CN108512119B - A kind of HV Transmission Line Routing Inspection robot - Google Patents
A kind of HV Transmission Line Routing Inspection robot Download PDFInfo
- Publication number
- CN108512119B CN108512119B CN201810474199.XA CN201810474199A CN108512119B CN 108512119 B CN108512119 B CN 108512119B CN 201810474199 A CN201810474199 A CN 201810474199A CN 108512119 B CN108512119 B CN 108512119B
- Authority
- CN
- China
- Prior art keywords
- robot
- sliding block
- lead screw
- driving motor
- linear
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
Landscapes
- Manipulator (AREA)
Abstract
The present invention discloses a kind of HV Transmission Line Routing Inspection robot, belongs to cable detection technical field.The robot includes the identical robot monomer of two structures, rack, the identical linear mould group of symmetrically arranged two structures and binocular camera；Robot monomer includes turntable, clamping device and robot linear motion joint.The present invention takes three angled crawler belts to clamp cable increasing friction force, improves robot to the adaptability of environment, the present invention saves actuator using link mechanism, is conducive to control design case and maintenance.
Description
Technical field:
The present invention relates to cable detection technical fields, more specifically to a kind of HV Transmission Line Routing Inspection robot.
Background technique:
Important equipment of the transmission line of electricity as transmission electric power, safe operation are related to the reliability of electric system.And it is defeated
Due to being placed in countryside for a long time, exposing to the sun and rain leads to raw material aging, fracture, abrasion, corruption etc. for electric line and its attachment, such as cannot
Replacement is repaired in real time, it will causes serious safety accident.Therefore, inspection periodically is carried out to transmission line of electricity, understands electric power in time
Line operating condition finds and removes a hidden danger of crucial importance.
The maintenance mode mainly used at present is manual inspection, and staff's walking or cycling are walked about along power transmission line, led to
After with the naked eye or sem observation of looking in the distance checks whether power transmission line and its attachment are damaged or there are failures.But since transmission line of electricity is distributed
Point is more, have a very wide distribution, local environment is complicated badly, and this method condition is arduous, heavy workload, low efficiency, and inspection quality is complete
Depending on artificial, there are missing inspections and miss detection, and realize that difficulty is larger in special areas such as mountain areas.Realize that automation is patrolled
Inspection, need corresponding inspection mechanism, though and existing inspection mechanism can complete obstacle detouring movement, it is higher to environmental requirement, at cable
It will appear high wind when high-altitude, will have a direct impact on robot work.Therefore it proposes a kind of to stablize in electricity in harsh environment
The crusing robot to work on cable is significant.
Robot disclosed in Chinese patent CN101196551A can not achieve obstacle detouring, can not long range inspection route.China
The whole mechanical revolution of arm around clamping cables of robot is needed disclosed in patent CN101752804A when robot obstacle detouring, to clamping
Force request is high, and in high-altitude, harsher wind conditions risk is larger.
Summary of the invention:
The object of the present invention is to provide a kind of can stablize to run on cable, can be completed on cable obstacle detouring (stockbridge damper, absolutely
Edge substring etc.) movement, the high pressure of the safe and stable work of energy and obstacle detouring while another fixed load ability is defeated in the harsher wind conditions of high-altitude
Electric wire circuit scanning test robot.
HV Transmission Line Routing Inspection robot provided by the present invention includes the identical robot monomer of two structures, machine
Frame, binocular camera 8 and the identical linear mould group of symmetrically arranged two structures.
The rack includes connecting plate 1 and the symmetrically arranged first linear module bottom plate 4 of bilateral symmetry, camera bracket 2
It is mounted on the connecting plate 1, the binocular camera 8 is arranged on the camera bracket 2；The connecting plate 1 with it is described
First linear module bottom plate 4 is connected.
The linear mould group includes flange 3, sliding block 5, the first lead screw 6 and the first driving motor 7, the flange 3 with it is described
First linear module bottom plate 4 is connected, and first lead screw 6 is assemblied on the first linear module bottom plate 4, and the sliding block 5 fills
It fits on first lead screw 6, first driving motor 7 is connect with first lead screw 6 for driving first lead screw
6。
The robot monomer include turntable 9, clamping device and robot linear motion joint, the turntable 9 with it is described
Sliding block 5 connects, and robot linear motion joint is arranged on the turntable 9, and robot linear motion joint includes
Second linear module bracket 11, the second linear mould group bottom plate 12, the second sliding block 13, the second lead screw 14 and the second driving motor 15,
Second driving motor 15 is mounted on the turntable 9, and second lead screw 14 is assemblied in the described second linear mould group bottom plate
On 12, second driving motor 15 is connect for driving second lead screw 14, second line with second lead screw 14
Property mould group bottom plate 12 be connected with the described second linear module bracket 11, second sliding block 13 is assemblied in second lead screw 14
On, the robot monomer is assemblied in the linear mould group by the sliding block 5.
The clamping device includes spring 10, connecting rod 16, push rod 17, lower clamping jaw device 18, upper gripper jaw device 19, sliding rail 20
And third sliding block 21, the lower clamping jaw device 18 include lower clamping jaw 22 and lower crawler belt 23, the lower clamping jaw 22 is mounted on described the
On two sliding blocks 13, the lower crawler belt 23 is assemblied in the lower clamping jaw 22, and the push rod 17 is mounted on second sliding block 13
Two sides, the push rod 17 are connect with the connecting rod 16, and the sliding rail 20 is mounted on the connecting rod 16, and the third sliding block 21 is pacified
On the sliding rail 20, the push rod 17 is hinged with the third sliding block 21；The upper gripper jaw device 19 include upper gripper jaw 24,
Third driving motor 25, upper crawler belt 26, upper bracket 27 and spring guide 28, the upper crawler belt 26 are assemblied in the upper gripper jaw 24
Interior, the third driving motor 25 is mounted on the upper gripper jaw 24, and the third driving motor 25 passes through transmission band connection institute
Crawler belt 26 is stated, the spring guide 28 passes through the upper bracket 27 and is connected with the upper gripper jaw 24, and the spring 10 is mounted on
On the spring guide 28.The connecting rod 16 is connect with the upper gripper jaw 24 by link mechanism.
The crusing robot of existing achievable obstacle detouring movement has the following problems: first, insufficient clamping force, and most survey monitor
Device people takes ratcheting mechanism realization to run on cable, is easy to appear what robot was waved to two sides in the high altitude environment of high wind
Problem influences robot work, and there are security risks, and the present invention takes three angled crawler belts to clamp in response to this problem
Cable increasing friction force is not easy to swing sideward dynamic, improves robot to the adaptability of environment；Second, most obstacle climbing ability is stronger
Crusing robot have multiple joints, control is difficult, and maintenance cost is high, and the present invention designs link mechanism and saves actuator, convenient
The control design case of robot and maintenance.
Detailed description of the invention:
Fig. 1 is the overall structure diagram of robot of the present invention；
Fig. 2 is the schematic view of the front view of robot of the present invention；
Fig. 3 is the left view structural representation of robot of the present invention；
Fig. 4 is the overlooking structure diagram of robot of the present invention；
Fig. 5 is the schematic diagram of base structure in robot of the present invention；
Fig. 6 is the mechanical grip structural schematic diagram in robot of the present invention；
Fig. 7 is the clamping device structural schematic diagram in robot of the present invention.
In figure: 1: connecting plate；2: camera bracket；3: flange；4: first linear module bottom plate；5: sliding block；6: the first
Thick stick；7: the first driving motors；8: binocular camera；9: turntable；10: spring；11: the second linear module brackets；12: the second lines
Property mould group bottom plate；13: the second sliding blocks；14: the second lead screws；15: the second driving motors；16: connecting rod；17: push rod；18: lower clamping jaw
Device；19: upper gripper jaw device；20: sliding rail；21: third sliding block；22: lower clamping jaw；23: lower crawler belt；24: upper gripper jaw；25: third
Driving motor；26: upper crawler belt；27: upper bracket；28: spring guide.
Specific embodiment:
To further appreciate that the content of present invention, the present invention is described in detail with reference to the accompanying drawing.
A kind of HV Transmission Line Routing Inspection robot of the present invention includes the identical robot monomer of two structures, rack, double
Mesh camera 8 and the identical linear mould group of symmetrically arranged two structures；The robot monomer is assembled on the rack, the machine
Frame includes connecting plate 1 and the first linear module bottom plate 4 being symmetrical set, and the linear mould group includes that flange 3, first is linear
Mould group bottom plate 4, sliding block 5, the first lead screw 6 and the first driving motor 7, the flange 3 are connected with first linear module bottom plate 4, institute
It states the first lead screw 6 to be assemblied on first linear module bottom plate 4, the sliding block 5 is assemblied on the first lead screw 6, first driving
Motor 7 is connect for driving first lead screw 6 with the first lead screw 6, and the camera bracket 2 is connected on connecting plate 1, camera shooting
Binocular camera 8 is installed on head bracket 2.
The robot monomer includes turntable 9, clamping device and robot linear motion joint, the turntable 9 and sliding block 5
It connects, equipped with robot linear motion joint on turntable 9, the robot linear motion shutdown includes the second linear module bracket
11, the second linear mould group bottom plate 12, the second sliding block 13, the second lead screw 14 and the second driving motor 15 are equipped on the turntable 9
Second driving motor 15, second lead screw 14 are assemblied on the second linear mould group bottom plate 12, the second driving motor 15 and second
For driving the second lead screw 14, the second linear mould group bottom plate 12 and the second linear module bracket 11 are connected the connection of lead screw 14, described
Second sliding block 13 is assemblied on the second lead screw 14.
Robot of the present invention is using the obstacle on binocular camera identification cable.
The second driving motor 15 in robot monomer drives the second lead screw 14, and the second lead screw 14 pushes on lower clamping jaw 22
It rises, the push rod 17 on lower clamping jaw 22 pushes connecting rod 16, and connecting rod 16 pushes upper gripper jaw 24 to decline, makes robot clamping jaw clamping cables.
When obstacle is encountered on cable, robot is operated normally for the robot, and two robot monomer positions one are previous
Afterwards, two robot monomer clamping jaw clamping cables, third driving motor 25 work, crawler belt 26 in drive, to drive robot whole
Body advances.
When robot monitors obstacle, the robot monomer positioned at front keeps clamping cable, the machine positioned at rear portion
Second driving motor 15 of people's monomer inverts, and unclamps clamping jaw, then should rotate positioned at the turntable 9 of the robot monomer at rear portion,
The robot monomer that the driving of first driving motor 7 is located at rear portion, which surmounts obstacles and advances to robot entirety front end, completes obstacle detouring,
The turntable 9 for completing the robot monomer of obstacle detouring rotates backward, and the second driving motor 15 driving clamping jaw of this robot monomer clamps
Cable；Right latter two first driving motor 7 work, makes robot frame advance, the robot monomer position until obstacle detouring is completed
It sets in the whole middle part of robot；Then the robot monomer for not completing obstacle detouring repeats obstacle detouring movement, and robot is made to complete obstacle detouring.
After robot completes obstacle detouring, robot integral reset to the working condition operated normally.
Schematically the present invention and embodiments thereof are described above, description is not limiting, institute in attached drawing
What is shown is also one of embodiments of the present invention, and actual structure is not limited to this.So if the common skill of this field
Art personnel are enlightened by it, without departing from the spirit of the invention, are not inventively designed and the technical solution
Similar frame mode and embodiment, are within the scope of protection of the invention.
Claims (2)
1. a kind of HV Transmission Line Routing Inspection robot, the robot include the identical robot monomer of two structures, rack,
Binocular camera (8) and the identical linear mould group of symmetrically arranged two structures；The rack includes connecting plate (1) and left and right pair
Claim symmetrically arranged first linear module bottom plate (4)；It is characterized in that camera bracket (2) is mounted on the connecting plate (1),
The binocular camera (8) is arranged on the camera bracket (2)；The connecting plate (1) and the first linear module bottom
Plate (4) is connected；The linear mould group includes flange (3), sliding block (5), the first lead screw (6) and the first driving motor (7), the method
Blue (3) and the first linear module bottom plate (4) are connected, and first lead screw (6) is assemblied in the first linear module bottom plate
(4) on, the sliding block (5) is assemblied on first lead screw (6), first driving motor (7) and first lead screw (6)
Connection；The robot monomer include turntable (9), clamping device and robot linear motion joint, the turntable (9) with it is described
Sliding block (5) connection, robot linear motion joint are arranged on the turntable (9), robot linear motion joint
Including the second linear module bracket (11), the second linear mould group bottom plate (12), the second sliding block (13), the second lead screw (14) and second
Driving motor (15), second driving motor (15) are mounted on the turntable (9), and second lead screw (14) is assemblied in institute
It states on the second linear mould group bottom plate (12), second driving motor (15) connect with second lead screw (14), and described second
Linear mould group bottom plate (12) and the described second linear module bracket (11) are connected, and second sliding block (13) is assemblied in described second
On lead screw (14), the robot monomer is assemblied in the linear mould group by the sliding block (5)；The clamping device includes
Spring (10), connecting rod (16), push rod (17), lower clamping jaw device (18), upper gripper jaw device (19), sliding rail (20) and third sliding block
(21), the lower clamping jaw device (18) includes lower clamping jaw (22) and lower crawler belt (23), and the lower clamping jaw (22) is mounted on described
On two sliding blocks (13), the lower crawler belt (23) is assemblied in the lower clamping jaw (22), and the push rod (17) is mounted on described second
The two sides of sliding block (13), the push rod (17) connect with the connecting rod (16), and the sliding rail (20) is mounted on the connecting rod (16)
On, the third sliding block (21) is mounted on the sliding rail (20), and the push rod (17) and the third sliding block (21) are hinged；Institute
Stating upper gripper jaw device (19) includes that upper gripper jaw (24), third driving motor (25), upper crawler belt (26), upper bracket (27) and spring are led
Bar (28), the upper crawler belt (26) are assemblied in the upper gripper jaw (24), and the third driving motor (25) is mounted on described
On clamping jaw (24), the third driving motor (25) passes through upper crawler belt (26), the spring guide (28) described in transmission band connection
It is connected across the upper bracket (27) with the upper gripper jaw (24), the spring (10) is mounted on the spring guide (28).
2. a kind of HV Transmission Line Routing Inspection robot according to claim 1, it is characterised in that the connecting rod (16) with
The upper gripper jaw (24) is connected by link mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810474199.XA CN108512119B (en) | 2018-05-17 | 2018-05-17 | A kind of HV Transmission Line Routing Inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810474199.XA CN108512119B (en) | 2018-05-17 | 2018-05-17 | A kind of HV Transmission Line Routing Inspection robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108512119A CN108512119A (en) | 2018-09-07 |
| CN108512119B true CN108512119B (en) | 2019-10-29 |
Family
ID=63400675
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810474199.XA Active CN108512119B (en) | 2018-05-17 | 2018-05-17 | A kind of HV Transmission Line Routing Inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108512119B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109193455B (en) * | 2018-10-09 | 2020-04-21 | 华北电力大学（保定） | High-voltage inspection mobile robot walking device |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101168254A (en) * | 2006-10-25 | 2008-04-30 | 上海求是机器人有限公司 | Swinging arm type transmission line polling robot |
| CN101752804B (en) * | 2008-12-03 | 2011-10-05 | 中国科学院自动化研究所 | Two-arm swing obstacle-clearing type line walking robot body |
| CN201484528U (en) * | 2009-09-17 | 2010-05-26 | 北京深浪电子技术有限公司 | Extend arm type braking function multi-CCD full-angle line inspection robot |
| CN101800403B (en) * | 2010-04-06 | 2012-05-02 | 昆山市工业技术研究院有限责任公司 | Inspection robot for ultra-high voltage power transmission lines |
| CN104022458B (en) * | 2014-05-22 | 2017-05-24 | 山东科技大学 | Suspended inspection robot on superhigh-voltage power transmission line |
| CN204278024U (en) * | 2014-11-28 | 2015-04-22 | 国家电网公司 | A kind of insulator cleaning robot crawling mechanism |
| CN205829024U (en) * | 2016-06-02 | 2016-12-21 | 青岛科技大学 | Inspection robot for high-voltage transmission lines |
| CN106253129B (en) * | 2016-07-30 | 2018-08-07 | 杨志平 | A kind of high-tension cable crusing robot |
| DE102016218308B4 (en) * | 2016-08-03 | 2018-04-05 | Schunk Sonosystems Gmbh | Apparatus and method for producing a tested welded joint |
| CN206277416U (en) * | 2016-12-04 | 2017-06-27 | 安徽工业大学 | A kind of robot arm rotating mechanism |
| CN207134725U (en) * | 2017-09-11 | 2018-03-23 | 国家电网公司 | A kind of power transmission line unmanned self-checking unit |
-
2018
- 2018-05-17 CN CN201810474199.XA patent/CN108512119B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN108512119A (en) | 2018-09-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111900676B (en) | Transmission line outer sheath inspection repairing device and using method thereof | |
| CN106655006B (en) | Transmission line polling robot obstacle-surmounting travelling gear | |
| CN101800403B (en) | Inspection robot for ultra-high voltage power transmission lines | |
| CN110480597B (en) | High-voltage transmission line robot | |
| CN108748073B (en) | Live overhaul operation robot for substation equipment | |
| CN105690414A (en) | Terminal clamping device for iron tower automatic overhauling climb robot | |
| CN102941570B (en) | Patrol robot for power transmission lines | |
| CN109849017B (en) | Control system and control method for hanging and detaching ground wire of transformer substation robot | |
| CN102922530B (en) | Inspection robot platform of 500kV split conductors | |
| CN102975191A (en) | Line-walking robot system for overhead transmission line | |
| CN102938544B (en) | A kind of transmission line active obstacle travelling robot | |
| CN102941567A (en) | High-tension transmission line patrol and operation robot actuating arm | |
| CN103786145B (en) | Transmission line high-altitude quality examination machine people | |
| CN110277749A (en) | It is a kind of can pole-climbing, climb the high-voltage line crusing robot of line | |
| CN103050908B (en) | Overhead transmission line synthetic job machine people | |
| CN108512119B (en) | A kind of HV Transmission Line Routing Inspection robot | |
| CN110487817A (en) | A kind of mobile monitor station of ageing-resistant flame-proof power cable | |
| CN110137846A (en) | Aerial carbon-fibre wire detection robot and multi-angle method of detection | |
| CN111682451A (en) | Obstacle-avoiding type efficient inspection electric power robot | |
| CN102922529B (en) | Inspection robot system along split conductors | |
| CN114193128B (en) | Tool for supplementing missing pin on insulator string hardware fitting and yoke plate fixing bolt | |
| CN111959559A (en) | Movable rack conversion device and system in rack turnout area | |
| CN110034518B (en) | Autonomous obstacle-crossing type power transmission line inspection vehicle and working method | |
| CN105356364A (en) | Automatic overhead distribution line live-line maintenance and reconstruction device | |
| CN106371007A (en) | Reclosing heavy current test system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |