CN111083448A - All-round mechanical arm type online monitoring device for power transmission line - Google Patents
All-round mechanical arm type online monitoring device for power transmission line Download PDFInfo
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- CN111083448A CN111083448A CN201911404881.2A CN201911404881A CN111083448A CN 111083448 A CN111083448 A CN 111083448A CN 201911404881 A CN201911404881 A CN 201911404881A CN 111083448 A CN111083448 A CN 111083448A
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- servo motor
- mechanical arm
- shaped fixing
- transmission line
- power transmission
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
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- Engineering & Computer Science (AREA)
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Abstract
本发明涉及一种输电线路全方位机械臂式在线监视装置，特别适用于架空输电线路通道视频可视化巡检工作中使用，属于输电线路运维装置技术领域。包括第一U型固定夹、第二U型固定夹、第三U型固定夹，第一U型固定夹内安装有第一伺服电机，第一伺服电机连接带动有第一机械臂，第一机械臂末端安装于第二U型固定夹上，第二U型固定夹内安装有第二伺服电机，第二伺服电机连接带动有第二机械臂，第二机械臂末端安装有第三伺服电机，第三伺服电机连接带动有转轴，转轴末端安装于第三U型固定夹上，第三U型固定夹内安装有第四伺服电机，第四伺服电机连接带动有支架，支架上安装有摄像头，第一伺服电机、第二伺服电机、第三伺服电机、第四伺服电机、摄像头均与CPU相通讯，CPU还连接有通信模块、电源。本发明结构简单、安装方便、降低企业成本、可实现输电线路设施及通道全方位监视。
The invention relates to an omnidirectional mechanical arm type online monitoring device for transmission lines, which is particularly suitable for use in the visual inspection of overhead transmission line channels, and belongs to the technical field of transmission line operation and maintenance devices. It includes a first U-shaped fixed clip, a second U-shaped fixed clip, and a third U-shaped fixed clip. The first U-shaped fixed clip is installed with a first servo motor, and the first servo motor is connected to drive a first mechanical arm. The end of the mechanical arm is installed on the second U-shaped fixing clip, a second servo motor is installed in the second U-shaped fixing clip, the second servo motor is connected to drive a second mechanical arm, and the end of the second mechanical arm is installed with a third servo motor , the third servo motor is connected to drive a rotating shaft, the end of the rotating shaft is installed on the third U-shaped fixing clip, the fourth servo motor is installed in the third U-shaped fixing clip, the fourth servo motor is connected to drive a bracket, and a camera is installed on the bracket The first servo motor, the second servo motor, the third servo motor, the fourth servo motor and the camera all communicate with the CPU, and the CPU is also connected with a communication module and a power supply. The invention has the advantages of simple structure, convenient installation, reduced enterprise cost, and all-round monitoring of power transmission line facilities and channels.
Description
Technical Field
The invention relates to an all-dimensional mechanical arm type online monitoring device for a power transmission line, which is particularly suitable for being used in video visual inspection work of an overhead power transmission line channel and belongs to the technical field of operation and maintenance devices of the power transmission line.
Background
At present, an overhead transmission line channel video visual inspection device is widely installed on a high-voltage transmission line tower, so that inspection personnel can check the field pictures of the transmission line in real time at a monitoring center, and the remote real-time online inspection of the transmission line channel is realized.
In the installation mode, all the online video monitoring devices of the power transmission line are installed and fixed on tower materials of the power transmission line tower, the positions and the shooting angles are fixed, and one set of equipment can only perform online monitoring on channels on one side of the power transmission line tower. Therefore, two sets of transmission line online video monitoring devices must be installed on the tower in order to monitor the channels on the two sides of the tower.
Meanwhile, due to the fact that the shooting angle is fixed, the online video monitoring device for the power transmission line can only monitor the condition in a power transmission line channel, and cannot monitor the surrounding environment, the foundation, the body and the attached facilities of the power transmission tower.
Disclosure of Invention
The invention aims to solve the defects of the prior art and provides the omnibearing mechanical arm type online monitoring device for the power transmission line, which has the advantages of simple structure, convenience in installation, reduction in enterprise cost and realization of omnibearing monitoring of power transmission line facilities and channels.
An omnibearing mechanical arm type online monitoring device for a power transmission line is characterized by comprising a first U-shaped fixing clamp 1, a second U-shaped fixing clamp 2 and a third U-shaped fixing clamp 3, wherein a first servo motor 4 is installed in the first U-shaped fixing clamp 1, a first mechanical arm 5 is connected and driven by the first servo motor 4, the tail end of the first mechanical arm 5 is installed on the second U-shaped fixing clamp 2, a second servo motor 6 is installed in the second U-shaped fixing clamp 2, the second servo motor 6 is connected and driven with a second mechanical arm 7, a third servo motor 8 is installed at the tail end of the second mechanical arm 7, a rotating shaft 14 is connected and driven by the third servo motor 8, the tail end of the rotating shaft 14 is installed on the third U-shaped fixing clamp 3, a fourth servo motor 9 is installed in the third U-shaped fixing clamp 3, the fourth servo motor 9 is connected and driven with a support 10, a camera is installed on the support 10, the first servo motor 4, a second servo motor 6 is installed, The second servo motor 6, the third servo motor 8, the fourth servo motor 9 and the camera are all communicated with a CPU11, and the CPU11 is also connected with a communication module 12 and a power supply 13;
the length of the first mechanical arm 5 is larger than one half of the side length of the rod tower.
Compared with the prior art, the invention can produce the following positive effects: the invention can utilize a set of video visualization device on the transmission line tower to realize the omnibearing monitoring of the passages at two sides of the transmission line tower, the surrounding environment of the tower, the foundation, the body and the accessory facilities, thereby greatly reducing the operation and maintenance cost of the transmission line, promoting the intelligent level of the operation and maintenance work of the transmission line and further improving the inspection quality and efficiency. It has the following components:
1. simple structure and convenient installation. The invention mainly comprises a first mechanical arm, a second mechanical arm, a plurality of servo motors, a camera, a plurality of fixing clamps, a power supply, a communication module and a CPU, wherein the whole set of mechanical arm is fixedly arranged on a tower material of a transmission tower.
2. And (5) rotating at a fixed time and monitoring in all directions. The four servo motors can rotate at an angle of 0-180 degrees, the function of steering the camera in a three-dimensional space can be realized through the combination of the four servo motors, and the omnibearing dead-angle-free shooting effect is achieved. The CPU controls the rotation angle of the servo motor, so that the servo motor can complete the shooting tasks of passages at two sides of the tower, a tower foundation, a tower head of the tower and the surrounding environment within a certain time.
3. The equipment inspection efficiency is improved. The mode that the manual inspection and the channel inspection of the on-line video monitoring device of the power transmission line are matched is changed into a new mode that the on-line video monitoring device is only leaned on to conduct all-dimensional inspection, information such as damage of the periphery of a tower and external force of the channel, inclination of the tower and the like can be collected quickly, accurately and timely, and inspection efficiency is improved.
4. The enterprise cost is reduced. Operation and maintenance personnel can realize the all-round monitoring of the passages at two sides of the transmission tower, the surrounding environment of the tower, the foundation, the body and the accessory facilities by using a set of video visualization device at a monitoring center, and the labor cost and the equipment cost of the operation and maintenance of the transmission line equipment are reduced.
Drawings
FIG. 1: the invention discloses a structural schematic diagram of an omnibearing mechanical arm type online monitoring device of a power transmission line;
FIG. 2: the invention relates to a block diagram of an omnibearing mechanical arm type online monitoring device of a power transmission line;
FIG. 3: mounting position diagram of the invention;
FIG. 4: i, II, III and IV.
In the figure: 1. a first U-shaped fixing clip; 2. A second U-shaped fixing clip; 3. A third U-shaped fixing clip; 4. a first servo motor; 5. a first robot arm; 6. a second servo motor; 7. a second mechanical arm; 8. A third servo motor; 9. A fourth servo motor; 10. a support; 11. A CPU; 12. a communication module; 13. a power source; 14. a rotating shaft.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-4, the robot includes a first U-shaped fixing clamp 1, a second U-shaped fixing clamp 2, and a third U-shaped fixing clamp 3, a first servo motor 4 is installed in the first U-shaped fixing clamp 1, the first servo motor 4 is connected to and drives a first robot arm 5, the end of the first robot arm 5 is installed on the second U-shaped fixing clamp 2, a second servo motor 6 is installed in the second U-shaped fixing clamp 2, the second servo motor 6 is connected to and drives a second robot arm 7, a third servo motor 8 is installed at the end of the second robot arm 7, the third servo motor 8 is connected to and drives a rotating shaft 14, the end of the rotating shaft 14 is installed on the third U-shaped fixing clamp 3, a fourth servo motor 9 is installed in the third U-shaped fixing clamp 3, the fourth servo motor 9 is connected to and drives a support 10, a camera is installed on the support 10, the first servo motor 4, the second servo motor 6, the third servo motor 8, the camera is installed on the support 10, The fourth servo motor 9 and the camera are both communicated with the CPU11, the CPU11 is further connected with a communication module 12 and a power supply 13, and the length of the first mechanical arm 5 is larger than one half of the side length of the tower.
A CPU built-in program controls a servo motor and a camera to shoot around a tower in an all-around manner, and image data are transmitted back through a communication module; the background can also actively take a picture of a certain position by sending an instruction.
When a photo is taken in the built-in program, the robot arm is in four states i, ii, iii, and iv as shown in fig. 4.
Initial state I: in the initial state, the rotation angles of the 4 servo motors are all 0 degrees, and the function is realized at the moment, that is, a picture of a power receiving side channel is shot; the fourth servo motor 9 rotates clockwise by 90 degrees, the third servo motor 8 rotates clockwise by 10 degrees, and a tower foot foundation at the power receiving side of the right line is shot; the fourth servo motor 9 rotates 180 degrees counterclockwise, the third servo motor 8 rotates 20 degrees counterclockwise, and a tower head on the power receiving side of the right line is shot.
And a state II: a shooting power transmission side channel is realized; a right-line power transmission side tower foot foundation; and a right line power transmission side tower head.
State iii: the purpose of shooting the tower head at the power receiving side of the left line is achieved; and a tower foot foundation on the left line power receiving side.
And state IV: the left line power transmission side tower head and the left line power transmission side tower foot foundation can be shot.
The invention can utilize a set of video visualization device on the transmission line tower to realize the omnibearing monitoring of the passages at two sides of the transmission line tower, the surrounding environment of the tower, the foundation, the body and the accessory facilities, thereby greatly reducing the operation and maintenance cost of the transmission line, promoting the intelligent level of the operation and maintenance work of the transmission line and further improving the inspection quality and efficiency.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (2)
1. The omnibearing mechanical arm type online monitoring device for the power transmission line is characterized by comprising a first U-shaped fixing clamp, a second U-shaped fixing clamp and a third U-shaped fixing clamp, wherein a first servo motor is installed in the first U-shaped fixing clamp, the first servo motor is connected with and drives a first mechanical arm, the tail end of the first mechanical arm is installed on the second U-shaped fixing clamp, a second servo motor is installed in the second U-shaped fixing clamp, the second servo motor is connected with and drives a second mechanical arm, a third servo motor is installed at the tail end of the second mechanical arm, the third servo motor is connected with and drives a rotating shaft, the tail end of the rotating shaft is installed on the third U-shaped fixing clamp, a fourth servo motor is installed in the third U-shaped fixing clamp, the fourth servo motor is connected with and drives a support, a camera is installed on the support, and the first servo motor, the second servo motor, the third servo motor, the fourth servo motor, The cameras are communicated with the CPU, and the CPU is further connected with a communication module and a power supply.
2. The omnidirectional mechanical arm type on-line monitoring device for power transmission lines of claim 1, wherein the length of the first mechanical arm is greater than one-half of the side length of the tower.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911404881.2A CN111083448A (en) | 2019-12-31 | 2019-12-31 | All-round mechanical arm type online monitoring device for power transmission line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911404881.2A CN111083448A (en) | 2019-12-31 | 2019-12-31 | All-round mechanical arm type online monitoring device for power transmission line |
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| Publication Number | Publication Date |
|---|---|
| CN111083448A true CN111083448A (en) | 2020-04-28 |
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| CN201911404881.2A Pending CN111083448A (en) | 2019-12-31 | 2019-12-31 | All-round mechanical arm type online monitoring device for power transmission line |
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| US20170265425A1 (en) * | 2010-08-31 | 2017-09-21 | Technologies Holdings Corp. | Automated system for applying disinfectant to the teats of dairy livestock |
| CN108332016A (en) * | 2018-01-29 | 2018-07-27 | 成都智源蓝海科技有限公司 | Use the manipulator that camera is detected in day net |
| CN208281767U (en) * | 2018-05-17 | 2018-12-25 | 广东电网有限责任公司 | A kind of cabinet-type air conditioner equipment |
| US20190193271A1 (en) * | 2017-12-27 | 2019-06-27 | National Chung Shan Institute Of Science And Technology | Error compensation device and method thereof |
| CN209319821U (en) * | 2018-11-23 | 2019-08-30 | 中国南方电网有限责任公司超高压输电公司柳州局 | A kind of converter station protection room crusing robot |
| CN110517756A (en) * | 2019-08-30 | 2019-11-29 | 上海声勤信息科技有限公司 | A kind of surgical operation record automatic creation system and method |
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2019
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Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20170265425A1 (en) * | 2010-08-31 | 2017-09-21 | Technologies Holdings Corp. | Automated system for applying disinfectant to the teats of dairy livestock |
| CN205249396U (en) * | 2015-12-22 | 2016-05-18 | 江苏鹏创电力设计有限公司 | High tension transmission line installation video on -line monitoring system |
| CN106393054A (en) * | 2016-11-21 | 2017-02-15 | 山东大学 | Line patrol robot for comprehensively monitoring power lines and method thereof |
| US20190193271A1 (en) * | 2017-12-27 | 2019-06-27 | National Chung Shan Institute Of Science And Technology | Error compensation device and method thereof |
| CN108332016A (en) * | 2018-01-29 | 2018-07-27 | 成都智源蓝海科技有限公司 | Use the manipulator that camera is detected in day net |
| CN208281767U (en) * | 2018-05-17 | 2018-12-25 | 广东电网有限责任公司 | A kind of cabinet-type air conditioner equipment |
| CN209319821U (en) * | 2018-11-23 | 2019-08-30 | 中国南方电网有限责任公司超高压输电公司柳州局 | A kind of converter station protection room crusing robot |
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Application publication date: 20200428 |