CN207134725U - A kind of power transmission line unmanned self-checking unit - Google Patents

Abstract

The utility model discloses an unmanned self-inspection device for transmission lines, which includes a patrol robot and a ground base station; the patrol robot includes a robot body, and the robot body includes a control device, a monitoring device, a wireless transmission device and a power supply device. The control device communicates with the ground base station through a wireless transmission device; the robot body is provided with a rotating support device; the rotating support device is symmetrically provided with a walking device, and the walking device includes a driving mechanism, a walking mechanism and a clamping mechanism; the driving mechanism includes a driving mechanism cylinder, the outside of the drive cylinder is sleeved with a cylinder square tube shell, the top of the drive cylinder is fixedly connected with a cylinder connection plate, and the cylinder connection plate is provided with a clamping mechanism guide rail; the traveling mechanism is arranged on the top of the clamping mechanism guide rail, clamping The holding mechanism is installed on the holding mechanism guide rail. The utility model adopts a robot body, a rotating support device and a walking device, and realizes the automatic inspection of the power transmission line.

Description

An unmanned self-inspection device for transmission lines

technical field

The utility model relates to the field of detection of transmission lines, in particular to an unmanned self-inspection device for transmission lines.

Background technique

Power transmission must rely on high-voltage transmission lines. The safe and stable operation of transmission lines directly affects the reliability of the conductive power system. The inspection of transmission lines is an important and indispensable work to ensure safe and reliable power supply. At present, the inspection and maintenance of ultra-high voltage transmission lines in China basically adopts the traditional operation method of manual visual inspection. People patrol the towers along the ground along the line. The labor intensity of the method is high, the conditions are difficult, and the detection cycle is long, and the cost and risk are high.

To sum up, there is still no effective solution to the problem of how to perform self-inspection on the transmission line in the prior art.

Utility model content

In order to overcome the shortcomings of the above-mentioned prior art, the utility model provides an unmanned self-inspection device for transmission lines, which uses a robot body, a rotating support device and a walking device to realize automatic inspection of transmission lines, greatly saving labor costs , to achieve unmanned self-inspection, to ensure the safe and reliable operation of transmission lines.

The technical scheme adopted in the utility model is:

An unmanned self-inspection device for power transmission lines, including an inspection robot and a ground base station; the inspection robot includes a robot body, the robot body is a frame-type box structure, and the robot body includes a control device, a monitoring device, A wireless transmission device and a power supply device, the monitoring device includes a visible light camera, an infrared thermal imager, a temperature and humidity sensor, a wind speed sensor and a GPS sensor, and the visible light camera, an infrared thermal imager, a temperature and humidity sensor, a wind speed sensor and a GPS sensor respectively It is connected with the control device, and the control device communicates with the ground base station through a wireless transmission device; the power supply device includes a battery, and the battery monitoring circuit is connected to the battery; the robot body is provided with a rotating support device; the rotating A walking device is arranged symmetrically on the supporting device, and the walking device includes a driving mechanism, a traveling mechanism and a clamping mechanism; The bottom of the cylinder is fixedly connected with a cylinder base, and the cylinder base is fixedly arranged on the support frame, and the top of the driving cylinder is fixedly connected with a cylinder connection plate, and the cylinder connection plate is provided with a clamping mechanism guide rail; At the top of the guide rail of the clamping mechanism, the traveling mechanism includes a traveling wheel, a traveling mechanism body, a traveling mechanism rotating shaft, a traveling mechanism motor and a traveling mechanism motor seat, the traveling wheels are connected with the traveling mechanism rotating shaft, and the traveling mechanism The mechanism rotating shaft is embedded in the body of the traveling mechanism, and one end of the rotating shaft of the traveling mechanism is connected to the motor of the traveling mechanism, and the motor of the traveling mechanism is fixedly arranged on the body of the traveling mechanism through the motor seat of the traveling mechanism; the clamping mechanism is installed on On the guide rail of the clamping mechanism, the clamping mechanism includes a clamping wheel, a clamping mechanism body, a clamping mechanism rotating shaft, a clamping mechanism motor, a clamping mechanism motor seat, a first clamping mechanism gear, and a second clamping mechanism. The clamping mechanism gear and the clamping mechanism slider, the clamping wheel is connected with the clamping mechanism rotating shaft, the clamping mechanism rotating shaft is embedded in the clamping mechanism body, and one end of the clamping mechanism rotating shaft is connected with the clamping mechanism The clamping mechanism motor is connected, and the other end is connected with the first clamping mechanism gear and the second clamping mechanism gear. The clamping mechanism motor is fixed on one side of the clamping mechanism body through the clamping mechanism motor seat. The clamping mechanism The other side of the body is fixedly installed with a clamping mechanism slider.

Further, the rotating support device includes a support frame, a turntable motor, a turntable gear and a turntable, the turntable is arranged on the robot body, the support frame is arranged on the turntable, and the turntable motor passes through the motor fixing frame Fixedly arranged on the support frame, the turntable motor is connected with a large turntable gear, and the large turntable gear meshes with the large turntable.

Further, the guide rail of the clamping mechanism includes a sawtooth track and a guide rail housing, the sawtooth track is fixed on the inner side of the guide rail housing, the clamping frame slider is installed on the guide rail housing, and can move up and down along the guide rail housing, the first A clamping mechanism gear and a second clamping mechanism gear mesh with the sawtooth track respectively.

Further, the battery monitoring circuit includes a battery voltage acquisition module, a battery current acquisition module, a battery temperature acquisition module, and a battery main controller module, and the battery voltage acquisition module, the battery current acquisition module, and the battery temperature acquisition module are respectively connected to the battery master The controller module is connected, and the battery main controller module and the control device perform two-way communication through a wired communication module.

Further, the robot body also includes an alarm device connected to the control device.

Further, the robot body is also provided with a charging device, the charging device includes two solar panels, the solar panels are connected to the robot body through the solar panel opening and closing mechanism, and the solar panels are connected to the battery lines in the robot body.

Further, the opening and closing mechanism of the solar panel includes a rocker, a crank, a connecting rod, a gear box and a motor, the rocker is used to support the opening and closing of the motor, the rocker is connected to one end of the crank, and the crank The other end of the gear box is connected with the gear box. The gear box and the motor are respectively arranged in the robot body. Two gears are arranged in the gear box. One end of the gear is connected with the motor, and the other output end of the gear is connected with The crank is connected, and the crank drives the rocker to rotate, thereby realizing the rotation of the solar panel around the hinge. When the unmanned self-inspection device of the transmission line is in the working state, when walking on the transmission line for inspection, the solar panel is closed; when the unmanned self-inspection device of the transmission line is in the standby state, under the control of the control device, the solar panel The plate is opened to charge the battery in the robot body.

Further, the ground base station includes ground communication equipment and ground monitoring equipment, and the ground monitoring equipment communicates with the robot through the ground communication equipment.

Further, the two sides of the robot body are respectively provided with infrared distance measuring devices for monitoring the distance of obstacles ahead according to the inspection robot; the infrared distance measuring devices include an infrared emitting unit and an infrared receiving unit, the The infrared emitting unit and the infrared receiving unit are respectively connected with the control device.

Further, the robot body is also provided with anti-bird needles.

Compared with the prior art, the beneficial effects of the utility model are:

(1) The utility model adopts a robot body, a rotating support device and a walking device to realize the automatic patrol inspection of the transmission line, which greatly saves labor costs, realizes unmanned self-inspection, and ensures the safe and reliable operation of the transmission line;

(2) The utility model adopts a walking mechanism and a clamping structure, which can realize the monitoring of transmission lines with different wire diameters, and can also adjust the degree of clamping of the wire by the robot. It has strong adaptability and a wide range of applications;

(3) The utility model can clearly transmit the line information of the traveling line to the base station on the ground through the monitoring device, which ensures the quality of the inspection work of the transmission line, and can also be controlled remotely, and can be widely used in the inspection work of the transmission line.

Description of drawings

Fig. 1 is a schematic structural diagram of an unmanned self-inspection device for a power transmission line in an embodiment of the present invention;

Among them, 1. Robot body, 2. Support frame, 3. Turntable motor, 4. Turntable gear, 5. Turntable, 6. Motor fixing frame, 7. Drive cylinder, 8. Cylinder square tube shell, 9. Cylinder connecting plate, 10. Guide rail of clamping mechanism, 11. Traveling mechanism, 12. Clamping mechanism, 13. Solar panel, 14. Infrared distance measuring device.

Detailed ways

Below in conjunction with accompanying drawing, the utility model is further described.

In a typical implementation of the present application, as shown in FIG. 1 , an unmanned self-inspection device for transmission lines is provided, and the device includes an inspection robot and a ground base station.

The inspection robot includes a robot body 1, the robot body 1 is a frame-type box structure, the robot body is provided with a rotating support device, and the rotating support device includes a support frame 2, a turntable motor 3, a turntable gear 4 and a turntable 5, the turntable is arranged on the robot body, the support frame is arranged on the turntable, the turntable motor is fixedly arranged on the support frame through the motor fixing frame 6, and the turntable motor is connected to There is a big turntable gear, the big turntable gear meshes with the big turntable, and the turntable motor drives the big turntable gear and the big turntable to rotate.

Said rotating supporting device is symmetrically provided with running gear, said running gear includes a driving mechanism, a running gear and a clamping mechanism; said driving mechanism includes a driving cylinder 7, and the outside of said driving cylinder is sleeved with a cylinder square tube shell 8 , the bottom of the cylinder square tube shell is fixedly connected with a cylinder base, the cylinder base is fixedly arranged on the support frame, the top of the driving cylinder is fixedly connected with a cylinder connection plate 9, and the cylinder connection plate is provided with a clamping mechanism guide rail 10;

Described traveling mechanism 11 is arranged on the top of described clamping mechanism guide rail, and described traveling mechanism 11 comprises traveling wheel, traveling mechanism body, traveling mechanism rotating shaft, traveling mechanism motor and traveling mechanism motor seat, and described traveling wheel and traveling mechanism The rotating shaft is connected, the running gear rotating shaft is embedded in the running gear body, and one end of the running gear rotating shaft is connected to the running gear motor, and the running gear motor is fixedly arranged on the running gear body through the running gear motor seat.

The clamping mechanism 12 is installed on the clamping mechanism guide rail and can move up and down along the clamping mechanism guide rail; the clamping mechanism 12 includes a clamping wheel, a clamping mechanism body, a clamping mechanism rotating shaft, and a clamping mechanism Motor, clamping mechanism motor seat, first clamping mechanism gear, second clamping mechanism gear and clamping mechanism slider, the clamping wheel is connected with the clamping mechanism rotating shaft, and the clamping mechanism rotating shaft is embedded One end of the rotating shaft of the clamping mechanism is connected to the clamping mechanism motor, and the other end is connected to the first clamping mechanism gear and the second clamping mechanism gear. The clamping mechanism motor is connected by clamping The mechanism motor seat is fixed on one side of the body of the clamping mechanism, and the other side of the body of the clamping mechanism is fixedly installed with a sliding block of the clamping mechanism.

The clamping mechanism guide rail 10 includes a sawtooth track and a guide rail housing, the sawtooth track is fixed on the inner side of the guide rail housing, the clamping structure slider is installed on the guide rail housing, and can move up and down along the guide rail housing, the first clip The holding mechanism gear and the second holding mechanism gear mesh with the sawtooth track respectively.

The robot body 1 includes a control device, a monitoring device, a wireless transmission device and a power supply device. The monitoring device includes a visible light camera, an infrared thermal imager, a temperature and humidity sensor, a wind speed sensor and a GPS sensor. The visible light camera, infrared thermal imaging Instrument, temperature and humidity sensor, wind speed sensor and GPS sensor are respectively connected with the control device, and the control device communicates with the ground base station through a wireless transmission device; the power supply device includes a battery, and the battery is connected with a battery monitoring circuit. The battery monitoring circuit includes a battery voltage acquisition module, a battery current acquisition module, a battery temperature acquisition module and a battery main controller module, the battery voltage acquisition module, the battery current acquisition module and the battery temperature acquisition module are respectively connected to the battery main controller module, Two-way communication is performed between the main battery controller module and the control device through a wired communication module.

In this embodiment, the robot body 1 further includes an alarm device connected to a control device, and the alarm device adopts an audible and visual alarm.

On the basis of the above-mentioned embodiments, a charging device is also arranged on the robot body 1 in one embodiment of the present invention, and the charging device includes two solar panels 13, and the solar panels 13 are connected to the robot body through a solar panel opening and closing mechanism. connected, and the solar panel is connected with the battery line in the robot body; the opening and closing mechanism of the solar panel includes a rocker, a crank, a connecting rod, a gear box and a motor, and the rocker is used to support the opening and closing of the motor. The rocker is connected to one end of the crank, and the other end of the crank is connected to the gear box. The gear box and the motor are respectively arranged in the robot body. Two gears are arranged in the gear box, and one end of the gear is connected to the motor. The other output end of the gear is connected to the crank, and the crank drives the rocker to rotate, thereby realizing the rotation of the solar panel around the hinge. When the unmanned self-inspection device of the transmission line is in the working state, when walking on the transmission line for inspection, the solar panel is closed; when the unmanned self-inspection device of the transmission line is in the standby state, under the control of the control device, the solar panel The plate is opened to charge the battery in the robot body.

In this embodiment, the control device adopts an ARM microprocessor.

In this embodiment, the ground base station includes ground communication equipment and ground monitoring equipment, the ground monitoring equipment communicates with the robot through the ground communication equipment, and the ground base station performs remote walking control and monitoring of the inspection robot through wireless communication. Image data transfer control.

An unmanned self-inspection device for power transmission lines provided by an embodiment of the present invention, the two sides of the robot body are respectively provided with infrared distance measuring devices 14, which are used to monitor the distance of obstacles ahead according to the inspection robot; The infrared distance measuring device includes an infrared emitting unit and an infrared receiving unit, and the infrared emitting unit and the infrared receiving unit are respectively connected with the control device.

In this embodiment, the robot body is also provided with anti-bird needles.

As shown in Figure 1, when the transmission line unmanned self-inspection device proposed by the utility model walks on the transmission line, the walking wheel of the walking mechanism hangs the line, and the driving wheel is driven to rotate forward or reverse to realize the robot on the transmission line. Forward or backward on the wire, the clamping state of the wire is adjusted by the clamping mechanism to realize the operation of holding or loosening the transmission line; during the walking process of the utility model, the monitoring device takes real-time pictures of the surface of the transmission line The image is sent to the ground base station through the wireless transmission device, and then the ground base station gives instructions according to the image situation, and then controls the walking mechanism, clamping mechanism and monitoring device of the present invention through the control device in the robot body.

Although the specific implementation of the utility model has been described above in conjunction with the accompanying drawings, it does not limit the protection scope of the utility model. Those skilled in the art should understand that on the basis of the technical solution of the utility model, those skilled in the art do not need to Various modifications or deformations that can be made with creative efforts are still within the protection scope of the present utility model.

Claims (10)

1. A transmission line unmanned self-inspection device is characterized in that it includes a patrol robot and a ground base station; the patrol robot includes a robot body, and the robot body is a frame type box structure, and the robot body includes A control device, a monitoring device, a wireless transmission device and a power supply device, the monitoring device includes a visible light camera, an infrared thermal imager, a temperature and humidity sensor, a wind speed sensor and a GPS sensor, the visible light camera, an infrared thermal imager, a temperature and humidity sensor, The wind speed sensor and the GPS sensor are connected to the control device respectively, and the control device communicates with the ground base station through a wireless transmission device; the power supply device includes a battery, and the battery monitoring circuit is connected to the battery; The supporting device; the running device is symmetrically arranged on the rotating supporting device, and the running device includes a driving mechanism, a running mechanism and a clamping mechanism; the driving mechanism includes a driving cylinder, and the outside of the driving cylinder is sleeved with a cylinder square tube Shell, the bottom of the cylinder square tube shell is fixedly connected with the cylinder base, the cylinder base is fixedly arranged on the support frame, the top of the driving cylinder is fixedly connected with the cylinder connecting plate, and the clamping mechanism guide rail is arranged on the cylinder connecting plate The traveling mechanism is arranged on the top of the clamping mechanism guide rail, and the traveling mechanism includes a traveling wheel, a traveling mechanism body, a traveling mechanism rotating shaft, a traveling mechanism motor and a traveling mechanism motor seat, and the traveling wheel and the traveling mechanism rotate Shaft connection, the running gear rotating shaft is embedded in the running gear body, and one end of the running gear rotating shaft is connected to the running gear motor, and the running gear motor is fixedly arranged on the running gear body through the running gear motor seat; The clamping mechanism is installed on the clamping mechanism guide rail, and the clamping mechanism includes a clamping wheel, a clamping mechanism body, a clamping mechanism rotating shaft, a clamping mechanism motor, a clamping mechanism motor base, a first clamping mechanism Mechanism gear, second clamping mechanism gear and clamping mechanism slider, the clamping wheel is connected with the clamping mechanism rotating shaft, the clamping mechanism rotating shaft is embedded in the clamping mechanism body, and the clamping mechanism One end of the rotating shaft is connected to the clamping mechanism motor, and the other end is connected to the first clamping mechanism gear and the second clamping mechanism gear, and the clamping mechanism motor is fixed on one side of the clamping mechanism body through the clamping mechanism motor seat , the other side of the clamping mechanism body is fixedly installed with a clamping mechanism slider. 2. The transmission line unmanned self-inspection device according to claim 1, wherein the rotating support device comprises a support frame, a turntable motor, a turntable gear and a turntable, and the turntable is arranged on the robot body, so that The support frame is arranged on the turntable, the turntable motor is fixedly arranged on the support frame through a motor fixing frame, the turntable motor is connected with a large turntable gear, and the large turntable gear meshes with the large turntable. 3. The transmission line unmanned self-inspection device according to claim 1, wherein the clamping mechanism guide rail includes a sawtooth track and a guide rail housing, the sawtooth track is fixed on the inner side of the guide rail housing, and the clamping structure The slide block is installed on the guide rail housing and can move up and down along the guide rail housing, and the gears of the first clamping mechanism and the second clamping mechanism mesh with the sawtooth track respectively. 4. The transmission line unmanned self-inspection device according to claim 1, wherein the battery monitoring circuit includes a battery voltage acquisition module, a battery current acquisition module, a battery temperature acquisition module and a battery master controller module, the The battery voltage acquisition module, the battery current acquisition module and the battery temperature acquisition module are respectively connected to the battery main controller module, and the battery main controller module and the control device perform two-way communication through a wired communication module. 5. The unmanned self-inspection device for transmission lines according to claim 1, wherein the robot body further includes an alarm device, and the alarm device is connected to a control device. 6. The transmission line unmanned self-inspection device according to claim 1, characterized in that, the robot body is also provided with a charging device, the charging device includes two solar panels, and the solar panels are opened and closed through the solar panels The mechanism is connected with the robot body, and the solar panel is connected with the battery line in the robot body. 7. The transmission line unmanned self-inspection device according to claim 6, characterized in that, the solar panel opening and closing mechanism includes a rocker, a crank, a connecting rod, a gear box and a motor, and the rocker is used to support the The motor is opened and closed, the rocker is connected to one end of the crank, and the other end of the crank is connected to the gear box. The gear box and the motor are respectively arranged in the robot body, and two gears are arranged in the gear box. One end of the gear is connected to the motor, and the other output end of the gear is connected to the crank, and the crank drives the rocker to rotate, thereby realizing the rotation of the solar panel around the hinge. 8. The transmission line unmanned self-inspection device according to claim 1, wherein the ground base station includes ground communication equipment and ground monitoring equipment, and the ground monitoring equipment communicates with the robot through the ground communication equipment. 9. The transmission line unmanned self-inspection device according to claim 1, characterized in that, the two sides of the robot body are respectively provided with infrared distance measuring devices for monitoring obstacles ahead according to the distance of the inspection robot ; The infrared distance measuring device includes an infrared emitting unit and an infrared receiving unit, and the infrared emitting unit and the infrared receiving unit are respectively connected to the control device. 10. The unmanned self-inspection device for power transmission lines according to claim 1, characterized in that, the robot body is also provided with anti-bird needles.