-03 | 2020-04-07 | 国网河南省电力公司鹤壁供电公司 | Transmission line obstacle detection device |
| CN110970830B (en) * | 2019-12-03 | 2023-10-24 | 国网河南省电力公司鹤壁供电公司 | Obstacle detection device for power transmission line |
| CN112072544A (en) * | 2020-08-25 | 2020-12-11 | 杭州电子科技大学 | Walking type power line obstacle crossing inspection robot along line |
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