CN1619323A - High-voltage transmission line automatic inspection robot unit - Google Patents

Abstract

The invention relates to the technical field of robots, and is a single body of an automatic inspection robot for 110kv high-voltage transmission lines. The high-voltage transmission line automatic inspection robot of the present invention is composed of a protective cover, a driving arm, a driving arm lifting motor, a small arm, and a small arm lifting motor. The driving arm includes a driving wheel, a driving wheel shaft, a timing belt, a timing pulley, The main motor, the output shaft of the main motor, the opening and closing motor, the opening and closing screw, etc. Among them, the main motor drives the driving wheel to make the inspection robot walk on the transmission line alone, and the opening and closing motor controls the opening and closing mechanism to determine the driving wheel and the transmission line. Anchor or evacuate between the lines; the forearm is equipped with a support wheel and a joint bearing, the support wheel groove has a large curvature, and maintains point contact with the power line, which is beneficial to the self-adjustment of the joint bearing to the support wheel attitude. The automatic inspection robot of the present invention can realize the functions of stable walking on the transmission line, crossing obstacles, emergency braking, etc., and replaces the manual inspection of the high-voltage transmission line.

Description

High-voltage transmission line automatic inspection robot unit

technical field

The invention relates to the field of robot technology, and relates to a body part of an automatic inspection robot for a 110kv high-voltage transmission line, in particular to a single body in the whole body part.

Background technique

The transmission line is the main artery of the power system. Its safe and stable operation directly affects the reliability of the power system. It is necessary to invest a lot of manpower and material resources to carry out the inspection work of the line. At present, the manual inspection method is generally used for inspection, which not only has a heavy workload and high risk, but also many dangerous places cannot be detected, causing certain hidden dangers. Therefore, it is necessary to develop an automatic transmission line inspection robot that can replace manual inspections, in order to reduce the workload of transmission line inspections, improve work efficiency, and achieve the purpose of ensuring the safe operation of transmission lines.

Contents of the invention

The purpose of the present invention is to provide the body of a 110kv transmission line automatic inspection robot, which can replace human beings in the transmission line inspection work, which can not only reduce the workload of the transmission line inspection, but also improve work efficiency and accuracy, and ensure power transmission. The purpose of safe operation of the line.

For achieving the above object, technical solution of the present invention is:

Provide a 110kv transmission line automatic inspection robot monomer, which includes:

a driving wheel, the middle part of which is grooved along the entire circumference;

A rear protective cover, which forms a closed box with the front protective cover, encapsulating the driving wheel, the main motor and its transmission part, and the transmission part of the opening and closing motor;

A rear opening and closing arm, the upper right end of the rear opening and closing arm is fixedly connected with the outer taper sleeve, the main motor and the opening and closing motor pass through the rear opening and closing arm horizontally from the upper and lower positions, and the bottom end of the rear opening and closing arm is connected with the drive The arm lifting support seat is fixed; the middle of the outer cone sleeve is a concave cone surface, and the two ends are flat;

An inner taper sleeve, the entire side slope of the inner taper sleeve is a tapered surface, the taper of which is consistent with that of the outer taper sleeve, and the right end of the inner taper sleeve is connected to the drive wheel shaft;

Two synchronous belt pulleys, the upper synchronous belt pulley is connected with the driving wheel shaft, the lower synchronous belt pulley is connected with the output shaft of the main motor, and the two synchronous belt pulleys are connected through a synchronous belt;

A front opening and closing arm, from top to bottom, is fixedly connected with the right bearing seat of the driving wheel, the main motor support, and the trapezoidal nut seat, and the trapezoidal nut seat is fixedly connected with the trapezoidal nut, and the trapezoidal nut is engaged with the opening and closing screw;

A main motor, the left end of the main motor is connected with the rear opening and closing arm, the middle is fixed on the front opening and closing arm, and the right end is connected with the synchronous pulley;

One opening and closing motor, the left end of the opening and closing motor is connected with the rear opening and closing arm, the right end is connected with the opening and closing screw rod, and is fixed on the lifting support seat of the driving arm;

A driving arm lifting motor, the lifting motor is fixed on the base plate;

A driving arm lifting screw, one end of the screw is connected with the driving arm lifting support plate, and the other end is connected with the motor output shaft of the driving arm lifting motor;

Two driving arm guide rods, one end of which is connected to the driving arm lifting support plate, and the other end is connected to the bottom plate;

A driving arm lifting support base, the support base is a box body, the upper end is fixedly connected with the opening and closing motor and its transmission part, and the driving arm lifting support plate, the driving arm lifting screw and the driving arm guide rod are installed in the box body; the lower end of the box body The opening, the driving arm lifting screw and the driving arm guide rod can rise and fall;

A small arm lifting motor, the lifting motor is fixed on the bottom plate, and its motor output shaft is connected with the small arm lifting screw;

a bottom plate, the bottom plate is fixed in the box body;

A box, which is equipped with a driving arm lifting motor, a small arm lifting motor, a base plate, a driving arm lifting support seat, and a small arm lifting support seat; Rise and fall;

The supporting seat for the lifting of the small arm is a box body, the upper end of which is connected with the supporting wheel support plate through joint bearings, and the lifting support plate of the small arm, the lifting screw rod of the small arm and the guide rod of the small arm are installed in the box; the opening of the lower end of the box body , the forearm lifting screw and the forearm guide rod can rise and fall;

A joint bearing, the joint bearing is fixed on the support wheel support plate, and the lower end is connected with the forearm support seat;

A supporting wheel supporting plate is in the shape of an inverted tripod, and the supporting plate supports two supporting wheel sleeves; the supporting wheel sleeve is a pair of sleeves, the sleeves are hollow cylinders, the small sleeve is placed in the large sleeve, and the two sleeves There is a central axis, which is relatively movable; a spring is installed in each of the two support wheel sleeves, and the spring is fixed at the inner bottom of the large sleeve, and the upper end of the spring is in dynamic contact with the bottom of the small sleeve;

A support wheel is respectively arranged on the two support wheel sleeves, and the shape of the support wheel is similar to that of the driving wheel.

In the automatic inspection robot unit of the high-voltage transmission line, the groove of the driving wheel is formed by connecting three semicircular arcs and straight lines with a diameter of 20 mm (the diameter of the transmission line).

In the automatic inspection robot for high-voltage transmission lines, the depth of the groove of the drive wheel is ≥ twice the diameter of the transmission line, so that the surface contact between the drive wheel and the transmission line can be well ensured.

The high-voltage transmission line automatic inspection robot monomer is characterized in that the groove on the support wheel has a diameter ≥ 2.5 times the diameter of the transmission line, and the support wheel maintains point contact with the transmission line, which is beneficial to joint bearings. Self-adjustment of the attitude of the support wheel.

The automatic inspection robot for high-voltage transmission lines has a T-shaped bottom plate, and three ends are fixedly connected to the box; the left end of the T-shape is horizontally arranged with forearm guide rods and forearm lifting screws, and the left end is perpendicular to the left end. The right end is longitudinally arranged with a driving arm lifting screw and a driving arm guide rod.

The automatic inspection robot of the present invention can realize the functions of walking stably on the transmission line, crossing obstacles, and emergency braking, replacing manual inspection of high-voltage transmission lines.

Description of drawings

Fig. 1 is the front view of the structure schematic diagram of 110kv transmission line automatic inspection robot monomer of the present invention;

Fig. 2 is a left side view of Fig. 1 .

Detailed ways

Please refer to Fig. 1 and Fig. 2 at first, a single unit of the 110kv transmission line automatic inspection robot of the present invention, including:

A driving wheel 2, the middle part of which is slotted along the entire circumference, for embracing the transmission line 1. Its profile is formed by connecting three semicircular arcs with a diameter of 20 mm (the diameter of the transmission line). The depth of the groove is relatively large, approximately equivalent to twice the diameter of the transmission line, so that the surface contact between the driving wheel 2 and the transmission line 1 can be well ensured.

A rear protective cover 3, the protective cover 3 and the front protective cover 9 form a closed casing, the driving wheel 2, the main motor 12 and its transmission part and the transmission part of the opening and closing motor 18 are encapsulated, so as to prevent dust and The role of insulation.

A rear opening and closing arm 4, the upper right end of the rear opening and closing arm 4 is fixedly connected with the outer cone sleeve 5 with screws, the main motor 12 and the opening and closing motor 18 pass through the rear opening and closing arm 4 horizontally from the upper and lower positions, and the rear The bottom end of opening and closing arm 4 is fixedly connected with driving arm lifting support seat 20 with screw.

One outer taper sleeve 5, this outer taper sleeve 5 is fixedly connected with rear opening and closing arm 4 with screws, the middle taper surface of the outer taper sleeve 5, and the two ends are plane.

An inner taper sleeve 6, the entire side of the inner taper sleeve 6 is a tapered surface, and its taper is consistent with the outer taper sleeve 5. Its right end is connected with driving axle 7.

Two synchronous belt pulleys 8 (the synchronous belt pulley 8a at the lower end of the figure is not marked), the upper synchronous belt pulley 8 is connected to the drive wheel shaft 7, the lower synchronous belt pulley 8a is connected to the output shaft 13 of the main motor, and the two synchronous belt pulleys The wheels 8 , 8 a are connected by a timing belt 10 .

A front protective cover 9, as described in the rear protective cover 3.

A front opening and closing arm 11 is fixedly connected with the right bearing seat (not marked among the figures), the main motor support 14, and the trapezoidal nut seat 15 of the driving wheel successively from top to bottom. The trapezoidal nut seat 15 is fixedly connected with the trapezoidal nut 17, and the trapezoidal nut 17 is engaged with the opening and closing screw rod 16.

A main motor 12, the left end of this main motor 12 links to each other with the rear opening and closing arm 4, the middle is fixed on the front opening and closing arm 11, and the right end links to each other with the synchronous pulley 8a below.

One opening and closing motor 18, the left end of this opening and closing motor 18 links to each other with the rear opening and closing arm 4, and the right end links to each other with the opening and closing screw rod 16, and is fixed on the driving arm lifting support seat 20.

A driving arm lifting motor 23, this lifting motor 23 is fixed on the base plate 25, and its motor output shaft links to each other with the driving arm lifting screw rod 22.

A driving arm lifting screw rod 22, one end of the screw rod 22 links to each other with the driving arm lifting support plate 19, and the other end links to each other with the motor output shaft of the driving arm lifting motor 23.

Two drive arm guide rods 21, one end of the guide rod 21 links to each other with the drive arm lifting support plate 19, and the other end links to each other with the base plate 25.

A drive arm lifting support base 20, the support base 20 is a box, the upper end is fixedly connected with the opening and closing motor 18 and its transmission part, and the driving arm lifting support plate 19, the driving arm lifting screw rod 22 and the driving arm guide are housed in the box. rod 21. The lower end of the casing is open, and the driving arm lifting screw rod 22 and the driving arm guide rod 21 can rise and fall.

Forearm lifting motor 24, this lifting motor 24 is fixed on the base plate 25, and its motor output shaft links to each other with forearm lifting screw rod 26.

A bottom plate 25, which is fixed in the box body 28, is T-shaped. The left end of this T shape is horizontally arranged with forearm guide rod 27 and forearm lifting screw rod 26 , and the right end perpendicular to the left end is longitudinally arranged with drive arm lift screw rod 22 and drive arm guide rod 21 .

A casing 28, driving arm lifting motor 23, small arm lifting motor 24, base plate 25, driving arm lifting support seat 20, small arm lifting support seat 30 are housed in this casing 28. The upper end of the casing is open, and the driving arm lifting support base 20 and the forearm lifting support base 30 can rise and fall.

A small arm lifting support base 30, the support base 30 is a box, the upper end is connected with the support wheel supporting plate 33 through the joint bearing 31, the small arm lifting support plate 29, the small arm lifting screw rod 26 and the small arm guide are housed in the box Rod 27. Casing lower end opening, forearm lifting screw rod 26 and forearm guide rod 27 can rise and fall.

A joint bearing 31, the joint bearing 31 is fixed on the support wheel supporting plate 33, and the lower end is connected with the forearm support seat 30.

A supporting wheel supporting plate 33 is an inverted tripod shape, and a supporting wheel cover 34 is respectively supported at the two ends of the supporting plate 33, and a supporting wheel 35 is provided on the supporting wheel cover 34.

A support wheel cover 34, the support wheel cover 34 is a pair of sleeves, both covers are hollow cylinders. The hollow hole in the upper sleeve has a diameter of 16 mm and an outer diameter of 30 mm. The hollow hole in the lower sleeve has a diameter of 30 mm and an outer diameter of 38 mm. The two sets can move relative to each other.

Two springs 32, this spring 32 is respectively fixed on the cover that outer diameter is 38 millimeters in the support wheel cover 34.

Two supporting wheels 35 are similar in shape to the driving wheel 2 . The groove of the support wheel has a diameter of 50 mm, which is larger than the diameter of the power line. The support wheel 35 maintains point contact with the power line 1, which is beneficial to the self-regulation of the attitude of the support wheel 35.

Working process of the present invention is:

When the main motor 12 is driven, the synchronous belt 10 is driven to drive the driving wheel 2 to rotate, relying on the friction between the driving wheel 2 and the transmission line 1 to drive the monomer to walk on the transmission line 1 .

When the opening and closing motor 18 was driven, the opening and closing screw rod 16 was driven to drive the front opening and closing arm 11 to move left and right. Because the front opening and closing arm 11 is fixedly connected with the inner taper sleeve 6, the right bearing seat of the driving wheel (not marked among the figures), the main motor support 14 and the trapezoidal nut seat 15, so they and their transmission parts form an integral part. When the front opening and closing arm 11 moves to the right, it drives the whole part on the right of the inner taper sleeve 6 to move to the right until the inner taper sleeve 6 and the outer taper sleeve 5 are separated by a certain distance; The integral part on the right side of the taper sleeve 6 moves to the left until the inner taper sleeve 6 and the outer taper sleeve 5 are tightly embraced as a whole. In this way, it is possible to control whether the driving wheel 2 grips the power line.

As shown in Figure 2, driving wheel 2, driving wheel shaft 7, synchronous belt 10, synchronous pulley 8 and 8a, main motor 12, main motor output shaft 13, opening and closing motor 18, opening and closing screw rod 16, driving arm lifting screw rod 22 , the driving arm guide bar 21 and the driving arm lifting support seat 20 constitute a linkage mechanism, which is called the driving arm. When the driving arm lifting motor 23 was driven, the driving arm lifting screw rod 22 was driven to drive the driving arm for lifting motion.

As shown in Figure 1, the support wheel 35, the support wheel supporting plate 33, the forearm lifting screw rod 26, the forearm guide rod 27 and the forearm lifting support base 30 also constitute a linkage mechanism, which is called the forearm. When the forearm lifting motor 24 was driven, it was driven by the forearm lifting screw rod 26 to drive the forearm to move up and down.

When running into an emergency and needing to brake, the forearm rises, thereby pushing the support wheel 35 upwards, and generating a frictional force for the transmission line 1 . When the friction force is large enough, the entire monomer can be stopped to achieve the purpose of braking. At this moment, the spring 32 is subjected to upward pressure, and changes from a natural state to a compressed state. In the support wheel cover 34, the cover with a large diameter that is fixedly connected with the spring 32 pushes up the small cover of the diameter to ensure that the support wheel 35 can compress the transmission line 1.

Joint bearing 31 plays the effect of automatic adjustment support wheel 35, driving wheel 2 postures. When the two support wheels 35 do not completely press the power line for some reason, in a small range, the joint bearing 31 can automatically adjust the position of the support wheels 35 under the action of gravity, so that the driving wheel 2 and the two support wheels 35 Compress the power cord.

Claims (6)

1. A single robot for automatic inspection of high-voltage transmission lines, characterized in that it includes: a driving wheel, the middle part of which is grooved along the entire circumference; A rear protective cover, which forms a closed box with the front protective cover, encapsulating the driving wheel, the main motor and its transmission part, and the transmission part of the opening and closing motor; A rear opening and closing arm, the upper right end of the rear opening and closing arm is fixedly connected with the outer taper sleeve, the main motor and the opening and closing motor pass through the rear opening and closing arm horizontally from the upper and lower positions, and the bottom end of the rear opening and closing arm is connected with the drive The arm lifting support seat is fixed; the middle of the outer cone sleeve is a concave cone surface, and the two ends are flat; An inner taper sleeve, the entire side slope of the inner taper sleeve is a tapered surface, the taper of which is consistent with that of the outer taper sleeve, and the right end of the inner taper sleeve is connected to the drive wheel shaft; Two synchronous belt pulleys, the upper synchronous belt pulley is connected with the driving wheel shaft, the lower synchronous belt pulley is connected with the output shaft of the main motor, and the two synchronous belt pulleys are connected through a synchronous belt; A front opening and closing arm, from top to bottom, is fixedly connected with the right bearing seat of the driving wheel, the main motor support, and the trapezoidal nut seat, and the trapezoidal nut seat is fixedly connected with the trapezoidal nut, and the trapezoidal nut is engaged with the opening and closing screw; A main motor, the left end of the main motor is connected with the rear opening and closing arm, the middle is fixed on the front opening and closing arm, and the right end is connected with the synchronous pulley; One opening and closing motor, the left end of the opening and closing motor is connected with the rear opening and closing arm, the right end is connected with the opening and closing screw rod, and is fixed on the lifting support seat of the driving arm; A driving arm lifting motor, the lifting motor is fixed on the base plate; A driving arm lifting screw, one end of the screw is connected with the driving arm lifting support plate, and the other end is connected with the motor output shaft of the driving arm lifting motor; Two driving arm guide rods, one end of which is connected to the driving arm lifting support plate, and the other end is connected to the bottom plate; A driving arm lifting support base, the support base is a box body, the upper end is fixedly connected with the opening and closing motor and its transmission part, and the driving arm lifting support plate, the driving arm lifting screw and the driving arm guide rod are installed in the box body; the lower end of the box body The opening, the driving arm lifting screw and the driving arm guide rod can rise and fall; A small arm lifting motor, the lifting motor is fixed on the bottom plate, and its motor output shaft is connected with the small arm lifting screw; a bottom plate, the bottom plate is fixed in the box body; A box, which is equipped with a driving arm lifting motor, a small arm lifting motor, a base plate, a driving arm lifting support seat, and a small arm lifting support seat; Rise and fall; The supporting seat for the lifting of the small arm is a box body, the upper end of which is connected with the supporting wheel support plate through joint bearings, and the lifting support plate of the small arm, the lifting screw rod of the small arm and the guide rod of the small arm are installed in the box; the opening of the lower end of the box body , the forearm lifting screw and the forearm guide rod can rise and fall; A joint bearing, the joint bearing is fixed on the support wheel support plate, and the lower end is connected with the forearm support seat; A supporting wheel supporting plate is in the shape of an inverted tripod, and the supporting plate supports two supporting wheel sleeves; the supporting wheel sleeve is a pair of sleeves, the sleeves are hollow cylinders, the small sleeve is placed in the large sleeve, and the two sleeves There is a central axis, which is relatively movable; a spring is installed in each of the two support wheel sleeves, and the spring is fixed at the inner bottom of the large sleeve, and the upper end of the spring is in dynamic contact with the bottom of the small sleeve; Each of the two support wheel sleeves has a support wheel, and the middle part of the support wheel is grooved along the entire circumference. 2. The robot unit for automatic inspection of high-voltage transmission lines as claimed in claim 1, wherein the groove of the driving wheel has a cross-section formed by connecting three semicircular arcs and straight lines. 3. The high-voltage transmission line automatic inspection robot monomer as claimed in claim 1 or 2, characterized in that the depth of the groove of the driving wheel is ≥ twice the diameter of the transmission line, so that the driving wheel can be well ensured. In contact with the face of the power line. 4. The robot unit for automatic inspection of high-voltage transmission lines according to claim 1, characterized in that the diameter of the groove on the support wheel is ≥ 2.5 times the diameter of the transmission line, and the support wheel maintains point contact with the transmission line , which is beneficial to the self-adjustment of the joint bearing to the attitude of the support wheel. 5. The robot unit for automatic inspection of high-voltage transmission lines according to claim 1, characterized in that, the bottom plate is T-shaped, and the three ends are fixedly connected with the box body; the left end of the T-shape is arranged with a small arm guide rod and Forearm lifting screw, the right end vertically arranged with the left end vertically has a driving arm lifting screw and a driving arm guide rod. 6. The single robot for automatic inspection of high-voltage transmission lines as claimed in claim 2, wherein the diameter of the semi-circular arc is the diameter of the transmission line.

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