A composite active power device for a shape-changing line patrol robot

Abstract

The present invention relates to the field of electric power inspection technology. The technical solution is: a composite main power device for a variable-form line patrol robot, characterized in that: it includes at least two groups of power components with the same structure; each group of power components includes a wheel frame structure that can be suspended on the cable, a power motor connected to the wheel frame structure, and a lifting structure and a power conversion structure respectively matched with the wheel frame structure; the power motor housings in two adjacent groups of power components are connected by a retractable mechanical arm; the wheel frame structure includes a suspension frame, a suspension wheel rotatably positioned on the suspension frame, a crimping frame arranged below the suspension frame, a stepped shaft driven by the power motor and rotatably positioned on the crimping frame, and a crimping wheel coaxially connected to the stepped shaft. The device is installed on the line patrol robot, which can drive the line patrol robot to roll on the cable, assist in deforming the motion form of the line patrol robot, and enable the line patrol robot to smoothly bypass obstacles on the cable.

Description

Technical Field

[0001] The invention relates to the technical field of electric power inspection, in particular to a composite main power device for a variable-form line inspection robot. Background Art

[0002] As the scale of the power grid continues to grow, the efficiency of manual inspections has gradually declined, and the complex power grid system has put forward higher requirements for inspection technicians. The emergence of power inspection robots can replace inspection technicians, improve the efficiency of simple work, and reduce the accident rate in high-risk working environments, which well makes up for the shortcomings of manual inspections. As the scale of China's power grid continues to expand, the difficulty of maintaining the safe operation of the power grid is also increasing. The demand for power inspection robots in China's power industry is becoming increasingly urgent.

[0003] For power line inspection robots, when they are suspended on overhead cables, they not only need to roll on the cables, but also need to bypass obstacles (such as anti-vibration hammers and insulators on the cables) to continue the line inspection. Therefore, how to ensure the free movement of power line inspection robots during the line inspection process has become the key to replacing manual cable inspection with robots. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcomings of the above-mentioned background technology and provide a composite main power device of a variable-shape line-patrol robot. The device is installed on the line-patrol robot, which can not only drive the line-patrol robot to roll on the cable, but also assist in deforming the movement form of the line-patrol robot, so that the line-patrol robot can smoothly bypass obstacles on the cable, thereby ensuring that the line-patrol robot can smoothly perform line patrol operations.

[0005] The technical solution provided by the present invention is:

[0006] A composite main power device for a variable-shape line patrol robot, characterized in that: it comprises at least two groups of power components with the same structure; each group of power components comprises a wheel frame structure that can be suspended on a cable, a power motor connected to the wheel frame structure, and a lifting structure and a power conversion structure respectively matched with the wheel frame structure; the power motor housings in two adjacent groups of power components are connected by a retractable mechanical arm;

[0007] The wheel frame structure includes a suspension frame, a suspension wheel rotatably positioned on the suspension frame, a crimping frame arranged below the suspension frame, a stepped shaft driven by a power motor and rotatably positioned on the crimping frame, and a crimping wheel coaxially fixedly connected to the stepped shaft;

[0008] The lifting structure comprises a lifting frame, a lifting motor fixed on the lifting frame, a lifting screw driven by the lifting motor and rotatable around a vertical axis and positioned on the lifting frame, a lifting plate that can slide vertically along the lifting frame, and a lifting nut fixed on the lifting plate and threadedly connected to the lifting screw; the lifting plate is fixedly connected to the crimping frame so that the crimping frame moves synchronously with the lifting plate;

[0009] The power conversion structure comprises a buckle rod slidably positioned on the crimping frame to prevent or allow the crimping wheel to rotate, and a power conversion motor fixed on the crimping frame and driving the buckle rod through a screw nut assembly.

[0010] The axis of the power conversion screw, the axis of the buckle rod and the axis of the stepped shaft in the screw nut assembly are parallel to each other.

[0011] The wheel surfaces of the suspension wheel and the crimping wheel are both grooves arranged around the outer circumference and suitable for the cable; the center lines of the grooves on the wheel surfaces of the suspension wheel and the crimping wheel are set in the same plane; the rotation axis of the suspension wheel and the rotation axis of the crimping wheel are parallel to each other.

[0012] The crimping frame and the crimping wheel are correspondingly provided with a plurality of holes for the buckle rod to pass through.

[0013] The rotation axis of the lifting screw rod and the rotation axis of the crimping wheel are perpendicular to each other.

[0014] The lifting frame comprises a vertically arranged load-bearing rod and an upper mounting plate and a lower mounting plate respectively fixed at two ends of the load-bearing rod; the upper mounting plate is fixedly connected to the suspension frame.

[0015] A bracket is fixed on the shell of the power motor so as to be connected with the line patrol robot.

[0016] The robotic arm includes a first rotating motor, a second rotating motor, a third rotating motor, a first connecting arm with one end fixedly connected to the housing of the first rotating motor and the other end fixedly connected to the rotating shaft of the second rotating motor, and a second connecting arm with one end fixedly connected to the housing of the second rotating motor and the other end fixedly connected to the rotating shaft of the third rotating motor; the rotating shaft of the first rotating motor is fixedly connected to the housing of one of the power motors; the housing of the third rotating motor is fixedly connected to the housing of the other power motor; the axes of the rotating shafts of each rotating motor are parallel to each other and are perpendicular to the rotation axis of the stepped shaft.

[0017] The beneficial effects of the present invention are:

[0018] The present invention is installed on an electric power line inspection robot, which can not only provide active power for the linear motion of the line inspection robot on the cable, but also assist the line inspection robot to deform when encountering an obstacle on the cable, so that the line inspection robot can smoothly bypass the obstacle, thereby ensuring that the line inspection robot can smoothly perform cable inspection operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the main structure of the present invention suspended on a cable.

[0020] Figure 2 This is one of the three-dimensional structural schematic diagrams of the power component.

[0021] Figure 3 This is the second schematic diagram of the three-dimensional structure of the power component.

[0022] Figure 4 It is a schematic diagram of the right side structure of the power component.

[0023] Figure 5.1 It is a schematic diagram of the three-dimensional structure of the suspension frame and the suspension wheel.

[0024] Figure 5.2 yes Figure 5.1 Exploded view of.

[0025] Figure 6.1 It is a schematic diagram of the three-dimensional structure of the crimping frame and the crimping wheel.

[0026] Figure 6.2 yes Figure 6.1 Exploded view of.

[0027] Figure 7.1 It is a three-dimensional structural schematic diagram of the lifting structure.

[0028] Figure 7.2 yes Figure 7.1 Exploded view of.

[0029] Figure 8 It is a schematic diagram of the three-dimensional structure of the cantilever fixed structure.

[0030] Fig. 9 It is a schematic diagram of the three-dimensional structure of the power motor.

[0031] Fig.10 It is a three-dimensional structural schematic diagram of the power conversion structure.

[0032] Figure 11.1 This is one of the three-dimensional structural schematic diagrams of the robotic arm.

[0033] Figure 11.2 This is the second schematic diagram of the three-dimensional structure of the robotic arm.

[0034] Figure 12.1This is a schematic diagram of the main structure of the auxiliary deformation of the present invention.

[0035] Figure 12.2 It is a schematic diagram of the top view of the structure of the auxiliary deformation of the present invention.

[0036] Figure Number:

[0037] 1. Suspension frame; 2. Suspension wheel; 3. Crimping frame; 4. Crimping wheel; 5. Lifting plate; 6. Step shaft; 7. Cantilever fixing structure; 7.1. Fixing frame; 7.2. Connecting plate; 7.3. Connecting rod; 8. Load-bearing rod; 8.1. Upper mounting plate; 8.2. Lower mounting plate; 9. Lifting screw; 10. Lifting motor; 11. Lifting nut; 12. Power motor; 13. Bracket; 14. Power conversion motor; 15. Buckle rod; 16. Power conversion nut; 17. Power conversion screw; 18. Cable; 19. Hole position; 20. Robot arm; 21. First rotating motor; 22. Second rotating motor; 23. Third rotating motor; 24. First connecting arm; 25. Second connecting arm; 26. Obstacle. DETAILED DESCRIPTION

[0038] The following is a further description with reference to the embodiments shown in the accompanying drawings.

[0039] like Figure 1 The composite main power device for the variable-shape line patrol robot shown is suspended on a cable and connected to a line patrol robot (not shown in the figure) when in use, and can be used as the main power device of the line patrol robot to drive the line patrol robot to move in a straight line along the cable and to perform deformation movement when encountering an obstacle 26. The main power device includes at least two groups of power components with the same structure (two groups of power components are used in this embodiment).

[0040] like Figures 2 to 4 As shown, each power assembly includes a wheel frame structure, a power motor 12, a lifting structure and a power conversion structure. The wheel frame structure can suspend the main power device as a whole on the cable 18. The power motor is connected to the wheel frame structure; Fig. 9 As shown, in this embodiment, a bracket 13 is fixed on the housing of the power motor to facilitate the connection of an external line patrol robot. The lifting structure and the power conversion structure are respectively matched with the wheel frame structure, wherein the lifting structure is used to drive the wheel frame structure to clamp or disengage the cable 18 to adapt to different movement modes of the line patrol robot; the power conversion structure is used to convert the movement mode of the line patrol robot, that is, the line patrol robot converts between the linear movement along the cable and the deformation movement when encountering obstacles.

[0041] like Figure 5.1 , Figure 5.2 , Figure 6.1 , Figure 6.2As shown in the figure, the wheel frame structure includes a suspension frame 1, a suspension wheel 2 (two in the figure), a crimping frame 3, a stepped shaft 6 and a crimping wheel 4. Both suspension wheels can be rotatably positioned on the suspension frame; the crimping frame is arranged below the suspension frame. The stepped shaft serves as the rotating shaft of the crimping wheel and is driven by a power motor; the large shaft end of the stepped shaft (i.e. Figure 4 The left end of the middle step shaft) is rotatably connected to the crimping frame through a bearing, the middle part of the step shaft is coaxially fixedly connected to the crimping wheel, and one end of the small shaft of the step shaft (i.e. Figure 4 The right end of the middle step shaft) is rotatably connected to the lifting plate 5 in the lifting structure through a bearing. The wheel surfaces of the suspension wheel and the crimping wheel are both arranged around the outer circumference and are suitable for the cable, and the center lines of the wheel surface grooves of the suspension wheel and the crimping wheel are arranged in the same plane, which can ensure that the device can be safely and stably suspended on the same cable. The rotation axis of the suspension wheel is parallel to the rotation axis of the crimping wheel.

[0042] like Figure 7.1 , Figure 7.2 As shown, the lifting structure includes a lifting frame, a lifting motor 10, a lifting screw 9, a lifting plate 5 and a lifting nut 11. The lifting frame includes two load-bearing rods 8 arranged vertically and parallel to each other, and an upper mounting plate 8.1 and a lower mounting plate 8.2 respectively fixed at both ends of the load-bearing rods; the upper mounting plate and the lifting motor are fixedly connected to the suspension frame at the same time. The lifting screw is parallel to the load-bearing rod and its rotation axis is perpendicular to the rotation axis of the crimping wheel (wherein the rotation axis of the crimping wheel is arranged horizontally and the rotation axis of the lifting screw is arranged vertically); one end of the lifting screw is coaxially connected to the output shaft of the lifting motor, and the other end is rotatably connected to the lower mounting plate, so that the lifting screw rotates around the vertical axis under the drive of the lifting motor. A sliding hole that slides with the load-bearing rod is provided on the lifting plate, so that the lifting plate slides vertically along the lifting frame. The lifting nut is fixed on the lifting plate, and the lifting nut is threadedly connected to the lifting screw; when the lifting screw rotates, the lifting nut moves vertically along the lifting screw, thereby driving the lifting plate to move vertically. The lifting plate is fixedly connected to the crimping frame through a cantilever fixing structure, so that the crimping frame moves synchronously with the lifting plate; other fixing structures can also be used to fix the lifting plate and the crimping frame. Figure 8 As shown, in this embodiment, the hanging angle fixing structure includes a fixing frame 7.1 fixedly connected to the crimping frame, a connecting plate 7.2 fixedly connected to the lifting plate, and a connecting rod 7.3 connecting the fixing frame and the connecting plate into one.

[0043] like Fig.10As shown, the power conversion structure includes a power conversion motor 14, a screw nut assembly consisting of a power conversion screw 17 and a power conversion nut 16, and a snap rod 15. The axis of the power conversion screw, the axis of the snap rod and the axis of the stepped shaft are parallel to each other. The power conversion motor is fixed on the crimping frame; the power conversion screw is rotatably positioned on the crimping frame through a bearing, and is driven to rotate by the power conversion motor; the power conversion nut is threadedly connected to the power conversion screw and fixedly connected to the snap rod; the crimping frame and the crimping wheel are correspondingly provided with a plurality of holes 19 for the snap rod to pass through, and the snap rod can be positioned on the crimping frame through the holes, and can be inserted into or withdrawn from the holes on the crimping wheel as needed, thereby preventing or allowing the crimping wheel from rotating.

[0044] The working principle of the power conversion structure is as follows:

[0045] When the buckle rod only passes through the hole of the crimping frame but not the hole of the crimping wheel, the power motor rotates. At this time, the power assembly is in the active power state. Driven by the crimping wheel, the device as a whole can be driven to move linearly along the cable (since the power motor housings in the two sets of power assemblies are fixed to each other by the mechanical arm, the power motor housings cannot rotate, and the crimping wheel can be used as a power drive wheel). When the buckle rod passes through the hole of the crimping wheel under the drive of the power conversion motor, the crimping frame and the crimping wheel are fixed. At this time, the power motor rotates, and the crimping wheel cannot rotate. Since the output shaft of the power motor is fixed to the stepped shaft, the crimping wheel, and the crimping frame, the housing of the power motor rotates around the axis of the crimping wheel to achieve power conversion.

[0046] The power motor housings in two adjacent power components are connected via a mechanical arm 20 (which can be purchased directly from outside); the mechanical arm is configured as a retractable structure to adjust the distance between the two adjacent power components. Figure 11.1 and Figure 11.2 As shown, the robotic arm includes a first rotating motor 21, a second rotating motor 22, a third rotating motor 23, a first connecting arm 24 with one end fixedly connected to the housing of the first rotating motor and the other end fixedly connected to the rotating shaft of the second rotating motor, and a second connecting arm 25 with one end fixedly connected to the housing of the second rotating motor and the other end fixedly connected to the rotating shaft of the third rotating motor; the rotating shaft of the first rotating motor is fixedly connected to the housing of one of the power motors; the housing of the third rotating motor is fixedly connected to the housing of the other power motor; the axes of the rotating shafts of each rotating motor are parallel to each other and perpendicular to the rotation axis of the stepped shaft.

[0047] The working method of this embodiment is as follows:

[0048] like Figure 1As shown, when the line patrol robot needs to roll along the cable in a straight line, both power components are in the active power state (i.e., the buckle rods in both power components do not pass through the holes of the crimping wheel), and the rotary motor does not work. At this time, the power motor housings in the two power components are fixedly connected by the mechanical arm (the first connecting arm and the second connecting arm overlap each other), which is equivalent to fixing the power motor housing to prevent the housing from rotating when the power motor is working, so as to provide a stable working environment for the line patrol robot. After that, the two power motors are started to rotate synchronously, so that the suspension wheels and crimping wheels in the two power components roll synchronously along the cable, realizing the linear motion of the line patrol robot.

[0049] like Figure 12.1 and Figure 12.2 As shown in FIG. 1 , when the line patrol robot encounters an obstacle, both power components perform power conversion (i.e., the buckle rods in both power components pass through the holes of the crimping wheel), and one of the power components ( Figure 12.1 The lifting motor of the right power assembly in the middle works, so that the pressing wheel and the suspension wheel of this power assembly are separated. At this time, the other power assembly ( Figure 12.1 The left power assembly in the middle remains suspended on the cable. Then the power motor of the left power assembly works, and the robot arm drives the line patrol robot and the right power assembly to rotate clockwise at a certain angle in the vertical plane (the angle is determined according to the height of the line patrol robot and the power assembly), driving the group of power assemblies to detach from the cable. Then the three rotary motors of the robot arm cooperate with each other to extend the robot arm (that is, the first connecting arm and the second connecting arm are separated by a certain angle), so that the distance between the two groups of power assemblies is greater than the distance from the left power assembly to the obstacle; then the power motor of the left power assembly works, driving the right power assembly to rotate counterclockwise and return to the height position of the cable, and the lifting motor and the three rotary motors of the robot arm cooperate with each other to hang the right power assembly on the cable again; in this way, the right power assembly passes over the obstacle. According to the above method, the reverse operation can also make the left power assembly pass over the obstacle and hang on the cable on the right side of the obstacle (at this time, the left power assembly is still on the left side of the right power assembly). In this way, the auxiliary deformation of the motion form of the line patrol robot can be completed, and an obstacle on the cable can be bypassed smoothly.

[0050] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A composite main power device for a shape-shifting line patrol robot, characterized by: The invention comprises at least two groups of power components with the same structure; each group of power components comprises a wheel frame structure that can be suspended on a cable (18), a power motor (12) connected to the wheel frame structure, and a lifting structure and a power conversion structure respectively matched with the wheel frame structure; the power motor housings in two adjacent groups of power components are connected by a retractable mechanical arm (20); The wheel frame structure comprises a suspension frame (1), a suspension wheel (2) rotatably positioned on the suspension frame, a crimping frame (3) arranged below the suspension frame, a stepped shaft (6) driven by a power motor and rotatably positioned on the crimping frame, and a crimping wheel (4) coaxially fixedly connected to the stepped shaft; The lifting structure comprises a lifting frame, a lifting motor (10) fixed on the lifting frame, a lifting screw (9) driven by the lifting motor and rotatable about a vertical axis and positioned on the lifting frame, a lifting plate (5) vertically slidable along the lifting frame, and a lifting nut (11) fixed on the lifting plate and threadedly connected to the lifting screw; the lifting plate is fixedly connected to the crimping frame so that the crimping frame moves synchronously with the lifting plate; The power conversion structure includes a snap rod (15) slidably positioned on the crimping frame to prevent or allow the crimping wheel from rotating, and a power conversion motor (14) fixed to the crimping frame and driving the snap rod through a screw nut assembly; The axis of the power conversion screw (17), the axis of the buckle rod, and the axis of the stepped shaft in the screw-nut assembly are parallel to each other; The crimping frame and the crimping wheel are provided with a plurality of holes (19) for the buckle rod to pass through; The rotation axis of the lifting screw and the rotation axis of the pressing wheel are perpendicular to each other; The robot arm comprises a first rotary motor (21), a second rotary motor (22), a third rotary motor (23), a first connecting arm (24) having one end fixedly connected to the housing of the first rotary motor and the other end fixedly connected to the rotating shaft of the second rotary motor, and a second connecting arm (25) having one end fixedly connected to the housing of the second rotary motor and the other end fixedly connected to the rotating shaft of the third rotary motor; the rotating shaft of the first rotary motor is fixedly connected to the housing of one of the power motors; the housing of the third rotary motor is fixedly connected to the housing of the other power motor; the axes of the rotating shafts of the rotary motors are parallel to each other and perpendicular to the rotation axis of the stepped shaft; The lifting plate is fixedly connected to the crimping frame via a cantilever fixing structure; The cantilever fixing structure comprises a fixing frame (7.1) fixedly connected to the crimping frame, a connecting plate (7.2) fixedly connected to the lifting plate, and a connecting rod (7.3) connecting the fixing frame and the connecting plate into one body.

2. The composite main power device for a shape-shifting line patrol robot according to claim 1, characterized in that: The wheel surfaces of the suspension wheel and the crimping wheel are both arranged around the outer circumference and are suitable for the cable; the center lines of the wheel surface grooves of the suspension wheel and the crimping wheel are set in the same plane; the rotation axis of the suspension wheel and the rotation axis of the crimping wheel are parallel to each other.

3. The composite main power device for a shape-shifting line patrol robot according to claim 2, characterized in that: The lifting frame comprises a vertically arranged load-bearing rod (8) and an upper mounting plate (8.1) and a lower mounting plate (8.2) respectively fixed to both ends of the load-bearing rod; the upper mounting plate is fixedly connected to the suspension frame.

4. The composite main power device for a shape-shifting line patrol robot according to claim 3, characterized in that: A bracket (13) is fixed on the housing of the power motor so as to be connected to the line patrol robot.

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