A high-voltage transmission line obstacle inspection robot

Abstract

The present invention relates to the field of power transmission line inspection technology, specifically a high-voltage power transmission line obstacle-crossing inspection robot, comprising an inspection support plate, on which a protective mounting seat is fixedly mounted, on which a balance detector is fixedly mounted, and on which two sets of driving devices are fixedly mounted, and further comprising: an H-shaped adjustment channel, on which the H-shaped adjustment channel is fixedly mounted, and in which two center of gravity adjustment blocks are slidably mounted; and a center of gravity offset adjustment component, which is connected to the H-shaped adjustment channel and detachably connected to the center of gravity adjustment block; the high-voltage power transmission line obstacle-crossing inspection robot of the present invention can prevent the inspection robot from tilting to the side where a manipulator is loosened due to an unstable center of gravity, thereby ensuring that another part of the manipulator that has not been separated from the high-voltage power transmission line moves smoothly.

Description

Technical Field

[0001] The invention relates to the technical field of power transmission line inspection, in particular to a high-voltage transmission line obstacle-crossing inspection robot. Background Art

[0002] As society's demand for power quality and reliability continues to increase, the inspection and maintenance of power lines has become increasingly important and complex, which has put forward higher requirements for the work efficiency and safety of power workers. The traditional inspection method is not only labor-intensive, but also has certain safety risks. Especially in harsh environments and complex terrain conditions, the efficiency and effectiveness of manual inspections are limited. In order to solve these problems, Western countries such as the United States, Canada and Japan have taken the lead in the research and development of high-voltage transmission line inspection robots since the late 1980s. These robots are equipped with advanced sensors and control systems, and can crawl and overcome obstacles autonomously on high-voltage transmission lines, and perform various inspection tasks, such as line body inspection, channel environment inspection, joint position temperature measurement, line sag measurement, cross-span measurement, tree barrier analysis and three-dimensional modeling. At the same time, these robots also have the capabilities of fully autonomous operation, full line coverage, all-weather adaptation, online energy replenishment, and autonomous online and offline, which significantly improves the efficiency and accuracy of inspections. In the development history of high-voltage transmission line inspection robots, many types of robots have emerged, such as overhead transmission line inspection robots, deicing robots and cable tunnel inspection robots. Among them, overhead power line inspection robots are the most representative. They walk on the ground wires of high-voltage overhead power lines and replace manual inspections of the entire line. These robots not only reduce the labor intensity of power workers, but also improve the safety and efficiency of inspection work.

[0003] During the use of the existing high-voltage transmission line obstacle-crossing inspection robot, when the inspection robot crosses an obstacle on the high-voltage transmission line, such as tightening an insulator, a part of the manipulator of the driving equipment on the inspection robot needs to be temporarily separated from the high-voltage transmission line. During this process, the center of gravity of the inspection robot is unstable, and the inspection robot will tilt to the side where the manipulator is loose. On the one hand, it may affect the smooth movement of the other part of the manipulator that has not been separated from the high-voltage transmission line. On the other hand, it may cause the suspended inspection robot to shake or even fall off, thereby affecting the smooth progress of the inspection operation and being inconvenient to use. Therefore, in view of the above situation, it is urgent to develop a high-voltage transmission line obstacle-crossing inspection robot to overcome the shortcomings in current practical applications. Summary of the invention

[0004] The purpose of the present invention is to provide a high-voltage transmission line obstacle-crossing inspection robot to solve the problems raised in the above-mentioned background technology.

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

[0006] A high-voltage transmission line obstacle inspection robot comprises an inspection support plate, a protective mounting seat is fixedly mounted on the inspection support plate, a balance detector is fixedly mounted on the protective mounting seat, and two sets of driving devices are also fixedly mounted on the inspection support plate, and further comprises:

[0007] An H-shaped adjustment channel, wherein the H-shaped adjustment channel is fixedly mounted on the inspection support plate, and two center of gravity adjustment blocks are slidably mounted in the H-shaped adjustment channel;

[0008] Wherein, two sets of driving devices are respectively located at two ends of the H-shaped regulating channel;

[0009] and a center of gravity offset adjustment component, the center of gravity offset adjustment component is connected to the H-shaped adjustment channel and is detachably connected to the center of gravity adjustment block, and the center of gravity offset adjustment component is also detachably connected to the driving device;

[0010] The center of gravity offset adjustment component includes: an inlet and outlet notch, and the inlet and outlet notch is opened on the H-shaped adjustment channel;

[0011] A driving member 1, wherein the driving member 1 is fixedly installed in the H-shaped adjustment channel, and a movable sliding seat is fixedly installed on the output end of the driving member 1, and the movable sliding seat is slidably connected to the inner wall of the H-shaped adjustment channel;

[0012] A pushing translation plate, wherein the pushing translation plate is clamped in the moving sliding seat and is slidably connected to the moving sliding seat, and an anti-skid pad is also provided on the pushing translation plate, and the anti-skid pad is detachably connected to the driving device;

[0013] A square pushing seat, the square pushing seat is fixedly mounted on the pushing translation plate;

[0014] And a pushing control unit, wherein the pushing control unit is fixedly connected to the center of gravity adjusting block and detachably connected to the square pushing seat.

[0015] As a further solution of the present invention: the driving device includes an opening and closing driving component and a walking control component;

[0016] There are two sets of opening and closing drive components, both of which are connected to the inspection support plate and are respectively located at the two ends of the H-shaped adjustment channel, and a walking control component is also provided on the opening and closing drive component.

[0017] As a further solution of the present invention: it also includes: a detection camera and a control panel, wherein the detection camera and the control panel are both fixedly mounted on the H-shaped adjustment channel, and the control panel is also electrically connected to the center of gravity offset adjustment component;

[0018] A wiring connection slot, the wiring connection slot is provided on the inspection support plate;

[0019] And an anti-collision strip, wherein the anti-collision strip is fixedly mounted on the bottom end of the protective mounting seat.

[0020] As a further solution of the present invention: two square clamping plates are fixedly mounted on each of the center of gravity adjustment blocks, the two square clamping plates are respectively located on the upper and lower ends of the center of gravity adjustment block, and the square clamping plates are slidably connected to the inner wall of the H-shaped adjustment channel;

[0021] A position detector is fixedly mounted on each of the square card plates.

[0022] As a further solution of the present invention: each set of the opening and closing drive assembly includes two sets of obstacle-crossing opening and closing units;

[0023] Two sets of obstacle-crossing opening and closing units are symmetrically arranged on the inspection support plate. When passing through obstacles on the high-voltage transmission line, the two sets of obstacle-crossing opening and closing units simultaneously move in opposite directions on the inspection support plate and separate from the high-voltage transmission line.

[0024] As a further solution of the present invention: the obstacle-crossing opening and closing unit comprises:

[0025] Support three, the support three is located on the inspection support plate, and a rotating support plate is rotatably mounted on the support three;

[0026] A steering adjustment column, which is inserted into the other end of the rotating support plate and is rotatably connected to the rotating support plate, and is also fixedly connected to the travel control assembly;

[0027] Support 1, the support 1 is fixedly mounted on the inspection support plate, and a square rotating block is rotatably mounted on the other end of the support 1;

[0028] A guide slide rod, one end of which is fixedly connected to the steering adjustment column, and the other end of which is inserted into the square rotating block and slidably connected to the square rotating block;

[0029] and a driving unit, wherein the driving unit is connected to the inspection support plate and the rotating support plate respectively.

[0030] As a further solution of the present invention: the driving unit includes:

[0031] Support 2, the support 2 is fixedly mounted on the inspection support plate;

[0032] A telescopic cylinder, one end of which is rotatably connected to the second support;

[0033] And a driving rotating rod, one end of which is fixedly connected to the rotating support plate and is rotationally connected to the support seat, and the other end of the driving rotating rod is rotationally connected to the output end of the telescopic cylinder, wherein the driving rotating rod and the rotating support plate are staggered.

[0034] As a further solution of the present invention: the walking control component includes:

[0035] A control mounting seat, the control mounting seat is fixedly connected to the steering adjustment column, and a plurality of motors are fixedly mounted on the control mounting seat;

[0036] A rotating shaft, the rotating shaft is rotatably mounted on the control mounting seat, and a plurality of the rotating shafts are respectively fixedly connected to output ends of a plurality of the motors;

[0037] And a traveling roller, wherein the traveling roller is fixedly mounted on the rotating shaft and a clamping groove is arranged on the traveling roller.

[0038] As a further solution of the present invention: the pushing control unit includes:

[0039] A control box, wherein the number of the control boxes is four, and the four control boxes are respectively located on the four side walls of the center of gravity adjustment block;

[0040] A positioning groove, which is provided on the control box and is detachably connected to the square push seat;

[0041] A pull-out power supply body, wherein the pull-out power supply body is inserted into the control box;

[0042] And an electromagnetic adsorption strip, the number of the electromagnetic adsorption strips is multiple, the multiple electromagnetic adsorption strips are evenly distributed in the positioning groove, and are electrically connected to the pull-out power supply body.

[0043] As a further solution of the present invention: the center of gravity offset adjustment also includes an offset driving device, the offset driving device is fixedly installed on the H-shaped adjustment channel, and a square pushing seat is also installed on the offset driving device.

[0044] Compared with the prior art, the present invention has the following beneficial effects:

[0045] When inspecting high-voltage transmission lines, first, the relevant detection equipment, power supply equipment and signal equipment can be integrated and installed on the protective mounting seat, and connected to the detection camera and the control panel through the cable passing through the wiring connection groove. After the inspection is completed, under the protection of the anti-collision strip, the entire inspection equipment can be landed smoothly on the ground, and then, through the set driving equipment (the two sets of driving equipment can achieve the function of crossing obstacles by alternately separating from obstacles, wherein the driving equipment can adopt existing technology, for example, mainly including a single-arm mechanism, a double-arm mechanism, a driving wheel, a control system and a sensor system, and the driving wheel can be detachably connected to the center of gravity offset adjustment component, and other components are fixedly installed on the designated position of the inspection support plate according to the installation requirements, which will not be described in detail here), the whole equipment is moved forward to inspect the high-voltage line. When the inspection robot encounters an obstacle on the high-voltage transmission line, such as a tightening insulator, because the top of the high-voltage transmission line is blocked, at this time, one set of the driving equipment can be separated from the high-voltage transmission line, and then the center of gravity offset adjustment component is driven to work. , because the driving device at the front end of the equipment is in a separated state, at this time, the front end of the equipment loses the pulling force of the high-voltage transmission line, then the equipment will tilt forward when the center of gravity of the whole equipment remains unchanged, and at this time, the driving device in the separated state will drive the center of gravity adjustment block to move in the H-type adjustment channel (towards the rear of the equipment), wherein a plurality of inspection covers are arranged on the H-type adjustment channel to inspect and repair various components in the H-type adjustment channel, in addition, the center of gravity adjustment block can be in the form of a metal block with a high density, as the center of gravity adjustment block moves backward, it will approach the position of the driving device in the clamping state at the rear of the equipment, so that the center of gravity of the equipment can be moved backward, so that the inspection robot is in a balanced state again (the balance of the whole equipment is detected by the balance detector), the operation is simple, and the inspection robot can be prevented from tilting to the side where the manipulator is loose due to unstable center of gravity, thereby ensuring the smooth movement of the other part of the manipulator that is not separated from the high-voltage transmission line, and the risk of shaking or even falling of the suspended inspection robot can be avoided as much as possible, which provides convenience for the inspection of high-voltage transmission lines. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 It is a schematic diagram of the three-dimensional structure of the inspection robot in the top view according to the embodiment of the present invention.

[0047] Figure 2 It is a schematic diagram of the three-dimensional structure of the inspection robot in an embodiment of the present invention when viewed from above.

[0048] Figure 3 It is a schematic diagram of the three-dimensional structure of the H-type regulating channel in an embodiment of the present invention.

[0049] Figure 4 It is a schematic diagram of the three-dimensional structure of the driving rotating rod in an embodiment of the present invention.

[0050] Figure 5 It is a schematic diagram of the three-dimensional structure of the rotating support plate in an embodiment of the present invention.

[0051] Figure 6 It is a schematic diagram of the three-dimensional structure of the distribution of the traveling rollers in an embodiment of the present invention.

[0052] Figure 7 It is a schematic diagram of the three-dimensional structure of the pushing translation plate in an embodiment of the present invention.

[0053] Figure 8 It is a schematic diagram of the three-dimensional structure of the square pushing seat in the embodiment of the present invention.

[0054] Fig. 9 It is a schematic diagram of the three-dimensional structure of the center of gravity adjustment block in the top view in an embodiment of the present invention.

[0055] Fig.10 It is a schematic diagram of the three-dimensional structure of the center of gravity adjustment block in an embodiment of the present invention when viewed from above.

[0056] In the figure: 1-inspection support plate, 2-protection mounting seat, 3-balance detector, 4-H-type adjustment channel, 5-detection camera, 6-entry and exit gap, 7-anti-collision strip, 8-wiring connection slot, 9-control panel, 10-offset drive device, 11-pushing translation plate, 12-inspection cover, 13-support one, 14-square rotating block, 15-guide slide bar, 16-telescopic cylinder, 17-support two, 18-support three, 19-driving rotating rod, 20-rotating support plate, 2 1-steering adjustment column, 22-control mounting seat, 23-motor, 24-rotating shaft, 25-travel roller, 26-card slot, 27-anti-slip pad, 28-moving sliding seat, 29-driving member 1, 30-sponge columnar body, 31-guide seat, 32-driving member 2, 33-square pushing seat, 34-center of gravity adjustment block, 35-square card plate, 36-position detector, 37-control box, 38-positioning groove, 39-electromagnetic adsorption strip, 40-pull-out power supply body. DETAILED DESCRIPTION

[0057] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0058] The specific implementation of the present invention is described in detail below in conjunction with specific embodiments.

[0059] See also Figure 1-Figure 10The embodiment of the present invention provides a high-voltage transmission line obstacle inspection robot, comprising an inspection support plate 1, on which a protection mounting seat 2 is fixedly mounted, on which a balance detector 3 is fixedly mounted, and on which two sets of driving devices are also fixedly mounted, and further comprising:

[0060] An H-shaped adjustment channel 4, wherein the H-shaped adjustment channel 4 is fixedly mounted on the inspection support plate 1, and two center of gravity adjustment blocks 34 are slidably mounted in the H-shaped adjustment channel 4;

[0061] Wherein, two sets of driving devices are respectively located at two ends of the H-shaped regulating channel 4;

[0062] And a center of gravity offset adjustment component, which is connected to the H-shaped adjustment channel 4 and is detachably connected to the center of gravity adjustment block 34, and the center of gravity offset adjustment component is also detachably connected to the driving device.

[0063] See also Figure 1-Figure 10 , further comprising: a detection camera 5 and a control panel 9, wherein the detection camera 5 and the control panel 9 are both fixedly mounted on the H-shaped adjustment channel 4, and the control panel 9 is also electrically connected to the center of gravity offset adjustment component;

[0064] A wiring connection slot 8, wherein the wiring connection slot 8 is provided on the inspection support plate 1;

[0065] And an anti-collision strip 7, wherein the anti-collision strip 7 is fixedly mounted on the bottom end of the protective mounting seat 2.

[0066] Two square clamping plates 35 are fixedly mounted on each of the gravity center adjustment blocks 34. The two square clamping plates 35 are respectively located at the upper and lower ends of the gravity center adjustment block 34, and the square clamping plates 35 are slidably connected to the inner wall of the H-shaped adjustment channel 4.

[0067] A position detector 36 is fixedly mounted on each of the square clamping plates 35 .

[0068] When inspecting the high-voltage transmission line, first, the relevant detection equipment, power supply equipment and signal equipment can be integrated and installed on the protective mounting seat 2, and connected to the detection camera 5 and the control panel 9 after the cable passes through the wiring connecting groove 8. After the inspection is completed, under the protection of the anti-collision strip 7, the entire inspection equipment can be landed smoothly on the ground, and then, through the set driving equipment (the two sets of driving equipment can achieve the function of crossing the obstacle by alternately separating from the obstacle, wherein the driving equipment can adopt the existing technology, for example, mainly including a single-arm mechanism, a double-arm mechanism, a driving wheel, a control system and a sensor system, and the driving wheel can be detachably connected to the center of gravity offset adjustment component, and other components are fixedly installed on the specified position of the inspection support plate 1 according to the installation requirements, which will not be described in detail here), the whole equipment is moved forward to inspect the high-voltage line. When the inspection robot encounters an obstacle on the high-voltage transmission line, such as a tightening insulator, because the top of the high-voltage transmission line is blocked, at this time, one set of the driving equipment can be separated from the high-voltage transmission line, and then the center of gravity offset adjustment component is driven to work. The driving device at the front end of the equipment is in a separated state. At this time, the front end of the equipment loses the pulling force of the high-voltage transmission line. Then, under the condition that the center of gravity of the whole equipment remains unchanged, the equipment will tilt forward. At this time, the driving device in the separated state will drive the center of gravity adjustment block 34 to move in the H-shaped adjustment channel 4 (towards the rear of the equipment). Among them, a plurality of inspection covers 12 are provided on the H-shaped adjustment channel 4 to inspect and repair various components in the H-shaped adjustment channel 4. In addition, the center of gravity adjustment block 34 can be in the form of a metal block with a relatively high density. As the center of gravity adjustment block 34 moves backward and approaches the position of the driving device in the clamping state behind the equipment, so that the center of gravity of the equipment can be moved backward, so that the inspection robot is in a balanced state again (the balance of the whole equipment is detected by the balance detector 3). The operation is simple, and it can prevent the inspection robot from tilting to the side where the manipulator is loose due to unstable center of gravity, thereby ensuring the smooth movement of the other part of the manipulator that has not been separated from the high-voltage transmission line, and can minimize the risk of shaking or even falling of the suspended inspection robot, which provides convenience for the inspection of high-voltage transmission lines.

[0069] In one embodiment of the present invention, see Figure 1-Figure 10 , the driving device includes an opening and closing driving component and a walking control component;

[0070] There are two sets of the opening and closing drive components, both of which are connected to the inspection support plate 1 and are respectively located at the two ends of the H-shaped adjustment channel 4, and a walking control component is also provided on the opening and closing drive component.

[0071] In one embodiment of the present invention, see Figure 1-Figure 10, each set of the opening and closing drive assembly includes two sets of obstacle-crossing opening and closing units;

[0072] Two sets of obstacle-crossing opening and closing units are symmetrically arranged on the inspection support plate 1. When passing through obstacles on the high-voltage transmission line, the two sets of obstacle-crossing opening and closing units simultaneously move in opposite directions on the inspection support plate 1 and separate from the high-voltage transmission line.

[0073] The obstacle-crossing opening and closing unit comprises:

[0074] Support three 18, the support three 18 is located on the inspection support plate 1, and a rotating support plate 20 is rotatably mounted on the support three 18;

[0075] A steering adjustment column 21, which is inserted into the other end of the rotating support plate 20 and is rotatably connected to the rotating support plate 20, and is also fixedly connected to the travel control assembly;

[0076] Support 13, the support 13 is fixedly mounted on the inspection support plate 1, and a square rotating block 14 is rotatably mounted on the other end of the support 13;

[0077] A guide slide bar 15, one end of which is fixedly connected to the steering adjustment column 21, and the other end of which is inserted into the square rotating block 14 and slidably connected to the square rotating block 14;

[0078] And a driving unit, wherein the driving unit is connected to the inspection support plate 1 and the rotating support plate 20 respectively.

[0079] The driving unit comprises:

[0080] Support 2 17, the support 2 17 is fixedly mounted on the inspection support plate 1;

[0081] A telescopic cylinder 16, one end of which is rotatably connected to the second support 17;

[0082] And a driving rotating rod 19, one end of which is fixedly connected to the rotating support plate 20 and is rotatably connected to the support three 18, and the other end of the driving rotating rod 19 is rotatably connected to the output end of the telescopic cylinder 16, wherein the driving rotating rod 19 and the rotating support plate 20 are staggered.

[0083] See also Figure 1-Figure 10 , the walking control component includes:

[0084] A control mounting seat 22, wherein the control mounting seat 22 is fixedly connected to the steering adjustment column 21, and a plurality of motors 23 are fixedly mounted on the control mounting seat 22;

[0085] A rotating shaft 24, wherein the rotating shaft 24 is rotatably mounted on the control mounting seat 22, and a plurality of the rotating shafts 24 are respectively fixedly connected to output ends of a plurality of the motors 23;

[0086] and a traveling roller 25 , wherein the traveling roller 25 is fixedly mounted on the rotating shaft 24 and a clamping slot 26 is provided on the traveling roller 25 .

[0087] By setting the opening and closing drive component, the walking control component can be driven to work in two working states, one of which is that the walking control component is clamped on the high-voltage transmission line, and driven by the walking control component, the whole equipment is moved forward to inspect the high-voltage line. When the inspection robot encounters an obstacle on the high-voltage transmission line, such as tightening the insulator, the upper part of the high-voltage transmission line is blocked. At this time, the walking control component can be driven to enter another working state by the opening and closing drive component, so that the walking control component can be separated from the high-voltage transmission line, and then the center of gravity offset adjustment component is driven to work (wherein, the number of the opening and closing drive components and the walking control components is multiple sets. When the inspection robot walks on the high-voltage transmission line, a set of opening and closing drive components and walking control components located at the front end of the whole equipment will reach the high-voltage transmission line first. At the obstacle, at this time, this group of walking control components is in a separated state, while the other groups of opening and closing drive components and walking control components on the equipment are still in a state of clamping the high-voltage transmission line to prevent the inspection robot from being separated from the high-voltage transmission line. When the inspection robot continues to move forward, the other groups of opening and closing drive components and walking control components on the equipment are opened and closed in sequence, thereby achieving the purpose of crossing the obstacle). Since the walking control component at the front end of the equipment is in a separated state, at this time, the front end of the equipment loses the pulling force of the high-voltage transmission line. Then, under the condition that the center of gravity of the whole equipment remains unchanged, the equipment will tilt forward. At this time, the walking control component in the separated state will drive the center of gravity adjustment block 34 to move in the H-shaped adjustment channel 4 (towards the rear of the equipment), so that the center of gravity of the equipment can be moved backward, so that the inspection robot is in a balanced state again;

[0088] When the two sets of traveling rollers 25 located at the front end of the equipment need to be separated from the high-voltage transmission line (wherein, during the operation of the walking control component, the high-voltage transmission line is card-mounted in the card slot 26, and under the driving action of the motor 23, the rotating shaft 24 drives the traveling rollers 25 to rotate, so that the inspection robot travels on the high-voltage transmission line. In order to ensure the stability of the connection between the traveling rollers 25 and the high-voltage transmission line during operation, a cylinder or an electric push rod is also provided directly below the traveling rollers 25, that is, on the inspection support plate 1, and the traveling rollers 25 are also rollingly installed on the cylinder or the electric push rod. Under the clamping action of the two traveling rollers 25 on the upper and lower sides of the high-voltage transmission line, the stability of the travel can be guaranteed, the inspection robot can be prevented from being separated from the high-voltage transmission line, and the safety of the operation can be guaranteed. The above all belong to the prior art and are not shown in the figure), the telescopic cylinder 16 is started. , the driving rotating rod 19 can be pulled to rotate, and the rotating support plate 20 can be driven to rotate synchronously (the control panel can be rotated 90 degrees outward), wherein there is a certain angle between the driving rotating rod 19 and the rotating support plate 20. During the rotation of the rotating support plate 20, under the guiding action of the guide slide bar 15, the steering adjustment column 21 can be driven to rotate on the rotating support plate 20, and the traveling roller 25 in a horizontal state can be flipped to an approximately vertical state (there is an angle with the vertical direction after flipping, in order to subsequently make the card slot 26 in an inclined state in the H-shaped adjustment channel 4, it is convenient for impurities in the card slot 26 to fall downward under the action of their own gravity, thereby ensuring the cleanliness of the card slot 26 and facilitating the driving of the center of gravity offset adjustment component). The flipped traveling roller 25 will drive the center of gravity offset adjustment component to work, so that the entire device can always maintain a balanced state.

[0089] In one embodiment of the present invention, see Figure 1-Figure 10 , the center of gravity offset adjustment component includes:

[0090] An inlet and outlet notch 6, wherein the inlet and outlet notch 6 is provided on the H-shaped regulating channel 4;

[0091] A driving member 29, wherein the driving member 29 is fixedly installed in the H-shaped adjusting channel 4, and a movable sliding seat 28 is fixedly installed on the output end of the driving member 29, and the movable sliding seat 28 is slidably connected to the inner wall of the H-shaped adjusting channel 4;

[0092] A pushing translation plate 11, wherein the pushing translation plate 11 is clamped in the moving sliding seat 28 and is slidably connected to the moving sliding seat 28, and an anti-skid pad 27 is also provided on the pushing translation plate 11, and the anti-skid pad 27 is detachably connected to the driving device;

[0093] A square push seat 33, wherein the square push seat 33 is fixedly mounted on the push translation plate 11;

[0094] And a pushing control unit, which is fixedly connected to the center of gravity adjustment block 34 and detachably connected to the square pushing seat 33.

[0095] The push control unit comprises:

[0096] A control box 37, wherein the number of the control boxes 37 is four, and the four control boxes 37 are respectively located on the four side walls of the center of gravity adjustment block 34;

[0097] A positioning groove 38, which is provided on the control box 37 and is detachably connected to the square push seat 33;

[0098] A pull-out power supply body 40, wherein the pull-out power supply body 40 is inserted into the control box 37;

[0099] And the electromagnetic adsorption strips 39 , the number of the electromagnetic adsorption strips 39 is multiple, the multiple electromagnetic adsorption strips 39 are evenly distributed in the positioning groove 38 , and are electrically connected to the pull-out power supply body 40 .

[0100] The center of gravity offset adjustment also includes an offset driving device 10 , which is fixedly mounted on the H-shaped adjustment channel 4 , and a square pushing seat 33 is also mounted on the offset driving device 10 .

[0101] After the overturned traveling roller 25 enters the H-shaped adjustment channel 4 through the inlet and outlet notch 6, at this time, under the control of the sensor, the driving member 1 29 is energized, and the driving member 1 29 will push the moving sliding seat 28 to slide in the H-shaped adjustment channel 4, and drive the translation plate 11 to move synchronously until the translation plate 11 is moved into the slot 26. In addition, a sponge columnar body 30, a guide seat 31 and a driving member 2 32 can also be arranged in the H-shaped adjustment channel 4, wherein the driving member 1 29 and the driving member 2 32 can both be in the form of a cylinder. Under the driving action of the driving member 2 32, the guide seat 31 slides in the H-shaped adjustment channel 4 and pushes the sponge columnar body 30 into the card slot 26. In the subsequent rotation process of the traveling roller 25, the card slot 26 can be cleaned. No more details are given here. When the translation plate 11 is pushed into the card slot 26 and the anti-skid pad 27 is in contact with the card slot 26, the motor 23 is started to drive the traveling roller 25 to rotate. Under the driving action of the traveling roller 25, the translation plate 11 can be pushed to slide in the moving sliding seat 28, and finally the square pushing seat 33 enters the positioning groove 38. As the translation plate 11 continues to move, the square pushing seat 33 is The seat 33 will push the center of gravity adjustment block 34 to move. When the center of gravity adjustment block 34 moves away from the middle position of the entire device (detected by the position detector 36, and the position detector 36 can control the electromagnetic adsorption strip 39 to start, wherein the electromagnetic adsorption strip 39 can be in the form of an electromagnet), after the center of gravity adjustment block 34 moves, the electromagnetic adsorption strip 39 is energized and generates magnetism, thereby generating an adsorption force on the square push seat 33, thereby ensuring that the center of gravity adjustment block 34 moves smoothly, so as to achieve the purpose of changing the center of gravity position of the entire device. In addition, when the inspection robot is in the normal inspection operation process, if When encountering wind force and causing the device to shake left and right (detected by the balance detector 3), at this time, the offset drive device 10 is started, which can drive the square pushing seat 33 on the offset drive device 10 to move, and make the square pushing seat 33 contact with the positioning groove 38 set on another control box 37 on the center of gravity adjustment block 34, thereby driving the center of gravity adjustment block 34 located in the middle of the H-shaped adjustment channel 4 to move horizontally in the H-shaped adjustment channel 4, so as to reduce the impact of wind force on the device causing excessive shaking by changing the center of gravity position of the entire device. No further details will be given here.

[0102] It should be noted that in the present invention, unless otherwise clearly specified and limited, the terms "slide", "rotate", "fix", "have" and the like should be understood in a broad sense, for example, it can be a welding connection, a bolt connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0103] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A high-voltage transmission line obstacle inspection robot, comprising an inspection support plate, a protective mounting seat fixedly mounted on the inspection support plate, a balance detector fixedly mounted on the protective mounting seat, and two sets of driving devices fixedly mounted on the inspection support plate. It is characterized in that Also includes: An H-shaped adjustment channel, wherein the H-shaped adjustment channel is fixedly mounted on the inspection support plate, and two center of gravity adjustment blocks are slidably mounted in the H-shaped adjustment channel; Wherein, two sets of driving devices are respectively located at two ends of the H-shaped regulating channel; and a center of gravity offset adjustment component, the center of gravity offset adjustment component is connected to the H-shaped adjustment channel and is detachably connected to the center of gravity adjustment block, and the center of gravity offset adjustment component is also detachably connected to the driving device; The center of gravity offset adjustment component includes: an inlet and outlet notch, and the inlet and outlet notch is opened on the H-shaped adjustment channel; A driving member 1, wherein the driving member 1 is fixedly installed in the H-shaped adjustment channel, and a movable sliding seat is fixedly installed on the output end of the driving member 1, and the movable sliding seat is slidably connected to the inner wall of the H-shaped adjustment channel; A pushing translation plate, wherein the pushing translation plate is clamped in the moving sliding seat and is slidably connected to the moving sliding seat, and an anti-skid pad is also provided on the pushing translation plate, and the anti-skid pad is detachably connected to the driving device; A square pushing seat, the square pushing seat is fixedly mounted on the pushing translation plate; and a pushing control unit, wherein the pushing control unit is fixedly connected to the center of gravity adjustment block and detachably connected to the square pushing seat; The pushing control unit includes: a control box, the number of the control boxes is four, and the four control boxes are respectively located on the four side walls of the center of gravity adjustment block; A positioning groove, which is provided on the control box and is detachably connected to the square push seat; A pull-out power supply body, wherein the pull-out power supply body is inserted into the control box; And there are multiple electromagnetic adsorption strips, the multiple electromagnetic adsorption strips are evenly distributed in the positioning groove and are electrically connected to the pull-out power supply body.

2. The high-voltage transmission line obstacle inspection robot according to claim 1, It is characterized in that The driving device includes an opening and closing driving component and a walking control component; There are two sets of opening and closing drive components, both of which are connected to the inspection support plate and are respectively located at the two ends of the H-shaped adjustment channel, and a walking control component is also provided on the opening and closing drive component.

3. The high-voltage transmission line obstacle inspection robot according to claim 2, It is characterized in that Also includes: A detection camera and a control panel, wherein the detection camera and the control panel are both fixedly mounted on the H-shaped adjustment channel, and the control panel is also electrically connected to the center of gravity offset adjustment component; A wiring connection slot, the wiring connection slot is provided on the inspection support plate; And an anti-collision strip, wherein the anti-collision strip is fixedly mounted on the bottom end of the protective mounting seat.

4. The high-voltage transmission line obstacle inspection robot according to any one of claims 1 to 3, It is characterized in that Two square clamps are fixedly mounted on each of the center of gravity adjustment blocks, the two square clamps are respectively located on the upper and lower ends of the center of gravity adjustment block, and the square clamps are slidably connected to the inner wall of the H-shaped adjustment channel; A position detector is fixedly mounted on each of the square card plates.

5. The high-voltage transmission line obstacle inspection robot according to claim 2, It is characterized in that Each set of the opening and closing drive assembly includes two sets of obstacle-overcoming opening and closing units; Two sets of obstacle-crossing opening and closing units are symmetrically arranged on the inspection support plate. When passing through obstacles on the high-voltage transmission line, the two sets of obstacle-crossing opening and closing units simultaneously move in opposite directions on the inspection support plate and separate from the high-voltage transmission line.

6. The high-voltage transmission line obstacle inspection robot according to claim 5, It is characterized in that The obstacle-crossing opening and closing unit comprises: Support three, the support three is located on the inspection support plate, and a rotating support plate is rotatably mounted on the support three; A steering adjustment column, which is inserted into the other end of the rotating support plate and is rotatably connected to the rotating support plate, and is also fixedly connected to the travel control assembly; Support 1, the support 1 is fixedly mounted on the inspection support plate, and a square rotating block is rotatably mounted on the other end of the support 1; A guide slide rod, one end of which is fixedly connected to the steering adjustment column, and the other end of which is inserted into the square rotating block and slidably connected to the square rotating block; and a driving unit, wherein the driving unit is connected to the inspection support plate and the rotating support plate respectively.

7. The high-voltage transmission line obstacle inspection robot according to claim 6, It is characterized in that The driving unit comprises: Support 2, the support 2 is fixedly mounted on the inspection support plate; A telescopic cylinder, one end of which is rotatably connected to the second support; And a driving rotating rod, one end of which is fixedly connected to the rotating support plate and is rotationally connected to the support seat, and the other end of the driving rotating rod is rotationally connected to the output end of the telescopic cylinder, wherein the driving rotating rod and the rotating support plate are staggered.

8. The high-voltage transmission line obstacle inspection robot according to claim 7, It is characterized in that The walking control component comprises: A control mounting seat, the control mounting seat is fixedly connected to the steering adjustment column, and a plurality of motors are fixedly mounted on the control mounting seat; A rotating shaft, the rotating shaft is rotatably mounted on the control mounting seat, and a plurality of the rotating shafts are respectively fixedly connected to output ends of a plurality of the motors; And a traveling roller, wherein the traveling roller is fixedly mounted on the rotating shaft and a clamping groove is arranged on the traveling roller.

9. The high-voltage transmission line obstacle inspection robot according to claim 1, It is characterized in that The center of gravity offset adjustment also includes an offset driving device, which is fixedly installed on the H-shaped adjustment channel, and a square pushing seat is also installed on the offset driving device.

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