CN201075610Y - Aerial circuit over barrier polling robot - Google Patents
Aerial circuit over barrier polling robot Download PDFInfo
- Publication number
- CN201075610Y CN201075610Y CNU2007201700162U CN200720170016U CN201075610Y CN 201075610 Y CN201075610 Y CN 201075610Y CN U2007201700162 U CNU2007201700162 U CN U2007201700162U CN 200720170016 U CN200720170016 U CN 200720170016U CN 201075610 Y CN201075610 Y CN 201075610Y
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- lifting
- overhead network
- inspection robot
- obstacle detouring
- suspension arm
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Abstract
The utility model discloses an obstacle inspection robot on overhead network, which comprises a carriage provided with at least three suspension arms. The upper ends of all suspension arms are respectively provided with rolling wheels. A vertical mobile device, a transverse mobile device and a lifting device are arranged between each suspension arm and the carriage and are respectively driven by a vertical driving motor, a transverse driving motor and a lifting driving motor. The suspension arm is provided with a photoelectric sensors and a touch sensor. Each suspension arm can independently move upwards, downwards, frontward, backward, leftward and rightward correspondingly to the carriage and when coming across obstacles, the suspension arm can independently carry out three dimensional movement and get across the obstacles in sequence, thus ensuring the obstacle inspection robot on overhead network to get across all obstacles, realizing safe, stable, reliable obstacle crossing and inspection towards the transmission line, improving inspection efficiency and effectively guaranteeing safe operation of power grid. The utility model is mainly applied to automatic machine inspection of super high voltage overhead network as well as inspection of cable or other overhead network.
Description
Technical field
The utility model relates to a kind of overhead line inspection device, relates in particular to a kind of overhead network obstacle detouring inspection robot.
Background technology
Power industry is related to the development and national economy and the people's normal life, and power overhead network is the lifeline of modern society, especially high pressure and extra high voltage network.Overhead wire is among the wild environment, because of long-term wind and weather, usually can cause the electric wire broken lot, and gold utensil gets loose and influences normal electric power conveying.
High voltage overhead lines is divided into ground wire and transmission line, and ground wire inside is the fiber optic cable communications lines, has tied up the water pipe precaution layer respectively at fiber optic cable communications line skin, and the outer bag of steel pipe is being tied up winding steel wire, and these steel wires are easy to disconnected strand.Transmission line is because surperficial fusing of circuit that the circuit Steel Wire Surface fracture that season, replacement was caused, section thigh, broken lot and thunderbolt cause or the like threatens the various situations of line security operation, all need circuit is carried out regular tour, carry whether normal and get rid of fault to check electric power.
In the prior art, the method that overhead transmission line is patrolled and examined mainly contains two kinds:
A kind of is manual detection, by making an inspection tour personnel's range estimation, or observes by telescope.This method is difficult to the effect that reaches desirable, and particularly in mountain area with a varied topography, not only track walker's physical demands is big, and efficient is low, reliability is low.
Another method be exactly with a kind of can be on overhead transmission line stabilized walking, can real-time monitored circuit situation intelligentized robot replace manual patrol, so both can improve the precision of line walking, can increase work efficiency again, save great amount of manpower.But existing robots can only be at the straightway line walking between two shaft towers, and the function of across obstacle is relatively poor, and is very inconvenient in the application process.
Summary of the invention
The purpose of this utility model provides the overhead network obstacle detouring inspection robot of a kind of efficient height, reliability height and energy across obstacle.
The purpose of this utility model is achieved through the following technical solutions:
Overhead network obstacle detouring inspection robot of the present utility model, comprise vehicle frame, described vehicle frame is provided with at least 3 suspension arms, and the upper end of described every suspension arm is respectively equipped with scroll wheel, is respectively equipped with longitudinal moving device and horizontal mobile device and lowering or hoisting gear between every suspension arm and the vehicle frame.
The technical scheme that is provided by above-mentioned the utility model as can be seen, overhead network obstacle detouring inspection robot described in the utility model, because vehicle frame is provided with at least 3 suspension arms, the upper end of described every suspension arm is respectively equipped with scroll wheel, is respectively equipped with longitudinal moving device and horizontal mobile device and lowering or hoisting gear between every suspension arm and the vehicle frame.Every suspension arm can with respect to vehicle frame separately about, all around moves, when running into barrier, can make many suspension arms carry out three-dimensional separately and move, clear the jumps successively, and then make whole overhead network obstacle detouring inspection robot across obstacle, efficient height, reliability height.
Description of drawings
Fig. 1 is the facade structures schematic diagram of the utility model overhead network obstacle detouring inspection robot;
Fig. 2 is the planar structure schematic diagram of the utility model overhead network obstacle detouring inspection robot;
Fig. 3 is the side structure schematic diagram of the utility model overhead network obstacle detouring inspection robot;
Fig. 4 is the utility model overhead network obstacle detouring inspection robot leaping over obstacles process reference diagram.
Embodiment
The utility model ultra-high-tension power transmission line obstacle detouring inspection robot, the embodiment that it is preferable such as Fig. 1, Fig. 2, shown in Figure 3, comprise vehicle frame 1, described vehicle frame is provided with at least 3 suspension arms 6, the upper end of described every suspension arm 6 is respectively equipped with scroll wheel 9, is respectively equipped with longitudinal moving device and horizontal mobile device and lowering or hoisting gear between every suspension arm 6 and the vehicle frame 1.
Like this, every suspension arm 6 can with respect to vehicle frame 1 separately about, all around moves, when running into barrier, it is mobile to make many suspension arms 6 carry out three-dimensional separately, clear the jumps successively, and then make whole overhead network obstacle detouring inspection robot across obstacle.
Each scroll wheel 9 can be provided with independent roller drive motors 10, guarantees the reliable of whole overhead network obstacle detouring inspection robot operation and obstacle detouring.Vehicle frame 1 is provided with camera 11 or other checkout equipment, and overhead transmission line is patrolled and examined, and height between camera 11 and the vehicle frame 1 and position can manual adjustments, camera 11 is aimed at need the circuit that detects.
Above-mentioned longitudinal moving device comprises movable stand 18, and described movable stand 18 is provided with gear 3, and described gear 3 is connected with vertical drive motor 19, is fixed with tooth bar 2 on the vehicle frame 1, described gear 3 and tooth bar 2 engagements.When 3 rotations of vertical drive motor 19 driven wheels, the impetus of tooth bar 2 just can make movable stand 18 vertically move on vehicle frame 1, and then drive suspension arm 6 vertically moves.
Described tooth bar 2 can have two, is arranged in the both sides of vehicle frame 1, and corresponding described gear 3 has two, respectively with 2 engagements of two tooth bars.Described vertical drive motor 19 is the double output shaft motor, and the two ends of the axle of described double output shaft motor are connected with described two gears 3 respectively.Adopt two gears 3 to drive, movable stand 18 is moved steadily.
Be provided with longitudinal guide between described movable stand 18 and the vehicle frame 1, make between movable stand 18 and the vehicle frame 1 be connected and reliable.Longitudinal guide can be the form that guide rail, guide groove cooperate, and also can be the form that guide rail, guide bearing cooperate.
Above-mentioned horizontal mobile device comprises transverse slider 16, flexibly connects by horizontal orientation device between described transverse slider 16 and the movable stand 18.Horizontal orientation device also can be the form that guide rail, guide groove cooperate, and also can be the form that guide rail, guide bearing cooperate.Transverse slider 16 can laterally move on movable stand 18, drives suspension arm 6 and laterally moves.
Described transverse slider 16 is provided with horizontal driving wheel 15, and described horizontal driving wheel 15 is connected with horizontal drive motor 13, is fixed with laterally on the described movable stand 18 and is with 14 synchronously, described laterally be with synchronously 14 with described horizontal driving wheel 15 engagements.When horizontal drive motor 13 drives horizontal driving wheel 15 rotations, laterally with 14 impetus transverse slider 16 is laterally moved on movable stand 18 synchronously, and then drive suspension arm 6 and laterally move.
Above-mentioned lifting and moving device comprises lifting slider 17, and described lifting slider 17 is fixedlyed connected with described transverse slider 16, and transverse slider 16 can drive lifting slider 17 and move.
Flexibly connect by lifting and guiding device between described suspension arm 6 and the described lifting slider 17, suspension arm 6 can move up and down on lifting slider 17.
Described suspension arm 6 is provided with lifting driving wheel 4, and described lifting driving wheel 4 is connected with lifting drive motors 12, be fixed with lifting on the described lifting slider 17 and be with 5 synchronously, described lifting be with synchronously 5 with 4 engagements of described lifting driving wheel.When lifting drive motors 12 drove lifting driving wheels 4 and rotates, lifting just can make suspension arm 6 move up and down with 5 impetus synchronously.
1 or 2 or a plurality of photoelectric sensor 8 can be provided with on the described suspension arm 6,1 or 2 or a plurality of contact pickup 7 can also be provided with.Roller drive motors 10, vertical drive motor 19, horizontal drive motor 13 and lifting drive motors 12 are controlled by control system.
As shown in Figure 4, when being suspended on the overhead transmission line, moves when patrolling and examining scroll wheel 9, when wherein photoelectric sensor 8 on suspension arm 6 or contact pickup 7 perceive obstacle, perceptual signal is passed to control system, control system is according to the corresponding motor rotation of this signal controlling, many suspension arms 6 are surmounted obstacles successively, realize safety, steady, reliable obstacle detouring.Can cross wire clamp and stockbridge damper and overcurrent lead-in wire in the circuit, the while can be crossed the division wire clamp in the transmission line etc., and the assurance robot crosses over straight line pole transmission line is patrolled and examined.
The utility model is mainly used in the automatic machinery of superhigh pressure overhead transmission line (comprising ground wire) and patrols and examines, also be applied to patrolling and examining of optical cable or other overhead transmission line, real-time visual by defectives such as the surface damage of machine vision technique realization circuit table, disconnected thigh, broken lot and corrosion is patrolled and examined, thereby extra high voltage network is carried out regular machine patrols automatically, replaced telescope visiting method under the artificial tower, improve detection efficiency, can effectively guarantee electric power netting safe running.
The above; it only is the preferable embodiment of the utility model; but protection range of the present utility model is not limited thereto; anyly be familiar with those skilled in the art in the technical scope that the utility model discloses; the variation that can expect easily or replacement all should be encompassed within the protection range of the present utility model.
Claims (10)
1. overhead network obstacle detouring inspection robot, comprise vehicle frame, it is characterized in that described vehicle frame is provided with at least 3 suspension arms, the upper end of described every suspension arm is respectively equipped with scroll wheel, is respectively equipped with longitudinal moving device and horizontal mobile device and lowering or hoisting gear between every suspension arm and the vehicle frame.
2. overhead network obstacle detouring inspection robot according to claim 1 is characterized in that described longitudinal moving device comprises movable stand, and described movable stand is provided with gear, and described gear is connected with vertical drive motor;
Be fixed with tooth bar on the described vehicle frame, described wheel and rack engagement.
3. overhead network obstacle detouring inspection robot according to claim 2 is characterized in that described tooth bar has two, is arranged in the both sides of vehicle frame, and corresponding described gear has two, respectively with two tooth bar engagements.
4. overhead network obstacle detouring inspection robot according to claim 3 is characterized in that, described vertical drive motor is the double output shaft motor, and the two ends of the axle of described double output shaft motor are connected with described two gears respectively.
5. according to claim 2,3 or 4 described overhead network obstacle detouring inspection robots, it is characterized in that, be provided with longitudinal guide between described movable stand and the vehicle frame.
6. overhead network obstacle detouring inspection robot according to claim 2 is characterized in that described horizontal mobile device comprises transverse slider, flexibly connects by horizontal orientation device between described transverse slider and the movable stand.
7. overhead network obstacle detouring inspection robot according to claim 6 is characterized in that described transverse slider is provided with horizontal driving wheel, and described horizontal driving wheel is connected with horizontal drive motor;
Be fixed with on the described movable stand laterally and be with synchronously, described laterally synchronous band meshes with described horizontal driving wheel.
8. overhead network obstacle detouring inspection robot according to claim 6 is characterized in that described lifting and moving device comprises lifting slider, and described lifting slider is fixedlyed connected with described transverse slider;
Flexibly connect by lifting and guiding device between described suspension arm and the described lifting slider.
9. overhead network obstacle detouring inspection robot according to claim 8 is characterized in that described suspension arm is provided with the lifting driving wheel, and described lifting driving wheel is connected with the lifting drive motors;
Be fixed with lifting on the described lifting slider and be with synchronously, described lifting is band and described lifting driving wheel engagement synchronously.
10. overhead network obstacle detouring inspection robot according to claim 1 is characterized in that, described suspension arm is provided with following at least a transducer:
One or more photoelectric sensors, one or more contact pickup.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007201700162U CN201075610Y (en) | 2007-08-01 | 2007-08-01 | Aerial circuit over barrier polling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007201700162U CN201075610Y (en) | 2007-08-01 | 2007-08-01 | Aerial circuit over barrier polling robot |
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| Publication Number | Publication Date |
|---|---|
| CN201075610Y true CN201075610Y (en) | 2008-06-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2007201700162U Expired - Fee Related CN201075610Y (en) | 2007-08-01 | 2007-08-01 | Aerial circuit over barrier polling robot |
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| CN (1) | CN201075610Y (en) |
Cited By (27)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102005705A (en) * | 2010-10-29 | 2011-04-06 | 西安交通大学 | Suspended line walking robot |
| CN102074915A (en) * | 2010-12-09 | 2011-05-25 | 山东电力研究院 | Split line moving platform |
| CN101702497B (en) * | 2009-10-21 | 2011-11-30 | 昆山市工业技术研究院有限责任公司 | Line transfer mechanism used for detecting electric transmission line |
| CN101771251B (en) * | 2008-12-30 | 2012-02-08 | 中国科学院沈阳自动化研究所 | Moving obstacle-crossing mechanism of inspection robot |
| CN102427209A (en) * | 2011-12-07 | 2012-04-25 | 姚正齐 | Sliding mechanism for obstacle crossing of line inspection robot and line inspection robot equipment |
| CN102522715A (en) * | 2011-12-07 | 2012-06-27 | 姚正齐 | Obstacle-crossing travelling mechanism for inspection robot and inspection robot device |
| CN102922530A (en) * | 2012-12-05 | 2013-02-13 | 山东电力集团公司电力科学研究院 | Inspection robot platform of 500kV split conductors |
| CN102938544A (en) * | 2012-12-05 | 2013-02-20 | 山东电力集团公司电力科学研究院 | Autonomous obstacle negotiation line-inspection robot for electric transmission lines |
| CN102941567A (en) * | 2012-12-05 | 2013-02-27 | 山东电力集团公司电力科学研究院 | High-tension transmission line patrol and operation robot actuating arm |
| CN102941570A (en) * | 2012-12-05 | 2013-02-27 | 山东电力集团公司电力科学研究院 | Patrol robot for power transmission lines |
| CN102946072A (en) * | 2012-12-05 | 2013-02-27 | 山东电力集团公司电力科学研究院 | Bundle conductor inspection robot platform |
| CN103390870A (en) * | 2013-07-25 | 2013-11-13 | 国家电网公司 | Intelligent line patrol vehicle for overhead transmission line |
| CN103616893A (en) * | 2013-11-26 | 2014-03-05 | 国家电网公司 | Inspection robot control system |
| WO2014086086A1 (en) * | 2012-12-05 | 2014-06-12 | 国网山东省电力公司电力科学研究院 | Inspection robot platform of 500kv split conductors |
| CN104022458A (en) * | 2014-05-22 | 2014-09-03 | 山东科技大学 | Suspended inspection robot on superhigh-voltage power transmission line |
| CN105514864A (en) * | 2015-12-11 | 2016-04-20 | 沈阳航空航天大学 | High-voltage line inspection robot with wheel mechanisms |
| CN105932600A (en) * | 2016-06-28 | 2016-09-07 | 国网山东省电力公司龙口市供电公司 | Aerial cable inspection equipment |
| CN106182030A (en) * | 2016-08-18 | 2016-12-07 | 罗日成 | The detection of a kind of transmission line insulator live and the integrated robot cleaned |
| CN106335041A (en) * | 2016-10-20 | 2017-01-18 | 刘辉 | Power line inspection robot and motion control method thereof |
| CN108494289A (en) * | 2018-04-19 | 2018-09-04 | 湖北工业大学 | High-voltage dc transmission electric wire magnetic force machine device people's suspension Force control system and control method |
| CN109066473A (en) * | 2018-09-30 | 2018-12-21 | 武汉武大英康集成媒体有限公司 | A kind of transmission line high-altitude line walking intelligent inspection robot and method for inspecting |
| CN110474253A (en) * | 2019-08-27 | 2019-11-19 | 芜湖裕优机械科技有限公司 | A kind of electric inspection process robot of energy across obstacle |
| WO2020098090A1 (en) * | 2018-11-15 | 2020-05-22 | 山东科技大学 | Robot walking and climbing along overhead line |
| CN111289534A (en) * | 2020-03-19 | 2020-06-16 | 云南电网有限责任公司电力科学研究院 | Overhead conductor aging detection device and method |
| CN112873245A (en) * | 2021-03-25 | 2021-06-01 | 深圳亿嘉和科技研发有限公司 | Overhead line three-arm inspection robot |
| CN112897420A (en) * | 2021-03-05 | 2021-06-04 | 三峡大学 | Power transmission line rescue equipment and use method |
| CN113060167A (en) * | 2021-03-25 | 2021-07-02 | 中车青岛四方车辆研究所有限公司 | Rail transit inspection robot platform |
-
2007
- 2007-08-01 CN CNU2007201700162U patent/CN201075610Y/en not_active Expired - Fee Related
Cited By (37)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101771251B (en) * | 2008-12-30 | 2012-02-08 | 中国科学院沈阳自动化研究所 | Moving obstacle-crossing mechanism of inspection robot |
| CN101702497B (en) * | 2009-10-21 | 2011-11-30 | 昆山市工业技术研究院有限责任公司 | Line transfer mechanism used for detecting electric transmission line |
| CN102005705B (en) * | 2010-10-29 | 2012-09-05 | 西安交通大学 | Suspended line walking robot |
| CN102005705A (en) * | 2010-10-29 | 2011-04-06 | 西安交通大学 | Suspended line walking robot |
| CN102074915A (en) * | 2010-12-09 | 2011-05-25 | 山东电力研究院 | Split line moving platform |
| CN102522715B (en) * | 2011-12-07 | 2014-10-08 | 姚正齐 | Obstacle-crossing travelling mechanism for inspection robot and inspection robot device |
| CN102427209A (en) * | 2011-12-07 | 2012-04-25 | 姚正齐 | Sliding mechanism for obstacle crossing of line inspection robot and line inspection robot equipment |
| CN102522715A (en) * | 2011-12-07 | 2012-06-27 | 姚正齐 | Obstacle-crossing travelling mechanism for inspection robot and inspection robot device |
| CN102946072B (en) * | 2012-12-05 | 2015-04-22 | 山东电力集团公司电力科学研究院 | Bundle conductor inspection robot platform |
| CN102922530A (en) * | 2012-12-05 | 2013-02-13 | 山东电力集团公司电力科学研究院 | Inspection robot platform of 500kV split conductors |
| CN102941570A (en) * | 2012-12-05 | 2013-02-27 | 山东电力集团公司电力科学研究院 | Patrol robot for power transmission lines |
| CN102946072A (en) * | 2012-12-05 | 2013-02-27 | 山东电力集团公司电力科学研究院 | Bundle conductor inspection robot platform |
| CN102941567A (en) * | 2012-12-05 | 2013-02-27 | 山东电力集团公司电力科学研究院 | High-tension transmission line patrol and operation robot actuating arm |
| WO2014086086A1 (en) * | 2012-12-05 | 2014-06-12 | 国网山东省电力公司电力科学研究院 | Inspection robot platform of 500kv split conductors |
| CN102938544B (en) * | 2012-12-05 | 2015-12-09 | 山东电力集团公司电力科学研究院 | A kind of transmission line active obstacle travelling robot |
| CN102938544A (en) * | 2012-12-05 | 2013-02-20 | 山东电力集团公司电力科学研究院 | Autonomous obstacle negotiation line-inspection robot for electric transmission lines |
| CN102941570B (en) * | 2012-12-05 | 2015-03-04 | 山东电力集团公司电力科学研究院 | Patrol robot for power transmission lines |
| CN103390870A (en) * | 2013-07-25 | 2013-11-13 | 国家电网公司 | Intelligent line patrol vehicle for overhead transmission line |
| CN103616893A (en) * | 2013-11-26 | 2014-03-05 | 国家电网公司 | Inspection robot control system |
| CN103616893B (en) * | 2013-11-26 | 2016-06-01 | 国家电网公司 | A kind of inspection robot control system |
| CN104022458A (en) * | 2014-05-22 | 2014-09-03 | 山东科技大学 | Suspended inspection robot on superhigh-voltage power transmission line |
| CN104022458B (en) * | 2014-05-22 | 2017-05-24 | 山东科技大学 | Suspended inspection robot on superhigh-voltage power transmission line |
| CN105514864A (en) * | 2015-12-11 | 2016-04-20 | 沈阳航空航天大学 | High-voltage line inspection robot with wheel mechanisms |
| CN105932600A (en) * | 2016-06-28 | 2016-09-07 | 国网山东省电力公司龙口市供电公司 | Aerial cable inspection equipment |
| CN105932600B (en) * | 2016-06-28 | 2018-08-07 | 国网山东省电力公司龙口市供电公司 | A kind of aerial cables inspection device |
| CN106182030A (en) * | 2016-08-18 | 2016-12-07 | 罗日成 | The detection of a kind of transmission line insulator live and the integrated robot cleaned |
| CN106182030B (en) * | 2016-08-18 | 2019-01-15 | 罗日成 | A kind of integrated robot transmission line insulator live detection and cleaned |
| CN106335041A (en) * | 2016-10-20 | 2017-01-18 | 刘辉 | Power line inspection robot and motion control method thereof |
| CN108494289A (en) * | 2018-04-19 | 2018-09-04 | 湖北工业大学 | High-voltage dc transmission electric wire magnetic force machine device people's suspension Force control system and control method |
| CN108494289B (en) * | 2018-04-19 | 2019-07-09 | 湖北工业大学 | High-voltage dc transmission electric wire magnetic force machine device people's suspension Force control system and control method |
| CN109066473A (en) * | 2018-09-30 | 2018-12-21 | 武汉武大英康集成媒体有限公司 | A kind of transmission line high-altitude line walking intelligent inspection robot and method for inspecting |
| WO2020098090A1 (en) * | 2018-11-15 | 2020-05-22 | 山东科技大学 | Robot walking and climbing along overhead line |
| CN110474253A (en) * | 2019-08-27 | 2019-11-19 | 芜湖裕优机械科技有限公司 | A kind of electric inspection process robot of energy across obstacle |
| CN111289534A (en) * | 2020-03-19 | 2020-06-16 | 云南电网有限责任公司电力科学研究院 | Overhead conductor aging detection device and method |
| CN112897420A (en) * | 2021-03-05 | 2021-06-04 | 三峡大学 | Power transmission line rescue equipment and use method |
| CN112873245A (en) * | 2021-03-25 | 2021-06-01 | 深圳亿嘉和科技研发有限公司 | Overhead line three-arm inspection robot |
| CN113060167A (en) * | 2021-03-25 | 2021-07-02 | 中车青岛四方车辆研究所有限公司 | Rail transit inspection robot platform |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20080618 Termination date: 20140801 |
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| EXPY | Termination of patent right or utility model |