A walking anti-fall component suitable for an overhead line inspection robot

Abstract

The present invention discloses a walking anti-falling assembly suitable for an overhead line inspection robot, comprising: a vertical rotating plate, which is used to connect the inspection robot and on which a horizontal rotating motor is fixed; a horizontal rotating plate, the middle part of which is connected to the horizontal rotating motor; an active walking mechanism, comprising a driving wheel and a main driving motor, the driving wheel being arranged at one end of the horizontal rotating plate, and the main driving motor being connected to the driving wheel; a follower walking mechanism, comprising a follower wheel, the follower wheel being arranged at the other end of the horizontal rotating plate opposite to the driving wheel, the follower wheel being parallel to the driving wheel axis, and the two being located on the same surface of the horizontal rotating plate, and a line hanging area being formed in the middle area between the follower wheel and the driving wheel. The present invention can be assembled on an overhead line inspection robot, and can be driven by either a single wheel or a double wheel, thereby increasing the climbing ability.

Description

Technical Field

[0001] The invention belongs to the field of intelligent inspection automation equipment for overhead lines, and in particular relates to a walking anti-fall function component of an overhead line inspection robot. Background Art

[0002] Transmission line equipment is exposed to the wild environment for a long time, and is subject to various meteorological conditions (such as strong winds, ice and snow, temperature changes, lightning strikes, etc.), chemical gas corrosion, and external force damage. Over time, not only will there be line damage such as broken strands, wear, and corrosion, but also the probability of failures such as insulator flashover, tower material loss, and hardware falling off is also high. If it is not repaired and replaced in time, the original minor damage may expand, eventually leading to power outages or even power transmission accidents. Therefore, high-voltage transmission line inspection is of great significance to ensure the safe and stable operation of transmission lines.

[0003] At present, there are three main ways to inspect transmission lines: 1) Manual visual inspection: Manual inspection is still the most important inspection method in China. The manual visual inspection method means that line inspectors use visual inspection or telescopes, rangefinders, infrared thermal imaging and other equipment to inspect tower by tower along the line on the ground. Although this method has the advantages of strong flexibility and adaptability, its disadvantages are high labor intensity, high risk factor, low work efficiency and inspection accuracy. 2) Aerial survey method: Aerial survey is divided into helicopter inspection and drone inspection. The helicopter inspection method has the disadvantages of high inspection cost and great influence by weather, and has high technical requirements for inspection personnel and pilots; although the drone inspection is small and unmanned, and can autonomously navigate by GPS, it has limited payload and short battery life. 3) Robot inspection method: Use a walking device to hang the inspection robot on the transmission line, and use the rollers on the walking device to drive the inspection robot along the transmission line. It has low cost, high detection efficiency and long battery life. However, existing overhead line inspection robots usually only have walking functions, limited climbing ability, and lack anti-fall safety protection devices. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a walking anti-fall assembly that can be assembled on an overhead line inspection robot; the overhead line inspection robot equipped with the walking anti-fall assembly can be driven by either a single wheel or two wheels, thereby increasing its climbing ability.

[0005] To achieve the above object, the present invention provides the following technical solution: a walking anti-fall assembly suitable for an overhead line inspection robot, comprising:

[0006] A vertical rotating plate, which is used to connect the inspection robot and on which a horizontal rotating motor is fixed; a horizontal rotating plate, the middle of which is connected to the horizontal rotating motor;

[0007] The active walking mechanism comprises a driving wheel and a main driving motor, wherein the driving wheel is arranged at one end of the horizontal rotating plate, and the main driving motor is connected to the driving wheel;

[0008] The follower walking mechanism includes a follower wheel, which is arranged at the other end of the horizontal rotating plate opposite to the driving wheel. The follower wheel is parallel to the driving wheel axis, and the two are located on the same surface of the horizontal rotating plate. The middle area between the follower wheel and the driving wheel forms a wire hanging area.

[0009] Furthermore, a harmonic reducer is arranged on the horizontal rotating plate, and the horizontal rotating motor is connected to the harmonic reducer on the horizontal rotating plate.

[0010] Furthermore, a driving wheel support plate is provided at the position of the horizontal rotating plate corresponding to the driving wheel, and the driving wheel is fixed between the horizontal rotating plate and the driving wheel support plate through a driving shaft. A follower wheel support plate is provided at the position of the horizontal rotating plate corresponding to the follower wheel, and the follower wheel is fixed between the horizontal rotating plate and the follower wheel support plate through a follower shaft. An entry and exit line opening is formed between the driving wheel support plate and the follower wheel support plate.

[0011] Furthermore, a hollow portion is provided on one side of the horizontal rotating plate close to the follower wheel, and a strain gauge is provided in the hollow portion.

[0012] Furthermore, the driving wheel support plate is provided with a follower frame rotatably connected thereto, an equipotential shaft is provided below the follower frame, the equipotential shaft is parallel to the axis of the driving wheel, the equipotential shaft is placed above the overhead line, and the equipotential shaft is used to achieve equipotential with the ground wire.

[0013] Furthermore, an anti-dropping motor is fixed on the follower frame, and the anti-dropping motor is connected to an anti-dropping hook. When the anti-dropping hook is closed, the overhead line is located between the anti-dropping hook and the driving wheel, which plays a self-locking role.

[0014] Furthermore, a Hall sensor is arranged on the follower frame, and a code disk cooperating with the Hall sensor is arranged on the potential shaft. The Hall sensor detects the angle of rotation of the code disk and feeds back the displacement of the robot.

[0015] Furthermore, the follower wheel support plate is provided with an entry and exit line opposite-beam sensor, and the driving wheel support plate is provided with an entry and exit line opposite-beam sensor. The entry and exit line opposite-beam sensor and the entry and exit line opposite-beam sensor are located on both sides of the entry and exit line opening.

[0016] Furthermore, an above-the-line opposing beam sensor is arranged on the driving wheel support plate, and a below-the-line opposing beam sensor is arranged on the horizontal rotating plate. The above-the-line opposing beam sensor and the below-the-line opposing beam sensor are located in the wire hanging area and on both sides of the driving wheel respectively, and are used to detect whether the overhead wire is correctly contacting the driving wheel.

[0017] Furthermore, the equipotential shaft surface is configured as a knurled surface to increase friction with the overhead wire.

[0018] Compared with the prior art, the beneficial effects of the present invention are: the walking anti-fall component suitable for the overhead line inspection robot can be driven by either a single wheel or a dual wheel, thereby increasing the climbing ability, and at the same time, an anti-fall device is designed to prevent the robot from self-protecting in the event of a sudden failure. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a three-dimensional structural diagram of the present invention in a single-wheel driving state;

[0020] Figure 2 This is a front view of the present invention in a single-wheel driving state;

[0021] Figure 3 It is a side view of the present invention in a single-wheel driving state with the anti-drop hook locked;

[0022] Figure 4 It is a side view of the present invention in single-wheel driving state with the anti-drop hook unlocked;

[0023] Figure 5 It is a three-dimensional structural diagram of the double-wheel clamping driving state of the present invention;

[0024] Figure 6 This is a front view of the double-wheel clamping driving state of the present invention;

[0025] Figure 7 It is a side view of the present invention in a dual-wheel driving state with the anti-drop hook locked;

[0026] Figure 8 This is a side view of the present invention in dual-wheel drive state with the anti-drop hook unlocked.

[0027] Figure numerals: 1. equipotential axis; 2. anti-drop hook; 3. horizontal rotating plate; 4. vertical rotating plate; 5. follower wheel support plate; 6. follower wheel; 7. lower beam sensor control panel; 8. anti-drop motor; 9. entry and exit line lower beam sensor; 10. upper beam sensor control panel; 11. entry and exit line lower beam sensor; 12. Hall sensor; 13. follower frame; 14. driving wheel support plate; 15. code disk; 16. pressure line lower beam sensor; 17. driving wheel; 18. pressure line lower beam sensor; 19. main driving motor; 20. horizontal rotating motor; 21. harmonic reducer; 22. strain gauge. DETAILED DESCRIPTION

[0028] Reference Figures 1 to 8 The present invention is further described in detail with respect to an embodiment of a walking anti-fall assembly applicable to an overhead line inspection robot.

[0029] In the description of the present invention, it should be noted that directional words, such as the terms "center", "lateral (X)", "longitudinal (Y)", "vertical (Z)", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc., indicating directions and positional relationships are based on the directions or positional relationships shown in the accompanying drawings, which are only for the convenience of narrating the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and cannot be understood as limiting the specific scope of protection of the present invention.

[0030] In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features. Therefore, the definition of "first" and "second" features can explicitly or implicitly include one or more of the features. In the description of the present invention, "several" and "a number" mean two or more, unless otherwise clearly and specifically defined.

[0031] A walking anti-fall assembly suitable for an overhead line inspection robot, comprising:

[0032] A vertical rotating plate 4, which is used to connect the inspection robot, and a horizontal rotating motor 20 is fixed thereon; a horizontal rotating plate 3, the middle of which is connected to the horizontal rotating motor 20;

[0033] The active walking mechanism includes a driving wheel 17 and a main driving motor 19. The driving wheel 17 is arranged at one end of the horizontal rotating plate 3, and the main driving motor 19 is connected to the driving wheel 17;

[0034] The follower walking mechanism includes a follower wheel 6, which is arranged at the other end of the horizontal rotating plate 3 opposite to the driving wheel 17. The axes of the follower wheel 6 and the driving wheel 17 are parallel, and the two are located on the same surface of the horizontal rotating plate 3. The middle area between the follower wheel 6 and the driving wheel 17 forms a hanging line area.

[0035] In this embodiment, the preferred driving wheel 17 and the driven wheel 6 are both concave wheels, and the grooves of the driving wheel 17 and the driven wheel 6 are opposite to each other.

[0036] In this embodiment, a harmonic reducer 21 is preferably provided on the horizontal rotating plate 3 , and the horizontal rotating motor 20 is connected to the harmonic reducer 21 on the horizontal rotating plate 3 .

[0037] The inspection robot is installed below the vertical rotating plate 4. Figure 1As described, in the normal state, the horizontal rotating plate 3 is substantially flush with the vertical rotating plate 4, so that the driving wheel 17 and the follower wheel 6 are on the same vertical line, so that the overhead line reaches below the driving wheel 17 from the hanging area, and the walking anti-fall assembly is lowered, and the overhead line enters the groove of the driving wheel 17, and the follower wheel 6 is located below the overhead line and does not contact the overhead line. At this time, a single-wheel drive mode is formed, and the driving wheel 17 is rotated by the main drive motor 19 to walk on the overhead line. The single-wheel drive mode is suitable for the straight section of the overhead line, and the outdoor weather is clear and there is no strong wind;

[0038] like Figure 5 As shown, the horizontal rotating motor 20 rotates to rotate the horizontal rotating plate 3 until the follower wheel 6 contacts the bottom surface of the overhead line, and the overhead line is clamped by the driving wheel 17 and the follower wheel 6, thereby forming a double-wheel clamping drive mode. The driving wheel and the follower wheel 6 simultaneously hold the overhead line, thereby increasing the friction torque of the robot along the circumference of the conductor. Therefore, it can resist the swing of the robot caused by strong winds to a certain extent. At the same time, the double-wheel clamping also provides a greater clamping force for the driving wheel 17, thereby increasing the friction between the driving wheel 17 and the overhead line, preventing the driving wheel 17 from slipping, and improving the robot's climbing ability. The double-wheel clamping drive mode is suitable for uphill and downhill sections of overhead lines, or when encountering strong outdoor winds, the robot may swing violently.

[0039] In this embodiment, the preferred main drive motor 19 is directly connected to the drive wheel 17, which can drive the drive wheel 17 to rotate forward and reverse, so that the inspection robot can move forward and backward along the overhead line. When the drive wheel 17 and the follower wheel 6 clamp the overhead line, the follower wheel 6 can rotate with it.

[0040] In this embodiment, the horizontal rotating plate 3 is preferably provided with a driving wheel support plate 14 at a position corresponding to the driving wheel 17, and the driving wheel 17 is fixed between the horizontal rotating plate 3 and the driving wheel support plate 14 through a driving shaft. The horizontal rotating plate 3 is provided with a follower wheel support plate 5 at a position corresponding to the follower wheel 6, and the follower wheel 6 is fixed between the horizontal rotating plate 3 and the follower wheel support plate 5 through a follower shaft, and an entry and exit line opening is formed between the driving wheel support plate 14 and the follower wheel support plate 5.

[0041] like Figure 3 As shown, the horizontal rotating plate 3 is located on the left side of the driving wheel 17 and the follower wheel 6, the driving wheel support plate 14 and the follower wheel support plate 5 respectively bypass the upper and lower sides of the driving wheel 17 and the follower wheel 6 and are connected and fixed on the horizontal rotating plate 3, and the driving wheel support plate 14 and the follower wheel support plate 5 are provided on the right side of the driving wheel 17 and the follower wheel 6, but the driving wheel support plate 14 and the follower wheel support plate 5 are not connected, so that an entry and exit line opening is formed between the two.

[0042] The driving wheel support plate 14 and the follower wheel support plate 5 firstly form protection for the driving wheel 17 and the follower wheel 6, and secondly can also effectively support the driving wheel 17 and the follower wheel 6 to make their operation stable and avoid the instability caused by the single cantilever.

[0043] In the present embodiment, the horizontal rotating plate 3 is preferably provided with a hollow portion on one side close to the follower wheel 6, and a strain gauge 22 is provided in the hollow portion. When the horizontal rotating plate 3 rotates to clamp the driving wheel 17 and the follower wheel 6 to form a double-wheel clamping drive mode, the horizontal rotating plate 3 will produce a certain degree of deformation due to the torque. By detecting the deformation amount of the strain gauge 22, the corresponding torque value can be calculated to determine whether there is contact with the overhead line and the clamping torque with the overhead line, so as to determine whether the line is completely pressed and at the same time ensure that the torque value required by the robot is reached.

[0044] The driving wheel support plate 14 is provided with a follower frame 13 rotatably connected thereto, and an equipotential shaft 1 is provided below the follower frame 13 . The equipotential shaft 1 is parallel to the axis of the driving wheel 17 , and the equipotential shaft 1 is placed above the overhead line.

[0045] The preferred equipotential shaft 1 in this embodiment is made of metal material and has a knurling treatment on the surface to increase the friction with the overhead line and ensure the accuracy of displacement detection. The equipotential shaft 1 is nested in the follower frame 13 through a rolling bearing. When the robot walks, the equipotential shaft 1 rolls in contact with the overhead line, which not only ensures the equipotential with the overhead line and prevents the high voltage of the overhead line from breaking through and damaging the robot, but also reduces the damage to the overhead line. A code disk 15 is installed on the other side of the equipotential shaft 1, and a Hall sensor 12 is arranged on the follower frame 13. The scale of the code disk 15 is detected by the Hall sensor 12, so that the walking displacement of the robot can be accurately collected, which is convenient for the subsequent closed-loop displacement control of the robot.

[0046] Since the follower frame 13 is rotationally connected to the driving wheel support plate 14, no matter what angle the driving wheel support plate 14 (horizontally rotating plate 3) is in, one side of the equipotential shaft 1 can always maintain contact with the overhead line due to gravity.

[0047] In the preferred embodiment of the present invention, an anti-slip motor 8 is also fixed on the follower frame 13, and the anti-slip motor 8 is connected to the anti-slip hook 2. When the anti-slip hook 2 is closed, the overhead line is located between the anti-slip hook 2 and the driving wheel 17, which plays a self-locking role.

[0048] In this embodiment, the shaft of the preferred anti-slip motor 8 is connected to the anti-slip hook 2 via a top screw.

[0049] like Figure 1 , 3 , 7, at this time, the anti-drop hook 2 is in the closed state, Figure 4 , 5, 8, at this time, the anti-drop hook 2 is in the open state.

[0050] In this embodiment, the axis of the anti-slip motor 8 is parallel to the axis of the driving wheel 17. Figure 3 As shown, in the single-wheel clamping driving mode, when the anti-detachment hook 2 rotates clockwise, the anti-detachment hook 2 forms a closed space with the equipotential shaft 1, and the overhead line is in this space, that is, the driving wheel 17 and the equipotential shaft 1 are both above the overhead line and in contact with the upper surface of the overhead line, and the anti-detachment hook 2 is below the overhead line to surround the overhead line inside, thereby locking the overhead line to prevent the robot from detaching from the overhead line and falling off when an unexpected failure occurs. Figure 7 As shown, in the double-wheel clamping driving mode, due to the action of the follower frame 13, the equipotential shaft 1 and the anti-drop hook 2 can both surround the overhead wire and lock it inside; Figure 4 and Figure 8 As shown, when the anti-drop hook 2 rotates counterclockwise, the original closed space is opened. At this time, the line can be hung or the robot can be moved out of the overhead line to perform subsequent obstacle crossing actions.

[0051] like Figure 3 and Figure 4 As shown, in this embodiment, two left and right limit blocks are preferably designed on the shaft end surface side of the follower frame 13 to limit the clockwise and counterclockwise rotation limit positions of the anti-detachment hook 2 respectively.

[0052] The preferred anti-drop motor 8 of this embodiment is equipped with a brake, which closes when the power is off to lock the hook, thereby preventing the robot from falling from the overhead line and being damaged when the robot fails to power on due to an unexpected failure.

[0053] In this embodiment, the follower wheel support plate 5 is preferably provided with an entry / exit line opposite-beam sensor 9, and the driving wheel support plate 14 is provided with an entry / exit line opposite-beam sensor 11. The entry / exit line opposite-beam sensor 9 and the entry / exit line opposite-beam sensor 11 are located on both sides of the entry / exit line opening.

[0054] The light beams emitted by the lower access line beam sensor 9 and the upper access line beam sensor 11 cross the access line opening.

[0055] Preferably, a lower opposing beam sensor control board 7 is provided on the follower wheel support plate 5, which is electrically connected to the opposing beam sensor 9 below the entry and exit line and the opposing beam sensor 11 above the entry and exit line. The opposing beam sensor 9 below the entry and exit line and the opposing beam sensor 11 above the entry and exit line form a pair of entry line detection transceiver systems. When the overhead line passes between them, the entry line detection transceiver system detects the passage of an obstacle, thereby outputting an entry line signal to the control system. Whether the overhead line has correctly entered the component can be detected through the signals of the opposing beam sensor 11 on the entry and exit line and the opposing beam sensor 9 below the entry and exit line.

[0056] In this embodiment, the driving wheel support plate 14 is preferably provided with an online pressure sensor 16, and the horizontal rotating plate 3 is provided with an offline pressure sensor 18. The online pressure sensor 16 and the offline pressure sensor 18 are located in the wire hanging area and on both sides of the driving wheel 17 respectively, for detecting whether the overhead wire is correctly contacting the driving wheel 17.

[0057] The light beams emitted by the above-pressing-line beam sensor 16 and the below-pressing-line beam sensor 18 span the horizontal rotating plate 3 and the driving wheel support plate 14 and are located between the driving wheel 17 and the driven wheel.

[0058] Preferably, an upper counter-shooting sensor control board 10 is provided on the driving wheel support plate 14, which is electrically connected to the online pressing counter-shooting sensor 16 and the online pressing line counter-shooting sensor 18. The online pressing line counter-shooting sensor 16 and the online pressing line counter-shooting sensor 18 form a pair of online pressing line detection transceiver systems. When the overhead line passes between them, the online pressing line detection transceiver system detects the passage of an obstacle, and then outputs a online pressing line signal to the control system. The signals of the online pressing line counter-shooting sensor 16 and the online pressing line counter-shooting sensor 18 are used to detect whether the main driving wheel 17 completely presses the overhead line, making the robot safer and more reliable during operation.

[0059] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A walking anti-fall assembly suitable for an overhead line inspection robot, characterized in that: include: A vertical rotating plate, which is used to connect the inspection robot and on which a horizontal rotating motor is fixed; A horizontal rotating plate, the middle part of which is connected to a horizontal rotating motor; The active walking mechanism comprises a driving wheel and a main driving motor, wherein the driving wheel is arranged at one end of the horizontal rotating plate, and the main driving motor is connected to the driving wheel; The follower walking mechanism includes a follower wheel, which is arranged at the other end of the horizontal rotating plate opposite to the driving wheel. The follower wheel is parallel to the driving wheel axis, and the two are located on the same surface of the horizontal rotating plate. The middle area between the follower wheel and the driving wheel forms a wire hanging area. Both the driving wheel and the follower wheel are concave wheels, and the grooves of the driving wheel and the follower wheel are opposite; A driving wheel support plate is arranged at the position of the horizontal rotating plate corresponding to the driving wheel, and a follower frame connected to the driving wheel for rotation is arranged on the driving wheel support plate. An anti-slip motor is also fixed on the follower frame, and the anti-slip motor is connected to an anti-slip hook. When the anti-slip hook is closed, the overhead line is located between the anti-slip hook and the driving wheel, which plays a self-locking role.

2. The walking anti-fall assembly suitable for an overhead line inspection robot according to claim 1, characterized in that: The horizontal rotating plate is provided with a harmonic reducer, and the horizontal rotating motor is connected to the harmonic reducer on the horizontal rotating plate.

3. The walking anti-fall assembly suitable for an overhead line inspection robot according to claim 2, characterized in that: The driving wheel is fixed between the horizontal rotating plate and the driving wheel support plate through a driving shaft, a follower wheel support plate is provided at the horizontal rotating plate corresponding to the follower wheel, the follower wheel is fixed between the horizontal rotating plate and the follower wheel support plate through a follower shaft, and an entry and exit line opening is formed in the middle area between the driving wheel support plate and the follower wheel support plate.

4. The walking anti-fall assembly for an overhead line inspection robot according to any one of claims 1 to 3, characterized in that: A hollow portion is provided on one side of the horizontal rotating plate close to the follower wheel, and a strain gauge is provided in the hollow portion for real-time detection and feedback of the clamping force of the clamping ground wire.

5. The walking anti-fall assembly suitable for an overhead line inspection robot according to claim 4, characterized in that: An equipotential shaft is arranged below the follower frame, the equipotential shaft is parallel to the axis of the driving wheel, and the equipotential shaft is placed above the overhead line.

6. The walking anti-fall assembly suitable for an overhead line inspection robot according to claim 5, characterized in that: The follower frame is provided with a Hall sensor, the potential shaft is provided with a code disk matched with the Hall sensor, the Hall sensor detects the angle of rotation of the code disk, and feeds back the displacement of the robot.

7. The walking anti-fall assembly suitable for an overhead line inspection robot according to claim 6, characterized in that: The follower wheel support plate is provided with an entry and exit line opposite-beam sensor, the driving wheel support plate is provided with an entry and exit line opposite-beam sensor, and the entry and exit line opposite-beam sensor and the entry and exit line opposite-beam sensor are located on both sides of the entry and exit line opening.

8. The walking anti-fall assembly suitable for an overhead line inspection robot according to claim 7, characterized in that: The driving wheel support plate is provided with an above-the-line opposing beam sensor, and the below-the-line opposing beam sensor is provided with a horizontal rotating plate. The above-the-line opposing beam sensor and the below-the-line opposing beam sensor are located in the wire hanging area and on both sides of the driving wheel respectively, and are used to detect whether the overhead wire contacts the driving wheel correctly.

9. The walking anti-fall assembly suitable for an overhead line inspection robot according to claim 8, characterized in that: The equipotential shaft surface is configured as a knurled surface to increase friction with the overhead wire.

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