A claw part of a line inspection robot and a line inspection robot

Abstract

The present invention discloses a claw part of a line patrol robot and a line patrol robot, belonging to the technical field of wire inspection robots. A claw part of a line patrol robot includes: a bracket, a support assembly, and a fastening assembly; the support assembly includes a support wheel rotatably connected to the bracket and provided with a support groove along the circumferential direction; the fastening assembly includes a sliding assembly, a rotating assembly, a fastening wheel mounting bracket, and a fastening wheel; the sliding assembly is connected to the bracket; the rotating assembly is respectively connected to the sliding assembly and the fastening wheel mounting bracket; the fastening wheel is rotatably connected to the fastening wheel mounting bracket and the axis of the fastening wheel is parallel to the axis of the support wheel, and the fastening wheel is provided with a fastening groove along the circumferential direction, and the fastening groove is arranged opposite to the support groove. In the present invention, the fastening groove squeezes the wire so that the wire can be closely matched with the support wheel to realize the clamping operation. Since the sliding assembly has a lifting effect on the fastening wheel, the lifting of the fastening wheel can increase the acting force between the wire and the support wheel and the fastening wheel, so as to meet the change of wire thickness.

Description

Technical Field

[0001] The invention relates to the technical field of electric wire inspection robots, and in particular to a wire inspection robot claw and a wire inspection robot. Background Art

[0002] Ultra-high voltage transmission lines are responsible for the transmission of electricity in my country. Their safe and reliable operation is directly related to the stable development of a country's economy. At present, the use of high-voltage and ultra-high voltage overhead power lines is the main way to transmit and distribute electricity over long distances, and power lines are an important part of the power system. Due to long-term exposure to the natural environment, the lines must not only withstand the internal pressure of normal mechanical loads and power loads, but also withstand external damage such as filth, lightning strikes, strong winds, landslides, subsidence and bird damage. The above factors will cause relatively large damage to power lines, so power lines need to be inspected frequently, and if there is any damage to the power lines, they must be replaced in time. At present, the existing line patrol robots are only suitable for walking on wires of consistent thickness. When encountering changes in the thickness of the wires, they cannot complete the clamping operation with the wires well. Summary of the invention

[0003] The object of the present invention is to provide a line patrol robot claw and a line patrol robot, so as to solve the problem that the existing line patrol robot cannot well complete the clamping operation with the wire when the wire thickness changes.

[0004] The technical solution of the present invention to solve the above technical problems is as follows:

[0005] A line patrol robot claw comprises: a bracket, a support assembly and a fastening assembly; the support assembly comprises a support wheel connected to the bracket, and the support wheel is provided with a support groove along the circumferential direction; the fastening assembly comprises a sliding assembly, a rotating assembly, a fastening wheel mounting frame and at least one fastening wheel; the sliding assembly is connected to the bracket; the rotating assembly is respectively connected to the sliding assembly and the fastening wheel mounting frame; the fastening wheel is rotatably connected to the fastening wheel mounting frame and the axis of the fastening wheel is parallel to the axis of the support wheel, the fastening wheel is provided with a fastening groove along the circumferential direction, and the fastening groove and the supporting groove are arranged opposite to each other.

[0006] The supporting groove on the supporting wheel of the present invention is used for placing the electric wire. The fastening wheel can contact the electric wire under the drive of the sliding component and the rotating component. The fastening groove squeezes the electric wire so that the electric wire and the supporting wheel can cooperate closely to achieve a clamping operation. Since the sliding component has a lifting effect on the fastening wheel, the lifting of the fastening wheel can increase the action force between the electric wire and the supporting wheel and the fastening wheel, thereby meeting the changes in the thickness of the electric wire. At the same time, due to the limiting effect of the supporting groove and the fastening groove, the connection between the claw of the line patrol robot and the electric wire is reliable.

[0007] The rotating assembly can drive the fastening wheel and the fastening wheel mounting bracket to rotate, and position the fastening wheel below the supporting wheel. The sliding assembly can lift the fastening wheel to bring it into contact with the wire, thereby achieving the clamping operation between the wire and the fastening wheel and the supporting wheel.

[0008] Since the reverse operation of the sliding assembly can separate the fastening wheel from the wire, and the reverse operation of the rotating assembly can move the fastening wheel away from the supporting wheel, the restraint on the lower part of the wire by the fastening wheel can be released. Thus, the claw part of the wire inspection robot can be lifted by other mechanisms to achieve the wire detachment function, and further achieve the obstacle crossing function.

[0009] In addition, each component of the present invention is modular, facilitating the replacement of damaged parts.

[0010] Further, the above-mentioned supporting assembly further includes a spring suspension, and the supporting wheel is connected to the bracket through the spring suspension.

[0011] When the sliding assembly of the present invention is working, it will lift the fastening wheel. The fastening wheel presses the supporting wheel through the wire, and the force received by the supporting wheel will act on the spring suspension. Through the lifting force of the sliding assembly and the reaction force of the spring suspension, a greater acting force can be generated between the supporting wheel and the fastening wheel and the wire. Sufficient clamping force can be provided when the supporting wheel and the fastening wheel are matched with the wire, which is beneficial for the robot to climb the wire with a large elevation angle.

[0012] Further, the above-mentioned supporting wheel is connected with a supporting wheel motor, and the supporting wheel motor is installed on the spring suspension.

[0013] The supporting wheel motor of the present invention is used to drive the supporting wheel to move on the wire to complete the normal walking function.

[0014] Further, the above-mentioned supporting assembly further includes a braking component. The braking component and the fastening wheel are located on the two sides corresponding to the supporting wheel. One end of the braking component is connected to the bracket, and the other end of the braking component is located in the supporting groove and is spaced from the groove wall of the supporting groove.

[0015] When the robot finishes traveling, the sliding component drives the fastening wheel and the supporting wheel to continue to lift. At this time, the spring suspension is further compressed. After the supporting wheel is lifted, it will contact and approach the braking component, and the supporting wheel cannot rotate through the friction between the supporting groove and the braking component to achieve the locking function.

[0016] Further, the above-mentioned sliding assembly includes a lead screw motor, a lead screw, and a sliding mounting bracket; the lead screw motor is arranged on the bracket; the lead screw is respectively connected to the lead screw motor and the sliding mounting bracket; the sliding mounting bracket is slidably connected to the bracket.

[0017] The sliding component of the present invention drives the lead screw to rotate through a lead screw motor to lift components such as the rotating component, the fastening wheel, and the supporting wheel. When the lead screw is in motion, it has stable movement and stable performance, and the fastening wheel and the supporting wheel can achieve stable contact.

[0018] Furthermore, a connecting rod is provided on the above-mentioned fastening wheel mounting bracket, and the connecting rod is rotatably connected to the sliding mounting bracket.

[0019] The sliding component is not only connected to the fastening wheel mounting bracket through the rotating component, but also connected to the fastening wheel mounting bracket through the connecting rod. The two rotation connection points can support and steer the fastening wheel mounting bracket through the lever principle.

[0020] Furthermore, the above-mentioned rotating component includes a servo motor and a linkage mechanism; the servo motor is connected to the sliding mounting bracket, and the linkage mechanism is respectively connected to the servo motor and the fastening wheel mounting bracket.

[0021] The present invention uses a servo motor as the actuating component of the rotating component. Only by rotating a small angle can the fastening wheel be completely separated from the wire, and at the same time, only by rotating a small angle can a large clamping force be generated.

[0022] Furthermore, the number of the above-mentioned fastening wheels is 3.

[0023] The three fastening wheels of the present invention can place the wire in a bent state in the supporting groove, increasing the friction between the wire and the wall of the supporting groove.

[0024] Furthermore, both the above-mentioned fastening groove and the supporting groove are annular grooves with a trapezoidal cross-section.

[0025] The fastening groove and the supporting groove in the shape of a T-shaped groove can effectively limit the wire with varying thickness, thereby meeting wires with varying thickness.

[0026] A wire inspection robot includes at least two of the above-mentioned wire inspection robot claw parts and a robotic arm connecting the wire inspection robot claw parts.

[0027] The present invention has the following beneficial effects:

[0028] The supporting groove on the supporting wheel of the present invention is used to place the wire. The fastening wheel can contact the wire under the drive of the sliding component and the rotating component. The fastening groove squeezes the wire so that the wire and the supporting wheel can be tightly fitted to achieve the clamping operation. Since the sliding component has a lifting effect on the fastening wheel, the lifting of the fastening wheel can increase the acting force between the wire and the supporting wheel and the fastening wheel, thereby meeting the change in wire thickness. At the same time, due to the limiting effect of the supporting groove and the fastening groove, the connection between the wire inspection robot claw part and the wire is reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 is a three-dimensional structural schematic diagram of the wire inspection robot claw part of the present invention;

[0030] Figure 2 This is another three-dimensional structural schematic diagram of the claw part of the line inspection robot of the present invention;

[0031] Figure 3 This is the structural schematic diagram of the fastening component of the present invention.

[0032] In the figure: 10 - bracket; 20 - support component; 21 - support wheel; 22 - support groove; 23 - spring suspension; 24 - brake component; 30 - fastening component; 31 - sliding component; 32 - rotating component; 33 - fastening wheel mounting bracket; 34 - fastening wheel; 35 - fastening groove; 36 - connecting rod; 311 - lead screw motor; 312 - lead screw; 313 - sliding mounting bracket; 321 - servo motor; 322 - link mechanism. Specific embodiments

[0033] The principles and features of the present invention will be described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0034] Embodiment

[0035] Please refer to Figure 1 and Figure 2 A claw part of a line inspection robot includes: a bracket 10, a support component 20, and a fastening component 30. The support component 20 is arranged inside the bracket 10, and the fastening component 30 is arranged on one side of the bracket 10.

[0036] The support component 20 includes a support wheel 21, a spring suspension 23, and a brake component 24. A support groove 22 is provided on the circumferential direction of the support wheel 21 for limiting the wire. A support wheel motor (not shown) is provided on the support wheel 21. The support wheel motor is installed on the spring suspension 23, and the motor shaft of the support wheel motor is connected to the support wheel 21. When the support wheel 21 is stressed, the spring in the spring suspension 23 can be compressed through the connection of the support wheel motor. The spring suspension 23 is installed on the bracket 10, so that the support wheel 21 is suspended on the bracket 10. One end of the brake component 24 is fixedly connected to the bracket 10, and the other end is located in the support groove 22 and has a gap with the groove wall of the support groove 22. In this embodiment, the support groove 22 is an annular groove with a trapezoidal cross-section.

[0037] Please refer to Figure 3 The fastening component 30 includes a sliding component 31, a rotating component 32, a fastening wheel mounting bracket 33, and at least one fastening wheel 34. The sliding component 31 is installed on the bracket 10. The rotating component 32 is respectively connected to the sliding component 31 and the fastening wheel mounting bracket 33. The fastening wheel 34 is installed on the fastening wheel mounting bracket 33.

[0038] The sliding component 31 includes a lead screw motor 311, a lead screw 312, and a sliding mounting bracket 313. The lead screw motor 311 is mounted on the bracket 10. The lead screw 312 is vertically arranged and is respectively connected to the motor shaft of the lead screw motor 311 and the sliding mounting bracket 313. The sliding mounting bracket 313 is connected to the bracket 10 through a slider. Driven by the lead screw motor 311, the sliding mounting bracket 313 slides on the bracket 10 along the extending direction of the lead screw 312.

[0039] The rotating component 32 includes a servo motor 321 and a linkage mechanism 322. The servo motor 321 is mounted on the sliding mounting bracket 313. One end of the linkage mechanism 322 is connected to the servo motor 321, and the other end of the linkage mechanism 322 is connected to the fastening wheel mounting bracket 33. Driven by the servo motor 321, the linkage mechanism 322 can drive the fastening wheel mounting bracket 33 to rotate, so as to drive the fastening wheel 34 to approach or move away from the supporting wheel 21. In this embodiment, the linkage mechanism 322 is provided with a protrusion. When the linkage mechanism 322 rotates to a straight line position, the protrusion will prevent the linkage mechanism 322 from continuing to rotate. By using the mechanical self-locking of the linkage mechanism 322, the servo motor 321 does not need to provide any torque during clamping, and the clamping force is all provided by the sliding component 31. It can not only realize the quick opening and closing between the supporting wheel 21 and the fastening wheel 34, but also provide a large clamping force.

[0040] The fastening wheel mounting bracket 33 is provided with a connecting rod 36. One end of the connecting rod 36 is connected to the fastening wheel mounting bracket 33, and the other end of the connecting rod 36 is rotatably connected to the sliding mounting bracket 313. The sliding component 31 is not only connected to the fastening wheel mounting bracket 33 through the rotating component 32, but also connected to the fastening wheel mounting bracket 33 through the connecting rod 36. The two rotation connection points can support and steer the fastening wheel mounting bracket 33 through the lever principle.

[0041] The fastening wheel 34 is rotatably connected to the fastening wheel mounting bracket 33. A fastening groove 35 is provided in the circumferential direction of the fastening wheel 34. The axis of the fastening wheel 34 is parallel to the axis of the supporting wheel 21, and the fastening groove 35 is arranged opposite to the supporting groove 22. The fastening wheel 34 and the braking component 24 are located on the two sides corresponding to the supporting wheel 21. The fastening wheel 34 can be rotated to the lower part of the supporting wheel 21 under the drive of the rotating component 32 and make the fastening groove 35 opposite to the supporting groove 22. The fastening wheel 34 can also approach or move away from the supporting wheel 21 under the drive of the sliding component 31. Under the action of the sliding component 31, the fastening wheel 34 and the supporting wheel 21 hold the electric wire together. In this embodiment, the number of the fastening wheels 34 is 3. The 3 fastening wheels 34 can place the electric wire in a bent state in the supporting groove 22, increasing the friction force between the electric wire and the groove wall of the supporting groove 22. The fastening groove 35 is an annular groove with a trapezoidal cross-section. In other embodiments of the present invention, the number of the fastening wheels 34 can also be 1, 2, 4, etc.

[0042] The process of the clamping of the wire by the gripper of the line inspection robot: The rotating assembly 32 can drive the tightening wheel 34 and the tightening wheel mounting bracket 33 to rotate, and make the tightening wheel 34 located below the supporting wheel 21. The sliding assembly 31 can lift the tightening wheel 34 to make it contact with the wire. The sliding assembly 31 continues to lift the tightening wheel 34 to make the wire closely adhere to the tightening groove 35 and the supporting groove 22, realizing the clamping operation between the wire, the tightening wheel 34 and the supporting wheel 21.

[0043] The locking process of the gripper of the line inspection robot: After the gripper of the line inspection robot clamps the wire, the sliding assembly 31 continues to work, driving the supporting wheel 21 to move upward until it contacts the braking component 24, so that the locking function can be realized through the frictional force between the braking component 24 and the groove wall of the supporting groove 22.

[0044] The process of the release of the wire by the gripper of the line inspection robot: The sliding assembly 31 works in the reverse direction to separate the tightening wheel 34 from the wire, and then the rotating assembly 32 works in the reverse direction to move the tightening wheel 34 away from the supporting wheel 21, releasing the constraint on the lower part of the wire by the tightening wheel 34, realizing the release of the wire by the gripper of the line inspection robot. Furthermore, the gripper of the line inspection robot can be lifted by other mechanisms to realize the wire detachment function and further realize the obstacle crossing function.

[0045] A line inspection robot includes at least two of the above-mentioned grippers of the line inspection robot and a robotic arm connecting the grippers of the line inspection robot.

[0046] The above are only the preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A claw part of a line inspection robot, characterized in that, it includes: a bracket (10), a support assembly (20) and a fastening assembly (30); the support assembly (20) includes a support wheel (21) connected to the bracket (10), and the support wheel (21) is provided with a support groove (22) along the circumferential direction; the fastening assembly (30) includes a sliding assembly (31), a rotating assembly (32), a fastening wheel mounting bracket (33) and at least one fastening wheel (34); the sliding assembly (31) is connected to the bracket (10); the rotating assembly (32) is respectively connected to the sliding assembly (31) and the fastening wheel mounting bracket (33); the fastening wheel (34) is rotatably connected to the fastening wheel mounting bracket (33) and the axis of the fastening wheel (34) is parallel to the axis of the support wheel (21), the fastening wheel (34) is provided with a fastening groove (35) along the circumferential direction, and the fastening groove (35) is arranged opposite to the support groove (22); the sliding assembly (31) includes a lead screw motor (311), a lead screw (312) and a sliding mounting bracket (313); the lead screw motor (311) is arranged on the bracket (10); the lead screw (312) is respectively connected to the lead screw motor (311) and the sliding mounting bracket (313); the sliding mounting bracket (313) is slidably connected to the bracket (10); a connecting rod (36) is arranged on the fastening wheel mounting bracket (33), and the connecting rod (36) is rotatably connected to the sliding mounting bracket (313); the rotating assembly (32) includes a servo motor (321) and a link mechanism (322); the servo motor (321) is connected to the sliding mounting bracket (313), and the link mechanism (322) is respectively connected to the servo motor (321) and the fastening wheel mounting bracket (33); the support assembly (20) further includes a spring suspension (23), and the support wheel (21) is connected to the bracket (10) through the spring suspension (23); the support wheel (21) is connected with a support wheel motor, and the support wheel motor is installed on the spring suspension (23); the support assembly (20) further includes a braking component (24), the braking component (24) and the fastening wheel (34) are located on two opposite sides of the support wheel (21), one end of the braking component (24) is connected to the bracket (10), and the other end of the braking component (24) is located in the support groove (22) and is spaced from the groove wall of the support groove (22).

2. The claw part of the line inspection robot according to claim 1, characterized in that, the number of the fastening wheels (34) is 3.

3. The claw part of the line inspection robot according to claim 2, characterized in that, both the fastening groove (35) and the support groove (22) are annular grooves with a trapezoidal cross-section.

4. A line inspection robot, characterized in that, it includes at least two claw parts of the line inspection robot according to any one of claims 1 to 3 and a robotic arm connecting the claw parts of the line inspection robot.

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