A high-voltage transmission line inspection robot operating in three modes of flying, climbing and sliding

Abstract

The invention discloses a high-voltage power transmission line inspection robot operating in three molds of flying, climbing and sliding. The robot comprises a four-rotor aircraft and four bionic arms which are connected with the four-rotor aircraft. The robot further comprises two functional pawls which are used for grabbing a high-voltage line. Each of the two functional pawls comprises a wrist part, a palm, two functional fixing pawls, two functional movable pawls and a worm gear mechanism. The high-voltage power transmission line inspection robot realizes movement in a manner of simulating swinging of a gibbon on a line. Two functional movable pawls are driven to rotate through a sliding motor. The two functional movable pawls drive the two functional fixing pawls to rotate, thereby realizing sliding of the integral structure of the robot on the high-voltage line. Flight of the robot is realized through a four-rotor propeller. The high-voltage power transmission line inspection robot can realize three-modal inspection and furthermore can get close to the power transmission line in a short distance. Furthermore the high-voltage power transmission line inspection robot has advantages of high moving speed, high inspection precision and high working efficiency.

Description

【Technical field】 [0001] The invention relates to the field of inspection robots for high-voltage electric wires, in particular to an inspection robot for high-voltage transmission lines operating in three modes of flying, climbing and sliding. 【Background technique】 [0002] The defects of high-speed transmission lines mainly include broken strands, loose strands, rust, defects, missing, displacement, lightning strikes, pollution, wear, corrosion, etc., especially the oxidation corrosion of metal fittings on transmission lines, loose joints, and insulator aging, cracking and Defects and failures such as breakdown seriously threaten the safe operation of the transmission system, so it is of great engineering significance to implement effective and timely inspections of high-voltage transmission lines. [0003] For a long time, the inspection of high-voltage transmission lines has mainly relied on manual observation, manual maintenance, high-altitude climbing, live-line work,...

AI Technical Summary

Problems solved by technology

[0003] For a long time, the inspection of high-voltage transmission lines has mainly relied on manual observation, manual maintenance, high-altitude climbing, live-line work, high risk and high intensity, and due to the wide distribution of high-voltage transmission lines, complex geographical conditions, and snow in winter mountains, etc. Environmental factors make manual inspection labor-intensive, low work efficiency, low detection accuracy and poor reliability; Ground visual inspection personnel carry detection equipment on the ground for inspection, which is labor-intensive, far away from the line tower, and low detection accuracy. Line towers across rivers and mountains cannot be inspected; aerial survey method (helicopter\UAV inspection) aerial survey inspection speed is fast, but in order to maintain a safe distance between the aircraft and the line tower, close inspection cannot be carried out; bad weather conditions It is impossible to conduct inspections under the environment; helicopter inspections require pilots, with cumbersome procedures and high costs; UAV inspections can be guided by GPS independently, with limited load and short battery life; robot inspections use the phase wires or ground wires of high-voltage transmission lines as their operations path, carry detection equipment, conduct reconnaissance of transmission line corridors

It can approach the transmission line at a short distance, and the inspection accuracy is high. It can perform routine inspections on the equipment on the line, and can also perform defect repairs on the transmission line, but its moving speed is slow and the work efficiency is low.

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