Automatic inspection robot for power transmission and distribution overhead line

Abstract

The invention belongs to the field of power equipment detection, and particularly discloses a power transmission and distribution overhead line automatic inspection robot which comprises a main body, a walking mechanism and a fixing mechanism. The main body comprises an upper shell and a lower shell, the rear ends of the upper shell and the lower shell are hinged, and a temperature detector is arranged at the bottom of the lower shell; the walking mechanism comprises rotating shafts which are movably arranged in the upper shell and the lower shell respectively, and rolling wheels are arranged on the rotating shafts; the fixing mechanism comprises two supporting rods which are movably connected in a crossed mode, one ends of the two supporting rods are movably connected with the two rotating shafts respectively, and a tension spring is arranged between the other ends of the two supporting rods. The device can be driven to stably walk on the power supply wire through the walking mechanism, automatic detection of the long-distance power supply wire is achieved, the device can be automatically fixed through elastic potential energy of the tension spring by means of a scissor type structure composed of the supporting rod and the tension spring which are movably connected in a crossed mode, and operation is easy and fast.

Description

Technical Field

[0001] The present invention belongs to the field of power equipment detection, and particularly relates to an automatic inspection robot for overhead transmission and distribution lines. Background Art

[0002] In the power system, the operating state of the power supply conductors is crucial for the stability and safety of the entire power supply. Temperature is one of the key parameters reflecting the operating condition of the power supply conductors. Excessive temperature may indicate problems such as overload and poor contact of the conductors, and in severe cases, it may even cause safety accidents such as fires. With the continuous expansion of the scale of the power system, the distribution range of the power supply lines is becoming increasingly wide;

[0003] However, the traditional methods for detecting the temperature of power supply conductors have many drawbacks. In the manual detection method, the staff needs to detect section by section along the power supply line, which not only consumes a large amount of manpower, material resources and time, but also has a long detection cycle and is difficult to achieve real-time monitoring. Once the temperature of the power supply conductor is abnormal, it may not be discovered and processed in time, thus affecting the stability of the power supply. In addition, for some areas with complex terrain and difficult to reach, manual detection is even more inconvenient. Summary of the Invention

[0004] The purpose of the present invention is to provide an automatic inspection robot for overhead transmission and distribution lines to solve the problem that the traditional detection method requires the staff to detect section by section along the power supply line, with a long detection cycle and difficult to achieve real-time monitoring as mentioned in the above background art.

[0005] To achieve the above purpose, the present invention provides the following technical solutions:

[0006] An automatic inspection robot for overhead transmission and distribution lines includes a main body, a traveling mechanism and a fixing mechanism; the main body includes an upper shell and a lower shell, the rear ends of the upper shell and the lower shell are hinged, and a temperature detector is arranged at the bottom of the lower shell; the traveling mechanism includes rotating shafts respectively movably arranged in the upper shell and the lower shell, rollers are arranged on the rotating shafts, motors are arranged on both the upper shell and the lower shell, transmission wheels are arranged at the output ends of the motors and on the rotating shafts, and a transmission belt is wound between the transmission wheels; the fixing mechanism includes two support rods that are cross-actively connected, one ends of the two support rods are respectively movably connected to the two rotating shafts, and a tension spring is arranged between the other ends of the two support rods.

[0007] Preferably, a pulling rope is arranged between the temperature detector and the lower shell, and the pulling rope penetrates through the upper shell.

[0008] Preferably, a guiding wheel is arranged on the upper shell, and the guiding wheel is wound and connected with the pulling rope.

[0009] Preferably, a fixing rod is arranged between the temperature detector and the pulling rope. A limiting sleeve is arranged on the upper shell around the fixing rod. An electric push rod is arranged at the bottom of the fixing rod. A motor is arranged at the output end of the electric push rod. The output end of the motor is connected to the temperature detector.

[0010] Preferably, a fixing seat is movably arranged on the rotating shaft through a bearing. A fixing plate is arranged between the support rod and the pulling spring. The support rod is connected to the fixing plate and the fixing seat through movable parts respectively.

[0011] Preferably, one ends of the two rotating shafts are respectively provided with a runner, and the two runners are in contact with each other.

[0012] Preferably, handles are arranged at the rear ends of the upper shell and the lower shell.

[0013] Preferably, a carbon block is arranged inside the upper shell through a spring. An expansion link is arranged between the carbon block and the upper shell.

[0014] Preferably, the temperature detector includes a visual detection module, an infrared temperature measurement module, a processing module and a communication module. The processing module is communicatively connected to an external host computer through the communication module. The processing module is electrically connected to the visual detection module and the infrared temperature measurement module respectively.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0016] The present invention can drive the device to walk smoothly on the power supply wire through the walking mechanism, realizing the automatic detection of long-distance power supply wires, greatly improving the detection efficiency. The fixing mechanism uses a scissor structure composed of support rods and pulling springs connected crosswise and movably, which is simple and fast to operate. When installing the device, only need to open the upper and lower shells and place them on the power supply wire, and the elastic potential energy of the pulling spring can automatically complete the fixing of the device, and the fixing is firm and not easy to displace. At the same time, the temperature detector is arranged at the bottom of the walking mechanism, reducing the center of gravity of the device, further improving the stability during walking, ensuring that the temperature detector can accurately perform infrared temperature measurement detection on the power supply wire, providing a reliable guarantee for timely discovering the temperature abnormality of the power supply wire, and improving the automation level and reliability of the inspection and maintenance of the power supply line in the power system. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly introduced below. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts. Among them:

[0018] Figure 1 is the overall structure diagram of the present invention;

[0019] Figure 2 It is a schematic plan view of the internal structure of the present invention;

[0020] Figure 3 It is a schematic elevation view of the internal structure of the present invention;

[0021] Figure 4 It is an attachment of the present invention Figure 1 Schematic diagram of the partial structure of the traveling mechanism in the figure;

[0022] Figure 5 It is an attachment of the present invention Figure 3 Schematic diagram of the partial structure of the fixing rod in the figure;

[0023] Figure 6 It is an attachment of the present invention Figure 1 Block diagram of the temperature detector structure in the figure.

[0024] In the figure: 1. Main body; 101. Upper shell; 102. Temperature detector; 103. Telescopic rod; 104. Electric push rod; 105. Handle; 106. Lower shell; 107. Spring; 108. Carbon block; 109. Motor; 2. Traveling mechanism; 201. Rotating shaft; 202. Roller; 203. Motor; 204. Driving wheel; 205. Transmission belt; 206. Rotating wheel; 3. Fixing mechanism; 301. Support rod; 3011. Movable part; 3012. Bearing; 3013. Fixed seat; 302. Tension spring; 303. Fixing rod; 304. Fixed plate; 305. Pull rope; 306. Guide wheel; 307. Limit sleeve. Detailed implementation manners

[0025] In order to make the above objects, features and advantages of the present invention more obvious and understandable, the following will make a detailed description of the specific implementation manners of the present invention with reference to the accompanying drawings of the specification.

[0026] In the following description, many specific details are set forth in order to fully understand the present invention. However, the present invention can also be implemented in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the connotation of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed below.

[0027] Secondly, the so-called "one embodiment" or "embodiment" herein refers to a specific feature, structure or characteristic that can be included in at least one implementation manner of the present invention. The "in one embodiment" appearing in different places in this specification does not all refer to the same embodiment, nor is it an individual or alternative embodiment that is mutually exclusive with other embodiments.

[0028] As shown in the attached Figure 1 , 2 and the attached Figure 3 figures:

[0029] Embodiment 1: This embodiment provides an automated inspection robot for overhead power transmission and distribution lines, including a main body 1, a traveling mechanism 2, and a fixing mechanism 3; the main body 1 includes an upper housing 101 and a lower housing 106, the rear ends of the upper housing 101 and the lower housing 106 are hinged, and a temperature detector 102 is provided at the bottom of the lower housing 106; the traveling mechanism 2 includes rotating shafts 201 respectively movably arranged in the upper housing 101 and the lower housing 106, rollers 202 are arranged on the rotating shafts 201, motors 203 are arranged on both the upper housing 101 and the lower housing 106, drive wheels 204 are arranged at the output ends of the motors 203 and on the rotating shafts 201, and a transmission belt 205 is wound between the drive wheels 204; the fixing mechanism 3 includes two support rods 301 that are cross-actively connected, one ends of the two support rods 301 are respectively movably connected to the two rotating shafts 201, a tension spring 302 is arranged between the other ends of the two support rods 301, and the motor 203 is a Guangzhou Haocheng QFW300 type motor.

[0030] During operation, it rotates and opens with the hinge between the upper housing 101 and the lower housing 106 as the axis, increasing the distance between the two rollers 202. When the upper housing 101 and the lower housing 106 rotate and open, they will drive the corresponding rotating shafts 201 to rotate synchronously, thereby increasing the distance between the connections of the two support rods 301 and the two rotating shafts 201 respectively. Then, through the scissor structure formed by the cross arrangement of the two support rods 301, the connection of the two support rods 301 is pulled towards the front end of the device, and the distance between the other ends of the two support rods 301 will also increase synchronously, thereby stretching the tension spring 302 to store elastic potential energy. Subsequently, the device is moved to the power supply wire to be detected. As shown in the attachment Figure 2 shown, so that the power supply wire is located between the two rollers 202. After placing the roller 202 at the upper housing 101 on the power supply wire and releasing the lower housing 106, the tension spring 302 will release the elastic potential energy due to the disappearance of the resistance, push the support rod 301 away, and then drive the lower housing 106 to rotate in the initial direction through the rotating shaft 201 until it returns to the initial state as shown in the attachment Figure 1 shown, completing the assembly of the device. The operation is simple and fast. At this time, the temperature detector 102 is located at the bottom of the power supply wire, and infrared temperature measurement detection can be performed on the power supply wire. Moreover, the temperature detector 102 is located at the bottom of the traveling mechanism 2, reducing the center of gravity of the device and improving the stability during the walking process. During the process, the motor 203 is started, and the motor 203 will transmit the power to the rotating shaft 201 through the drive wheel 204 and the transmission belt 205, thereby driving the roller 202 to rotate, enabling the device to walk on the power supply wire and realizing the automatic detection of a longer power supply wire.

[0031] As shown in the attachment Figure 4 shown:

[0032] Specifically, a fixed seat 3013 is movably arranged on the rotating shaft 201 through a bearing 3012. A fixing plate 304 is arranged between the support rod 301 and the tension spring 302. The support rod 301 is connected to the fixing plate 304 and the fixed seat 3013 through movable parts 3011 respectively.

[0033] Through the fixing plate 304 and the movable part 3011, when the support rod 301 rotates and swings, the tension spring 302 always maintains a vertical state, avoiding the situation that the connection parts at both ends of the tension spring 302 and the support rod 301 are bent to reduce their own strength and affect the service life.

[0034] Specifically, a runner 206 is arranged at one end of each of the two rotating shafts 201, and the two runners 206 are in contact with each other.

[0035] When the upper shell 101 and the lower shell 106 are closed so that the roller 202 contacts the power supply wire, the two runners 206 will also contact and rotate synchronously when the motor 203 drives the roller 202 to rotate.

[0036] Specifically, handles 105 are arranged at the rear ends of the upper shell 101 and the lower shell 106 respectively.

[0037] The staff can hold the two handles 105 with one hand at the same time, and pinch the palm forcefully to rotate and open the upper shell 101 and the lower shell 106, which is convenient for personnel to use.

[0038] Specifically, a carbon block 108 is arranged inside the upper shell 101 through a spring 107, and a telescopic rod 103 is arranged between the carbon block 108 and the upper shell 101.

[0039] An opening groove is arranged on the power supply wire, and there is no insulating skin at the opening groove. The movement track of the carbon block 108 is adapted to the opening groove. After the device is installed on the power supply wire, the spring 107 will use its own elasticity to push the carbon block 108 into the opening groove and fit tightly with the power supply wire, so as to obtain electricity. The obtained electricity is used to drive other electrical equipment of the device to work. The power supply wire is used for bearing force and power supply, so that the device can perform long-term inspection operations without a self-provided power source.

[0040] As shown in Figure 1 、 2 and Figure 3 shown:

[0041] Embodiment 2: This embodiment provides an automated inspection robot for overhead power transmission and distribution lines, including a main body 1, a traveling mechanism 2, and a fixing mechanism 3; the main body 1 includes an upper housing 101 and a lower housing 106, the rear ends of the upper housing 101 and the lower housing 106 are hinged, and a temperature detector 102 is arranged at the bottom of the lower housing 106; the traveling mechanism 2 includes rotating shafts 201 respectively movably arranged in the upper housing 101 and the lower housing 106, rollers 202 are arranged on the rotating shafts 201, motors 203 are arranged on both the upper housing 101 and the lower housing 106, driving wheels 204 are arranged at the output ends of the motors 203 and on the rotating shafts 201, and a transmission belt 205 is wound between the driving wheels 204; the fixing mechanism 3 includes two support rods 301 that are cross-actively connected, one ends of the two support rods 301 are respectively movably connected to the two rotating shafts 201, and a tension spring 302 is arranged between the other ends of the two support rods 301.

[0042] As shown in the appended Figure 2 、 3 and the appended Figure 5 figures:

[0043] Specifically, a pull rope 305 is arranged between the temperature detector 102 and the lower housing 106, and the pull rope 305 penetrates through the upper housing 101.

[0044] The temperature detector 102 is connected to the lower housing 106 by passing the pull rope 305 through the upper housing 101, thereby converting the downward pulling force generated by the self-weight of the temperature detector 102 on the pull rope 305 into an upward pulling force of the pull rope 305 on the lower housing 106, and using the self-weight of the temperature detector 102 to tightly press the upper housing 101 and the lower housing 106 together, clamping the power supply wire in the middle, which greatly improves the stability.

[0045] Specifically, a guide wheel 306 is arranged on the upper housing 101, and the guide wheel 306 is wound and connected with the pull rope 305.

[0046] The guide wheel 306 will reduce the contact friction between the pull rope 305 and the upper housing 101, avoiding the situation that the pull rope 305 is worn due to direct contact with the upper housing 101.

[0047] Specifically, a fixing rod 303 is arranged between the temperature detector 102 and the pull rope 305, a limit sleeve 307 is arranged on the upper housing 101 around the fixing rod 303, an electric push rod 104 is arranged at the bottom of the fixing rod 303, a motor 109 is arranged at the output end of the electric push rod 104, and the output end of the motor 109 is connected to the temperature detector 102.

[0048] The pulling rope 305 is connected to the temperature detector 102 through the fixing rod 303, and the position of the fixing rod 303 is limited by the limiting sleeve 307, so that it is always at the bottom of the power supply wire during the working process, avoiding the situation of shaking and offset during the working process due to the flexible connection of the pulling rope 305, improving the detection accuracy. At the same time, the electric push rod 104 can be started. The electric push rod 104 will drive the temperature detector 102 to move up and down to adjust its position. According to the need, the motor 109 can be started, and the motor 109 will drive the temperature detector 102 to rotate, so as to monitor the front, above, rear and below of the device.

[0049] Specifically, a fixing seat 3013 is movably arranged on the rotating shaft 201 through a bearing 3012. A fixing plate 304 is arranged between the support rod 301 and the pulling spring 302. The support rod 301 is connected to the fixing plate 304 and the fixing seat 3013 through movable parts 3011.

[0050] Specifically, a runner 206 is arranged at one end of each of the two rotating shafts 201, and the two runners 206 are in contact with each other.

[0051] Specifically, handles 105 are arranged at the rear ends of the upper shell 101 and the lower shell 106.

[0052] The staff can hold the two handles 105 with one hand at the same time, and pinch the palm forcefully to rotate and open the upper shell 101 and the lower shell 106, which is convenient for personnel to use.

[0053] As shown in the Figure 2 and Figure 3 accompanying

[0054] Specifically, a carbon block 108 is arranged inside the upper shell 101 through a spring 107, and a telescopic rod 103 is arranged between the carbon block 108 and the upper shell 101.

[0055] As shown in the Figure 6 accompanying

[0056] Embodiment 3: This embodiment is basically the same as the previous embodiment, except that the temperature detector 102 includes a visual detection module, an infrared temperature measurement module, a processing module and a communication module. The processing module is communicatively connected to an external host computer through the communication module, and the processing module is respectively connected to the visual detection module and the infrared temperature measurement module by wires.

[0057] The visual detection module is specifically the camera on the temperature detector 102. An industrial camera of Dahua Co., Ltd. DH-IPC-HFW5431M-I2 is selected to take pictures of the appearance of the power supply wire. The infrared temperature measurement module is specifically the infrared temperature measurement camera on the temperature detector 102. An infrared thermal imager of Hikvision DS-2TD2610B-13 / PA is selected to perform non-contact remote temperature measurement on the power supply wire. The captured data and the temperature measurement data will be transmitted to the processing module, and then transmitted to the upper computer of the remote staff through the communication module for personnel to understand and process conveniently.

[0058] In the attached drawings of the disclosed embodiments of the present invention, only the structures related to the disclosed embodiments are involved. Other structures can refer to the general design. Without conflict, the same embodiment and different embodiments of the present invention can be combined with each other.

[0059] Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

[0060] In addition, in order to provide a concise description of the exemplary embodiments, not all features of the actual embodiments may be described (i.e., those features that are not relevant to the currently considered best mode of implementing the present invention, or those features that are not relevant to the implementation of the present invention).

[0061] It should be understood that in the development process of any actual implementation, such as in any engineering or design project, a large number of specific implementation decisions may be made. Such development efforts may be complex and time-consuming, but for those ordinary technical personnel who benefit from this disclosure, without excessive experimentation, the development efforts will be a routine work of design, manufacturing and production.

Claims

1. An automated inspection robot for overhead power transmission and distribution lines, characterized in that: It includes a main body (1), a traveling mechanism (2) and a fixing mechanism (3); The main body (1) includes an upper shell (101) and a lower shell (106). The rear ends of the upper shell (101) and the lower shell (106) are hinged. A temperature detector (102) is arranged at the bottom of the lower shell (106); The traveling mechanism (2) includes rotating shafts (201) respectively movably arranged in the upper shell (101) and the lower shell (106). Rollers (202) are arranged on the rotating shafts (201). Motors (203) are arranged on both the upper shell (101) and the lower shell (106). Driving wheels (204) are arranged at the output ends of the motors (203) and on the rotating shafts (201). A transmission belt (205) is wound between the driving wheels (204); The fixing mechanism (3) includes two support rods (301) that are cross-actively connected. One ends of the two support rods (301) are respectively movably connected to the two rotating shafts (201). A tension spring (302) is arranged between the other ends of the two support rods (301).

2. The automatic inspection robot for overhead power transmission and distribution lines according to claim 1, characterized in that: A pull rope (305) is arranged between the temperature detector (102) and the lower shell (106). The pull rope (305) penetrates through the upper shell (101).

3. The automatic inspection robot for overhead power transmission and distribution lines according to claim 1, wherein: A guide wheel (306) is arranged on the upper shell (101). The guide wheel (306) is wound and connected with the pull rope (305).

4. The automatic inspection robot for overhead transmission and distribution lines according to claim 1, wherein: A fixing rod (303) is arranged between the temperature detector (102) and the pull rope (305). A limiting sleeve (307) is arranged on the upper shell (101) around the fixing rod (303). An electric push rod (104) is arranged at the bottom of the fixing rod (303). A motor (109) is arranged at the output end of the electric push rod (104). The output end of the motor (109) is connected to the temperature detector (102).

5. The automatic inspection robot for overhead power transmission and distribution lines according to claim 1, wherein: A fixing seat (3013) is movably arranged on the rotating shaft (201) through a bearing (3012). A fixing plate (304) is arranged between the support rod (301) and the tension spring (302). The support rod (301) is connected to the fixing plate (304) and the fixing seat (3013) through movable parts (3011).

6. The automatic inspection robot for overhead power transmission and distribution lines according to claim 1, wherein: One ends of the two rotating shafts (201) are both provided with runners (206). The two runners (206) are in contact with each other.

7. The automatic inspection robot for overhead power transmission and distribution lines according to claim 1, wherein: Handles (105) are arranged at the rear ends of both the upper shell (101) and the lower shell (106).

8. The automatic inspection robot for overhead power transmission and distribution lines according to claim 1, characterized in that: A carbon block (108) is arranged inside the upper shell (101) through a spring (107). An expansion link (103) is arranged between the carbon block (108) and the upper shell (101).

9. The automatic inspection robot for overhead transmission and distribution lines according to claim 1, characterized in that: The temperature detector (102) includes a visual detection module, an infrared temperature measurement module, a processing module and a communication module. The processing module is communicatively connected to an external host computer through the communication module. The processing module is electrically connected to the visual detection module and the infrared temperature measurement module respectively.

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