CN206148843U - Power transmission line protection robot - Google Patents
Power transmission line protection robot Download PDFInfo
- Publication number
- CN206148843U CN206148843U CN201621049730.1U CN201621049730U CN206148843U CN 206148843 U CN206148843 U CN 206148843U CN 201621049730 U CN201621049730 U CN 201621049730U CN 206148843 U CN206148843 U CN 206148843U
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- cutting tool
- transmission line
- power transmission
- walking wheel
- module
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Abstract
The utility model discloses a power transmission line protection robot, it includes installs the organism on the base, the deicing chamber of lining up that can let the power transmission line pass is seted up at the organism middle part, the deicing intracavity is provided with deicing mechanism, the ice -cube that covers can be detached by deicing mechanism on the power transmission line, be provided with running gear on the base, running gear drives the protection robot and removes on can installing the power transmission line, still be provided with the line detection module that is used for detecting the power transmission line situation on the organism, deicing mechanism, running gear and line detection module are all connected and are controlled by the protection robot control system of setting in the organism, this robot can patrol and examine and detach the ice and snow on the transmission line automatically to transmission line, ensure transmission line's safe operation.
Description
Technical field
This utility model is related to transmission line relaying field, refers in particular to a kind of power transmission line protection robot.
Background technology
Transmission line of electricity plays the important function for transmitting electric power, it is ensured that transmission line safety reliability service, to ensureing country Jing
Ji stable development is significant.
The low temperature sleet and snow ice that on January 10th, 2008 starts causes China's some areas major disaster, wherein high voltage power transmission
Line is damaged seriously because of icing.This time the significant damage that power transmission line icing brings has been experienced in disaster let us.
When ice and snow weather is run into, many power high-tension transmission lines are just easily pressed down, and cause circuit to be damaged, and opposite is produced
Work causes strong influence.
In addition to ice and snow weather can cause to damage to transmission line of electricity, transmission line of electricity also aging can occur damaging Jing after exposing to the weather
It is bad.Therefore need to patrol and examine transmission line of electricity.To ensure the normal operation of transmission line of electricity.
And deicing is carried out now to transmission line of electricity and patrols and examines all by transmitting electricity workman to complete, such waste of manpower,
Efficiency is low, can also cause Personal Risk to bookstore workman.
Utility model content
The purpose of this utility model is：For above-mentioned problem, there is provided a kind of power transmission line protects robot, the machine
Device people can be patrolled and examined and be removed the ice and snow on transmission line of electricity automatically to transmission line of electricity, ensure the safe operation of transmission line of electricity.
The technical solution adopted in the utility model is as follows：
A kind of power transmission line protects robot, and it includes the body on base, and offering in the middle part of the body can
The deicing chamber of insertion that power transmission line passes through, the deicing intracavity is allowed to be provided with deicing mechanism, the deicing mechanism can remove defeated
The ice cube covered on electric wire；Walking mechanism is provided with the base, the walking mechanism is mountable on power transmission line, is driven
The movement of protection robot；It is additionally provided with the body for detecting the line detection module of power transmission line situation；The ice removing machine
Structure, walking mechanism and line detection module all connect and are controlled by the protection robot control system being arranged in body.
Due to said structure, under the control of protection robot control system, after protection robot is installed on power transmission line,
Protection robot control system control walking mechanism is moved along power transmission line, while line detection module being capable of automatic detection power transmission line
Whether the state on road, there is crackle on detection transmission line of electricity, if be coated with ice and snow；Deicing mechanism can be removed on transmission line of electricity
Ice and snow.
Further, the deicing mechanism includes cutting tool group, lower cutting tool group；The upper cutting tool group sets
Put above power transmission line, in which, be provided with the cutter of two rotatable cuttings, its center of rotation is located in same level, described
Cutter in upper cutting tool group is divided on first cutting tool on cutting tool and second；The lower cutting tool group is arranged on
Below power transmission line, the cutter of two rotatable cuttings in which, is provided with, its center of rotation is located in same level, the incision
Cutter in cutting knife tool group is divided into first time cutting tool and second time cutting tool；On described first under cutting tool and first
Cutting tool aligns, and on second, cutting tool is alignd with second time cutting tool；Cut on cutting tool and second on described first
Cutting knife tool is attached by chaindriven mode and realizes synchronous axial system, on described first cutting tool as drivewheel with it is upper
Cutting tool group motor is connected；First time cutting tool and second time cutting tool are carried out by chaindriven mode
Connect and realize synchronous axial system, first time cutting tool is connected with lower cutting tool group motor as drivewheel.
Due to said structure, the cutter in upper cutting tool group and lower cutting group cooperates, can be except a transmission line of electricity
Two cutting tools are all adopted in the ice cube of the upper side and lower side, upper and lower two cutting tools group, ice cube can repeatedly be cut, with
Ensure deicing efficiency.Drive cutting tool and second time cutting tool on second reduce power using chaindriven mode
Source（Motor）, it is cost-effective, and after power source is reduced, the vibrations produced when power source works can be reduced.
Further, the cutter includes the rotating shaft installed in deicing intracavity, and blade and sprocket wheel are provided with the rotating shaft；
The blade is tetragon, offers forming and cutting mouth in the middle part of the upper cutting edge of the blade and lower cutting edge；Four side
The plane that shape blade is constituted is in the same plane with the axis of rotating shaft, and upper cutting edge and lower cutting edge are with regard to the axis of rotating shaft
Symmetrically.
Due to said structure, the molding otch on blade, diameter design of the size according to transmission line of electricity, it is ensured that go out defeated
In electric line while ice cube, cutting will not be caused to transmission line of electricity.
Further, the walking mechanism bag is arranged on the front walking wheel bracing frame on base and rear walking wheel bracing frame,
The front walking wheel bracing frame upper end is provided with front walking wheel, the front walking wheel be arranged on front walking wheel bracing frame upper end
Front walking wheel motor is connected；The rear walking wheel bracing frame upper end is provided with rear walking wheel, the rear walking wheel and rear row
The rear walking wheel motor for walking wheeling supporting frame upper end is connected.
Further, the wheel mask of the front walking wheel and rear walking wheel caves inward in " V " type, and the two of " V " type
Some uniform antiskid grooves are offered on side.
Due to said structure, take turns mask cave inward can be more stable in " V " type front walking wheel and rear walking wheel are pacified
It is mounted on transmission line of electricity.And the antiskid groove in which is prevented from skidding.
Further, the organism bottom is provided with the ice discharging hole of some insertion bottoms, the ice discharging hole and deicing chamber
Bottom connects.
Due to said structure, after the presence in ice discharging hole can cut ice cube, ice bits are made to discharge to outside body from ice discharging hole,
Avoid ice bits from staying in body, cause body overweight, break power transmission line.
Further, cavity is provided with above the deicing chamber, protection robot control system is provided with the cavity；It is described
Protection robot control system includes protecting robot main controller, be connected with the protection robot main controller power module,
Upper cutting tool group motor control module, lower cutting tool group motor control module, front walking wheel motor control
Molding block, rear walking wheel motor control module and line detection module；Cutting tool group motor control mould is gone up wherein
Block is connected with upper cutting tool group motor, and lower cutting tool group motor control module drives electricity with lower cutting tool group
Machine is connected, and front walking wheel motor control module is connected with front walking wheel motor；Rear walking wheel motor controls mould
Block is connected with rear walking wheel motor；
The protection robot control system is also connected with long distance control system by wireless communication module.
Further, the line detection module includes the first detection photographic head, the second detection photographic head and image procossing
Module, wherein the first detection photographic head and the second detection photographic head are respectively by image processing module and protection robot main controller
It is connected；The first detection photographic head is arranged on the front portion of body；The second detection photographic head is arranged on the front portion of base.
Further, locating module and positional information memory module are also associated with the protection robot control system.
Further, the long distance control system includes long distance control system main controller, the long distance control system master control
Display screen, alarm module, alarm signal are connected with device and cancel button and positional information reception memory module；The monitoring system
Main controller is connected with robot main controller is protected by wireless communication module；The alarm module includes alarming horn and police instruction
Lamp.
In sum, as a result of above-mentioned technical proposal, the beneficial effects of the utility model are：
Protection robot of the present utility model automatically can be patrolled and examined to the line conditions of power transmission line, and will be detected
Line conditions be sent to long distance control system, to notify that staff is overhauled to transmission line of electricity, the protection robot
When can also there is snow and ice cover on transmission line of electricity is detected, automatic de-icing, it is to avoid transmission line of electricity is broken by ice and snow, it is ensured that
The operation stability of transmission line of electricity.Protection robot of the present utility model, effectively can be patrolled and examined to transmission line of electricity and be removed
Ice, high working efficiency are easy to use, can avoid casualties.
Description of the drawings
Fig. 1 is overall structure figure of the present utility model；
Fig. 2 is left view of the present utility model.
Specific embodiment
Below in conjunction with the accompanying drawings, this utility model is described in detail.
In order that the purpose of this utility model, technical scheme and advantage become more apparent, below in conjunction with accompanying drawing and enforcement
Example, is further elaborated to this utility model.It should be appreciated that specific embodiment described herein is only to explain
This utility model, is not used to limit this utility model.
A kind of power transmission line protects robot, and it includes the body 1 on base 6, offers energy in the middle part of the body 1
Enough allow the deicing chamber 2 of insertion that power transmission line 4 passes through, in the deicing chamber 2, is provided with deicing mechanism, the deicing mechanism can be removed
Remove the ice cube covered on power transmission line 4；Walking mechanism is provided with the base 6, the walking mechanism is mountable to power transmission line 4
On, drive the movement of protection robot；It is additionally provided with the body 1 for detecting the line detection module of 4 situation of power transmission line；Institute
State deicing mechanism, walking mechanism and line detection module all connect be controlled by be arranged in body 1 protection robot control system
System.
The deicing mechanism includes cutting tool group, lower cutting tool group；The upper cutting tool group is arranged on transmission of electricity
Above line 4, the cutter of two rotatable cuttings in which, is provided with, its center of rotation is located in same level, the upper cutting
Cutter in cutter group is divided on first cutting tool 17 on cutting tool 15 and second；The lower cutting tool group is arranged on defeated
Below electric wire 4, the cutter of two rotatable cuttings in which, is provided with, its center of rotation is located in same level, the incision
Cutter in cutting knife tool group is divided into first time cutting tool 10 and second time cutting tool 7；On described first cutting tool 15 with
First time cutting tool 10 aligns, and on second, cutting tool 17 is alignd with second time cutting tool 7；Cutting tool on described first
On 15 and second, cutting tool 17 is attached by chaindriven mode and realizes synchronous axial system, cutting tool on described first
15 are connected with upper cutting tool group motor as drivewheel；First time cutting tool 10 and second time cutting tool 7
It is attached by chaindriven mode and realizes synchronous axial system, first time cutting tool 10 is used as drivewheel and lower cutting
Cutter group motor is connected.On described first cutting tool and first time cutting tool in upper cutting tool group motor and
Under the driving of lower cutting tool group motor, rotary cutting is cut to the ice cube above and below power transmission line respectively.For
Reduce vibrations and ensure the stability of cutting, the rotating speed of cutting tool and first time cutting tool is identical on first.Because adopting
Synchronous axial system is realized with Chain conveyer, so the rotating speed of cutting tool and second time cutting tool is identical on second, is followed on first
Cutting tool and first time cutting tool are cut to the ice cube on power transmission line together.
The cutter includes the rotating shaft 20 in deicing chamber 2, and blade 21 and sprocket wheel 18 are provided with the rotating shaft 20；
The blade 21 is tetragon, offers forming and cutting mouth in the middle part of the upper cutting edge of the blade 21 and lower cutting edge；It is described
The plane that tetragon blade 21 is constituted is in the same plane with the axis of rotating shaft 20, and upper cutting edge and lower cutting edge are with regard to turning
The axisymmetrical of axle 20.During cutting tool choice, upper cutting edge and lower cutting edge, alternating are cut to the ice cube on power transmission line.
The walking mechanism bag be arranged on base 6 on front walking wheel bracing frame 12 and rear walking wheel bracing frame 5, it is described before
Walking wheeling supporting frame 12 upper end is provided with front walking wheel 13, the front walking wheel 13 be arranged on 12 upper end of front walking wheel bracing frame
Front walking wheel motor be connected；5 upper end of rear walking wheel bracing frame is provided with rear walking wheel 3, the rear walking wheel with
The rear walking wheel motor of 5 upper end of rear walking wheel bracing frame is connected.
The wheel mask of the front walking wheel 13 and rear walking wheel 3 caves inward in " V " type, on the two sides of " V " type
Offer some uniform antiskid grooves.
1 bottom of the body is provided with the ice discharging hole 8 of some insertion bottoms, and the ice discharging hole 8 is connected with the bottom in deicing chamber 2
It is logical.
Cavity 16 is provided with above the deicing chamber 2, in the cavity 16, protection robot control system is provided with；The protection
Robot control system includes protecting robot main controller, be connected with the protection robot main controller power module, on cut
Cutting knife tool group motor control module, lower cutting tool group motor control module, front walking wheel motor control mould
Block, rear walking wheel motor control module and line detection module；Wherein go up cutting tool group motor control module with
Upper cutting tool group motor is connected, lower cutting tool group motor control module and lower cutting tool group motor phase
Even, front walking wheel motor control module is connected with front walking wheel motor；Rear walking wheel motor control module with
Rear walking wheel motor is connected；
The upper cutting tool group motor control module is used for the rotation for controlling cutting tool group motor, institute
Lower cutting tool group motor control module is stated for controlling the rotation of lower cutting tool group motor；The front walking wheel
Motor control module is used for the rotation for controlling front walking wheel motor；The rear walking wheel motor control module is used
In the rotation of control rear walking wheel motor；The line detection module be used for detect no with the presence of ice and snow on power transmission line, be
It is no fracture occur.
The protection robot control system is also connected with long distance control system by wireless communication module.
The long distance control system, for monitoring the transmission line status that protection robot is detected.Protection robot master
The line conditions information is sent to long distance control system by the line conditions that control device receiving circuit detection module is detected.
The line detection module includes that the first detection photographic head 14, second detects photographic head 11 and image processing module,
Wherein first detection photographic head 14 and the second detection photographic head 11 are respectively by image processing module and protection robot main controller
It is connected；The first detection photographic head 14 is arranged on the front portion of body 1；The second detection photographic head 11 is arranged on base 6
It is anterior.
First photographic head is used to detect the line conditions on the upside of transmission line of electricity that the second camera to be used to detect defeated
Line conditions on the downside of electric line.For recognizing line conditions, image processing module judges that whether circuit crackle occurs at this, is
It is no ice and snow occur, to facilitate the main controller control deicing mechanism deicing of protection robot or send transmission line of electricity fracture information to remote
Range monitoring system, notifies staff to overhaul transmission line of electricity.
Locating module and positional information memory module are also associated with the protection robot control system.
The locating module can be used in the positioning of transmission line of electricity crack position, allows and protects robot main controller by crackle
Position is stored in positional information memory module, then protects robot main controller being sent to far the positional information of the crackle
Range monitoring system, to inform staff, the position of crackle is located.
The long distance control system includes long distance control system main controller, is connected with the long distance control system main controller
Display screen, alarm module, alarm signal cancel button and positional information receives memory module；The monitoring system main controller passes through
Wireless communication module is connected with robot main controller is protected；The alarm module includes alarming horn and alarm lamp.
The long distance control system, receives the transmission line information that protection machine Crinis Carbonisatus are brought, and by showing screen display
Show the line conditions of transmission line of electricity；When having ice and snow on transmission line of electricity and/or crackle occur, alarm module can produce alarm signal
Number, to notify staff.The positional information receives memory module to be used to receive what protection robot main controller was sended over
The positional information of crackle, and the positional information of crackle is shown by display screen.
Preferred embodiment of the present utility model is the foregoing is only, it is not to limit this utility model, all at this
Any modification, equivalent and improvement made within the spirit and principle of utility model etc., should be included in this utility model
Protection domain within.
Claims (10)
1. a kind of power transmission line protects robot, it is characterised in that：It is included installed in base（6）On body（1）, the body
（1）Middle part offers and can allow power transmission line（4）The deicing chamber of the insertion for passing through（2）, the deicing chamber（2）Ice removing machine is provided with inside
Structure, the deicing mechanism can remove power transmission line（4）The ice cube of upper covering；The base（6）On be provided with walking mechanism, it is described
Walking mechanism is mountable to power transmission line（4）On, drive the movement of protection robot；The body（1）On be additionally provided with for examining
Survey power transmission line（4）The line detection module of situation；The deicing mechanism, walking mechanism and line detection module all connect and are controlled by
It is arranged on body（1）Interior protection robot control system.
2. a kind of power transmission line according to claim 1 protects robot, it is characterised in that：The deicing mechanism includes cutting
Cutting knife tool group, lower cutting tool group；The upper cutting tool group is arranged on power transmission line（4）Top, two are provided with which can revolve
Turn the cutter of cutting, its center of rotation is located in same level, and the cutter in the upper cutting tool group is divided on first to be cut
Cutting knife tool（15）With second on cutting tool（17）；The lower cutting tool group is arranged on power transmission line（4）Lower section, is provided with which
The cutter of two rotatable cuttings, its center of rotation are located in same level, and the cutter in the lower cutting tool group is divided into
First time cutting tool（10）With second time cutting tool（7）；Cutting tool on described first（15）With first time cutting tool
（10）Alignment, cutting tool on second（17）With second time cutting tool（7）Alignment；Cutting tool on described first（15）With
Cutting tool on two（17）It is attached by chaindriven mode and realizes synchronous axial system, cutting tool on described first（15）
It is connected with upper cutting tool group motor as drivewheel；First time cutting tool（10）With second time cutting tool
（7）It is attached by chaindriven mode and realizes synchronous axial system, first time cutting tool（10）As drivewheel with
Lower cutting tool group motor is connected.
3. a kind of power transmission line according to claim 2 protects robot, it is characterised in that：The cutter include be arranged on remove
Ice chamber（2）Interior rotating shaft（20）, the rotating shaft（20）On blade is installed（21）And sprocket wheel（18）；The blade（21）For four sides
Shape, the blade（21）Upper cutting edge and lower cutting edge in the middle part of offer forming and cutting mouth；The tetragon blade（21）
The plane of composition and rotating shaft（20）Axis it is in the same plane, and upper cutting edge and lower cutting edge are with regard to rotating shaft（20）Axle
Line is symmetrical.
4. a kind of power transmission line according to claim 3 protects robot, it is characterised in that：The walking mechanism bag is arranged on
Base（6）On front walking wheel bracing frame（12）With rear walking wheel bracing frame（5）, the front walking wheel bracing frame（12）Upper end sets
It is equipped with front walking wheel（13）, the front walking wheel（13）With installed in front walking wheel bracing frame（12）The front walking wheel of upper end drives
Motor is connected；The rear walking wheel bracing frame（5）Upper end is provided with rear walking wheel（3）, the rear walking wheel and rear walking wheel
Support（5）The rear walking wheel motor of upper end is connected.
5. a kind of power transmission line according to claim 4 protects robot, it is characterised in that：The front walking wheel（13）With it is rear
Road wheel（3）Wheel mask cave inward in " V " type, offer some uniform antiskid grooves on the two sides of " V " type.
6. a kind of power transmission line according to claim 5 protects robot, it is characterised in that：The body（1）Bottom is arranged
There is the ice discharging hole of some insertion bottoms（8）, the ice discharging hole（8）With deicing chamber（2）Bottom connection.
7. a kind of power transmission line according to claim 6 protects robot, it is characterised in that：The deicing chamber（2）Top sets
There is cavity（16）, the cavity（16）Protection robot control system is provided with inside；The protection robot control system includes preventing
Shield robot main controller, is connected with power module, the control of upper cutting tool group motor on protection robot main controller
Module, lower cutting tool group motor control module, front walking wheel motor control module, rear walking wheel motor control
Molding block and line detection module；Cutting tool group motor control module is gone up wherein with upper cutting tool group motor phase
Even, lower cutting tool group motor control module is connected with lower cutting tool group motor, front walking wheel motor control
Molding block is connected with front walking wheel motor；Rear walking wheel motor control module is connected with rear walking wheel motor；
The protection robot control system is also connected with long distance control system by wireless communication module.
8. a kind of power transmission line according to claim 7 protects robot, it is characterised in that：The line detection module includes
First detection photographic head（14）, second detection photographic head（11）And image processing module, wherein the first detection photographic head（14）With
Second detection photographic head（11）It is connected with robot main controller is protected by image processing module respectively；The first detection shooting
Head（14）Installed in body（1）Front portion；The second detection photographic head（11）Installed in base（6）Front portion.
9. a kind of power transmission line according to claim 8 protects robot, it is characterised in that：The control system of protection robot
Locating module and positional information memory module are also associated with system.
10. a kind of power transmission line according to claim 9 protects robot, it is characterised in that：The long distance control system bag
Long distance control system main controller is included, and display screen, alarm module, alarm signal is connected with the long distance control system main controller and is taken
Disappear button and positional information reception memory module；The monitoring system main controller is by wireless communication module and protection robot master
Control device is connected；The alarm module includes alarming horn and alarm lamp.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621049730.1U CN206148843U (en) | 2016-09-12 | 2016-09-12 | Power transmission line protection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621049730.1U CN206148843U (en) | 2016-09-12 | 2016-09-12 | Power transmission line protection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206148843U true CN206148843U (en) | 2017-05-03 |
Family
ID=58619515
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621049730.1U Expired - Fee Related CN206148843U (en) | 2016-09-12 | 2016-09-12 | Power transmission line protection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206148843U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106451203A (en) * | 2016-09-12 | 2017-02-22 | 成都创慧科达科技有限公司 | Power transmission line protection robot |
| CN108550321A (en) * | 2018-03-26 | 2018-09-18 | 深圳市中科智诚科技有限公司 | A kind of direction board that the security performance with cleaning function is high |
| CN109328706A (en) * | 2018-10-09 | 2019-02-15 | 翁琦 | The surfaces of wires bending pruning clipping apparatus of branch can be removed along high-tension bus-bar automatically |
-
2016
- 2016-09-12 CN CN201621049730.1U patent/CN206148843U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106451203A (en) * | 2016-09-12 | 2017-02-22 | 成都创慧科达科技有限公司 | Power transmission line protection robot |
| CN108550321A (en) * | 2018-03-26 | 2018-09-18 | 深圳市中科智诚科技有限公司 | A kind of direction board that the security performance with cleaning function is high |
| CN108550321B (en) * | 2018-03-26 | 2020-05-05 | 浙江邦耀电气有限公司 | Sign that security performance is high with clean function |
| CN109328706A (en) * | 2018-10-09 | 2019-02-15 | 翁琦 | The surfaces of wires bending pruning clipping apparatus of branch can be removed along high-tension bus-bar automatically |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170503 Termination date: 20180912 |
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| CF01 | Termination of patent right due to non-payment of annual fee |