CN113241667B - Transmission line patrols traditional thread binding putting and control system thereof - Google Patents
Transmission line patrols traditional thread binding putting and control system thereof Download PDFInfo
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- CN113241667B CN113241667B CN202110576577.7A CN202110576577A CN113241667B CN 113241667 B CN113241667 B CN 113241667B CN 202110576577 A CN202110576577 A CN 202110576577A CN 113241667 B CN113241667 B CN 113241667B
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- 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
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- 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
- H02G7/00—Overhead installations of electric lines or cables
- H02G7/16—Devices for removing snow or ice from lines or cables
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
- H02J13/00001—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by the display of information or by user interaction, e.g. supervisory control and data acquisition systems [SCADA] or graphical user interfaces [GUI]
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
- H02J13/00002—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by monitoring
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
- H02K7/1163—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears where at least two gears have non-parallel axes without having orbital motion
- H02K7/1166—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears where at least two gears have non-parallel axes without having orbital motion comprising worm and worm-wheel
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Abstract
The invention relates to the technical field of inspection devices, and discloses a power transmission line inspection device and a control system thereof, wherein the power transmission line inspection device comprises a line inspection device body and an installation plate, two support rods are symmetrically and fixedly connected to the side wall of the installation plate, an installation block is fixedly connected to one ends, far away from the installation plate, of the two support rods, an installation groove is formed in one side of the installation block, a transmission mechanism is arranged in the installation groove, a transmission shaft is rotatably connected to one side of the installation block through a first rolling bearing, a support arm is fixedly connected to one end of the transmission shaft, a roller wheel is fixedly connected to one end of the support arm, and a swing arm motor is fixedly connected to the other side of the installation plate. The power transmission line inspection device and the control system thereof can effectively improve the climbing performance and the obstacle crossing performance of the inspection robot, position the posture and the position of the robot, identify the obstacle and improve the working efficiency of the robot in inspection.
Description
Technical Field
The invention relates to the technical field of inspection devices, in particular to a power transmission line inspection device and a control system thereof.
Background
High-voltage transmission lines are divided into two types, namely overhead transmission lines and cable transmission lines, because the overhead high-voltage lines are often bare metal wires, most of the lines are erected outdoors and inevitably pass through large-area lakes, forests, mountains and reservoirs, the lines are exposed to wind, sunshine, rain, ice and snow and are influenced by factors such as bird damage, artificial damage, aging and foreign matter winding and the like, and the factors can cause the transmission lines to be mechanically damaged, so that the transmission lines need to be regularly inspected to ensure the stable operation of an electric power system and the safety of the transmission lines, the common inspection modes comprise manual inspection, aerial survey, robot inspection and the like, the manual inspection utilizes human eyes to observe the transmission lines by auxiliary equipment such as telescopes and the like, the method has low efficiency, and the aerial survey refers to the inspection of the overhead high-voltage transmission lines by means of unmanned aerial vehicles, aeromodelling or helicopters, in order to guarantee the safe distance of unmanned aerial vehicle flight, can not closely survey the circuit, and receive the influence of strong wind weather factor and also can't patrol and examine the operation, patrol and examine the robot and walk on the wire through the device, closely detect transmission line through a series of equipment on the robot body etc. and detect the precision is higher relatively.
At present, though can make through wireless remote sensing system and patrol and examine the robot and walk on the wire, be equipped with different accessories on the transmission line, like stockbridge damper and strain clamp etc. lead to patrol and examine the device apart from transmission tower distance far away, be inconvenient for lay, and can't stride across the barrier on the line when patrolling and examining the line, because the distance between two transmission tower is far away, lead to transmission line's the slope also great, the frictional force between traditional patrol and examine device actuating mechanism and the transmission cable is not enough, lead to patrol and examine the climbing ability of device less than, can't high-efficiently stably patrol and examine transmission line.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides the power transmission line inspection device and the control system thereof, which can effectively improve the climbing performance and the obstacle crossing performance of the inspection robot, position the posture and the position of the robot, and simultaneously identify the obstacle, thereby improving the working efficiency of the robot during inspection, and solving the problems that the climbing capability of the robot is weaker, the obstacle crossing performance is poor, and the inspection operation cannot be efficiently carried out in severe weather.
(II) technical scheme
In order to achieve the purpose, the invention provides the following technical scheme: a power transmission line inspection device comprises an inspection device body and a mounting plate, wherein two supporting rods are symmetrically and fixedly connected to the side wall of the mounting plate, one ends of the two supporting rods, far away from the mounting plate, are fixedly connected with mounting blocks, mounting grooves are formed in one sides of the mounting blocks, a transmission mechanism is arranged in the mounting grooves, one side of the mounting plate is rotatably connected with a transmission shaft through a first rolling bearing, one end of the transmission shaft is fixedly connected with a supporting arm, one end of the supporting arm is fixedly connected with a roller wheel, the other side of the mounting plate is fixedly connected with an oscillating arm motor, the output end of the oscillating arm motor is fixedly connected with a worm, a worm wheel is meshed on the rod wall of the worm, one end of the transmission shaft penetrates through the first rolling bearing and is fixedly connected with one side of the worm wheel, the side wall of the mounting plate is fixedly connected with a transverse rod, one end of the transverse rod is fixedly connected with an arc-shaped rod, the lower extreme fixedly connected with connecting rod of arc pole, the connecting rod is located fixed connection with the upper end center of patrolling the line device body, patrol two support frames of the upper end symmetry fixedly connected with of line device body, two the upper end of support frame all is connected with the backing roll through rotation of axes, and backing roll and running roller are located same vertical face.
Preferably, the transmission mechanism comprises a transmission roller, the transmission roller is rotatably connected with two opposite sides of the mounting groove through a support shaft, one side of the mounting block is fixedly connected with a transmission motor, an output shaft of the transmission motor penetrates through the side wall of the mounting block and is fixedly connected with one end of the support shaft, the side wall of the mounting block is rotatably connected with a bent arm through a pin, one end of the bent arm is fixedly connected with a U-shaped mounting frame, two opposite sides of the U-shaped mounting frame are jointly and rotatably connected with a limiting wheel through a pin shaft, the side wall of the mounting block is fixedly connected with a support plate, a notch is formed in the upper end of the support plate, a fixed block is rotatably connected in the notch through a first rotating shaft, the side wall of the fixed block is rotatably connected with a screw rod through a second rolling bearing, one side of the fixed block is fixedly connected with a clamping motor, and the output end of the clamping motor is fixedly connected with one end of the screw rod, an opening is formed in one end, away from the U-shaped mounting frame, of the bent arm, an inner thread block is arranged in the opening, the inner thread block is in threaded connection with the lead screw, and the side wall of the inner thread block is rotatably connected with the opening through a second rotating shaft.
Preferably, one side of the mounting block is fixedly connected with a supporting block, one side of the supporting block is rotatably connected with a third rotating shaft through a third rolling bearing, one end of the third rotating shaft is fixedly connected with a first belt pulley, the output shaft wall of the transmission motor is fixedly connected with a second belt pulley, a transmission belt is jointly wound between the first belt pulley and the second belt pulley, the other end of the third rotating shaft penetrates through the third rolling bearing and is fixedly connected with a rotating disc, and the side wall of the rotating disc is fixedly connected with a plurality of rubber rods.
The invention also provides a control system of the power transmission line patrol device, which comprises a monitoring layer, a tissue layer and an execution layer, wherein the monitoring layer consists of a ground PC and a handheld remote controller and is connected with the tissue layer through a wireless transmission module, the tissue layer is divided into a decision system and a sensing system, the sensing system is provided with a camera, a laser radar, a GPS, an industrial sensor, a limit switch, a distance measuring sensor, a gyroscope and an encoder, the decision system is provided with an industrial ARM mainboard and an industrial PC mainboard, the industrial ARM mainboard is connected with the wireless transmission module and is communicated with the execution layer, the industrial ARM mainboard is connected with the sensing system and is used for collecting data of the gyroscope, the limit switch, the distance measuring sensor and the encoder, the industrial PC mainboard is connected with the sensing system and is used for driving sensing equipment with large industrial data volume of the camera, the GPS and the laser radar, the execution layer is divided into a controller and execution elements, adopts a distributed control mode, and arbitrarily adds or reduces execution devices based on a CAN bus.
Preferably, a coordination layer is arranged in the tissue layer, and the coordination layer is provided with an I/O expansion module, an LCD12864 display screen, a CAN interface, a USB-to-232 module and a wireless module.
Preferably, the perception system includes monitoring function, obstacle detection function and motion assistance function according to functional classification, the monitoring function is by the camera of tour wire, be used for the present GPS who tours the wire position and be used for the inspection device to stride the camera that the barrier picture real-time transmission arrives ground and constitute, obstacle detection function passes through tertiary discernment scheme, introduces the database, and to the obstacle GPS position that will patrol and examine, order, type, size and around abnormal conditions store in the PC to carry out tertiary discernment according to this, motion assistance function comprises motor current detection module and gyroscope, encoder and limit switch in the perception system.
Preferably, the encoder adopts an incremental photoelectric encoder for calculating the rotation angle and speed of the motor, so that the closed-loop control of a speed ring and an angle ring of the movement mechanism is achieved, and the movement position of the actuating mechanism can be calculated.
Preferably, set up three gyroscope in the perception system and install on the fuselage of inspection device for detect fuselage horizontal attitude, the vertical gesture of forearm and the vertical gesture of postbrachium, motor current detects overload, the short-circuit protection that is used for the motor, and can estimate the current moment of torsion of motor according to this, make the reasonable driving motor of controller.
Preferably, the core of the execution layer is motors and motor drivers distributed at each joint of the power transmission line patrol device, each motor is provided with one motor driver, each motor driver is provided with an independent processor to perform closed-loop control on the corresponding motor, an incremental PID control algorithm is adopted, the motor drivers output PWM (pulse-width modulation) driving motors after operation through encoder feedback values, and the PID algorithm of the motor drivers can realize independent control of any one of a speed ring and an angle ring.
(III) advantageous effects
Compared with the prior art, the power transmission line patrol device and the control system thereof provided by the invention have the following beneficial effects:
1. when the line patrol device is used, the line patrol device is arranged on a power cable through a transmission mechanism, a line patrol device body is hung on the cable under the combined action of a connecting rod, an arc-shaped rod and a cross rod, the cross rod is rotationally connected with an installation plate through a damping bearing to ensure that the line patrol device body keeps a hanging posture under the action of gravity, a control system controls the transmission mechanism to work and drive line patrol equipment to walk on the cable so as to finish the line patrol work on the power cable, when a sensing unit in the line patrol device body detects a vibration damper or a strain clamp obstacle on the cable, a transmission mechanism at the front end of the advancing direction of the line patrol device is loosened and releases a transmission state, a swing arm motor rotates to drive a worm to rotate the worm gear, the worm gear rotates to drive a transmission shaft, the transmission shaft rotates to drive a support arm to swing so as to drive a roller wheel to be contacted with a lead, when the support arm swings to a vertical state, the rear end transmission mechanism in the advancing direction of the line patrol device keeps the transmission action unchanged, a supporting point is formed between the rear end transmission mechanism and the cable, at the moment, the supporting arm is matched with the transmission shaft to jack up the mounting plate, the mounting plate is driven to enable the whole line patrol device to be integrally inclined by taking the rear end transmission mechanism in the advancing direction as a fulcrum when rising, and further enable the front end transmission mechanism in the advancing direction to cross over an obstacle on the cable as shown in the figure, when the front end transmission mechanism crosses over the obstacle, the swing arm motor drives the worm wheel, the worm and the transmission shaft to enable the supporting arm to reset, at the moment, the transmission mechanism crossing over the obstacle is contacted with the lead again to be restored to a transmission state, at the moment, the transmission state of the rear end transmission mechanism is released and separated from the cable, at the moment, the front end transmission mechanism is taken as the fulcrum, the transmission state is kept, and then the swing arm motor drives the worm wheel, the worm and the transmission shaft to enable the supporting arm to swing to jack up the line patrol device again, the transmission mechanism at the rear end is separated from the cable, so that the line patrol device can cross the obstacle on the cable.
2. When the line patrol device is placed, the clamping motor drives the screw rod to rotate, the screw rod rotates and interacts with the internal thread block, the internal thread block is stressed to drive the bent arm to swing around the pin, the bent rod drives the U-shaped mounting frame to move when swinging, the U-shaped mounting frame moves to drive the limiting wheel to contact with the cable, further the limiting wheel is matched with the transmission roller to clamp the cable, the transmission motor is started to drive the supporting shaft to rotate the transmission roller, the inspection device can be provided with driving force when the transmission roller rotates, the output shaft of the transmission motor drives the second belt pulley to rotate when the transmission motor rotates, the second belt pulley rotates to drive the transmission belt to rotate the first belt pulley, the first belt pulley rotates to drive the third rotating shaft to rotate the turntable, the plurality of rubber rods are driven to do circular motion when the turntable rotates, and the rubber rods deform under the action of centrifugal force when doing circular motion, the rubber stick that the messenger was circular motion can strike the cable, and then can effectively clear away the ice and snow of cable surface, is favorable to patrolling and examining the operation to the cable when extreme weather to also can relieve the clamping state of spacing wheel pair cable fast when pressing from both sides tight motor reverse rotation, thereby can make inspection device can have good climbing ability and obstacle crossing ability on the wire.
3. The control system provided by the invention adopts the tissue layer, the coordination layer and the execution layer to realize hierarchical control, the tissue layer is the leading idea of the control system, has high intelligence and plays a role of brain, the coordination layer is an interface between the tissue level and the execution level, has general intelligent control algorithm capability, the execution layer is the lowest layer of hierarchical control and has high-precision but low-intelligence execution capability, because the line patrol device needs to complete the information interaction between the ground and the line, the ground monitoring personnel can observe the on-line condition and carry out remote control conveniently, the control system is provided with a monitoring layer which mainly comprises a ground PC, a remote controller and a wireless transmission module besides three layers of the traditional hierarchical control system, thereby realizing the data and video transmission between the transmission patrol robot and the ground, therefore, the inspection picture can be effectively detected in real time, and obstacles and mechanical damage parts on the lead can be conveniently judged.
4. The invention is provided with a motion auxiliary function, when in use, the encoder is an incremental photoelectric encoder for calculating the rotation angle and the speed of the motor, thereby achieving the closed-loop control of a speed ring and an angle ring of the motion mechanism and calculating the motion position of the actuating mechanism, so each motor is provided with an encoder, a limit switch adopts three types of Hall sensors, travel switches and capacitive proximity switches, most of the limit switches are used for limiting key motion points of the actuating mechanism, meanwhile, the auxiliary encoder is cleared to avoid accumulated errors, three gyroscopes are arranged in a sensing system and are arranged on a body of the inspection device for detecting the horizontal posture, the vertical posture of a front arm and the vertical posture of a rear arm, further the posture of the inspection robot and the grasping force of a hand claw are detected and controlled in real time, and the climbing capability of the inspection robot is effectively improved, the working capacity is strong and the device can be suitable for severe weather.
Drawings
Fig. 1 is a schematic structural diagram of a power transmission line inspection device provided by the invention;
fig. 2 is a schematic structural diagram of a transmission mechanism in the power transmission line patrol device provided by the invention;
fig. 3 is a schematic structural diagram of a transmission motor, a first belt pulley, a second belt pulley and a transmission belt in the power transmission line patrol device provided by the invention;
fig. 4 is a left side view of the power transmission line patrol device according to the present invention shown in fig. 1;
fig. 5 is an effect diagram of the power transmission line patrol device provided by the invention when crossing an obstacle;
fig. 6 is a block diagram of a control system of a power transmission line patrol device according to the present invention;
fig. 7 is a block diagram of a three-level identification scheme in a control system of a power transmission line patrol device according to the present invention;
fig. 8 is a block diagram of a scheme for controlling a motor at an execution layer in a control system of a transmission line patrol device according to the present invention;
fig. 9 is an architecture diagram of the whole software in the control system of the power transmission line patrol device according to the present invention.
In the figure: 1. mounting a plate; 2. a support arm; 3. a drive motor; 4. mounting blocks; 5. clamping the motor; 6. a line patrol device body; 7. a support roller; 8. a support bar; 9. an arcuate bar; 10. a swing arm motor; 11. a fixed block; 12. a screw rod; 13. an internal thread block; 14. bending the arm; 15. a U-shaped mounting bracket; 16. a limiting wheel; 17. a rubber rod; 18. a turntable; 19. a transmission belt; 20. a driving roller; 21. a support plate; 22. a second pulley; 23. a first pulley; 24. a worm; 25. a worm gear; 26. and (4) rolling.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1:
referring to fig. 1-5, a power transmission line inspection device comprises an inspection device body 6 and a mounting plate 1, wherein two support rods 8 are symmetrically and fixedly connected to the side wall of the mounting plate 1, one ends of the two support rods 8, which are far away from the mounting plate 1, are fixedly connected with mounting blocks 4, one side of each mounting block 4 is provided with a mounting groove, a transmission mechanism is arranged in each mounting groove, one side of the mounting plate 1 is rotatably connected with a transmission shaft through a first rolling bearing, one end of the transmission shaft is fixedly connected with a support arm 2, one end of the support arm 2 is fixedly connected with a roller 26, the other side of the mounting plate 1 is fixedly connected with a swing arm motor 10, the output end of the swing arm motor 10 is fixedly connected with a worm 24, a worm wheel 25 is meshed on the rod wall of the worm 24, one end of the transmission shaft penetrates through the first rolling bearing and is fixedly connected with one side of the worm wheel 25, a cross rod is fixedly connected with the side wall of the mounting plate 1, and one end of the cross rod is fixedly connected with an arc-shaped rod 9, the lower extreme fixedly connected with connecting rod of arc pole 9, the connecting rod with patrol the upper end center department fixed connection of line device body 6, patrol two support frames of the upper end symmetry fixedly connected with of line device body 6, the upper end of two support frames all is connected with backing roll 7 through rotation of rotation axis, and backing roll 7 is located same vertical face with running roller 26.
When the line patrol device is used, the line patrol device is arranged on a power cable through a transmission mechanism, at the moment, a line patrol device body 6 is hung on the cable under the combined action of a connecting rod, an arc-shaped rod 9 and a cross rod, the cross rod is rotationally connected with an installation plate 1 through a damping bearing to ensure that the line patrol device body 6 keeps a hanging posture under the action of gravity, a control system controls the transmission mechanism to work to drive line patrol equipment to walk on the cable so as to finish the line patrol work of the power cable, when a sensing unit in the line patrol device body 6 detects a vibration damper or a strain clamp obstacle on the cable, a transmission mechanism at the front end of the advancing direction of the line patrol device is loosened to release a transmission state, at the moment, a swing arm motor 10 rotates to drive a worm 24 to rotate the worm wheel 25, the worm wheel 25 rotates to drive the transmission shaft, the transmission shaft rotates to drive a support arm 2 to swing so as to ensure that a roller 26 is contacted with a lead, when the supporting arm 2 swings to a vertical state, a transmission mechanism at the rear end in the advancing direction of the line patrol device keeps transmission action unchanged, a supporting point is formed between the supporting arm and a cable, at the moment, the supporting arm 2 is matched with a transmission shaft to jack up the mounting plate 1, the mounting plate 1 is driven to enable the whole line patrol device to be integrally inclined by taking the transmission mechanism at the rear end in the advancing direction as a fulcrum when rising, and further enable the transmission mechanism at the front end in the advancing direction to stride over an obstacle on the cable (as shown in figure 6), when the transmission mechanism at the front end crosses over the obstacle, the swing arm motor 10 drives the worm wheel 25, the worm 24 and the transmission shaft to enable the supporting arm 2 to reset, at the moment, the transmission mechanism crossing over the obstacle is contacted with the lead again to restore to a transmission state, at the moment, the transmission mechanism at the rear end releases the transmission state and is separated from the cable, at the moment, one transmission mechanism at the front end serves as the fulcrum to keep the transmission state, then the swing arm motor 10 drives the worm wheel 25, the worm 24 and the transmission shaft to enable the supporting arm 2 to swing to jack up the line patrol device again, so that the transmission mechanism at the rear end is separated from the cable, and the line patrol device can cross the obstacle on the cable.
Example 2: the difference is based on example 1;
referring to fig. 2-5, the transmission mechanism includes a transmission roller 20, the transmission roller 20 is rotatably connected with two opposite sides of the mounting groove through a support shaft, one side of the mounting block 4 is fixedly connected with a transmission motor 3, an output shaft of the transmission motor 3 penetrates through a side wall of the mounting block 4 and is fixedly connected with one end of the support shaft, the side wall of the mounting block 4 is rotatably connected with a bent arm 14 through a pin, one end of the bent arm 14 is fixedly connected with a U-shaped mounting frame 15, two opposite sides of the U-shaped mounting frame 15 are jointly and rotatably connected with a limiting wheel 16 through a pin shaft, the side wall of the mounting block 4 is fixedly connected with a support plate 21, the upper end of the support plate 21 is provided with a notch, a fixing block 11 is rotatably connected in the notch through a first rotating shaft, the side wall of the fixing block 11 is rotatably connected with a screw rod 12 through a second rolling bearing, one side of the fixing block 11 is fixedly connected with a clamping motor 5, and an output end of the clamping motor 5 is fixedly connected with one end of the screw rod 12, an opening is formed in one end, away from the U-shaped mounting frame 15, of the bent arm 14, an inner thread block 13 is arranged in the opening, the inner thread block 13 is in threaded connection with the lead screw 12, the side wall of the inner thread block 13 is connected with the opening in a rotating mode through a second rotating shaft, one side of the mounting block 4 is fixedly connected with a supporting block, one side of the supporting block is connected with a third rotating shaft through a third rolling bearing in a rotating mode, a first belt pulley 23 is fixedly connected with one end of the third rotating shaft, a second belt pulley 22 is fixedly connected onto the wall of an output shaft of the transmission motor 3, a transmission belt 19 is connected between the first belt pulley 23 and the second belt pulley 22 in a winding mode, the other end of the third rotating shaft penetrates through the third rolling bearing and is fixedly connected with a rotating disc 18, and a plurality of rubber bars 17 are fixedly connected onto the side wall of the rotating disc 18.
When the inspection device is placed, the clamping motor 5 drives the screw rod 12 to rotate, the screw rod 12 rotates and interacts with the internal thread block 13, the internal thread block 13 is stressed to drive the bent arm 14 to swing around the pin, the bent rod 14 drives the U-shaped mounting frame 15 to move when swinging, the U-shaped mounting frame 15 moves to drive the limiting wheel 16 to contact with the cable, so that the limiting wheel 16 and the transmission roller 20 are matched to clamp the cable, the transmission motor 3 is started to drive the supporting shaft to rotate the transmission roller 20, the transmission roller 20 can provide driving force for the inspection device when rotating, when the transmission motor 3 rotates, the output shaft of the transmission motor 3 drives the second belt pulley 22 to rotate, the second belt pulley 22 rotates to drive the transmission belt 19 to rotate the first belt pulley 23, the first belt pulley rotates to drive the third rotating shaft to rotate the turntable 18, and when the turntable 18 rotates, the plurality of rubber rods 17 are driven to do circular motion, the rubber rod 17 deforms under the action of centrifugal force when doing circular motion, so that the rubber rod 17 doing circular motion can impact the cable, ice and snow on the surface of the cable can be effectively removed, inspection operation on the cable in extreme weather is facilitated, the clamping state of the limiting wheel 16 on the cable can be rapidly released when the clamping motor 5 rotates reversely, and therefore the inspection device can have good climbing capability and obstacle crossing capability on a wire.
Example 3:
referring to fig. 6-9, based on embodiments 1-2, the invention further provides a control system of a power transmission line patrol device, comprising a monitoring layer, an organizational layer and an execution layer, wherein the monitoring layer is composed of a ground PC and a handheld remote controller, and is connected with the organizational layer through a wireless transmission module, the PC is used as a high-speed multifunctional processing device, and is used as a human-computer interaction device with the most comprehensive functions in the patrol device control system, the MFC library of Visual Studio is adopted to edit upper computer software, so that a person can check states of the patrol device and control all devices of the patrol device in real time, the remote controller is a special remote controller for the patrol device, which is designed autonomously, can define functions according to requirements, can be downloaded and debugged, is provided with two display screens for human-computer interaction, displays remote control commands and states on one piece, transmits walking videos of the patrol device in real time on the other piece, and a wireless transmission module is actually divided into two pieces, one is a wireless data transmission module used for transmitting data such as sensors, the other is a wireless video transmission module used for transmitting videos, the frequency difference between the two is large to prevent signal interference, a coordination layer is arranged in the tissue layer, the coordination layer is provided with an I/O expansion module, an LCD 12864 display screen, a CAN interface, a USB conversion 232 module and a wireless module, the tissue layer is divided into two parts of a decision system and a sensing system, the sensing system is provided with a camera, a laser radar, a GPS, an industrial sensor, a limit switch, a distance measuring sensor, a gyroscope and an encoder, the decision system is provided with an industrial ARM mainboard and an industrial PC mainboard, the industrial mainboard ARM model is EMB8610I, the industrial PC model is EPIA-PS00, the industrial mainboard is connected with the wireless transmission module to establish communication with an execution layer, the industrial ARM mainboard is connected with the sensing system to acquire data of the gyroscope, the limit switch, the distance measuring sensor and the encoder, the industrial PC mainboard is connected with a sensing system and used for driving a camera, a GPS and sensing equipment with large industrial-grade data volume of a laser radar, an execution layer is divided into a controller and an execution element, the execution layer adopts a distributed control form and is based on a CAN bus, execution devices are added or reduced at will, the core of the execution layer is motors and motor drivers distributed at each joint of an electric line patrol device, each motor is provided with a motor driver, each motor driver is provided with an independent processor, closed-loop control is carried out on the corresponding motor, an incremental PID control algorithm is adopted, a feedback value is obtained through an encoder, the motor drivers output PWM driving motors after operation, and the PID algorithm of the motor drivers CAN realize independent control of a speed ring and any ring of an angle ring.
The control system provided by the invention adopts the tissue layer, the coordination layer and the execution layer to realize hierarchical control, wherein the tissue layer is the leading idea of the control system, has high intelligence and plays a role of brain, the coordination layer is an interface between the tissue level and the execution level and has the capability of a general intelligent control algorithm, the execution layer is the lowest layer of the hierarchical control and has the execution capability with high precision but low intelligence, because the line patrol device needs to complete the information interaction between the ground and the line, the ground monitoring personnel can observe the on-line condition and carry out remote control conveniently, the control system is provided with a monitoring layer which mainly comprises a ground PC, a remote controller and a wireless transmission module besides three layers of the traditional hierarchical control system, thereby realizing the data and video transmission between the transmission patrol robot and the ground, therefore, the inspection picture can be effectively detected in real time, and obstacles and mechanical damage parts on the lead can be conveniently judged.
Example 4: the difference is based on example 3;
referring to fig. 8, the sensing system includes three types of functions, namely a monitoring function, an obstacle detection function and a movement auxiliary function, the monitoring function is composed of a camera for inspecting a lead, a GPS for recording the current position of the inspection lead and a camera for transmitting an obstacle crossing picture of an inspection device to the ground in real time, the obstacle detection function introduces a database through a three-level identification scheme, stores the position, sequence, type, size and peripheral abnormal conditions of the obstacle GPS to be inspected into the PC and executes three-level identification according to the above, the movement auxiliary function is composed of a motor current detection module, a gyroscope, an encoder and a limit switch in the sensing system, the encoder adopts an incremental photoelectric encoder for calculating the rotation angle and the speed of the motor, so as to achieve closed-loop control of a speed ring and an angle ring of a movement mechanism and calculate the movement position of an execution mechanism, therefore, each motor is provided with an encoder, the limit switch adopts three types including a Hall sensor, a travel switch and a capacitance type proximity switch, most of the three types are used for limiting key motion points of the actuating mechanism, the auxiliary encoder is reset to prevent accumulated errors, three gyroscopes are arranged in the sensing system and are installed on the machine body of the inspection device and used for detecting the horizontal posture of the machine body, the vertical posture of the front arm and the vertical posture of the rear arm, the current of the motor is detected for overload and short-circuit protection of the motor, the current torque of the motor can be estimated according to the current, and the motor is driven reasonably by the controller.
The invention is provided with the motion auxiliary function, the encoder adopts an incremental photoelectric encoder, is used for calculating the rotation angle and the speed of the motor so as to achieve the closed-loop control of a speed ring and an angle ring of the movement mechanism, and can calculate the movement position of the actuating mechanism, so that each motor is provided with an encoder, the limit switch adopts three types of Hall sensors, travel switches and capacitive proximity switches, most of the limit switches are used for limiting key movement points of the actuating mechanism, meanwhile, the auxiliary encoder is reset to prevent accumulated errors, three gyroscopes are arranged in the sensing system and are arranged on the body of the inspection device and are used for detecting the horizontal posture, the vertical posture of the front arm and the vertical posture of the rear arm of the body, and then can carry out real-time detection control to the gesture of patrolling and examining the robot to and the hand claw dynamics of grabbing, the effectual climbing ability that improves the robot of patrolling and examining, the working capability is strong applicable in bad weather and uses.
It is to be noted that the term "comprises," "comprising," or any other variation thereof is intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. The utility model provides a transmission line patrols traditional thread binding putting, includes patrols traditional thread binding putting body (6) and mounting panel (1), its characterized in that: the side wall of the mounting plate (1) is symmetrically and fixedly connected with two supporting rods (8), one ends of the two supporting rods (8) far away from the mounting plate (1) are fixedly connected with a mounting block (4), one side of the mounting block (4) is provided with a mounting groove, a transmission mechanism is arranged in the mounting groove, one side of the mounting plate (1) is rotatably connected with a transmission shaft through a first rolling bearing, one end of the transmission shaft is fixedly connected with a supporting arm (2), one end of the supporting arm (2) is fixedly connected with a roller (26), the other side of the mounting plate (1) is fixedly connected with a swing arm motor (10), the output end of the swing arm motor (10) is fixedly connected with a worm (24), the rod wall of the worm (24) is engaged with a worm wheel (25), one end of the transmission shaft passes through the first rolling bearing and is fixedly connected with one side of the worm wheel (25), the lateral wall fixedly connected with horizontal pole of mounting panel (1), the one end fixedly connected with arc pole (9) of horizontal pole, the lower extreme fixedly connected with connecting rod of arc pole (9), the connecting rod is located fixed connection with the upper end center of patrolling line device body (6), patrol two support frames of the upper end symmetry fixedly connected with of line device body (6), two the upper end of support frame all is connected with backing roll (7) through rotation of axes, and backing roll (7) are located same vertical face with running roller (26).
2. The power transmission line inspection device according to claim 1, wherein the transmission mechanism comprises a transmission roller (20), the transmission roller (20) is rotatably connected with two opposite sides of the mounting groove through a support shaft, one side of the mounting block (4) is fixedly connected with a transmission motor (3), an output shaft of the transmission motor (3) penetrates through the side wall of the mounting block (4) and is fixedly connected with one end of the support shaft, the side wall of the mounting block (4) is rotatably connected with a bent arm (14) through a pin, one end of the bent arm (14) is fixedly connected with a U-shaped mounting frame (15), two opposite sides of the U-shaped mounting frame (15) are rotatably connected with a limiting wheel (16) through a pin shaft, the side wall of the mounting block (4) is fixedly connected with a support plate (21), a notch is formed in the upper end of the support plate (21), and a fixing block (11) is rotatably connected in the notch through a first rotating shaft, the lateral wall of fixed block (11) rotates through second antifriction bearing and is connected with lead screw (12), one side fixedly connected with of fixed block (11) presss from both sides tight motor (5), the output of pressing from both sides tight motor (5) and the one end fixed connection of lead screw (12), the opening has been seted up to the one end that U-shaped mounting bracket (15) was kept away from in bent arm (14), be equipped with in the opening internal thread piece (13), internal thread piece (13) and lead screw (12) threaded connection, the lateral wall of internal thread piece (13) is passed through the second pivot and is connected with the opening rotation.
3. The power transmission line inspection device according to claim 2, wherein a supporting block is fixedly connected to one side of the mounting block (4), a third rotating shaft is rotatably connected to one side of the supporting block through a third rolling bearing, a first belt pulley (23) is fixedly connected to one end of the third rotating shaft, a second belt pulley (22) is fixedly connected to the shaft wall of an output shaft of the transmission motor (3), a transmission belt (19) is jointly wound between the first belt pulley (23) and the second belt pulley (22), the other end of the third rotating shaft penetrates through the third rolling bearing and is fixedly connected with a turntable (18), and a plurality of rubber rods (17) are fixedly connected to the side wall of the turntable (18).
4. A control system for the power transmission line patrol device according to any one of claims 1 to 3, characterized in that: the system comprises a monitoring layer, a tissue layer and an execution layer, wherein the monitoring layer consists of a ground PC and a handheld remote controller and is connected with the tissue layer through a wireless transmission module, the tissue layer is divided into a decision-making system and a sensing system, the sensing system is provided with a camera, a laser radar, a GPS, an industrial sensor, a limit switch, a distance measuring sensor, a gyroscope and an encoder, the decision-making system is provided with an industrial ARM mainboard and an industrial PC mainboard, the industrial ARM mainboard is connected with the wireless transmission module and is communicated with the execution layer, the industrial ARM mainboard is connected with the sensing system to collect data of the gyroscope, the limit switch, the distance measuring sensor and the encoder, the industrial PC mainboard is connected with the sensing system and is used for driving sensing equipment with large industrial data volume of the camera, the GPS and the laser radar, the execution layer is divided into a controller and an execution element, the execution layer adopts a distributed control form, and add or subtract execution devices arbitrarily based on the CAN bus.
5. The control system of the power transmission line patrol device according to claim 4, characterized in that: a coordination layer is arranged in the tissue layer and provided with an I/O expansion module, an LCD 12864 display screen, a CAN interface, a USB-to-232 module and a wireless module.
6. The control system of the power transmission line patrol device according to claim 4, characterized in that: the sensing system comprises a monitoring function, an obstacle detection function and a motion auxiliary function according to functional classification, wherein the monitoring function comprises a camera for patrolling a wire, a GPS for recording the current position of the patrolling wire and a camera for transmitting a barrier-crossing picture of a patrolling device to the ground in real time, the obstacle detection function introduces a database through a three-level identification scheme, the GPS position, the sequence, the type, the size and the surrounding abnormal conditions of the obstacle to be patrolled are stored in a PC, and three-level identification is carried out according to the data, and the motion auxiliary function comprises a motor current detection module and a gyroscope, an encoder and a limit switch in the sensing system.
7. The control system of the power transmission line patrol device according to claim 6, characterized in that: the encoder adopts an incremental photoelectric encoder for calculating the rotation angle and the speed of the motor so as to achieve closed-loop control of a speed ring and an angle ring of the movement mechanism and calculate the movement position of the actuating mechanism, so that each motor is provided with the encoder, the limit switch adopts three types of Hall sensors, travel switches and capacitive proximity switches, most of the limit switches are used for limiting the key movement points of the actuating mechanism, and meanwhile, the encoder is assisted to reset so as to prevent accumulated errors.
8. The control system of the power transmission line patrol device according to claim 6, characterized in that: set up three gyroscope in the perception system and install on inspection device's the fuselage for detect fuselage horizontal attitude, the vertical gesture of forearm and the vertical gesture of postbrachium, motor current detects overload, the short-circuit protection that is used for the motor, and can estimate the current moment of torsion of motor according to this, makes the reasonable driving motor of controller.
9. The control system of the power transmission line patrol device according to claim 4, characterized in that: the core of the execution layer is motors and motor drivers distributed at each joint of the power transmission line patrol device, each motor is provided with one motor driver, each motor driver is provided with an independent processor to perform closed-loop control on the corresponding motor, an incremental PID control algorithm is adopted, the motor drivers output PWM driving motors after operation through encoder feedback values, and the PID algorithm of the motor drivers can realize independent control of any one of a speed ring and an angle ring.
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| CN113524250B (en) * | 2021-08-21 | 2022-12-13 | 安徽省路港工程有限责任公司 | Cable detection robot for cable-stayed bridge |
| CN113791291B (en) * | 2021-08-23 | 2023-11-10 | 广东信通通信有限公司 | Smart power grids monitoring terminal system |
| CN116014890B (en) * | 2022-12-16 | 2024-03-05 | 广东南海电力设计院工程有限公司 | Overhead line wire electric safety distance alarm device based on laser radar technology |
| CN117439255B (en) * | 2023-09-14 | 2024-06-21 | 国网江苏省电力有限公司淮安供电分公司 | High-voltage transmission line monitoring device |
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| CN101882765B (en) * | 2010-05-11 | 2012-08-22 | 湖南大学 | Traveling mechanism of robot on high voltage transmission line |
| CN102136696B (en) * | 2010-12-30 | 2015-09-23 | 中国电力科学研究院 | A kind of polling transmission line or deicing robot |
| CN104917105B (en) * | 2015-06-29 | 2017-08-08 | 国家电网公司 | Aerial high-voltage power transmission line hotline maintenance robot |
| CN105429050B (en) * | 2015-12-22 | 2018-07-10 | 广东科凯达智能机器人有限公司 | A kind of compression wheel apparatus for aerial high-voltage power transmission line inspection robot |
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