Deformation obstacle-crossing line patrol robot

Abstract

The invention relates to the technical field of line patrol robots, and particularly discloses a deformation obstacle-crossing line patrol robot which comprises an obstacle-crossing robot body, the obstacle-crossing robot body comprises two clamping arms located above the obstacle-crossing robot body, the ends of the clamping arms clamp an electric wire, and the outer wall of the electric wire is fixedly connected with an insulator; the obstacle crossing mechanism is located above the obstacle crossing robot, and the obstacle crossing mechanism can sense obstacles on one side of the obstacle crossing robot and deform to cross obstacles; when the obstacle crossing robot is used, the obstacle crossing robot can cover the shape of the obstacle crossing robot through the obstacle crossing mechanism when encountering a line obstacle in the process that the obstacle crossing robot inspects a line by itself, and the obstacle crossing robot can cross the obstacle more easily in cooperation with the adjusting mechanism; and tasks can be automatically executed in an overhead line or a narrow channel, and the requirements of manual monitoring and intervention are reduced, so that the overall working efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of line patrol robots, in particular to a deformable obstacle-crossing line patrol robot. Background Art

[0002] Power transmission lines are exposed in the wild for a long time. Due to the erosion of the natural environment, material aging and other factors, they are prone to wear, corrosion and other damages. If they are not repaired and replaced in time, minor damages may expand and eventually lead to serious accidents. Therefore, it is necessary to conduct regular inspections of transmission lines to understand the operation of transmission lines and changes in the environment around the lines, so as to timely discover and eliminate hidden dangers and ensure power supply safety. With the development of science and technology, line inspection robots can be used for line inspections to save manpower.

[0003] When the existing line inspection robot is in use, since insulators are usually installed at certain intervals on overhead lines, one end of the insulator fixes the wires, and the other end is usually fixed to the building, the line inspection robot slides around the wires for inspection and cannot cross the insulators. Usually, manual intervention is required or wires with fewer insulators are selected for line inspection, which is very inconvenient to use. For this reason, we propose a deformable obstacle-crossing line inspection robot. Summary of the invention

[0004] The purpose of the present invention is to provide a deformable obstacle-crossing line inspection robot to solve the problem that the line inspection robot proposed in the above background technology slides around the wire for inspection and cannot cross the insulator for further inspection, usually requiring manual intervention or selecting wires with fewer insulators for line inspection, which is very inconvenient to use.

[0005] To achieve the above object, the present invention provides the following technical solutions: a deformable obstacle-crossing line patrol robot, comprising an obstacle-crossing robot, the obstacle-crossing robot comprising two clamping arms located above the obstacle-crossing robot, the ends of the clamping arms clamping wires, and the outer wall of the wires is fixedly connected with an insulator;

[0006] The obstacle-crossing mechanism is located above the obstacle-crossing robot. The obstacle-crossing mechanism can sense obstacles on one side of the obstacle-crossing robot and deform to cross the obstacles.

[0007] The adjustment mechanism is located above the clamping arm, and the adjustment mechanism can adjust the contact angle between the clamping arm and the wire after the obstacle crossing mechanism is triggered.

[0008] Among them, the obstacle crossing mechanism includes a roller rotatably connected to the clamping arm, a sliding groove is provided on the surface of the clamping arm, a spring is fixedly connected to the inner wall of the sliding groove, a clamping block is fixedly connected to one end of the spring, the clamping block is located inside the sliding groove and is slidably connected to the sliding groove, the wire is clamped between the clamping block and the roller, a winding piece capable of pulling the clamping block to move downward is provided under the clamping block, and a trigger piece for triggering the winding piece is provided inside the clamping block in the forward direction of the obstacle crossing robot.

[0009] Among them, the trigger part includes a trigger groove opened at one end of the clamping block near the insulator, a limit groove is opened on the inner wall of the trigger groove, an electromagnetic block is slidably connected inside the trigger groove, electromagnet one and electromagnet two are fixedly connected at the bottom of the trigger groove, and limit plates are fixedly connected at both ends of the electromagnetic block. The limit plates are located inside the limit groove and are slidably connected to the limit groove.

[0010] Wherein, rubber blocks are fixedly connected at both ends of the electromagnetic block, and the rubber blocks tend to decrease from the electromagnetic block toward the electromagnet.

[0011] Among them, the winding part includes a driving motor fixedly connected to the upper end of the obstacle crossing robot, one end of the driving motor is provided with a motor output shaft, the upper end of the obstacle crossing robot is fixedly connected to the baffle, the motor output shaft abuts the baffle and is rotatably connected to the baffle, a rope is fixedly connected to the bottom of the clamping block, the end of the rope away from the clamping block is fixedly connected to the motor output shaft, the rope is wound around the periphery of the motor output shaft, the driving motor is connected to the electromagnet 1 circuit, and the electromagnet 2 is connected to the internal power supply circuit of the obstacle crossing robot.

[0012] Wherein, an infrared sensor is fixedly connected to the outer wall of the clamping block.

[0013] The adjustment mechanism includes a plurality of rolling grooves opened at both ends of the roller, the inner wall of each rolling groove is fixedly connected to a fixed rod, the outer periphery of the fixed rod is rotatably connected to a rotating plate, and each rotating plate is arranged in a ring-shaped stack.

[0014] Among them, a connecting plate is fixedly connected to the bottom of the clamping block, and a piston rod is fixedly connected to the end of the connecting plate away from the clamping block. A piston cylinder is slidably connected to the periphery of the piston rod, and the piston cylinder is fixedly connected to the outer wall of the clamping arm. An air pipe is fixedly connected to the bottom of the piston cylinder, and the piston cylinder is connected to the air pipe. The end of the air pipe away from the piston cylinder is located above the roller, and an air bag is fixedly connected to the end of the air pipe away from the piston cylinder. The air pipe is connected to the air bag, and the air bag is located between the rotating plates at both ends.

[0015] The present invention has at least the following beneficial effects:

[0016] When the present invention is in use, when the obstacle-crossing robot encounters a line obstacle during its self-patrol and line inspection, the obstacle-crossing robot can cover its own shape through the obstacle-crossing mechanism, and cooperate with the adjustment mechanism to enable the obstacle-crossing robot to cross the obstacle more easily. It can not only perform tasks independently in overhead lines or narrow passages, but also reduce the need for manual monitoring and intervention, thereby improving overall work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the overall structure of the obstacle-crossing robot of the present invention;

[0018] Figure 2 This is a schematic diagram of the back structure of the obstacle-crossing robot of the present invention;

[0019] Figure 3 This is a schematic diagram of the structure of the clamping block of the present invention;

[0020] Figure 4 It is a schematic diagram of the cross-sectional structure of the clamping block of the present invention;

[0021] Figure 5 for Figure 4 Schematic diagram of the enlarged structure of the middle A area;

[0022] Figure 6 This is a schematic diagram of the structure of the adjustment mechanism of the present invention;

[0023] Figure 7 for Figure 6 Schematic diagram of the enlarged structure of the middle B area;

[0024] Figure 8 This is a schematic diagram of the cross-sectional structure of the piston cylinder of the present invention;

[0025] Fig. 9 for Figure 8 Schematic diagram of the enlarged structure of area C in the middle.

[0026] In the figure: 1. obstacle crossing robot; 11. clamping arm; 12. electric wire; 13. insulator; 2. obstacle crossing mechanism; 21. roller; 22. sliding groove; 23. spring; 24. clamping block; 25. infrared sensor; 3. adjustment mechanism; 31. rolling groove; 32. fixing rod; 33. rotating plate; 34. connecting plate; 35. piston rod; 36. piston cylinder; 37. air pipe; 38. airbag; 4. winding member; 41. driving motor; 42. motor output shaft; 43. baffle; 44. rope; 5. trigger member; 51. trigger groove; 52. limit groove; 53. electromagnetic block; 54. electromagnet one; 55. electromagnet two; 56. limit plate; 57. rubber block. DETAILED DESCRIPTION

[0027] 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.

[0028] Embodiment 1

[0029] See also Figure 1-9 The present invention provides a technical solution: a deformable obstacle-crossing line patrol robot, comprising an obstacle-crossing robot 1, wherein the obstacle-crossing robot 1 comprises two clamping arms 11 located above the obstacle-crossing robot 1, the ends of the clamping arms 11 clamp an electric wire 12, and an insulator 13 is fixedly connected to the outer wall of the electric wire 12;

[0030] Obstacle-crossing mechanism 2, which is located above the obstacle-crossing robot 1. The obstacle-crossing mechanism 2 can sense obstacles on one side of the obstacle-crossing robot 1 and deform to cross the obstacles;

[0031] An adjustment mechanism 3, the adjustment mechanism 3 is located above the clamping arm 11, and the adjustment mechanism 3 can adjust the contact angle between the clamping arm 11 and the wire 12 after the obstacle crossing mechanism 2 is triggered;

[0032] When the present invention is in use, when the obstacle-crossing robot 1 encounters a line obstacle during its self-patrol and line inspection, the obstacle-crossing robot 1 can cover its own shape through the obstacle-crossing mechanism 2, and cooperate with the adjustment mechanism 3 to make the obstacle-crossing robot 1 cross the obstacle more easily. It can not only perform tasks independently in overhead lines or narrow passages, but also reduce the need for manual monitoring and intervention, thereby improving overall work efficiency.

[0033] The obstacle crossing mechanism 2 includes a roller 21 rotatably connected to the clamping arm 11, a sliding groove 22 is provided on the surface of the clamping arm 11, a spring 23 is fixedly connected to the inner wall of the sliding groove 22, a clamping block 24 is fixedly connected to one end of the spring 23, the clamping block 24 is located inside the sliding groove 22 and is slidably connected to the sliding groove 22, the wire 12 is clamped between the clamping block 24 and the roller 21, when the obstacle crossing robot 1 is used to automatically patrol the line for inspection of the wire 12, the obstacle crossing robot 1 is first installed on the wire 12, so that the roller 21 at the end of the clamping arm 11 and the clamping block 24 clamp the wire 12, the obstacle crossing robot 1 can automatically patrol and inspect, and when the clamping block 24 moves downward and compresses the spring 23, the obstacle crossing robot 1 can be removed, which is very flexible to use.

[0034] A triggering member 5 for triggering the winding member 4 is arranged inside the clamping block 24 in the forward direction of the obstacle-crossing robot 1. The triggering member 5 includes a triggering groove 51 opened at one end of the clamping block 24 close to the insulator 13. A limiting groove 52 is opened on the inner wall of the triggering groove 51. An electromagnetic block 53 is slidably connected inside the triggering groove 51. An electromagnet 1 54 and an electromagnet 2 55 are fixedly connected to the bottom of the triggering groove 51. A limiting plate 56 is fixedly connected at both ends of the electromagnetic block 53. The limiting plate 56 is located inside the limiting groove 52 and is slidably connected to the limiting groove 52.

[0035] When the obstacle-crossing robot 1 encounters the insulator 13 in front during its patrol, the electromagnetic block 53 located at one end of the clamping block 24 close to the insulator 13 first touches the insulator 13, and the insulator 13 abuts against the electromagnetic block 53 and pushes the electromagnetic block 53, so that the electromagnetic block 53 contacts the electromagnet 1 54 and the electromagnet 2 55, so that the electromagnet 1 54 and the electromagnet 2 55 are energized, which paves the way for the winding piece 4 to pull the clamping block 24. Since the two ends of the electromagnetic block 53 are fixedly connected with rubber blocks 57, and the rubber The block 57 decreases from the electromagnetic block 53 toward the electromagnet 1 54. When the insulator 13 abuts against the electromagnetic block 53, the electromagnetic block 53 extends into the trigger slot 51 and squeezes the rubber block 57. When the insulator 13 no longer abuts against the electromagnetic block 53, the electromagnetic block 53 is reset by the rubber block 57 and slides out of the trigger slot 51. Since the limit plates 56 at both ends of the electromagnetic block 53 are engaged with the limit slots 52, the reset of the electromagnetic block 53 facilitates the next sliding contact with the electromagnet 1 54 and the electromagnet 2 55.

[0036] A winding member 4 capable of pulling the clamping block 24 downward is provided under the clamping block 24, and the winding member 4 includes a driving motor 41 fixedly connected to the upper end of the obstacle surmounting robot 1, and a motor output shaft 42 is provided at one end of the driving motor 41. A baffle 43 is fixedly connected to the upper end of the obstacle surmounting robot 1, and the motor output shaft 42 abuts against the baffle 43 and is rotatably connected to the baffle 43. A rope 44 is fixedly connected to the bottom of the clamping block 24, and one end of the rope 44 away from the clamping block 24 is fixedly connected to the motor output shaft 42, and the rope 44 is wound around the periphery of the motor output shaft 42. The driving motor 41 is connected to the electromagnet 1 54 circuit, and the electromagnet 2 55 is connected to the internal power supply circuit of the obstacle surmounting robot 1.

[0037] After the electromagnetic block 53 contacts the electromagnet 1 54 and the electromagnet 2 55, the driving motor 41 is energized, and the driving motor 41 rotates to reel in the rope 44 through the motor output shaft 42. The rope 44 pulls the clamping block 24 so that the clamping block 24 compresses the spring 23. At the same time, the clamping block 24 moves downward to avoid the insulator 13. When the clamping block 24 passes over the insulator 13, the insulator 13 no longer abuts the electromagnetic block 53. The obstacle crossing robot 1 can move above the wire 12 by rolling the roller 21, which can not only overcome obstacles, but also complete the task independently, thereby improving the autonomy and flexibility of the obstacle crossing robot 1 in patrol and inspection operations.

[0038] An infrared sensor 25 is fixedly connected to the outer wall of the clamping block 24. When the obstacle-crossing robot 1 passes over the insulator 13, the infrared sensor 25 on the outer wall of the rear clamping block 24 senses that the obstacle-crossing robot 1 has crossed the obstacle. At this time, the drive motor 41 reverses, and the drive motor 41 releases the rope 44 through the motor output shaft 42. The clamping block 24 loses the pull of the rope 44 and rises due to the reset of the spring 23, so that the clamping block 24 contacts the wire 12 again, making it convenient for the obstacle-crossing robot 1 to continue patrolling and inspecting.

[0039] Embodiment 2

[0040] The adjustment mechanism 3 includes a plurality of rolling grooves 31 opened at both ends of the roller 21, each rolling groove 31 is fixedly connected to a fixed rod 32 on the inner wall, and a rotating plate 33 is rotatably connected to the outer periphery of the fixed rod 32, and each rotating plate 33 is arranged in a ring-shaped stacked manner, a connecting plate 34 is fixedly connected to the bottom of the clamping block 24, and a piston rod 35 is fixedly connected to the end of the connecting plate 34 away from the clamping block 24, and a piston cylinder 36 is slidably connected to the outer periphery of the piston rod 35, the piston cylinder 36 is fixedly connected to the outer wall of the clamping arm 11, an air pipe 37 is fixedly connected to the bottom of the piston cylinder 36, the piston cylinder 36 is communicated with the air pipe 37, the end of the air pipe 37 away from the piston cylinder 36 is located above the roller 21, and an air bag 38 is fixedly connected to the end of the air pipe 37 away from the piston cylinder 36, the air pipe 37 is communicated with the air bag 38, and the air bag 38 is located between the rotating plates 33 at both ends.

[0041] After the clamping block 24 contacts the insulator 13, the driving motor 41 drives the clamping block 24 to move downward. The clamping block 24 drives the piston rod 35 to move downward through the connecting plate 34. At this time, the piston rod 35 slides in the piston cylinder 36. The piston rod 35 compresses the gas inside the piston cylinder 36 into the air pipe 37, and the air pipe 37 passes into the air bag 38. Since the air bag 38 is located above the roller 21, the air bag 38 is inflated to make the rotating plates 33 at both ends of the roller 21 rotate around the fixed rod 32. Since each rotating plate 3 3 are arranged in a ring-shaped stack, that is, the end of each rotating plate 33 is pressed above the head end of the next rotating plate 33. When one of the rotating plates 33 rotates around the fixed rod 32, the angle between the rotating plate 33 and the roller 21 will be enlarged. For an insulator 13 with a large surface obstacle on the wire 12 or a large contact position with the wire 12, the enlarged angle between the rotating plate 33 and the roller 21 will make it easier for the roller 21 to pass. When in use, it can be synchronized with the obstacle-crossing steps of the obstacle-crossing robot 1, which is very convenient to use.

[0042] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0043] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A deformable obstacle-crossing and line-patrolling robot, comprising: An obstacle-crossing robot (1), the obstacle-crossing robot (1) comprising two clamping arms (11) located above the obstacle-crossing robot (1), the ends of the clamping arms (11) clamping electric wires (12), the outer wall of the electric wire (12) being fixedly connected to an insulator (13); It is characterized by: also including: An obstacle-crossing mechanism (2), the obstacle-crossing mechanism (2) being located above the obstacle-crossing robot (1), and the obstacle-crossing mechanism (2) being capable of sensing an obstacle on one side of the obstacle-crossing robot (1) and deforming to cross the obstacle; An adjustment mechanism (3) is located above the clamping arm (11), and the adjustment mechanism (3) can adjust the contact angle between the clamping arm (11) and the wire (12) after the obstacle crossing mechanism (2) is triggered.

2. The deformable obstacle-crossing line patrol robot according to claim 1, characterized in that: The obstacle surmounting mechanism (2) comprises a roller (21) rotatably connected to a clamping arm (11); a sliding groove (22) is provided on the surface of the clamping arm (11); a spring (23) is fixedly connected to the inner wall of the sliding groove (22); one end of the spring (23) is fixedly connected to a clamping block (24); the clamping block (24) is located inside the sliding groove (22) and is slidably connected to the sliding groove (22); the wire (12) is clamped between the clamping block (24) and the roller (21); a winding member (4) capable of pulling the clamping block (24) to move downward is provided below the clamping block (24); and a trigger member (5) for triggering the winding member (4) is provided inside the clamping block (24) in the forward direction of the obstacle surmounting robot (1).

3. The deformable obstacle-crossing line patrol robot according to claim 2, characterized in that: The trigger member (5) comprises a trigger groove (51) formed on one end of the clamping block (24) close to the insulator (13); a limit groove (52) is formed on the inner wall of the trigger groove (51); an electromagnetic block (53) is slidably connected inside the trigger groove (51); an electromagnet 1 (54) and an electromagnet 2 (55) are fixedly connected at the bottom of the trigger groove (51); two ends of the electromagnetic block (53) are fixedly connected to a limit plate (56); the limit plate (56) is located inside the limit groove (52) and is slidably connected to the limit groove (52).

4. The deformable obstacle-crossing line patrol robot according to claim 3, characterized in that: The two ends of the electromagnetic block (53) are fixedly connected with rubber blocks (57), and the rubber blocks (57) tend to decrease from the electromagnetic block (53) toward the electromagnet (54).

5. The deformable obstacle-crossing line-patrolling robot according to claim 3, characterized in that: The winding member (4) comprises a driving motor (41) fixedly connected to the upper end of the obstacle surmounting robot (1), one end of the driving motor (41) is provided with a motor output shaft (42), the upper end of the obstacle surmounting robot (1) is fixedly connected to a baffle (43), the motor output shaft (42) abuts against the baffle (43) and is rotationally connected to the baffle (43), the bottom of the clamping block (24) is fixedly connected to a rope (44), one end of the rope (44) away from the clamping block (24) is fixedly connected to the motor output shaft (42), the rope (44) is wound around the outer periphery of the motor output shaft (42), the driving motor (41) is connected to the first electromagnet (54) circuit, and the second electromagnet (55) is connected to the internal power supply circuit of the obstacle surmounting robot (1).

6. The deformable obstacle-crossing line patrol robot according to claim 2, characterized in that: An infrared sensor (25) is fixedly connected to the outer wall of the clamping block (24).

7. The deformable obstacle-crossing line patrol robot according to claim 2, characterized in that: The adjustment mechanism (3) comprises a plurality of rolling grooves (31) formed at both ends of the roller (21); a fixing rod (32) is fixedly connected to the inner wall of each rolling groove (31); a rotating plate (33) is rotatably connected to the outer periphery of the fixing rod (32); and each rotating plate (33) is arranged in a ring-shaped stack.

8. The deformable obstacle-crossing line-patrolling robot according to claim 7, characterized in that: The bottom of the clamping block (24) is fixedly connected to a connecting plate (34); one end of the connecting plate (34) away from the clamping block (24) is fixedly connected to a piston rod (35); the periphery of the piston rod (35) is slidably connected to a piston cylinder (36); the piston cylinder (36) is fixedly connected to the outer wall of the clamping arm (11); the bottom of the piston cylinder (36) is fixedly connected to an air pipe (37); the piston cylinder (36) is communicated with the air pipe (37); one end of the air pipe (37) away from the piston cylinder (36) is located above the roller (21); one end of the air pipe (37) away from the piston cylinder (36) is fixedly connected to an air bag (38); the air pipe (37) is communicated with the air bag (38); the air bag (38) is located between the rotating plates (33) at both ends.

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