A line patrol robot using a winch and an obstacle crossing method

Abstract

The present invention discloses a line patrol robot and an obstacle crossing method using a winch. The winch is installed in the box of the line patrol robot. The rope of the winch is connected to a load-bearing gripper, and the load-bearing gripper is fixedly installed with a telescopic rod through a connecting piece. When the line patrol robot crosses an obstacle, the load-bearing gripper is placed on the wire, and cooperates with the front walking gripper or the rear walking gripper to ensure the stability of the center of gravity of the line patrol robot when crossing the obstacle. At the same time, when the line patrol robot needs to be removed from the cable, the winch releases the rope, and the line patrol robot can fall by itself, without the need for the staff to climb up the profiling tower or the pole again to remove it, which greatly saves labor costs and operation time. In addition, there are solar panels on the surface of the box, which can provide uninterrupted power supply to the equipment, ensuring the line patrol efficiency of the line patrol robot.

Description

Technical Field

[0001] The invention relates to a transmission line patrol robot, and in particular to a transmission line patrol robot using a winch and an obstacle crossing method. Background Art

[0002] Since there are many transmission lines and they are distributed over a wide area, most of them are far away from towns, with complex terrain and harsh natural environment. In addition, power lines and pole tower accessories are exposed in the wild for a long time, which makes the cables easily damaged, thus affecting the safety of the transmission lines. Therefore, it is necessary to conduct regular inspections of the transmission lines. At present, line inspection robots have gradually replaced manual line inspections. There are structural obstacles such as suspension clamps, suspension insulators, shock-proof hammers, tension clamps, and pole towers on the transmission lines of straight pole towers. Some line inspection robots still need to rely on manpower to cross obstacles. Although other line inspection robots do not need manpower to cross obstacles, their stability in crossing obstacles is poor, and there is a risk of imbalance and falling. At the same time, the efficiency of crossing obstacles is relatively low. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a line patrol robot and an obstacle surmounting method using a winch, so as to solve the problems of instability and low efficiency of the existing line patrol robot when surmounting obstacles.

[0004] The technical solution of the present invention is:

[0005] A line patrol robot using a winch comprises a box body, a front walking gripper and a rear walking gripper; the front walking gripper and the rear walking gripper are respectively mounted on the left and right sides of the outside of the box body, and the winch and a telescopic rod are fixedly mounted on the bottom surface of the inside of the box body; a load-bearing gripper is fixed to the rope end of the winch; a connecting piece is installed between the rod head of the telescopic rod and the load-bearing gripper.

[0006] The surface of the box is covered with solar panels.

[0007] One end of the front operating arm is installed on the right end surface outside the box body, and the other end is fixedly installed with a front walking wheel mechanism.

[0008] One end of the rear operating arm is installed on the left end surface outside the box body, and the other end is fixedly installed with a rear walking wheel mechanism.

[0009] The front walking wheel mechanism and the rear walking wheel mechanism are the same structure, which include a motor, a guide column, a lead screw, an upper support frame, a lower support frame and walking wheels; the upper support frame and the lower support frame are concave groove structures, the groove openings are installed facing each other, and the walking wheels are installed in the grooves; guide columns and lead screws are installed between the upper support frame and the lower support frame; the lead screw is located between the two guide columns; the motor is fixedly installed on the lower support frame; the motor and the lead screw are connected by gears; the lower support frame is fixedly installed on the end face of the front operating arm or the rear operating arm.

[0010] The rear operating arm is a link type structure, including a first link, a second link and a third link; a steering motor is installed at the hinge of the first link and the second link.

[0011] The bottom of the servo is installed on the connecting piece, and a guide rail is fixed on the top; the rotating shaft of the servo passes through the guide rail and is fixed to the center of the steering plate; two sliders facing each other are mounted on the guide rail, and the sliders are connected to the steering plate through connecting pins; the transverse roller is horizontally installed on the upper part of the slider; the vertical roller is vertically installed on the slider.

[0012] A method for overcoming obstacles of a line patrol robot using a winch mainly comprises the following steps:

[0013] Step 1: Move the telescopic rod upward, put the load-bearing gripper on it and hold the cable tightly;

[0014] Step 2: Release the cable by the forward walking gripper;

[0015] Step 3: The rear operating arm is unfolded to move the front walking gripper over the obstacle as a whole;

[0016] Step 4: The forward walking gripper puts on and holds the cable;

[0017] Step 5: The load-bearing gripper releases the cable, and the telescopic rod rotates 180 degrees to allow the load-bearing gripper to pass over the obstacle, and then the load-bearing gripper clamps the cable again;

[0018] Step 6: After the rear walking gripper releases the cable, the rear operating arm contracts to move the rear walking gripper over the obstacle as a whole;

[0019] Step 7: The rear walking gripper puts on and holds the cable;

[0020] Step 8. Release the cable from the load-bearing gripper and move the telescopic rod downward.

[0021] The method for the load-bearing gripper to tighten and release the cable is as follows: when the servo rotates forward, the connecting pin drives the slider to tighten inward, so that the transverse roller and the vertical roller clamp the cable; when the servo rotates reversely, the connecting pin moves in the opposite direction, driving the slider to move outward, so that the transverse roller and the vertical roller release the cable.

[0022] The method for the front walking gripper to grasp and release the cable is as follows: the motor rotates forward, driving the lead screw to rotate, and then driving the upper support frame to move downward, clamping the cable together with the lower support frame; when the motor reverses, the upper support frame moves upward, thereby realizing the action of loosening the cable.

[0023] Beneficial effects of the present invention:

[0024] The present invention provides a line patrol robot and obstacle crossing method using a winch. A winch and a load-bearing gripper installed on the winch rope are installed in a box. When the line patrol robot crosses an obstacle, the load-bearing gripper is placed on the wire and cooperates with the front walking gripper or the rear walking gripper to ensure the stability of the center of gravity of the line patrol robot when crossing the obstacle. At the same time, when the line patrol robot needs to be removed from the cable, the winch releases the rope, and the line patrol robot can fall by itself, without the need for the staff to climb up the contour tower or pole again to remove it, which greatly saves labor costs and operation time. In addition, there are solar panels on the surface of the box, which can provide uninterrupted power supply to the equipment, ensuring the line patrol efficiency of the line patrol robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the overall assembly structure of the present invention;

[0026] Figure 2 This is a schematic diagram of the front walking gripper structure of the present invention;

[0027] Figure 3 It is a schematic diagram of the rear walking gripper structure of the present invention;

[0028] Figure 4 It is a schematic diagram of the load-bearing gripper structure of the present invention. DETAILED DESCRIPTION

[0029] A line patrol robot using a winch, comprising a box 1, a front walking gripper 2 and a rear walking gripper 3; the front walking gripper 2 and the rear walking gripper 3 are respectively mounted on the left and right sides of the outside of the box 1, and is characterized in that: a winch 5 and a telescopic rod 4 are fixedly mounted on the bottom surface of the inside of the box 1; a load-bearing gripper 7 is fixed to the rope end of the winch 5; a connecting piece 6 is installed between the rod head of the telescopic rod 4 and the load-bearing gripper 7.

[0030] Preferably, the winch is a small wire rope winch provided by Hebei Hanxiang Hoisting Machinery Co., Ltd. The winch has a remote control function, which can realize the extension and retraction of the winch rope.

[0031] The surface of the box body 1 is covered with solar panels 8, which can provide uninterrupted power supply to the winch and each motor to ensure long-term operation of the equipment.

[0032] The telescopic rod 4 uses an electric telescopic rod. Preferably, the telescopic rod 4 uses a DC electric push rod with a large thrust lifting rod provided by Zhongshan Daxiang Electric Co., Ltd., which can realize the remote control telescopic function of the push rod.

[0033] One end of the connector 6 and the load-bearing gripper 7 is provided with an opening whose diameter is larger than the outer diameter of the rope of the winch 5. The rope of the winch 5 passes through the opening and is connected to the load-bearing gripper 7. When the line patrol robot needs to be removed as a whole, the movement of the rope is not affected by the length of the telescopic rod 4.

[0034] like Figure 2 As shown, the front walking wheel mechanism 22 and the rear walking wheel mechanism 32 are of the same structure, the upper support frame 205 and the lower support frame 204 are of a concave groove structure, the groove opening of the lower support frame 204 is installed upward, and the groove opening of the upper support frame is installed downward; a walking wheel 206 is installed in the groove; the position of the walking wheel is aligned in the vertical direction to ensure that the cable can be effectively clamped.

[0035] A threaded hole is provided in the middle of the upper support frame 205, the hole diameter of the thread is consistent with the outer diameter of the lead screw 203, and the lead screw 203 passes through the threaded hole; a guide column 202 and a lead screw 203 are installed between the upper support frame 205 and the lower support frame 204; the lead screw 203 is located between the two guide columns 202; the lead screw 203 mainly plays a stabilizing and guiding role.

[0036] The motor 201 is fixedly mounted on the lower support frame 204; the end of the rotating shaft of the motor 201 is a gear structure, and one end of the lead screw 203 connected thereto is also welded with a gear structure, and the gears of the two are meshed with each other; the lower support frame 204 is fixedly mounted on the end of the front operating arm 21 or the rear operating arm 31.

[0037] like Figure 3 As shown, the rear operating arm 31 is a connecting rod structure, and a steering motor 314 is installed at the hinge of the first connecting rod 311 and the second connecting rod 312. The steering motor 314 is used to unfold the first connecting rod 311 and the second connecting rod 312 when crossing an obstacle, and send the front walking gripper 2 to the side of the obstacle.

[0038] like Figure 4 As shown, the bottom of the servo 701 is installed on the connecting member 6, and a guide rail 702 is fixedly installed on the top; the rotating shaft of the servo 701 passes through the guide rail 702 and is fixed to the center of the steering plate 703; two sliders 704 facing each other are mounted on the guide rail 702, and the sliders 704 are connected to the steering plate 703 through connecting pins 707; the transverse roller 705 is horizontally installed on the upper part of the slider 704; and the vertical roller 706 is vertically installed on the slider 704.

[0039] The distance from the bottom of the transverse roller 705 to the upper surface of the guide rail 702 is greater than the diameter of the cable, so as to prevent the problem of the cable not being clamped or not being clamped tightly.

[0040] A method for overcoming obstacles of a line patrol robot using a winch mainly comprises the following steps:

[0041] Step 1: Move the telescopic rod 4 upward, put the load-bearing gripper 7 on it and hold the cable tightly;

[0042] Step 2: The front walking gripper 2 releases the cable;

[0043] Step 3, the rear operating arm 31 is unfolded to move the front walking gripper 2 over the obstacle as a whole;

[0044] Step 4: The front walking gripper 2 is placed on and holds the cable;

[0045] Step 5: The load-bearing gripper 7 releases the cable, and the telescopic rod 4 rotates 180 degrees to allow the load-bearing gripper 7 to pass over the obstacle, and then the load-bearing gripper 7 clamps the cable again;

[0046] Step 6: After the rear walking gripper 3 releases the cable, the rear operating arm 31 contracts to move the rear walking gripper 3 over the obstacle as a whole;

[0047] Step 7: The rear walking gripper 3 puts on and grasps the cable;

[0048] Step 8: The load-bearing gripper 7 releases the cable and the telescopic rod 4 moves downward.

[0049] The method for the load-bearing gripper 7 to grip and release the cable is as follows: when the servo 702 rotates forward, the connecting pin 708 drives the slider 705 to tighten inward, so that the transverse roller 706 and the vertical roller 707 clamp the cable; when the servo 702 rotates reversely, the connecting pin 708 moves in the opposite direction, driving the slider 705 to move outward, so that the transverse roller 706 and the vertical roller 707 release the cable.

[0050] The method for the front walking gripper 2 to grasp and release the cable is as follows: the motor 201 rotates forward, driving the lead screw 203 to rotate, and then driving the upper support frame 205 to move downward, clamping the cable together with the lower support frame 204; when the motor 201 rotates reversely, the upper support frame 205 moves upward, thereby realizing the action of loosening the cable.

[0051] The method for removing the line patrol robot as a whole is as follows: the telescopic rod 4 moves upward, the load-bearing gripper is placed on and grasps the cable, and then the front walking gripper 2 and the rear walking gripper 3 release the cable; then the winch releases the rope, and the line patrol robot moves downward as a whole; after reaching the ground, the winch movement is stopped.

Claims

1. A method for overcoming obstacles of a line patrol robot using a winch, comprising a box (1), a front walking gripper (2) and a rear walking gripper (3); the front walking gripper (2) and the rear walking gripper (3) are respectively installed on the left and right sides of the outside of the box (1), characterized in that: A winch (5) and a telescopic rod (4) are fixedly mounted on the bottom surface of the interior of the box body (1); a load-bearing gripper (7) is fixedly mounted on the rope end of the winch (5); a connecting piece (6) is mounted between the rod head of the telescopic rod (4) and the load-bearing gripper (7); the load-bearing gripper (7) comprises a steering gear (701), a guide rail (702), a steering disc (703), a slider (704), a transverse roller (705), a vertical roller (706) and a connecting pin (707); the bottom of the steering gear (701) is mounted on the connecting piece (6), and the top of the steering gear (701) is fixedly mounted with a guide rail (702); a rotating shaft of the steering gear (701) passes through the guide rail (702) and is fixed to the center of the steering disc (703); a guide rail (702) is mounted on the guide rail (702) and a guide rail (704) is mounted on the guide rail (704 ... The two sliders (704) are connected to the steering wheel (703) via a connecting pin (707); the transverse roller (705) is horizontally mounted on the upper part of the slider (704); the vertical roller (706) is vertically mounted on the slider (704); the method for the load-bearing gripper (7) to grip and release the cable is as follows: when the steering gear (702) rotates forward, the connecting pin (708) drives the slider (705) to tighten inward, so that the transverse roller (706) and the vertical roller (707) clamp the cable; when the steering gear (702) rotates reversely, the connecting pin (708) moves in the opposite direction, driving the slider (705) to move outward, so that the transverse roller (706) and the vertical roller (707) release the cable; The main steps include: Step 1: Move the telescopic rod (4) upward, place the load-bearing gripper (7) on it and hold the cable tightly; Step 2: The front walking gripper (2) releases the cable; Step 3, the rear operating arm (31) is unfolded to move the front walking gripper (2) over the obstacle as a whole; Step 4: The front walking gripper (2) is placed on and holds the cable; Step 5: The load-bearing gripper (7) releases the cable, and the telescopic rod (4) rotates 180 degrees to allow the load-bearing gripper (7) to pass over the obstacle, and then the load-bearing gripper (7) clamps the cable again; Step 6: After the rear walking gripper (3) releases the cable, the rear operating arm (31) contracts to move the rear walking gripper (3) over the obstacle as a whole; Step 7: The rear walking gripper (3) is placed on and holds the cable tightly; Step 8: The load-bearing gripper (7) releases the cable and the telescopic rod (4) moves downward.

2. The obstacle surmounting method of a line patrol robot using a winch according to claim 1, characterized in that: The surface of the box body (1) is covered with a solar cell panel (8).

3. The obstacle surmounting method of a line patrol robot using a winch according to claim 1, characterized in that: The front walking gripper (2) comprises a front operating arm (21) and a front walking wheel mechanism (22); one end of the front operating arm is mounted on the right end surface outside the box body (1), and the other end is fixedly mounted with the front walking wheel mechanism (22).

4. The obstacle surmounting method of a line patrol robot using a winch according to claim 1, characterized in that: The rear walking gripper (3) comprises a rear operating arm (31) and a rear walking wheel mechanism (32); one end of the rear operating arm (21) is mounted on the left end surface outside the box body (1), and the other end is fixedly mounted with the rear walking wheel mechanism (32).

5. The obstacle surmounting method of a line patrol robot using a winch according to claim 4 or claim 3, characterized in that: The front walking wheel mechanism (22) and the rear walking wheel mechanism (32) have the same structure, and comprise a motor (201), a guide column (202), a lead screw (203), an upper support frame (205), a lower support frame (204) and a walking wheel (206); the upper support frame (205) and the lower support frame (204) are concave groove structures, the openings of the grooves are installed facing each other, and the walking wheel (206) is installed in the grooves; the guide column (202) and the lead screw (203) are installed between the upper support frame (205) and the lower support frame (204); the lead screw (203) is located between the two guide columns (202); the motor (201) is fixedly installed on the lower support frame (204); the motor (201) and the lead screw (203) are connected via gears; and the lower support frame (204) is fixedly installed on the end surface of the front operating arm (21) or the rear operating arm (31).

6. The obstacle surmounting method of a line patrol robot using a winch according to claim 4, characterized in that: The rear operating arm (31) is a connecting rod type structure, comprising a first connecting rod (311), a second connecting rod (312) and a third connecting rod (313); a steering motor (314) is installed at the hinge between the first connecting rod (311) and the second connecting rod (312).

7. The obstacle surmounting method of a line patrol robot using a winch according to claim 1, characterized in that: The method for the front walking gripper (2) to grip and release the cable is as follows: the motor (201) rotates forward, driving the lead screw (203) to rotate, thereby driving the upper support frame (205) to move downward, and clamping the cable together with the lower support frame (204); when the motor (201) rotates reversely, the upper support frame (205) moves upward, thereby achieving the action of releasing the cable.

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