CN113394707B - Power transmission line inspection robot based on unmanned aerial vehicle - Google Patents
Power transmission line inspection robot based on unmanned aerial vehicle Download PDFInfo
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- CN113394707B CN113394707B CN202110573228.XA CN202110573228A CN113394707B CN 113394707 B CN113394707 B CN 113394707B CN 202110573228 A CN202110573228 A CN 202110573228A CN 113394707 B CN113394707 B CN 113394707B
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- 238000007689 inspection Methods 0.000 title claims abstract description 65
- 230000005540 biological transmission Effects 0.000 title claims abstract description 45
- 238000004140 cleaning Methods 0.000 claims abstract description 20
- 239000004744 fabric Substances 0.000 claims abstract description 9
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 14
- 239000000428 dust Substances 0.000 claims description 13
- 238000013016 damping Methods 0.000 claims description 12
- 230000035939 shock Effects 0.000 claims description 10
- 230000000087 stabilizing effect Effects 0.000 claims description 9
- 230000000903 blocking effect Effects 0.000 claims description 6
- 230000000712 assembly Effects 0.000 claims 5
- 238000000429 assembly Methods 0.000 claims 5
- 241000271566 Aves Species 0.000 abstract 2
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- 238000010586 diagram Methods 0.000 description 2
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Classifications
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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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
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/35—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering with light sensitive cells
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a power transmission line inspection robot based on an unmanned aerial vehicle, which comprises a robot body: the upper end fixedly connected with photovoltaic external member of robot body, the both sides of robot body all are provided with drives the subassembly, the front end and the rear end of robot body all are provided with first camera, the front end and the rear end of robot body all are provided with the deashing subassembly, drive subassembly, deashing subassembly, dewatering subassembly through setting up and can protect this inspection robot betterly, when detecting that inspection robot annex has birds animal through obstacle sensor, drive the inside bird sonic wave ware that drives through driving the roller and drive, ensure that this inspection robot can not hit birds, when first camera lens is sheltered from by coming object or high altitude aqueous vapor, the inspection robot probably loses the field of vision this moment, clean it through the cleaning cloth, ensure that ground control personnel can continue to control its flight, reduce the prosthetic condition of returning a voyage.
Description
Technical Field
The invention relates to the technical field of power transmission line detection, in particular to a power transmission line inspection robot based on an unmanned aerial vehicle.
Background
The power failure caused by the fault of the high-voltage transmission line causes huge economic loss to people's life, industrial enterprises and countries. Hidden dangers and defects of the power transmission line need to be found in time and repaired, the power transmission line is prevented from being damaged in the bud, and regular inspection must be conducted on the power transmission line. The defects of the power transmission line mainly include strand breakage, strand loosening, rusting, defect, deletion, displacement, lightning stroke, dirt, abrasion, corrosion and the like, and particularly the defects of oxidation corrosion, joint loosening, insulator aging, cracking, breakdown and the like of hardware on the power transmission line and the faults seriously threaten the safe operation of a power transmission system.
At present, two modes of manual inspection and helicopter inspection are available for the inspection of the high-voltage transmission line, wherein the manual inspection is that inspection workers perform tower-by-tower inspection along the line by adopting an eye measurement method, and the ground inspection and tower climbing inspection are combined. The mode has the advantages of high line patrol efficiency, high line patrol cost, influence on patrol quality in high altitude, alpine regions and rare road sections, lack of a protection mechanism and easy influence on the flight process, so that the patrol robot cannot work well.
Disclosure of Invention
The invention provides a power transmission line inspection robot based on an unmanned aerial vehicle, which comprises a robot body: the upper end of the robot body is fixedly connected with a photovoltaic suite, both sides of the robot body are provided with driving components, both the front end and the rear end of the robot body are provided with first cameras, both the front end and the rear end of the robot body are provided with dust cleaning components, both the front end and the rear end of the robot body are provided with water removing components, the water removing components are arranged at the lower side of the dust cleaning components, the middle part of the lower end of the robot body is fixedly connected with a bearing seat, a driving component is arranged inside the bearing seat, one side of the driving component is provided with a sliding component, the lower end chamfer of the robot body is provided with support legs, moving components are arranged inside the support legs, both the positive end and the rear end of the robot body and the positive end and the rear end of the bearing seat are provided with obstacle sensors, both sides of the robot body are fixedly connected with recording strips, and a second camera is arranged in the recording strip.
The technical scheme of the invention is as follows:
a power transmission line inspection robot based on an unmanned aerial vehicle can better protect the inspection robot by arranging a driving component, a dust cleaning component and a dewatering component, when an obstacle sensor detects that an accessory of the inspection robot has birds and animals, the inspection robot drives an internal bird driving acoustic wave device to drive through a driving roller, the inspection robot is ensured not to hit the birds, when a first camera lens is shielded by flying objects or high-altitude water vapor, the inspection robot possibly loses the visual field, the inspection robot is cleaned through cleaning cloth, ground control personnel can continuously control the flight of the inspection robot, the condition of return flight repair is reduced, when the inspection robot slides on a power transmission line, water drops on the surface of a cable influence the sliding, the inspection robot is dried through a hot air blower and a wind guide pipe, the sliding of the inspection robot can be more stable, and the cooperation improves the integral protection performance, thereby improving the durability of the whole structure, being beneficial to the quality of a formed product, ensuring the working efficiency of the inspection robot, carrying out track planning movement according to a target and better completing the inspection task, wherein the driving component comprises a first motor which is fixedly connected inside the robot body, the output end of the first motor extends out of the robot body and is fixedly connected with a driving roller, the inside of the driving roller is fixedly connected with a sound wave device, the outer surface of the driving roller is provided with a wind guide groove, both sides of the robot body are provided with stabilizing rings, the driving roller is rotatably connected inside the stabilizing rings, the ash cleaning component comprises a first electric cylinder, the output end of the first electric cylinder is fixedly connected with a guide plate, the inner side of the guide plate is fixedly connected with cleaning cloth, both sides of the robot body are fixedly connected with limiting strips, and the limiting strips are arranged on both sides of a first camera, the guide plate is connected to the inner side of the limiting strip in a sliding manner, the driving assembly comprises a second motor, the second motor is fixedly connected to one side of the inner portion of the bearing seat, the output end of the second motor is fixedly connected with a guide rod, the guide rods are fixedly connected to two sides of the inner portion of the bearing seat and are arranged on the outer side of the lead screw, the other end of the lead screw is rotatably connected with the inner wall of the bearing seat, the other end of the guide rod is fixedly connected with the inner wall of the bearing seat, the outer sides of the second motor and the first motor are fixedly connected with a machine box, the sliding assembly comprises a moving block, the middle of the moving block is in threaded connection with the outer surface of the lead screw, two sides of the moving block are in sliding connection with the outer surface of the guide rods, the moving blocks are arranged into two groups, a bearing plate is fixedly connected to the inner side of the moving block, and a second electric cylinder is fixedly connected to the lower end of the bearing plate, the output fixedly connected with attaching plate of the electronic jar of second, the inboard fixedly connected with locating plate of loading board, the locating plate sets up the downside at attaching plate, the output fixedly connected with reset spring of the electronic jar of second, reset spring's inside one side sliding connection has the spliced pole, the one end of reset spring and spliced pole all with attaching plate fixed connection.
Preferably, the moving assembly comprises a damping spring, one side of the damping spring is fixedly connected inside the supporting leg, and one side of the damping spring extending out of the supporting leg is fixedly connected with a universal wheel.
Preferably, the inside of the case is fixedly connected with a shock pad, and the thickness of the shock pad is set to be 5 mm.
Preferably, the dewatering component comprises air heaters, the air heaters are fixedly connected inside the robot body and are arranged into two groups, air guide pipes are fixedly connected to the rear ends of the front ends of the robot body, the output ends of the air heaters are communicated with the air guide pipes, and a dust blocking net is fixedly connected to one side inside the air guide pipes.
Preferably, the equal fixedly connected with connecting block in both sides of recording and bearing seat, the mounting groove has been seted up to the downside of robot, the inside threaded connection of connecting block has the set screw, the set screw passes the inside of connecting block threaded connection at the mounting groove.
The invention has the beneficial effects that:
1. the invention provides a power transmission line inspection robot based on an unmanned aerial vehicle, which can be well protected by arranging a driving component, a dust cleaning component and a dewatering component, when an obstacle sensor detects that birds and animals exist in accessories of the inspection robot, the driving roller drives an internal driving acoustic wave device to drive, so as to ensure that the inspection robot cannot hit the birds and prevent a first camera lens from blocking the flying objects or high-altitude water vapor, the inspection robot can lose the visual field at the moment, the inspection robot is cleaned by cleaning cloth, so that ground control personnel can continuously control the flying of the inspection robot, the return flight repairing condition is reduced, when the inspection robot slides on a power transmission line, water drops on the surface of a cable influence the sliding, and the inspection robot is dried by matching a hot air blower with an air guide pipe, so that the inspection robot can slide more stably, therefore, the whole protection performance is improved through the cooperation, the durability of the whole structure is improved, the quality of a formed product is facilitated, the work efficiency of the inspection robot is ensured, the track planning movement is carried out according to the target, and the inspection task is better completed.
2. The method is obviously characterized in that the driving assembly is arranged, when the inspection robot detects that the power transmission line on the road section can move on the surface, ground personnel control the second motor to rotate through the controller, the second motor drives the screw rod to rotate, one side of the outer surface of the screw rod is a positive thread, the other side of the outer surface of the screw rod is a negative thread, and the sliding assembly can be conveniently slid by matching two groups of guide rods, so that the execution is simpler, and the effect of the sliding assembly is better exerted.
3. According to the invention, the sliding assembly is arranged, the size of the power transmission line is monitored by the second camera, so that the moving seat is close to the power transmission line, the two sets of arc-shaped positioning plates are attached to the lower side of the power transmission line, and at the moment, the second electric cylinder drives the arc-shaped attaching plates to attach and extrude the upper side of the power transmission line, so that the sliding operation of the power transmission line is completed.
4. According to the invention, the photovoltaic suite is arranged and comprises the photovoltaic panel, the photovoltaic inverter and the storage battery, so that solar energy can be absorbed and converted into standby electric energy when the device works in a sunny day, the power supply is saved, the cost is reduced, the service time of the device is long, the frequent return charging condition is avoided, the detection range of the inspection robot is further improved, and the use mode is flexible.
Drawings
Fig. 1 is a perspective view of the present invention.
Fig. 2 is a schematic structural diagram of the present invention.
FIG. 3 is a schematic diagram of a water removal assembly of the present invention.
FIG. 4 is an enlarged view of part A of the present invention.
FIG. 5 is an enlarged view of the portion B of the present invention.
FIG. 6 is an enlarged view of the section C of the present invention.
1. A robot body; 2. a support leg; 3. a driving component; 31. a first motor; 32. a stabilizing ring; 33. A driving roller; 34. a wind guide groove; 35. an acoustic wave device; 4. a soot cleaning assembly; 41. a first electric cylinder; 42. a guide plate; 43. a limiting strip; 44. a cleaning cloth; 5. a water removal assembly; 51. a hot air blower; 52. a dust blocking net; 53. An air guide pipe; 6. a sliding assembly; 61. a moving block; 62. a carrier plate; 63. a second electric cylinder; 64. a return spring; 65. connecting columns; 66. attaching a plate; 67. positioning a plate; 7. a drive assembly; 71. a second motor; 72. a guide bar; 73. a screw rod; 8. a moving assembly; 81. a damping spring; 82. a universal wheel; 9. a photovoltaic kit; 10. an obstacle sensor; 11. connecting blocks; 12. mounting grooves; 13. a bearing seat; 14. recording a strip; 15. a second camera; 16. a first camera; 17. fixing screws; 18. a chassis; 19. a shock-absorbing pad.
Detailed Description
The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
It should be noted that in the description of the present invention, the terms "in" or "in" are used for indicating directions or positional relationships based on those shown in the drawings, which are used for convenience of description only, and do not indicate or imply that a device or an element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; may be a mechanical connection; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
As shown in fig. 1-6, the invention provides a power transmission line inspection robot based on an unmanned aerial vehicle, which comprises a robot body 1: the upper end of the robot body 1 is fixedly connected with a photovoltaic suite 9, both sides of the robot body 1 are provided with driving components 3, both the front end and the rear end of the robot body 1 are provided with first cameras 16, both the front end and the rear end of the robot body 1 are provided with ash cleaning components 4, both the front end and the rear end of the robot body 1 are provided with dewatering components 5, the dewatering components 5 are arranged at the lower side of the ash cleaning components 4, the middle part of the lower end of the robot body 1 is fixedly connected with a bearing seat 13, a driving component 7 is arranged inside the bearing seat 13, one side of the driving component 7 is provided with a sliding component 6, the chamfers at the lower end of the robot body 1 are provided with supporting legs 2, the inside of the supporting legs 2 is provided with a moving component 8, and both the positive end and the rear end of the robot body 1 and the positive end and the rear end of the bearing seat 13 are provided with obstacle sensors 10, the driving component 3 comprises a first motor 31, the first motor 31 is fixedly connected inside the robot body 1, the output end of the first motor 31 extends out of the robot body 1 and is fixedly connected with a driving roller 33, the driving roller 33 is fixedly connected inside the driving roller 33, an air guide groove 34 is formed in the outer surface of the driving roller 33, stabilizing rings 32 are arranged on two sides of the robot body 1, the driving roller 33 is rotatably connected inside the stabilizing ring 32, when detecting that the inspection robot accessory has birds through the obstacle sensor 10 and the first camera 16 by arranging the driving component 3, a ground operator controls the internal signal receiver through the remote controller, so that the first motor 31 drives the internal driving acoustic wave device 35 to drive through the driving roller 33, the acoustic wave device 35 contains various acoustic waves for driving the birds to ensure that the inspection robot cannot hit the birds, the safety and reliability performance is high, the driving roller 33 is rotated more stably through the stabilizing ring 32 to improve the stability, the ash cleaning component 4 comprises a first electric cylinder 41, the output end of the first electric cylinder 41 is fixedly connected with a guide plate 42, the inner side of the guide plate 42 is fixedly connected with a cleaning cloth 44, both sides of the robot body 1 are fixedly connected with limit strips 43, the limiting strips 43 are arranged on two sides of the first camera 16, the guide plate 42 is connected to the inner side of the limiting strips 43 in a sliding manner, through the arrangement of the ash removal component 4, as the inspection robot flies for a long time, the first camera 16 with main sense organs is easily blocked by dust and water vapor, at the moment, the inspection robot can lose the visual field and influence the flight path which cannot be observed by ground operators, the guide plate 42 is driven to slide on the surface of the first camera 16 through the first electric cylinder 41, so that the cleaning cloth 44 cleans the first camera 16, the ground controller can continuously control the flight of the first camera, the return flight repairing situation is reduced, the sliding position of the guide plate 42 can be stabilized through the limiting strips 43, the guide plate 42 can continuously and stably slide, the driving component 7 comprises a second motor 71, the second motor 71 is fixedly connected to one side of the inner part of the bearing seat 13, the output end of the second motor 71 is fixedly connected with a guide rod 72, two sides of the interior of the bearing seat 13 are fixedly connected with the guide rods 72, the guide rods 72 are arranged on the outer side of a screw rod 73, the other end of the screw rod 73 is rotatably connected with the inner wall of the bearing seat 13, the other end of the guide rod 72 is fixedly connected with the inner wall of the bearing seat 13, the outer sides of the second motor 71 and the first motor 31 are fixedly connected with a case 18, the sliding assembly 6 comprises a moving block 61, the middle part of the moving block 61 is in threaded connection with the outer surface of the screw rod 73, two sides of the moving block 61 are in sliding connection with the outer surface of the guide rods 72, the moving blocks 61 are arranged into two groups, the inner side of the moving block 61 is fixedly connected with a bearing plate 62, the lower end of the bearing plate 62 is fixedly connected with a second electric cylinder 63, and the output end of the second electric cylinder 63 is fixedly connected with an attaching plate 66, inboard fixedly connected with locating plate 67 of loading board 62, locating plate 67 sets up the downside at rigging board 66, the output fixedly connected with reset spring 64 of the electronic jar 63 of second, inside one side sliding connection of reset spring 64 has spliced pole 65, the one end of reset spring 64 and spliced pole 65 all with rigging board 66 fixed connection. By arranging the driving component 7 and the sliding component 6, when the inspection robot detects that the power transmission line of the road section can be close to and slide, ground personnel control the second motor 71 to rotate through the controller, the second motor 71 drives the screw rod 73 to rotate, one side of the outer surface of the screw rod 73 is a positive thread, the other side is a reverse thread, the sliding component 6 can be conveniently operated by matching with the two groups of guide rods 72, the function of the sliding component 6 is better exerted, the size of the power transmission line is monitored through the second camera 15, so that the movable seat is close to the power transmission line, the lower side of the power transmission line is attached through the two groups of arc positioning plates 67, at the moment, the second electric cylinder 63 drives the arc attaching plate 66 to be attached to and extrude the upper side of the power transmission line, and therefore the sliding operation of the power transmission line is completed, because the output end of the second electric cylinder 63 is provided with the reset spring 64 and the connecting column 65, the damping can be buffered when the second electric cylinder 63 moves, the inspection robot can move more stably.
As shown in fig. 1-2, the moving assembly 8 includes a damping spring 81, one side of the damping spring 81 is fixedly connected to the inside of the supporting leg 2, and a universal wheel 82 is fixedly connected to one side of the damping spring 81 extending out of the supporting leg 2.
Further, through setting up removal subassembly 8, patrol and examine the record work when patrolling and examining the robot and finish the back, through damping spring 81 and universal wheel 82's cooperation for the device can reduce the cushion effect when falling to the ground, facilitates the use, facilitates for the work of berthing.
As shown in fig. 1 and 6, a shock pad 19 is fixedly connected to the inside of the case 18, and the thickness of the shock pad 19 is set to be 5 mm.
Further, by arranging the shock absorption pad 19, the shock absorption pad 19 plays a role in absorbing shock of the first motor 31 and the second motor 71, so that the working stability of the motor is improved, and the service life of the motor is prolonged.
As shown in fig. 1 to 3, the water removing assembly 5 includes two sets of air heaters 51, the air heaters 51 are fixedly connected inside the robot body 1, air guiding pipes 53 are fixedly connected to rear ends of the positive ends of the robot body 1, the output ends of the air heaters 51 are communicated with the air guiding pipes 53, and a dust blocking net 52 is fixedly connected to one side inside the air guiding pipes 53.
Further, through setting up dewatering component 5, because the power transmission line often has the water droplet on its surface of high altitude department to the influence slides, dries it through two sets of air heaters 51 cooperation inclined air guide duct 53, makes to patrol and examine the robot and slides and can be more stable, keeps off dirt net 52 and can block the dust effectively and get into in the air heater 51, avoids influencing its work efficiency.
As shown in fig. 1-2, the recording strip 14 and the two sides of the bearing seat 13 are both fixedly connected with a connecting block 11, an installation groove 12 is formed in the lower side of the robot body 1, a fixing screw 17 is connected to the inner thread of the connecting block 11, and the fixing screw 17 penetrates through the connecting block 11 and is connected to the inner part of the installation groove 12 in a threaded manner.
Further, through setting up connecting block 11, be convenient for to record strip 14 and bear seat 13 and be connected with the unmanned aerial vehicle body, through the connected mode of fixed screw 17 and mounting groove 12, the maintenance is dismantled to the follow-up of being convenient for follow-up maintenance is more convenient.
The invention provides a power transmission line inspection robot based on an unmanned aerial vehicle, when in use, a photovoltaic suite 9 is arranged on a robot body 1, the photovoltaic suite 9 is composed of a photovoltaic panel, a photovoltaic inverter and a storage battery, when the robot works in a fine day, solar energy can be absorbed and converted into standby electric energy, a power supply is saved, the cost is reduced, by arranging a driving component 3, when an accessory of the inspection robot is detected to have birds and animals through an obstacle sensor 10 and a first camera 16, ground operating personnel control an internal signal receiver through a remote controller, so that a first motor 31 drives an internal driving acoustic wave device 35 to drive through a driving roller 33, the acoustic wave device 35 contains various acoustic waves for driving birds and ensuring that the inspection robot cannot hit the birds and the driving roller 33 rotates more stably through a stabilizing ring 32, thereby improving the stability, because the inspection robot flies for a long time, the first camera 16 is easy to be blocked by dust and water vapor, at the moment, the inspection robot can lose the visual field and affect the ground operation personnel to be incapable of observing the flight path, the first electric cylinder 41 drives the guide plate 42 to slide on the surface of the first camera 16, so that the cleaning cloth 44 cleans the first camera 16, the ground control personnel can continue to control the flight of the first camera, the return flight repairing condition is reduced, the sliding position of the guide plate 42 can be stabilized through the limiting strip 43, the guide plate 42 can continuously and stably slide, the sliding is affected because the surface of the transmission line at high altitude often has water drops, the two groups of air heaters 51 are matched with the inclined air guide pipes 53 to dry the first camera, the inspection robot can slide more stably, the dust blocking net 52 can effectively block dust from entering the air heaters 51 and avoid affecting the working efficiency of the inspection robot, when the inspection robot detects that the power transmission line on the road section can slide, ground personnel controls the second motor 71 to rotate through the controller, the second motor 71 drives the screw rod 73 to rotate, one side of the outer surface of the screw rod 73 is provided with a positive thread, the other side of the outer surface of the screw rod 73 is provided with a negative thread, the sliding operation of the sliding assembly 6 can be facilitated by matching two groups of guide rods 72, the function of the sliding assembly 6 is better exerted, the size of the power transmission line is monitored through the second camera 15, so that the moving seat is close to the power transmission line, the lower side of the power transmission line is attached through two groups of arc positioning plates 67, at the moment, the second electric cylinder 63 drives the arc attaching plate 66 to be attached and extruded on the upper side of the power transmission line, so that the sliding operation of the power transmission line is completed, as the output end of the second electric cylinder 63 is provided with the reset spring 64 and the connecting column 65, the buffer and shock absorption can be carried out when the inspection robot moves, so that the inspection robot can move more stably, through setting up connecting block 11, be convenient for be connected recording strip 14 and bearing seat 13 with the unmanned aerial vehicle body, through the connected mode of fixed screw 17 and mounting groove 12, the maintenance is dismantled to the follow-up of being convenient for follow-up maintenance is more convenient, so should patrol and examine the robot stability height, safe and reliable performance height, application scope is wide, long service life can accomplish better and patrol and examine the task.
The above are only examples of the present invention, and the common general knowledge of the known specific structures and characteristics in the schemes is not described herein too much, and it is obvious to those skilled in the art that the scope of the present invention is not limited to these specific embodiments. Without departing from the invention, several changes and modifications can be made, which should also be regarded as the protection scope of the invention, and these will not affect the effect of the invention and the practicality of the patent.
Claims (5)
1. The utility model provides a robot is patrolled and examined to power transmission line based on unmanned aerial vehicle which characterized in that, includes robot body (1): the photovoltaic external member (9) is fixedly connected to the upper end of the robot body (1), driving assemblies (3) are arranged on two sides of the robot body (1), first cameras (16) are arranged at the front end and the rear end of the robot body (1), ash cleaning assemblies (4) are arranged at the front end and the rear end of the robot body (1), dewatering assemblies (5) are arranged at the front end and the rear end of the robot body (1), the dewatering assemblies (5) are arranged on the lower side of the ash cleaning assemblies (4), a bearing seat (13) is fixedly connected to the middle of the lower end of the robot body (1), a driving assembly (7) is arranged inside the bearing seat (13), a sliding assembly (6) is arranged on one side of the driving assembly (7), supporting legs (2) are arranged at the lower end chamfers of the robot body (1), and a moving assembly (8) is arranged inside the supporting legs (2), obstacle sensors (10) are arranged at the front end and the rear end of the robot body (1) and the front end and the rear end of the bearing seat (13), recording strips (14) are fixedly connected to the two sides of the robot body (1), and a second camera (15) is arranged inside the recording strips (14);
the driving assembly (3) comprises a first motor (31), the first motor (31) is fixedly connected inside the robot body (1), the output end of the first motor (31) extends out of the robot body (1) and is fixedly connected with a driving roller (33), the inside of the driving roller (33) is fixedly connected with an acoustic wave device (35), the outer surface of the driving roller (33) is provided with an air guide groove (34), two sides of the robot body (1) are respectively provided with a stabilizing ring (32), and the driving roller (33) is rotatably connected inside the stabilizing ring (32);
the ash removal assembly (4) comprises a first electric cylinder (41), the output end of the first electric cylinder (41) is fixedly connected with a guide plate (42), the inner side of the guide plate (42) is fixedly connected with cleaning cloth (44), both sides of the robot body (1) are fixedly connected with limiting strips (43), the limiting strips (43) are arranged on both sides of the first camera (16), and the guide plate (42) is connected to the inner side of the limiting strips (43) in a sliding manner;
the driving assembly (7) comprises a second motor (71), the second motor (71) is fixedly connected to one side of the interior of the bearing seat (13), the output end of the second motor (71) is fixedly connected with a guide rod (72), two sides of the interior of the bearing seat (13) are fixedly connected with the guide rod (72), the guide rod (72) is arranged on the outer side of the screw rod (73), the other end of the screw rod (73) is rotatably connected with the inner wall of the bearing seat (13), the other end of the guide rod (72) is fixedly connected with the inner wall of the bearing seat (13), and the outer sides of the second motor (71) and the first motor (31) are fixedly connected with a case (18);
the sliding assembly (6) comprises a moving block (61), the middle part of the moving block (61) is in threaded connection with the outer surface of the screw rod (73), two sides of the moving block (61) are connected to the outer surface of the guide rod (72) in a sliding way, the moving blocks (61) are arranged into two groups, a bearing plate (62) is fixedly connected to the inner side of the moving block (61), a second electric cylinder (63) is fixedly connected to the lower end of the bearing plate (62), the output end of the second electric cylinder (63) is fixedly connected with a joint plate (66), the inner side of the bearing plate (62) is fixedly connected with a positioning plate (67), the positioning plate (67) is arranged at the lower side of the attaching plate (66), the output end of the second electric cylinder (63) is fixedly connected with a return spring (64), one side inside the return spring (64) is connected with a connecting column (65) in a sliding way, and one ends of the return spring (64) and the connecting column (65) are fixedly connected with the attaching plate (66).
2. The power transmission line inspection robot based on the unmanned aerial vehicle according to claim 1, wherein the moving assembly (8) comprises a damping spring (81), one side of the damping spring (81) is fixedly connected inside the supporting leg (2), and one side of the damping spring (81) extending out of the supporting leg (2) is fixedly connected with a universal wheel (82).
3. A power transmission line inspection robot based on unmanned aerial vehicle according to claim 1, characterized in that the inside of the case (18) is fixedly connected with a shock pad (19), and the thickness of the shock pad (19) is set to 5 mm.
4. The power transmission line inspection robot based on the unmanned aerial vehicle according to claim 1, wherein the water removal assembly (5) comprises two groups of air heaters (51), the air heaters (51) are fixedly connected inside the robot body (1), air guide pipes (53) are fixedly connected to the rear ends of the positive ends of the robot body (1), the output ends of the air heaters (51) are communicated with the air guide pipes (53), and a dust blocking net (52) is fixedly connected to one side inside the air guide pipes (53).
5. The power transmission line inspection robot based on the unmanned aerial vehicle according to claim 1, wherein the recording strip (14) and the bearing seat (13) are fixedly connected with connecting blocks (11) on two sides, a mounting groove (12) is formed in the lower side of the robot body (1), fixing screws (17) are connected to the inner threads of the connecting blocks (11), and the fixing screws (17) penetrate through the connecting blocks (11) and are connected to the inner portions of the mounting grooves (12) in a threaded mode.
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| CN202110573228.XA CN113394707B (en) | 2021-05-25 | 2021-05-25 | Power transmission line inspection robot based on unmanned aerial vehicle |
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| CN114228999B (en) * | 2021-12-24 | 2023-07-04 | 杭州申昊科技股份有限公司 | Unmanned aerial vehicle-based infrared inspection high-altitude robot |
| CN114442632A (en) * | 2022-01-27 | 2022-05-06 | 商丘师范学院 | Robot tracking system and method based on artificial intelligence |
| CN117117724B (en) * | 2023-10-23 | 2024-01-09 | 国网河南省电力公司新乡县供电公司 | Overhead cable surface detection and repair equipment of power supply system |
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| ES2746980T3 (en) * | 2014-01-30 | 2020-03-09 | Boeing Co | Unmanned aerial vehicle |
| CN206856982U (en) * | 2016-12-23 | 2018-01-09 | 兰州理工大学 | A kind of multifunction aircraft |
| CN208134644U (en) * | 2018-04-20 | 2018-11-23 | 国电锅炉压力容器检验中心 | A kind of inspection unmanned plane |
| CN108848340A (en) * | 2018-06-18 | 2018-11-20 | 南京奥柯灵信息科技有限公司 | A kind of monitoring road conditions equipment that the clarity of the good water-proof effect based on Internet of Things is high |
| CN109018344B (en) * | 2018-07-25 | 2020-09-01 | 国网山东省电力公司济南市历城区供电公司 | Flyable line inspection device |
| CN108687741A (en) * | 2018-08-20 | 2018-10-23 | 深圳市玖品空气净化科技有限公司 | A kind of automatic security robot with cleaning and height adjusting function |
| CN109412079B (en) * | 2018-12-13 | 2020-07-14 | 杭州申昊科技股份有限公司 | Unmanned aerial vehicle inspection system for power transmission line |
| CN111404078A (en) * | 2020-04-03 | 2020-07-10 | 国网山东省电力公司禹城市供电公司 | Power transmission line monitoring method and inspection robot for detecting power transmission line |
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