CN202964660U - 500kV bundled conductor routing inspection operation robot platform - Google Patents
500kV bundled conductor routing inspection operation robot platform Download PDFInfo
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- CN202964660U CN202964660U CN 201220660490 CN201220660490U CN202964660U CN 202964660 U CN202964660 U CN 202964660U CN 201220660490 CN201220660490 CN 201220660490 CN 201220660490 U CN201220660490 U CN 201220660490U CN 202964660 U CN202964660 U CN 202964660U
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- 239000004020 conductor Substances 0.000 title claims abstract description 29
- 238000007689 inspection Methods 0.000 title abstract description 6
- 230000007246 mechanism Effects 0.000 claims abstract description 42
- 230000005540 biological transmission Effects 0.000 claims description 29
- 210000000245 forearm Anatomy 0.000 claims description 11
- 208000037873 arthrodesis Diseases 0.000 claims description 2
- 230000004888 barrier function Effects 0.000 abstract description 5
- 238000001514 detection method Methods 0.000 abstract description 4
- 230000005484 gravity Effects 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000008439 repair process Effects 0.000 abstract description 2
- 230000001174 ascending effect Effects 0.000 abstract 3
- 230000009471 action Effects 0.000 description 7
- 230000005611 electricity Effects 0.000 description 4
- 239000012212 insulator Substances 0.000 description 4
- 125000006850 spacer group Chemical group 0.000 description 3
- 239000000725 suspension Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000012636 effector Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000003786 synthesis reaction Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000004643 material aging Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 238000001931 thermography Methods 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
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Abstract
The utility model concretely discloses a 500kV bundled conductor routing inspection operation robot platform, which comprises six driving arms, a connecting plate framework and a battery control box, wherein the six driving arms have the same structure, each driving arm respectively comprises a driving wheel mechanism, an ascending and descending joint, a rotating joint, a guide wheel mechanism and a guide groove in same structures, each driving arm is suspended on the bundled conductor through the driving wheel mechanism, the lower end of each driving wheel mechanism is connected with the ascending and descending joint through the rotating joint, each ascending and descending joint is fixedly arranged on the connecting plate framework, and each guide wheel mechanism is arranged on each driving arm and can slide along the guide groove fixedly arranged in the connecting plate framework. The 500kV bundled conductor routing inspection operation robot platform has the beneficial effects that a robot is transversely spanned on the two bundled conductors during the operation, the operation posture of the robot can be ensured even when the gravity center is deviated, safety and stability are realized, a detection tool can be favorably integrated on the robot, and in addition, an operation mechanical arm and a special tool can be expanded for carrying out barrier removing work, line repair work and the like.
Description
Technical field
The present invention relates to a kind of overhead transmission line and patrol and examine the Work robot platform, especially the 500kV split conductor is patrolled and examined the Work robot platform.
Background technology
Extra high voltage network is the important component part of high-voltage fence, for guaranteeing its safety and stability in running, needs the regular work of patrolling and examining of carrying out; Because the transmission line of electricity distributed points is many, away from cities and towns, with a varied topography, and wire is sudden and violent to be leaked in the open air, long-term wind and weather, and the mechanical tension that is continued, electric sudden strain of a muscle is ironed, the impact of material aging easily causes wearing and tearing, disconnected strand, the corrosion equivalent damage, if untimely reparation is changed, easily cause serious accident, cause the loss of large-area power-cuts and economic asset.So, must carry out regular walkaround inspection to transmission line of electricity, grasp at any time and understand the safe operation situation of transmission line of electricity, in order in time find and remove a hidden danger, trouble-saving generation;
For a long time, China is artificial to the main dependence of patrolling and examining of transmission line of electricity, or telescope, or infrared thermography, see while walking, patrolling and examining that some are special also needs the power worker to climb up high-tension line inspection, wastes time and energy, greatly dangerous, some virgin forest, cliff circuit manually can't be patrolled and examined at all.Utilize the robot inspection of power transmission line and safeguard the EHV transmission network, not only can alleviate the labour intensity of workman's a thousand li line walking and livewire work, and can improve accuracy of detection and detection efficiency, replace people's on-line operation in the occasion of high-risk, greatly reduce simultaneously human resources, to improving the grid automation level of operation, ensureing that electric power netting safe running is significant.
Chinese patent ZL200410061316.8 discloses a kind of robot that travels along aerial high-voltage power transmission line, comprise a pair of forearm manipulator mechanism that moves along power transmission line, the lower end of two forearm manipulators is connected in respectively on the transmission mechanism of a large arm that can change two forearm relative distances, each forearm has respectively 4 frees degree; be end effector mechanism above forearm, this end effector mechanism has the driving wheel and the first driving mechanism, a driven pulley and the clamp mechanism that can grasp power transmission line that hang on power transmission line.Analysis-by-synthesis, this patent mainly contains following shortcoming: this patent robot can only walk along single cord, only possesses measuring ability, because robot can only move along single cord, when expanding again on-line operation function (remove grog cloth foreign matter, dismounting stockbridge damper, repair wire etc.), the robot body center of gravity easily is offset, and causes the machine attitude unstable, can't guarantee safety work.
Chinese patent ZL200410020490.8 discloses a kind of EHV transmission line patrol robot mechanism, it is comprised of moving body, rear arm, forearm, wherein: moving body is comprised of body and road wheel, road wheel is arranged on body by horizontally rotating pair and moving sets, and grasp mutually with line, body is connected with forward and backward arm respectively by revolute pair, and the arm end is paw; Described forearm, rear arm structure are identical, and wherein each arm is comprised of upper arm, underarm two parts, and upper arm is connecting rod and ball-screw and slide block combination, secondaryly are connected with underarm by horizontally rotating, and underarm is large stroke telescoping mechanism.Analysis-by-synthesis, this patent mainly contains following shortcoming: can move on the sub-thread split conductor, cross over the barriers such as stockbridge damper and insulator chain, but obstacle detouring efficient be lower, its long and narrow mobile platform is unfavorable for integrated multiple detection and power tool.
Summary of the invention
The objective of the invention is for overcoming above-mentioned the deficiencies in the prior art, provide a kind of 500kV split conductor to patrol and examine the Work robot platform.
For achieving the above object, the present invention adopts following technical proposals:
The 500kV split conductor is patrolled and examined the Work robot platform, comprise six actuating arm, yoke plate framework and battery control cabinets that structure is identical, described each actuating arm comprises the identical drive wheel mechanism of structure, lifting joint, rotary joint, type leading wheel framework and guide groove; Each actuating arm is suspended on split conductor by drive wheel mechanism, and described drive wheel mechanism lower end is connected with the lifting joint by rotary joint, and the lifting arthrodesis is on the yoke plate framework; On described each actuating arm, type leading wheel framework is installed, type leading wheel framework can slide along the guide groove that is fixed on the yoke plate framework; Described battery control cabinet is powered to actuating arm; After described six actuating arm Cheng Qianzhong, arrangement and left-right symmetry are distributed on the yoke plate framework, are divided into forearm, middle arm, postbrachium, and the coverage of its forearm and middle arm coverage, middle arm and postbrachium is all between 30-40cm.
Described drive wheel mechanism comprises drive motors, driving wheel, driving shaft, transmission device and fixed head; Described driving shaft one end is connected with driving wheel, and the other end connects drive motors, and described drive motors is connected with driving shaft by transmission device, and described transmission device is gear drive or toothed belt transmission or Worm Wheel System; Described transmission device is located in a housing, and housing and fixed head are hinged.
Described lifting joint comprises base plate, leading screw, feed screw nut, line slideway, slide block, direct current generator, connecting plate, limit switch and bearing block; Described leading screw one end is connected with direct current generator, and the other end is fixed on base plate; Described direct current generator is fixed on bearing block, and bearing block is connected with base plate; Be provided with feed screw nut on described leading screw; Described line slideway is fixed on base plate, is provided with the slide block that can be free to slide on line slideway, and connecting plate is fixed together feed screw nut and slide block.
Described rotary joint is connected with the connecting plate in lifting joint, and described rotary joint comprises rotating shaft holder, rotating shaft and U-shaped connector; Described rotating shaft one end is fixed with U-shaped connector, and rotating shaft is hinged by bearing and rotating shaft holder.
The fixed head of described drive wheel mechanism is connected with U-shaped connector on rotary joint.
Described type leading wheel framework is located at the below of drive wheel mechanism, and is fixed on fixed head, and it comprises guide wheel shaft bearing, directive wheel and bearing; Described directive wheel is hinged by bearing and guide wheel shaft bearing.
Described each directive wheel is provided with guide groove, and guide groove is fixed on the yoke plate framework.
Described battery control cabinet is fixed in the yoke plate framework, and it is the power devices such as lifting joint, rotary joint and drive wheel mechanism by wire, and controls the action in each joint of whole robot system.
The present invention mainly is made of 6 actuating arms that left-right symmetry distributes, and each actuating arm can provide driving force for robot, and each actuating arm comprises the identical drive wheel mechanism of structure, lifting joint, rotary joint, type leading wheel framework and guide groove; Drive wheel mechanism all is connected with the lifting joint by rotary joint; The drive wheel mechanism below all is fixed with type leading wheel framework, and drive wheel mechanism moves along the guide groove easy on and off under the drive in lifting joint.
Operation principle of the present invention:
the present invention can move on two adjacent split conductors of any level, and each actuating arm can provide driving force for robot, and need not to do the obstacle detouring action when running into stockbridge damper in robot can press, near conductor spacer, during suspension insulator, at first two of front end actuating arms begin to receive instruction and carry out the obstacle detouring action, drive wheel mechanism moves up under the drive in lifting joint, drive wheel mechanism can be along the rotary joint left-right rotation that is fixed on its lower end, simultaneously, moved up by the fixation locus along guide groove under the directive wheel effect that is fixed on drive wheel mechanism, when directive wheel moves to the corner of guide groove, driving wheel has lifted and has broken away from wire fully, directive wheel began to drive driving wheel and was offset laterally this moment, thereby make driving wheel arrange wire and barrier.
Robot centre and two of rear ends actuating arm band mobile robot advance under automatically controlling, the rear robot that clears the jumps halts until two actuating arms of front end, two of front ends lifting joint begins to descend, and drives driving wheel and does and opposite before action, and driving wheel is ridden on wire again.
Then, the actuating arm of in the middle of robot and rear end all clears the jumps in the identical mode of front end actuating arm.
The invention has the beneficial effects as follows, the present invention is identical and symmetrical actuating arm due to six structures of employing, simple and compact for structure, can move on two adjacent split conductors of any level, cross over various barriers (stockbridge damper, conductor spacer, suspension insulator etc.) on transmission pressure.During this robot operation across on two split conductors, even the operation attitude that skew also can guarantee robot occurs in center of gravity, safety and steady is conducive to integrated testing tool in robot, and can expand the Work machine arm and the work such as specific purpose tool is removed obstacles, circuit mending.
Description of drawings
Fig. 1 is perspective view of the present invention;
Fig. 2 is actuating arm structural representation of the present invention;
Fig. 3 is drive wheel mechanism structural representation of the present invention;
Fig. 4 lifting articulation structure of the present invention schematic diagram;
Fig. 5 rotation joint structure schematic diagram of the present invention;
Fig. 6 type leading wheel framework structural representation of the present invention;
In figure: 1 actuating arm, 2 yoke plate frameworks, 3 battery control cabinets, 4 drive wheel mechanisms, 5 lifting joints, 6 rotary joints, 7 type leading wheel frameworks, 8 guide grooves, 9 driving shafts, 10 driving wheels, 11 transmission devices, 12 drive motors, 13 fixed heads, 14 base plates, 15 leading screws, 16 line slideways, 17 connecting plates, 18 feed screw nuts, 19 slide blocks, 20 limit switches, 21 bearing blocks, 22 direct current generators, 23U type connector, 24 rotating shafts, 25 bearings, 26 rotating shaft holders, 27 guide wheel shaft bearings, 28 directive wheels.
The specific embodiment
The present invention is further described below in conjunction with drawings and Examples.
The present invention moves on two adjacent split conductors of any level, as shown in Figure 1, 2, comprise the identical actuating arm of structure 1, yoke plate framework 2 and battery control cabinet 3, wherein each actuating arm 1 comprises the identical drive wheel mechanism of structure 4, lifting joint 5, rotary joint 6, type leading wheel framework 7 and guide groove 8; Actuating arm 1 is suspended on split conductor by driving wheel 10, and drive wheel mechanism 4 lower ends are connected with lifting joint 5 by rotary joint 6, and lifting joint 5 is fixed on yoke plate framework 2; Type leading wheel framework 7 all is installed on actuating arm 1, and directive wheel 28 can slide along the guide groove 8 that is fixed on yoke plate framework 2.
As shown in Figure 3, drive wheel mechanism 4 comprises driving shaft 9, driving wheel 10, transmission device 11, drive motors 12 and fixed head 13; Wherein, driving shaft 9 two ends are respectively equipped with driving wheel 10 and transmission device 11, and are hinged on fixed head 13, and transmission device 11 is arranged on fixed head 13, and drive motors 12 is arranged on transmission device 11 shells; Drive wheel mechanism 4 lower ends are provided with type leading wheel framework 7.
As shown in Figure 4, lifting joint 5 comprises base plate 14, leading screw 15, line slideway 16, connecting plate 17, feed screw nut 18, slide block 19, limit switch 20, bearing block 21 and direct current generator 22; Wherein, leading screw 15 two ends are fixed on base plate 14 by bearing block 21, and leading screw 15 1 ends are connected with direct current generator 22 by bearing block 21; Be arranged with line slideway 16 in parallel in leading screw 15 1 sides, but the slide block 19 that has easy on and off to slide on line slideway 16, and slide block 19 is connected and fixed by connecting plate 17 with the feed screw nut 18 that is arranged on leading screw 15, is fixed with rotary joint 6 on connecting plate 17; Leading screw 15 bottoms are fixed with limit switch 20, are used for controlling the extreme position of 5 lower ends, lifting joint.
As shown in Figure 5, rotary joint 6 comprises U-shaped connector 23, rotating shaft 24, bearing 25, rotating shaft holder 26; Wherein, rotating shaft 24 is hinged by bearing 25 and rotating shaft holder 26, and U-shaped connector 23 is fixed on an end of rotating shaft 24.
As shown in Figure 6, type leading wheel framework comprises bearing 25, guide wheel shaft bearing 27, directive wheel 28; Wherein, directive wheel 28 is hinged by bearing 25 and guide wheel shaft bearing 27.
Operation principle of the present invention:
The present invention can move on two adjacent split conductors of any level, and each actuating arm 1 can be for robot provides driving force, and need not to do the obstacle detouring action when running into stockbridge damper in robot can press;
near conductor spacer, during suspension insulator, at first two of front end actuating arms 1 begin to receive instruction and carry out the obstacle detouring action, drive wheel mechanism 4 moves up under the drive in lifting joint 5, drive wheel mechanism 4 can be along rotary joint 6 left-right rotation that are fixed on its lower end, simultaneously, moved up by the fixation locus along guide groove 8 under directive wheel 28 effects that are fixed on drive wheel mechanism 4, when directive wheel 28 moves to the corner of guide groove 8, driving wheel 10 has lifted and has broken away from wire fully, directive wheel 28 began to drive driving wheel 10 and was offset laterally this moment, thereby make driving wheel 10 arrange wire and barrier, robot centre and two of rear ends actuating arm, 1 band mobile robot advance under automatically controlling, the rear robot that clears the jumps halts until two actuating arms 1 of front end, two of front ends lifting joint 5 begins to descend, drive driving wheel 10 and do and opposite before action, driving wheel 10 is ridden on wire again.
Then, the actuating arm 1 of in the middle of robot and rear end all clears the jumps in the identical mode of front end actuating arm 1.
Although above-mentionedly by reference to the accompanying drawings the specific embodiment of the present invention is described; but be not limiting the scope of the invention; one of ordinary skill in the art should be understood that; on the basis of technical scheme of the present invention, those skilled in the art do not need to pay various modifications that creative work can make or distortion still in protection scope of the present invention.
Claims (8)
1.500kV split conductor is patrolled and examined the Work robot platform, it is characterized in that: comprise six actuating arm, yoke plate framework and battery control cabinets that structure is identical, described each actuating arm comprises the identical drive wheel mechanism of structure, lifting joint, rotary joint, type leading wheel framework and guide groove; Each actuating arm is suspended on split conductor by drive wheel mechanism, and described drive wheel mechanism lower end is connected with the lifting joint by rotary joint, and the lifting arthrodesis is on the yoke plate framework; On described each actuating arm, type leading wheel framework is installed, type leading wheel framework can slide along the guide groove that is fixed on the yoke plate framework; Described battery control cabinet is powered to actuating arm; After described six actuating arm Cheng Qianzhong, arrangement and left-right symmetry are distributed on the yoke plate framework, are divided into forearm, middle arm, postbrachium, and the coverage of its forearm and middle arm coverage, middle arm and postbrachium is all between 30-40cm.
2. 500kV split conductor as claimed in claim 1 is patrolled and examined the Work robot platform, it is characterized in that: described drive wheel mechanism comprises drive motors, driving wheel, driving shaft, transmission device and fixed head; Described driving shaft one end is connected with driving wheel, and the other end connects drive motors, and described drive motors is connected with driving shaft by transmission device, and described transmission device is gear drive or toothed belt transmission or Worm Wheel System; Described transmission device is located in a housing, and housing and fixed head are hinged.
3. 500kV split conductor as claimed in claim 1 is patrolled and examined the Work robot platform, it is characterized in that: described lifting joint comprises base plate, leading screw, feed screw nut, line slideway, slide block, direct current generator, connecting plate, limit switch and bearing block; Described leading screw one end is connected with direct current generator, and the other end is fixed on base plate; Described direct current generator is fixed on bearing block, and bearing block is connected with base plate; Be provided with feed screw nut on described leading screw; Described line slideway is fixed on base plate, is provided with the slide block that can be free to slide on line slideway, and connecting plate is fixed together feed screw nut and slide block.
4. 500kV split conductor as claimed in claim 2 is patrolled and examined the Work robot platform, it is characterized in that: described rotary joint is connected with the connecting plate in lifting joint, and described rotary joint comprises rotating shaft holder, rotating shaft and U-shaped connector; Described rotating shaft one end is fixed with U-shaped connector, and rotating shaft is hinged by bearing and rotating shaft holder.
5. 500kV split conductor as claimed in claim 4 is patrolled and examined the Work robot platform, it is characterized in that: the fixed head of described drive wheel mechanism is connected with U-shaped connector on rotary joint.
6. 500kV split conductor as claimed in claim 2 is patrolled and examined the Work robot platform, it is characterized in that: described type leading wheel framework is located at the below of drive wheel mechanism, and is fixed on fixed head, and it comprises guide wheel shaft bearing, directive wheel and bearing; Described directive wheel is hinged by bearing and guide wheel shaft bearing.
7. 500kV split conductor as claimed in claim 6 is patrolled and examined the Work robot platform, it is characterized in that: described each directive wheel is provided with guide groove, and guide groove is fixed on the yoke plate framework.
8. 500kV split conductor as claimed in claim 1 is patrolled and examined the Work robot platform, it is characterized in that: described battery control cabinet is fixed in the yoke plate framework.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220660490 CN202964660U (en) | 2012-12-05 | 2012-12-05 | 500kV bundled conductor routing inspection operation robot platform |
| PCT/CN2013/000975 WO2014086086A1 (en) | 2012-12-05 | 2013-08-21 | Inspection robot platform of 500kv split conductors |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220660490 CN202964660U (en) | 2012-12-05 | 2012-12-05 | 500kV bundled conductor routing inspection operation robot platform |
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| Publication Number | Publication Date |
|---|---|
| CN202964660U true CN202964660U (en) | 2013-06-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201220660490 Expired - Lifetime CN202964660U (en) | 2012-12-05 | 2012-12-05 | 500kV bundled conductor routing inspection operation robot platform |
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| CN (1) | CN202964660U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN103499361A (en) * | 2013-09-27 | 2014-01-08 | 国家电网公司 | Overhead conductor sensor arrangement device |
| 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 |
| CN107300658A (en) * | 2017-07-29 | 2017-10-27 | 国网江西省电力公司南昌供电分公司 | A kind of both external force damage preventions can also make the induction installation of line walking record |
| CN109514588A (en) * | 2018-12-30 | 2019-03-26 | 深圳市普渡科技有限公司 | Elevating mechanism, display screen elevating mechanism and robot |
| CN110048338A (en) * | 2019-05-20 | 2019-07-23 | 江苏安全技术职业学院 | A kind of four mechanical arm climb type inspection robot mechanical structures |
| CN110977996A (en) * | 2019-11-18 | 2020-04-10 | 南京信息职业技术学院 | Improved generation transmission line multifunctional maintenance robot |
| CN113659485A (en) * | 2021-08-23 | 2021-11-16 | 南京荟聪网络科技有限公司 | Walking obstacle crossing mechanism of power transmission cable inspection robot and obstacle crossing method thereof |
-
2012
- 2012-12-05 CN CN 201220660490 patent/CN202964660U/en not_active Expired - Lifetime
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| CN103499361A (en) * | 2013-09-27 | 2014-01-08 | 国家电网公司 | Overhead conductor sensor arrangement device |
| CN103499361B (en) * | 2013-09-27 | 2016-07-06 | 国家电网公司 | A kind of overhead conductor sensor arrangement device |
| CN107300658A (en) * | 2017-07-29 | 2017-10-27 | 国网江西省电力公司南昌供电分公司 | A kind of both external force damage preventions can also make the induction installation of line walking record |
| CN107300658B (en) * | 2017-07-29 | 2020-02-07 | 国网江西省电力公司南昌供电分公司 | Induction device capable of preventing external damage and also capable of making line patrol record |
| CN109514588A (en) * | 2018-12-30 | 2019-03-26 | 深圳市普渡科技有限公司 | Elevating mechanism, display screen elevating mechanism and robot |
| CN109514588B (en) * | 2018-12-30 | 2023-09-22 | 深圳市普渡科技有限公司 | Lifting mechanism, display screen lifting mechanism and robot |
| CN110048338A (en) * | 2019-05-20 | 2019-07-23 | 江苏安全技术职业学院 | A kind of four mechanical arm climb type inspection robot mechanical structures |
| CN110977996A (en) * | 2019-11-18 | 2020-04-10 | 南京信息职业技术学院 | Improved generation transmission line multifunctional maintenance robot |
| CN110977996B (en) * | 2019-11-18 | 2022-08-30 | 南京信息职业技术学院 | Improved generation transmission line multifunctional maintenance robot |
| CN113659485A (en) * | 2021-08-23 | 2021-11-16 | 南京荟聪网络科技有限公司 | Walking obstacle crossing mechanism of power transmission cable inspection robot and obstacle crossing method thereof |
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