Barrier-free patrolling robot system and method for overhead ground wire

Abstract

The invention discloses a barrier-free patrolling robot system and a method for an overhead ground wire. The system comprises a patrolling robot, a barrier-free ground wire straight tower channel and a barrier-free stockbridge damper channel, wherein the patrolling robot comprises a robot body; two side-by-side driving wheels which move along the ground wire are arranged on the robot body; a clamping wheel is arranged on the front side of each driving wheel; the lower end of each driving wheel is connected with a revolute joint; the revolute joints are fixed at the two ends of a frame of the robot body; the barrier-free ground wire straight tower channel and the barrier-free stockbridge damper channel are respectively arranged at connecting parts of a suspension clamp, a stockbridge damper and the ground wire; and parts, extruding out of the ground wire, of the barrier-free ground wire straight tower channel and the barrier-free stockbridge damper channel are arc to guide the driving wheels of the patrolling robot to separate from the ground wire to cross the suspension clamp and the stockbridge damper, so that barrier-free passing is realized. The system and the method can ensure barrier-free patrolling of the patrolling robot.

Description

technical field [0001] The invention relates to an inspection robot system and method for an overhead ground line without obstacles throughout the whole process. Background technique [0002] With the development of the national economy and the progress of the society, the safe operation of the power system is becoming more and more important. The high-voltage transmission line is the lifeblood of the power system, and its failure directly threatens the safe operation of the power system. Due to the distribution points of the transmission line, which are far away from towns and cities, the terrain is complex, and the wires are exposed in the wild, they have been exposed to wind and rain for a long time and are subject to continuous Mechanical tension, electrical flashing, and the effects of material aging can easily cause wear, broken strands, corrosion and other damage. If it is not repaired and replaced in time, it will easily cause serious accidents, resulting in large-sc...

AI Technical Summary

Problems solved by technology

[0003] At present, robots have been widely used in the field of high-voltage transmission lines, especially the live line inspection of transmission lines. The anti-vibration hammer on the ground and the hanging wire clamp on the linear pole tower make the robot unable to pass directly. When encountering these obstacles, the robot must perform various obstacle-crossing actions, which affects the online passing efficiency of the robot, and the safety factor is low. To build a Barrier-free access is inevitable

[0004] There are also various applications of robots on high-voltage lines, but these robots use obstacle-crossing methods. Their degrees of freedom and mechanical structures are relatively complex, control is difficult, and the obstacle-crossing efficiency is relatively low. Therefore, for ground wires, barrier-free It is inevitable to design a brand-new inspection robot that can adapt to the channel

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