CN101665128B - Robot used for detecting high voltage transmission lines - Google Patents
Robot used for detecting high voltage transmission lines Download PDFInfo
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- CN101665128B CN101665128B CN2009101047930A CN200910104793A CN101665128B CN 101665128 B CN101665128 B CN 101665128B CN 2009101047930 A CN2009101047930 A CN 2009101047930A CN 200910104793 A CN200910104793 A CN 200910104793A CN 101665128 B CN101665128 B CN 101665128B
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Abstract
The invention discloses a robot used for detecting high voltage transmission lines, comprising a walking mechanism, a ground control system and an airborne control system. When in use, the walking mechanism is hung on a lead by a V-shaped wheel. A ground processor sends out forward and reverse commands and other commands. The commands are sent by a ground wireless data transceiver and transmitted by an airborne wireless data transceiver to an airborne processor. The airborne processor sends out a command to control the robot to carry out corresponding actions. A plurality of sensors arranged on the walking mechanism can acquire the walking state information of the robot and transmit the information to the airborne processor, and the information is transmitted by the airborne wireless data transceiver and the ground wireless data transceiver to the ground processor to be displayed and output. The robot of the invention can realize remotely acquiring own state information and facilitate remote control, can replace artificial line patrol, overcome the defects of low accuracy, strong labor intensity and blind areas, simultaneously replace the helicopters to carry the apparatuses to carry out line patrol, improve the safety of line patrol and lower the cost of line patrol.
Description
Technical field
The present invention relates to a kind of robot, particularly a kind of robot that is used for the ultra-high-tension power transmission line detection.
Background technology
Transmission line of electricity is the key link of electric energy transmitting in the electrical network; Transmission line of electricity normally, operation is an important leverage of avoiding power grid accident safely; Relevant analysis shows that lead, disconnected strand of ground wire and damage are one of major reasons that causes the unplanned stoppage in transit of circuit, therefore transmission line of electricity are maked an inspection tour and are repaired; Accident is eliminated in bud, safety and the smooth operation of guaranteeing transmission line of electricity had crucial meaning.
At present; Transmission line of electricity is maked an inspection tour ground range estimation and the two kinds of methods of autogyro aerial survey of mainly containing; The ground range estimation is carried out through the mode of artificial line walking, adopts naked eyes or glass that transmission line of electricity is observed, because condition restriction such as transmission line of electricity geographic position of living in; Artificial line walking precision is low, labour intensity is big, and has the blind area; The multiple instrument and equipment of autogyro portability carries out aerial survey to transmission line of electricity, and precision and efficient are higher, but owing to maked an inspection tour condition effect such as regional geography, weather, has potential safety hazard, and the line walking expense is high.
To above-mentioned deficiency, need a kind of automatic running on transmisson line robot that can patrol, not exist the blind area, precision is high, efficient is high, expense is relatively low and has the Remote function transmission line of electricity of research and development nearby, as disconnected burst of detecting instrument apparatus carriers of lead.
Summary of the invention
In view of this; The present invention provides a kind of robot that ultra-high-tension power transmission line detects that is used for; The running state parameter that a plurality of sensors can obtain robot exactly is set on this robot; Control system can be carried out Treatment Analysis and send command adapted thereto the parameter that is obtained, and the robot that carries disconnected strand of detecting instrument equipment of lead with Long-distance Control carries out walking operation, realizes high efficiency, high precision, transmission line of electricity tour cheaply.
The robot that is used for the ultra-high-tension power transmission line detection of the present invention comprises traveling gear, Ground Control disposal system and airborne control processing system;
Said traveling gear comprises traveling arm device I, traveling arm device II and support; Said traveling arm device I and traveling arm device II comprise walking driven unit and obstacle detouring driven unit; Said walking driven unit comprises travel driving motor and V-arrangement wheel; The power take-off shaft of said travel driving motor cooperates with the transmission of V-arrangement wheel; Said obstacle detouring driven unit comprises electronic cylinder, guide rail and push rod, be provided with on the said guide rail by vertical section with is connected the also guide groove formed of outward-dipping tilting section of vertical section top, the reciprocating power mouth of the hinged electronic cylinder in push rod lower end; Fixedly install guiding sliding pin on the push rod with the guide groove bearing fit of guide rail; The non-movable part of push rod upper end captive joint walking driven unit, guide rail lower end and the electronic cylinder of said support one end captive joint traveling arm device I, guide rail lower end and the electronic cylinder of other end captive joint traveling arm device II;
Said Ground Control disposal system comprises bi-directional data bonded assembly ground based processor and terrestrial wireless data collector; Said airborne control processing system comprises airborne treater of bi-directional data bonded assembly and airborne wireless data collector; Carry out two-way data communication between airborne wireless data collector and the terrestrial wireless data collector; The instruction output end of airborne treater connects the command reception end of travel driving motor and electronic cylinder, and said airborne treater places on the support.
Further; Also comprise travel switch, speed sensor, pulling force sensor and attitude sensor; The corresponding one by one position that is positioned at V-arrangement wheel front end on traveling arm device I and the traveling arm device II that is arranged at of said travel switch; Speed sensor is arranged on the travel driving motor, and pulling force sensor is arranged between push rod and the travel driving motor, and the pulling force sensor two ends are captive joint push rod upper end and travel driving motor lower end respectively; Attitude sensor is arranged on the support, the equal reader borne processor of the signal of said travel switch, pulling force sensor, speed sensor and attitude sensor;
Further; Said traveling gear also comprises at least one sub-arm device; Said sub-arm device comprises passive walking V-arrangement wheel assembly and obstacle detouring driven unit; The force signal reader borne processor of said sub-arm device upper pulling force sensor, the instruction output end of said airborne treater connects the command reception end of electronic cylinder on the sub-arm device;
Further; The direction of travel of said support upper edge traveling gear fixedly installs the casing rack-and-pinion that casing guide rail and tooth bar are parallel to the casing guide rail; The slip casing that can reciprocatingly slide along orbit of guide rail is set on the said casing guide rail; Fixedly install the casing drive motor on the slip casing; The power take-off shaft of casing drive motor cooperates with the gear transmission of casing rack-and-pinion, the command reception end of the instruction output end connect box drive motor of said airborne treater, and said airborne treater places in the slip casing;
Further; Said traveling arm device I and traveling arm device II also comprise hook with safety tong and hook with safety tong rack-and-pinion; The gear of said hook with safety tong rack-and-pinion and guide rail normal-running fit; The hinged push rod lower end, tooth bar lower end of hook with safety tong rack-and-pinion, hook with safety tong captive joint gear also constitutes closed-loop with V-arrangement wheel, forms push rod and rises and can drive the structure that the hook with safety tong upset is opened closed-loop;
Further, said speed sensor is a Hall element, and said pulling force sensor is the S pulling force sensor;
Further, said V-arrangement wheel is processed by insulating material.
The beneficial effect of the invention: the robot that is used for the ultra-high-tension power transmission line detection of the present invention comprises traveling gear, ground control system and aircraft mounted control system; During use; Traveling gear is suspended on the lead through the V-arrangement wheel; By ground based processor send advance, retreat, stop, quicken, instructions such as deceleration, obstacle detouring, instruction is through the emission of terrestrial wireless data collector, and received by the airborne wireless data collector and to transfer to airborne treater; Airborne treater sends the instruction control robot and carries out corresponding actions; The a plurality of sensors that are arranged on the traveling gear can be gathered the robot ambulation status information and transfer to airborne treater, and the man-machine interface that finally transfers to ground based processor through the airborne wireless data collector is exported, and robot of the present invention can be realized status information of long range acquisition robot own and remote control easily; Can replace artificial line walking; Overcome that precision is low, labour intensity is big, have shortcoming such as blind area, also can replace autogyro to carry instrument and equipment simultaneously and carry out line walking, improve the line walking safety and reduce the line walking expense.
Description of drawings
Below in conjunction with accompanying drawing and embodiment the present invention is further described.
Fig. 1 is a fundamental diagram of the present invention;
Fig. 2 is the left view of robot mechanics among this Fig. 1;
Fig. 3 is control principle figure of the present invention.
The specific embodiment
Fig. 1 is a fundamental diagram of the present invention; Fig. 2 is the left view of robot mechanics among Fig. 1; Fig. 3 is control principle figure of the present invention; As shown in the figure: the robot that is used for the ultra-high-tension power transmission line detection of present embodiment comprises traveling gear, Ground Control disposal system and airborne control processing system;
Said traveling gear comprises traveling arm device I 1a, traveling arm device II 1b and support 2; Said traveling arm device I 1a and traveling arm device II 1b comprise travel driving motor 4, V-arrangement wheel 5 and obstacle detouring driven unit; The power take-off shaft of said travel driving motor 4 is taken turns 5 transmissions with V-arrangement and is cooperated; Said obstacle detouring driven unit comprises electronic cylinder 6, guide rail 7 and push rod 8, be provided with on the said guide rail 7 by vertical section 7a with is connected the also guide groove formed of outward-dipping tilting section 7b of vertical section 7a top, the reciprocating power mouth of the hinged electronic cylinder 6 in push rod 8 lower ends; Push rod 8 middle parts fixedly install the guiding sliding pin with the guide groove bearing fit of guide rail 7; Push rod 8 upper end captive joint travel driving motor 4, guide rail 7 lower ends of said support 2 one end captive joint traveling arm device I 1a, guide rail 7 lower ends of other end captive joint traveling arm device II 1b;
Said Ground Control disposal system comprises bi-directional data bonded assembly ground based processor 19 and terrestrial wireless data collector 18; Said airborne control processing system comprises airborne treater 16 of bi-directional data bonded assembly and airborne wireless data collector 17; Carry out two-way data communication between airborne wireless data collector 17 and the terrestrial wireless data collector 18; The instruction output end of airborne treater 16 connects the command reception end of travel driving motor 4 and electronic cylinder 6, and said airborne treater 16 places on the support 2.
In the present embodiment; The said robot that is used for the ultra-high-tension power transmission line detection also comprises travel switch 20, speed sensor 21, pulling force sensor 22 and attitude sensor 23; Said travel switch 20 is arranged at and is positioned at the position that V-arrangement is taken turns 5 front ends on the traveling arm device; Speed sensor 21 is arranged on the travel driving motor 4; Pulling force sensor 22 is arranged between push rod 8 and the travel driving motor 4; Its two ends are captive joint push rod 8 upper ends and travel driving motor 4 lower ends respectively, and attitude sensor 23 is arranged on the support 2, the equal reader borne processor 16 of attitude signal of the speed signal of the break-make electric signal of said travel switch 20, the force signal of pulling force sensor 22, speed sensor 21 and attitude sensor 23.
During use; The operator sends instruction through ground based processor; Instruction transfers to airborne treater through terrestrial wireless data collector and airborne wireless data collector, and airborne treater transfers to cooresponding driven unit with instruction, and drive machines people carries out corresponding actions; When traveling arm device row to spacer bar; Trigger travel switch and send the break-make electric signal, this signal input processor also transfers to ground based processor through the airborne wireless data collector and shows output, waits for that the operator sends next step instruction; Airborne treater is gathered the signal of pulling force sensor and speed sensor at any time; And transfer to ground based processor through airborne wireless data collector and terrestrial wireless data collector, and treater compares through the pulling force information to each pulling force sensor can draw robot barycenter data, and barycenter data and speed data are that processor processes and analysis provide data.
In the present embodiment; Said traveling gear also comprises a sub-arm device 1c; Said sub-arm device 1c is not for containing the traveling arm device I 1a or the traveling arm device II 1b of travel driving motor; Captive joint with support 2 middle parts in its lower end, the force signal reader borne processor 16 of said sub-arm device 1c upper pulling force sensor, the instruction output end of said airborne treater 16 connect the command reception end that sub-arm device 1c goes up electronic cylinder 6; The sub-arm device is used to increase the stability of traveling gear when walking and obstacle detouring, and while ground based processor and airborne treater also may command sub-arm device carry out the obstacle detouring action.
In the present embodiment; The direction of travel of said support 2 upper edge traveling geaies fixedly installs the casing rack-and-pinion that casing guide rail 12 and tooth bar 11b are parallel to casing guide rail 12; Be provided with on the said casing guide rail 12 and can fixedly install casing drive motor 9 on the slip casing 13 along the slip casing 13 that himself reciprocatingly slides, the power take-off shaft of casing drive motor 9 cooperates with the gear 11a transmission of casing rack-and-pinion; The command reception end of the instruction output end connect box drive motor 9 of said airborne treater 16; Said airborne treater 16 places in the slip casing 13, and before the traveling arm device of robot carried out the obstacle detouring action, ground based processor and airborne treater may command drive motor drives slip casing slided on guide rail; With the barycenter of adjustment robot, guarantee the stability of robot when carrying out the obstacle detouring action.
In the present embodiment; Said traveling arm device I 1a and traveling arm device II 1b also comprise hook with safety tong 14 and hook with safety tong rack-and-pinion; The gear 15a of said hook with safety tong rack-and-pinion and guide rail 7 normal-running fiies, hinged push rod 8 lower ends, its tooth bar 15b lower end, hook with safety tong 14 captive joint gear 15a also constitute closed-loops with V-arrangement wheel 5; Form push rod 8 risings and can drive the structure that hook with safety tong 14 upsets are opened closed-loop; When the traveling arm device carried out the leaping over obstacles action, the push rod rising drives the hook with safety tong upset opened closed-loop, can cross over spacer bar smoothly to guarantee traveling gear.
In the present embodiment, said speed sensor 21 is a Hall element, and said pulling force sensor 22 is the S pulling force sensor, and low price is easy to obtain.
In the present embodiment, said V-arrangement wheel 5 is processed by the big insulating material of friction coefficient, can prevent effectively that traveling gear V-arrangement wheel when climbing from skidding on lead, adopts insulating material can make robot under the charged situation of lead, carry out operation.
The present invention in use; Because multiple actions such as the walking driven unit of traveling arm device can advance through ground based processor and airborne treater Remote drive machines people, retreats, quickens, slows down, parking; The obstacle detouring assembly also can be controlled through ground based processor and airborne treater Remote; Help robot to cross obstacles such as spacer bar, strengthened robot greatly and patrolled and examined the application in the operation at the disconnected thigh of lead.
Explanation is at last; Above embodiment is only unrestricted in order to technical scheme of the present invention to be described; Although with reference to preferred embodiment the present invention is specified, those of ordinary skill in the art should be appreciated that and can make amendment or be equal to replacement technical scheme of the present invention; And not breaking away from the aim and the scope of technical scheme of the present invention, it all should be encompassed in the middle of the claim scope of the present invention.
Claims (7)
1. one kind is used for the robot that ultra-high-tension power transmission line detects, and it is characterized in that: comprise traveling gear, Ground Control disposal system and airborne control processing system;
Said traveling gear comprises traveling arm device I (1a), traveling arm device II (1b) and support (2); Said traveling arm device I (1a) and traveling arm device II (1b) comprise walking driven unit and obstacle detouring driven unit; Said walking driven unit comprises travel driving motor (4) and V-arrangement wheel (5); The power take-off shaft of said travel driving motor (4) cooperates with (5) transmission of V-arrangement wheel; Said obstacle detouring driven unit comprises electronic cylinder (6), guide rail (7) and push rod (8); Said guide rail (7) go up to be provided with by vertical section (7a) with is connected the also guide groove formed of outward-dipping tilting section (7b) of vertical section (7a) top; The reciprocating power mouth of the hinged electronic cylinder in push rod (8) lower end (6) fixedly installs the guiding sliding pin with the guide groove bearing fit of guide rail (7), the non-movable part of push rod (8) upper end captive joint walking driven unit on the push rod (8); Guide rail (7) lower end and the electronic cylinder (6) of said support (2) one end captive joint traveling arm device I (1a), guide rail (7) lower end of other end captive joint traveling arm device II (1b) and electronic cylinder (6);
Said Ground Control disposal system comprises bi-directional data bonded assembly ground based processor (19) and terrestrial wireless data collector (18); Said airborne control processing system comprises airborne treater of bi-directional data bonded assembly (16) and airborne wireless data collector (17); Carry out two-way data communication between airborne wireless data collector (17) and the terrestrial wireless data collector (18); The instruction output end of airborne treater (16) connects the command reception end of travel driving motor (4) and electronic cylinder (6), and said airborne treater (16) places on the support (2).
2. the robot that is used for the ultra-high-tension power transmission line detection according to claim 1; It is characterized in that: also comprise travel switch (20), speed sensor (21), pulling force sensor (22) and attitude sensor (23); Said travel switch (20) correspondence one by one is arranged at the position that is positioned at V-arrangement wheel (5) front end on traveling arm device I (1a) and the traveling arm device II (1b); Speed sensor (21) is arranged on the travel driving motor (4); Pulling force sensor (22) is arranged between push rod (8) and the travel driving motor (4); Pulling force sensor (22) two ends are captive joint push rod (8) upper end and travel driving motor (4) lower end respectively, and attitude sensor (23) is arranged on the support (2), the equal reader borne processor of signal (16) of said travel switch (20), pulling force sensor (22), speed sensor (21) and attitude sensor (23).
3. the robot that is used for the ultra-high-tension power transmission line detection according to claim 2; It is characterized in that: said traveling gear also comprises at least one sub-arm device (1c); Said sub-arm device (1c) comprises passive walking V-arrangement wheel assembly and obstacle detouring driven unit; The front end that is positioned at the V-arrangement wheel on the said sub-arm device (1c) also is provided with travel switch (20); The force signal reader borne processor (16) of said sub-arm device (1c) upper pulling force sensor, the instruction output end of said airborne treater (16) connects the command reception end that sub-arm device (1c) is gone up electronic cylinder (6).
4. the robot that is used for the ultra-high-tension power transmission line detection according to claim 3; It is characterized in that: the direction of travel of said support (2) upper edge traveling gear fixedly installs the casing rack-and-pinion that casing guide rail (12) and tooth bar (11b) are parallel to casing guide rail (12); Said casing guide rail (12) is gone up the slip casing (13) that setting can reciprocatingly slide along orbit of guide rail; Fixedly install casing drive motor (9) on the slip casing (13); The power take-off shaft of casing drive motor (9) cooperates with gear (11a) transmission of casing rack-and-pinion; The command reception end of the instruction output end connect box drive motor (9) of said airborne treater (16), said airborne treater (16) places in the slip casing (13).
5. the robot that is used for the ultra-high-tension power transmission line detection according to claim 4; It is characterized in that: said traveling arm device I (1a) and traveling arm device II (1b) also comprise hook with safety tong (14) and hook with safety tong rack-and-pinion; Gear of said hook with safety tong rack-and-pinion (15a) and guide rail (7) normal-running fit; The hinged push rod in the tooth bar of hook with safety tong rack-and-pinion (15b) lower end (8) lower end; Hook with safety tong (14) captive joint gear (15a) also constitutes closed-loop with V-arrangement wheel (5), forms push rod (8) and rises and can drive the structure that hook with safety tong (14) upset is opened closed-loop.
6. the robot that is used for the ultra-high-tension power transmission line detection according to claim 5, it is characterized in that: said speed sensor (21) is a Hall element, and said pulling force sensor (22) is the S pulling force sensor.
7. the robot that is used for the ultra-high-tension power transmission line detection according to claim 6 is characterized in that: said V-arrangement wheel (5) is processed by insulating material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009101047930A CN101665128B (en) | 2009-09-04 | 2009-09-04 | Robot used for detecting high voltage transmission lines |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009101047930A CN101665128B (en) | 2009-09-04 | 2009-09-04 | Robot used for detecting high voltage transmission lines |
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| Publication Number | Publication Date |
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| CN101665128A CN101665128A (en) | 2010-03-10 |
| CN101665128B true CN101665128B (en) | 2012-07-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2009101047930A Expired - Fee Related CN101665128B (en) | 2009-09-04 | 2009-09-04 | Robot used for detecting high voltage transmission lines |
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Families Citing this family (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102005705B (en) * | 2010-10-29 | 2012-09-05 | 西安交通大学 | Suspended line walking robot |
| CN102110961B (en) * | 2010-12-20 | 2012-08-22 | 重庆前卫仪表有限责任公司 | Intelligent patrol inspection system of operation state of high-voltage line |
| CN102290739B (en) * | 2011-05-16 | 2013-04-03 | 山东电力集团公司超高压公司 | Electric transmission line equipotential leaping robot |
| CN102427209B (en) * | 2011-12-07 | 2014-03-26 | 姚正齐 | Sliding mechanism for obstacle crossing of line inspection robot and line inspection robot equipment |
| CN102774444B (en) * | 2012-07-27 | 2014-08-20 | 华北电力大学 | Independent arm wheel type movement mechanism of tunnel cable inspection robot |
| CN102801117B (en) * | 2012-08-24 | 2015-09-09 | 冀北电力有限公司秦皇岛电力公司 | Insulation circulation rope migration obstacle aerial spanning device |
| CN102938544B (en) * | 2012-12-05 | 2015-12-09 | 山东电力集团公司电力科学研究院 | A kind of transmission line active obstacle travelling robot |
| CN104238409B (en) * | 2014-09-03 | 2018-11-30 | 国家电网公司 | A kind of insulator string detection device |
| CN104678228B (en) * | 2015-03-24 | 2016-03-30 | 杭州钱江称重技术有限公司 | Induction loop test carriage |
| CN106142049B (en) * | 2016-08-18 | 2017-09-29 | 国网湖南省电力公司带电作业中心 | Hot line robot |
| CN107885211B (en) * | 2017-11-15 | 2023-10-27 | 国网湖南省电力有限公司 | Device and method for inspecting airtight space of thermal power generating unit |
| CN108262746A (en) * | 2017-12-31 | 2018-07-10 | 江苏密斯欧智能科技有限公司 | A kind of suspension type crusing robot control system |
| CN108110677B (en) * | 2018-02-05 | 2024-02-27 | 西藏谦诚信息科技有限公司 | Intelligent inspection system for high-voltage cable |
| CN112117705B (en) * | 2020-09-23 | 2021-11-12 | 国网山东省电力公司临沂供电公司 | Automatic identification device for power transmission live working mode |
| CN113644590B (en) * | 2021-05-25 | 2022-10-25 | 国网河北省电力有限公司邯郸供电分公司 | Multifunctional aerial operation vehicle for power transmission line |
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| CN1658460A (en) * | 2005-03-18 | 2005-08-24 | 山东大学 | Robot of autonomous moving along 110KV transmission line and its working method |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1689769A (en) * | 2004-04-30 | 2005-11-02 | 中国科学院沈阳自动化研究所 | Super high voltage transmission line inspection robot mechanism |
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| CN101104265A (en) * | 2007-07-31 | 2008-01-16 | 北华大学 | Arm hanging type high voltage transmission line detecting robot |
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Granted publication date: 20120711 Termination date: 20210904 |