A rail-guided line inspection robot

Abstract

The present invention discloses a rail - type line - patrol robot, belonging to the technical field of wire inspection robots. A rail - type line - patrol robot includes: a bracket, a first connecting arm and a second connecting arm; a lead screw, a guide rail and a lead - screw motor are provided on the bracket; the lead screw includes a right - hand thread section and a left - hand thread section; the length of the first connecting arm is less than that of the second connecting arm, and both the first connecting arm and the second connecting arm include a claw part, a vertical support rod, a horizontal rotation assembly, a mounting part, a vertical rotation assembly and a sliding part connected in sequence; the sliding parts of the first connecting arm and the second connecting arm are both slidably connected to the guide rail and are respectively matched with the right - hand thread section and the left - hand thread section. Through the guide rail on the bracket of the present invention, the claw part can be disengaged from the wire and bypass various obstacles, and the distance between the axis of the guide rail and the axis of the wire in the horizontal direction will not change, so as to achieve accurate guiding. The movement mode of each claw part is simple, and the difficulty of obstacle - crossing operation is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of electric wire inspection robots, and in particular to a guide rail type electric 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. Because the lines are exposed to the natural environment for a long time, they not only have to bear the internal pressure of normal mechanical loads and power loads, but also have to withstand external damage such as dirt, 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 wire inspection robots can only cross small obstacles, but not larger obstacles. Summary of the invention

[0003] The purpose of the present invention is to provide a rail-type wire inspection robot to solve the problem that the existing wire inspection robots can only cross small obstacles but cannot cross large obstacles.

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

[0005] A guide rail line patrol robot comprises: a bracket, and a first connecting arm and a second connecting arm both arranged vertically;

[0006] The bracket is provided with a screw rod, a guide rail and a screw rod motor; the screw rod is inclined and arranged parallel to the guide rail, the screw rod includes a right-handed thread section and a left-handed thread section, and the screw rod is connected to the screw rod motor;

[0007] The length of the first connecting arm is smaller than that of the second connecting arm, and the first connecting arm and the second connecting arm both include a claw portion, a vertical support rod, a horizontal rotation component, a mounting component, a vertical rotation component and a sliding component that are connected in sequence; the sliding components of the first connecting arm and the second connecting arm are both slidably connected to the guide rail and the sliding components of the first connecting arm and the second connecting arm respectively cooperate with the right-handed thread segment and the left-handed thread segment.

[0008] The rail-type line patrol robot of the present invention moves via the rails on the bracket, so that the claws can be separated from the wires and bypass various obstacles. The obstacles can be crossed through the guidance of the rails. The distance between the axis of the rails and the axis of the wires in the horizontal direction will not change, so the guidance is accurate, the movement mode of each claw is simple, the difficulty of obstacle crossing operation is reduced, and obstacles of various sizes can be crossed.

[0009] The obstacle crossing process of the rail-type line patrol robot: the claw in the first connecting arm is the claw in the front position, and the claw in the second connecting arm is the claw in the back position. The claw in the front position is loosened from the wire, and the claw in the back position is tightly held with the wire. When the lead screw motor is working, the bracket is provided with a right-handed thread segment and a left-handed thread segment, and the bracket moves forward relative to the claw in the back position, and the claw in the front position moves forward relative to the bracket. Since the bracket is in an inclined state, the claw in the front position moves obliquely upward relative to the bracket, thereby leaving the wire. Driven by the horizontal rotating parts and the vertical rotating components, the claw in the front position crosses the obstacle from the bottom of the obstacle. During the obstacle crossing process, the distance between the axis of the guide rail and the axis of the wire in the horizontal direction will not change, so that the movement mode of the claw in the front position is simple, and the difficulty of obstacle crossing operation is reduced, thereby realizing the obstacle crossing of the claw in the front position, and the obstacle crossing process of the claw in the back position is consistent with the obstacle crossing process of the claw in the front position.

[0010] Furthermore, the above-mentioned horizontal rotation components all include a horizontal rotating disk and a horizontal rotating motor connected to each other, the horizontal rotating disk is rotatably connected to the mounting component, and the horizontal rotating disk is also connected to the bottom end of the vertical support rod.

[0011] The horizontal rotating motor of the present invention can drive the corresponding claw to rotate through the corresponding horizontal rotating disk and the vertical supporting rod, so that the claw can bypass the electric wire, which is convenient for the claw to move downward.

[0012] Furthermore, the vertical rotating assembly comprises a vertical rotating shaft and a vertical rotating motor connected to each other, and the vertical rotating shaft is connected to the mounting component and the sliding component.

[0013] The vertical rotating shaft of the present invention can drive the bracket and the claw part to be surmounted to rotate downward, so that the claw part to be surmounted moves to the bottom of the obstacle, so as to facilitate surmounting the obstacle from the bottom of the obstacle.

[0014] Furthermore, the top end of the vertical support rod is connected to the claw through a posture adjustment component; the posture adjustment component includes a posture adjustment rotating shaft and a posture adjustment motor connected to each other; the posture adjustment rotating shaft is connected to the claw and the top end of the vertical support rod.

[0015] The adjustment component of the present invention can ensure that the claw portion is kept in a vertical position, so as to facilitate the claw portion to hold the electric wire tightly after crossing an obstacle.

[0016] Furthermore, the above-mentioned claw part includes a bracket, a support assembly, and a fastening assembly; the support assembly includes a support wheel connected to the bracket, and the support wheel is 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 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 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.

[0017] The support groove on the support wheel of the present invention is used to place the wire. The fastening wheel can contact the wire under the drive of the sliding assembly and the rotating assembly. The fastening groove squeezes the wire so that the wire can be closely matched with the support wheel to achieve 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 the wire thickness. At the same time, due to the limiting effect of the support groove and the fastening groove, the connection between each claw part and the wire is reliable.

[0018] The rotating assembly can drive the fastening wheel and the fastening wheel mounting bracket to rotate and make the fastening wheel located below the support wheel. The sliding assembly can lift the fastening wheel to make the fastening wheel contact the wire, and then realize the clamping operation between the wire and the fastening wheel and the support wheel.

[0019] 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 support wheel, the constraint on the lower part of the wire by the fastening wheel can be released, and then each claw part can be lifted through the vertical rotating assembly to realize the wire-off function, and then realize the obstacle-crossing function.

[0020] Furthermore, the above-mentioned support assembly further includes a spring suspension, and the support wheel is connected to the bracket through the spring suspension.

[0021] When the sliding assembly of the present invention works, it will lift the fastening wheel. The fastening wheel squeezes the support wheel through the wire, and the force received by the support 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 support wheel and the fastening wheel and the wire. Sufficient clamping force can be provided when the support 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.

[0022] Furthermore, the above-mentioned support wheel is connected with a support wheel motor, and the support wheel motor is installed on the spring suspension.

[0023] The support wheel motor of the present invention is used to drive the support wheel to walk on the wire to complete the normal walking function.

[0024] Further, the above-mentioned support assembly further includes a braking component. The braking component and the fastening wheel are located on opposite sides corresponding to the support wheel. One end of the braking component is connected to the bracket, and the other end of the braking component is located in the support groove and is spaced from the groove wall of the support groove.

[0025] When the robot finishes moving forward, the sliding component drives the fastening wheel and the support wheel to continue to lift. At this time, the spring suspension is further compressed. After the support wheel is lifted, it will contact and approach the braking component. The support wheel cannot rotate through the friction force between the support groove and the braking component, realizing the locking function.

[0026] 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.

[0027] The sliding assembly of the present invention drives the lead screw to rotate through the lead screw motor to realize the lifting of components such as the rotating assembly, the fastening wheel, and the support wheel. When the lead screw is moving, it has stable movement and stable performance, and the fastening wheel and the support wheel can achieve smooth contact.

[0028] Further, the above-mentioned rotating assembly includes a servo motor and a link mechanism; the servo motor is connected to the sliding mounting bracket, and the link mechanism is respectively connected to the servo motor and the fastening wheel mounting bracket; a connecting rod is provided on the fastening wheel mounting bracket, and the connecting rod is rotatably connected to the sliding mounting bracket.

[0029] The present invention uses a servo motor as the actuating component of the rotating assembly. 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. The sliding assembly is not only connected to the fastening wheel mounting bracket through the rotating assembly, 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.

[0030] The present invention has the following beneficial effects:

[0031] (1) The rail-type wire-tracing robot of the present invention moves through the rails on the bracket, can separate the claw part from the wire and bypass various obstacles, realizes crossing obstacles through the guidance of the rails, and the distance between the axis of the rails and the axis of the wire in the horizontal direction will not change, so the guidance is accurate, the movement mode of each claw part is simple, the difficulty of obstacle-crossing operation is reduced, and various sizes of obstacles can be crossed.

[0032] (2) In each claw part of the present invention, the support groove on the support wheel 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 can be closely fitted with the support wheel 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 support wheel and the fastening wheel, thereby meeting the change of wire thickness. At the same time, due to the limiting effect of the support groove and the fastening groove, the connection between each claw part and the wire is reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 is a schematic structural view of the rail-type line inspection robot of the present invention;

[0034] Figure 2 is a schematic structural view of the lead screw of the present invention;

[0035] Figure 3 is a schematic structural view of the first connecting arm of the present invention excluding the claw part;

[0036] Figure 4 is a three-dimensional structural view of the claw part of the present invention;

[0037] Figure 5 is another three-dimensional structural view of the claw part of the present invention;

[0038] Figure 6 is a schematic structural view of the fastening component of the present invention.

[0039] In the figure: 10 - support; 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; 50 - support; 51 - lead screw; 52 - guide rail; 53 - lead screw motor; 54 - right-handed thread section; 55 - left-handed thread section; 60 - first connecting arm; 61 - vertical support rod; 62 - horizontal rotation component; 63 - mounting component; 64 - vertical rotation component; 65 - sliding component; 66 - lead screw sleeve; 70 - second connecting arm; 80 - posture adjustment component; 81 - posture adjustment rotation shaft; 82 - posture adjustment motor; 100 - claw part; 311 - lead screw motor; 312 - lead screw; 313 - sliding mounting bracket; 321 - servo motor; 322 - linkage mechanism; 621 - horizontal rotating disc; 622 - horizontal rotating motor; 641 - vertical rotating motor. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0040] 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.

[0041] Embodiment

[0042] Please refer to Figure 1 A rail-type line patrol robot comprises: a bracket 50, a first connecting arm 60 and a second connecting arm 70. The bracket 50 is in an inclined state. The first connecting arm 60 and the second connecting arm 70 are both vertically arranged, the top ends of the first connecting arm 60 and the second connecting arm 70 are flush, and the bottom ends are respectively connected to the bracket 50, and the length of the first connecting arm 60 is less than the length of the second connecting arm 70, so that the first connecting arm 60 and the second connecting arm 70 correspond to the inclined bracket 50.

[0043] Please refer to Figure 1 and Figure 2 The bracket 50 is provided with a screw rod 51, a guide rail 52 and a screw motor 53. The two ends of the screw rod 51 are respectively connected to the two ends of the bracket 50, and the extension direction of the screw rod 51 is consistent with the overall extension direction of the bracket 50, that is, the inclination degree of the screw rod 51 and the bracket 50 is consistent. The screw rod 51 includes a right-handed thread segment 54 and a left-handed thread segment 55, and the right-handed thread segment 54 and the left-handed thread segment 55 are respectively connected to the bottom ends of the first connecting arm 60 and the second connecting arm 70. The guide rail 52 is parallel to the screw rod 51, and the guide rail 52 is slidably connected to the first connecting arm 60 and the second connecting arm 70. The screw motor 53 is connected to the screw rod 51, and driven by the screw motor 53, the first connecting arm 60 and the second connecting arm 70 can move in opposite directions relative to the bracket 50.

[0044] Please refer to Figure 3 The first connecting arm 60 includes a claw portion 100, a vertical support rod 61, a horizontal rotation component 62, a mounting component 63, a vertical rotation component 64 and a sliding component 65 which are connected in sequence.

[0045] The top end of the vertical support rod 61 is connected to the claw 100 through the posture adjustment assembly 80, and the bottom end of the vertical support rod 61 is connected to the horizontal rotation assembly 62. The posture adjustment assembly 80 includes a posture adjustment rotation shaft 81 and a posture adjustment motor 82 connected to each other. The posture adjustment rotation shaft 81 is connected to the top of the claw 100 and the vertical support rod 61. Driven by the posture adjustment motor 82, the claw 100 can be ensured to be in a vertical position, so that it is convenient to hold the wire tightly after crossing the obstacle.

[0046] The horizontal rotation assembly 62 includes a horizontal rotating disk 621 and a horizontal rotating motor 622 connected to each other, wherein the horizontal rotating disk 621 is rotatably connected to the mounting component 63 and the horizontal rotating disk 621 is connected to the bottom end of the vertical support rod 61. The horizontal rotating motor 622 is fixed to the mounting component 63, and driven by the horizontal rotating motor 622, the vertical support rod 61 and the claw 100 can rotate around the axis of the horizontal rotating disk 621.

[0047] The vertical rotation assembly 64 includes a vertical rotation shaft (not shown) and a vertical rotation motor 641 that are connected to each other. The vertical rotation shaft is connected to the mounting member 63 and the sliding member 65. The vertical rotation motor 641 is fixed on the sliding member 65. Driven by the vertical rotation motor 641, the mounting member 63, the horizontal rotation assembly 62, the vertical support rod 61, and the claw 100 can all rotate around the vertical rotation shaft.

[0048] The sliding member 65 is provided with a chute (not shown), and the chute is matched with the guide rail 52. The sliding member 65 is further provided with a lead screw sleeve 66, and the lead screw sleeve 66 is matched with the lead screw 51.

[0049] The structure of the second connecting arm 70 is the same as that of the first connecting arm 60. The difference between the second connecting arm 70 and the first connecting arm 60 is that the length of the vertical support rod 61 in the second connecting arm 70 is greater than the length of the vertical support rod 61 in the first connecting arm 60; the lead screw sleeves 66 of the second connecting arm 70 and the first connecting arm 60 are respectively matched with the left-handed thread section 55 and the right-handed thread section 54.

[0050] Please refer to Figure 4 and Figure 5 , the claw 100 includes: a bracket 10, a support assembly 20, and a fastening assembly 30. The support assembly 20 is arranged inside the bracket 10, and the fastening assembly 30 is arranged on one side of the bracket 10. The bracket 10 is also connected to the top end of the vertical support rod 61, and the vertical support rod 61 and the fastening assembly 30 are respectively located on opposite sides of the bracket 10, so that when the claw 100 rotates, the claw 100 and the wire can be misaligned in the vertical direction, and the wire will not interfere with the movement of the claw 100 in the vertical direction.

[0051] The support assembly 20 includes a support wheel 21, a spring suspension 23, and a braking member 24. The circumferential direction of the support wheel 21 is provided with a support groove 22 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 braking member 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.

[0052] Please refer to Figure 6, 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 mounted on 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 mounted on the fastening wheel mounting bracket 33.

[0053] 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 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.

[0054] The rotating assembly 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 support 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 assembly 31, which can not only realize the quick opening and closing between the support wheel 21 and the fastening wheel 34, but also provide a large clamping force.

[0055] A connecting rod 36 is provided on the fastening wheel mounting bracket 33. 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 assembly 31 is not only connected to the fastening wheel mounting bracket 33 through the rotating assembly 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.

[0056] 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 support wheel 21, and the fastening groove 35 is arranged opposite to the support groove 22. The fastening wheel 34 and the braking member 24 are located on the two opposite sides corresponding to the support wheel 21. The fastening wheel 34 can be driven by the rotating assembly 32 to rotate below the support wheel 21 and make the fastening groove 35 opposite to the support groove 22. The fastening wheel 34 can also be driven by the sliding assembly 31 to approach or move away from the support wheel 21. Under the action of the sliding assembly 31, the fastening wheel 34 and the support wheel 21 hold the wire together. In this embodiment, the number of fastening wheels 34 is 3. The 3 fastening wheels 34 can place the wire in a bent state in the support groove 22, increasing the friction between the wire and the groove wall of the support 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 fastening wheels 34 can also be 1, 2, 4, etc.

[0057] The process of the claw part 100 holding the wire tightly: The rotating assembly 32 can drive the fastening wheel 34 and the fastening wheel mounting bracket 33 to rotate, and make the fastening wheel 34 located below the support wheel 21. The sliding assembly 31 can lift the fastening wheel 34 to make the fastening wheel 34 contact the wire. The sliding assembly 31 continues to lift the fastening wheel 34 to make the wire tightly adhere to the fastening groove 35 and the support groove 22, realizing the holding operation between the wire and the fastening wheel 34 and the support wheel 21.

[0058] The locking process of the claw part 100: After the claw part 100 holds the wire tightly, the sliding assembly 31 continues to work, driving the support wheel 21 to move upward continuously until it contacts the braking member 24, so that the locking function can be realized through the friction between the braking member 24 and the groove wall of the support groove 22.

[0059] The process of the claw part 100 loosening from the wire: The sliding assembly 31 works in the reverse direction to separate the fastening wheel 34 from the wire, and then the rotating assembly 32 works in the reverse direction to move the fastening wheel 34 away from the support wheel 21, releasing the constraint on the lower part of the wire by the fastening wheel 34, realizing the loosening of the claw part 100 from the wire. Furthermore, the claw part 100 can be lifted through the vertical rotating assembly to realize the wire detachment function, and further realize the obstacle-crossing function.

[0060] The following "first claw part" refers to the claw part 100 on the first connecting arm 60, and the "second claw part" refers to the claw part 100 on the second connecting arm 70. When the rail-type wire patrol robot is walking, the walking and obstacle-crossing processes of the rail-type wire patrol robot are described in the order that the first claw part is in the front and the second claw part is in the back.

[0061] The normal walking process of the rail-type wire patrol robot: The first claw part and the second claw part are respectively tightly held with the wire. By the rotation of the support wheel motors in the first claw part and the second claw part, the first claw part and the second claw part are driven to walk normally on the wire.

[0062] The rail-type line patrol robot rolls over small obstacles: the first claw is released from the wire, and the second claw is kept in a tight state with the wire. The first claw and the second claw rotate the support wheel motor to drive the first claw to roll over the small obstacle. After the first claw rolls over the small obstacle, it holds the wire tightly, and the second claw is released from the wire. The first claw and the second claw rotate the support wheel motor to drive the second claw to roll over the small obstacle, so that the robot can roll over the small obstacle.

[0063] The rail-type line patrol robot bypasses small obstacles or large obstacles to cross obstacles: the first claw is released from the wire, and the second claw remains in a tightly held state with the wire. The screw motor 53 rotates, driving the first claw to move obliquely upward in the forward direction, so that the first claw is separated from the wire. The horizontal rotation motor 622 on the first connecting arm 60 rotates, driving the first claw to rotate, so that the first claw and the wire are staggered in the vertical direction. The vertical rotation motor on the second connecting arm 70 rotates, driving the bracket 10 and the first connecting arm 60 to rotate, so that the first claw is located below the wire. The screw motor 53 rotates again, driving the first claw to move in the forward direction until it crosses the obstacle. The vertical rotation motor on the second connecting arm 70 rotates again, driving the bracket 10 and the first connecting arm 60 to rotate, so that the first claw is located above the wire. The horizontal rotation motor 622 on the first connecting arm 60 rotates again, driving the first claw to rotate, so that the first claw is aligned with the wire in the vertical direction, and finally the screw motor 53 rotates, so that the first claw contacts the wire and holds the wire tightly, so that the first claw can cross the obstacle. The obstacle crossing process of the second claw is the same as that of the first claw.

[0064] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A rail - type line - patrol robot, characterized in that, it includes: a bracket (50), a first connecting arm (60) and a second connecting arm (70) which are all vertically arranged; a lead screw (51), a guide rail (52) and a lead - screw motor (53) are provided on the bracket (50); the lead screw (51) is obliquely arranged and parallel to the guide rail (52), the lead screw (51) includes a right - hand thread section (54) and a left - hand thread section (55), and the lead screw (51) is connected to the lead - screw motor (53); the length of the first connecting arm (60) is less than that of the second connecting arm (70), and both the first connecting arm (60) and the second connecting arm (70) include a claw part (100), a vertical support rod (61), a horizontal rotation assembly (62), a mounting part (63), a vertical rotation assembly (64) and a sliding part (65) which are connected in sequence; the sliding parts (65) of the first connecting arm (60) and the second connecting arm (70) are both slidably connected to the guide rail (52), and the sliding parts (65) of the first connecting arm (60) and the second connecting arm (70) are respectively matched with the right - hand thread section (54) and the left - hand thread section (55); each horizontal rotation assembly (62) includes a horizontally rotating disc (621) and a horizontal rotation motor (622) which are connected to each other, the horizontally rotating disc (621) is rotatably connected to the mounting part (63), and the horizontally rotating disc (621) is also connected to the bottom end of the vertical support rod (61); the vertical rotation assembly (64) includes a vertically rotating shaft and a vertical rotation motor (641) which are connected to each other, and the vertically rotating shaft is connected to the mounting part (63) and the sliding part (65); the top end of the vertical support rod (61) is connected to the claw part (100) through a posture - adjusting assembly (80); the posture - adjusting assembly (80) includes a posture - adjusting rotating shaft (81) and a posture - adjusting motor (82) which are connected to each other; the posture - adjusting rotating shaft (81) is connected to the claw part (100) and the top end of the vertical support rod (61); the claw part (100) 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 frame (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 frame (33); the fastening wheel (34) is rotatably connected to the fastening - wheel mounting frame (33), and the axis of the fastening wheel (34) is parallel to the axis of the support wheel (21), and the fastening wheel (34) is provided with a fastening groove (35) along the circumferential direction, and the fastening groove (35) is oppositely arranged to the support groove (22); 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 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). During the process of the claw part (100) clamping the wire, the rotating component (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 component (31) can lift the tightening wheel (34) to make the tightening wheel (34) contact the wire. The sliding component (31) continues to lift the tightening wheel (34) to make the wire closely adhere to the tightening groove (35) and the supporting groove (22), so as to realize the clamping operation between the wire, the tightening wheel (34), and the supporting wheel (21). The rotating component (32) includes a servo motor (321) and a linkage mechanism (322); the servo motor (321) is connected to the sliding mounting bracket (313), and the linkage mechanism (322) is respectively connected to the servo motor (321) and the tightening wheel mounting bracket (33); a connecting rod (36) is provided on the tightening wheel mounting bracket (33), and the connecting rod (36) is rotatably connected to the sliding mounting bracket (313). Driven by the servo motor (321), the linkage mechanism (322) can drive the tightening wheel mounting bracket (33) to rotate, so as to drive the tightening wheel (34) to approach or move away from the supporting wheel (21); a protrusion is provided on the linkage mechanism (322). 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 all the clamping force is provided by the sliding component (31). It can not only realize the quick opening and closing between the supporting wheel (21) and the tightening wheel (34), but also provide a large clamping force. The guide rail line patrol robot bypasses a large obstacle to perform an obstacle crossing process, the first claw part is released from the electric wire, and the second claw part is kept in a tightly holding state with the electric wire; the screw motor (53) rotates, driving the first claw part to move obliquely upward in the forward direction, so that the first claw part is separated from the electric wire; the horizontal rotation motor (622) on the first connecting arm (60) rotates, driving the first claw part to rotate, so that the first claw part and the electric wire are staggered in the vertical direction; the vertical rotation motor on the second connecting arm (70) rotates, driving the bracket (10) and the first connecting arm (60) to rotate, so that the first claw part is located below the electric wire. ; The screw motor (53) rotates again, driving the first claw to move in the forward direction until it passes over the obstacle; the vertical rotation motor on the second connecting arm (70) rotates again, driving the bracket (10) and the first connecting arm (60) to rotate, so that the first claw is located above the wire; the horizontal rotation motor (622) on the first connecting arm (60) rotates again, driving the first claw to rotate, so that the first claw and the wire are aligned in the vertical direction, and finally the screw motor (53) rotates, so that the first claw contacts the wire and the first claw and the wire are tightly held, so that the first claw passes over the obstacle; The support assembly (20) further comprises a spring suspension (23), and the support wheel (21) is connected to the bracket (10) via the spring suspension (23).

2. The rail-type line patrol robot according to claim 1, It is characterized in that The support wheel (21) is connected to a support wheel motor, and the support wheel motor is mounted on the spring suspension (23).

3. The rail-type line patrol robot according to claim 2, It is characterized in that The support assembly (20) further comprises a brake component (24), wherein the brake component (24) and the fastening wheel (34) are located on two sides corresponding to the support wheel (21), one end of the brake component (24) is connected to the bracket (10), and the other end of the brake component (24) is located in the support groove (22) and is spaced apart from the groove wall of the support groove (22).

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