Composite main power device for patrol robot that can walk on power towers and cables

Abstract

The present invention relates to the field of electric power inspection technology. The technical solution is: a composite main power device for a line patrol robot that can walk on power towers and cables, characterized in that: it includes at least two groups of power components with the same structure and both equipped with electromagnets; 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 that respectively cooperate 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 rotatably positioned on the crimping frame, and a crimping wheel coaxially fixedly connected to the stepped shaft. The device is installed on the line patrol robot, which not only enables the line patrol robot to work on the cable, but also enables the line patrol robot to bypass the power tower, thereby ensuring the continuous line patrol operation of the line patrol robot.

Description

Technical Field

[0001] The invention relates to the technical field of electric power inspection, and in particular to a composite main power device of a line inspection robot suitable for walking on electric power towers and cables. Background Art

[0002] As the scale of power grids 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, and the demand for power inspection robots in China's power industry is becoming increasingly urgent.

[0003] The current power line inspection robot can only inspect cables and cannot move forward when it encounters a power tower, so it has to stop working. It is also possible to transform the power tower into a wire-like structure so that the power line inspection robot can move around the tower in the original rolling way, but it still requires a long power outage, which requires a large amount of construction and investment costs, and causes relatively large losses. 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 for a line patrol robot that can walk on power towers and cables. The device is installed on the line patrol robot, which not only enables the line patrol robot to work on cables, but also enables the line patrol robot to bypass power towers, thereby ensuring the continuous line patrol operation of the line patrol robot.

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

[0006] A composite main power device for a line patrol robot capable of walking on power towers and cables is characterized in that: it comprises at least two groups of power components of the same structure and both of which are equipped with electromagnets; each group of power components comprises 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;

[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 electromagnet is fixedly connected to the suspension frame.

[0011] 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.

[0012] 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.

[0013] The crimping frame and the crimping wheel are correspondingly provided with a plurality of holes for the buckle rod to pass through.

[0014] The rotation axis of the lifting screw rod and the rotation axis of the crimping wheel are perpendicular to each other.

[0015] 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.

[0016] A bracket is fixed on the shell of the power motor so as to be connected with the line patrol robot.

[0017] 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.

[0018] The beneficial effects of the present invention are:

[0019] The present invention is installed on a power line patrol robot, which can not only drive the line patrol robot to move on the cable, but also assist the line patrol robot to deform when the line patrol robot encounters the power tower angle steel, so that the line patrol robot moves on the power tower angle steel and smoothly bypasses the power tower angle steel, thereby ensuring that the line patrol robot continuously performs cable inspection operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the main structure of the present invention suspended on a cable.

[0021] Figure 2 This is one of the three-dimensional structural schematic diagrams of the power component.

[0022] Figure 3 This is the second schematic diagram of the three-dimensional structure of the power component.

[0023] Figure 4 It is a schematic diagram of the right side structure of the power component.

[0024] Figure 5.1 It is a schematic diagram of the three-dimensional structure of the suspension frame and the suspension wheel.

[0025] Figure 5.2 yes Figure 5.1 Exploded view of.

[0026] Figure 6.1 It is a schematic diagram of the three-dimensional structure of the crimping frame and the crimping wheel.

[0027] Figure 6.2 yes Figure 6.1 Exploded view of.

[0028] Figure 7.1 It is a three-dimensional structural schematic diagram of the lifting structure.

[0029] Figure 7.2 yes Figure 7.1 Exploded view of.

[0030] Figure 8 It is a schematic diagram of the three-dimensional structure of the cantilever fixed structure.

[0031] Fig. 9 It is a schematic diagram of the three-dimensional structure of the power motor.

[0032] Fig.10 It is a three-dimensional structural schematic diagram of the power conversion structure.

[0033] Figure 11.1 This is one of the three-dimensional structural schematic diagrams of the robotic arm.

[0034] Figure 11.2 This is the second schematic diagram of the three-dimensional structure of the robotic arm.

[0035] Fig.12This is one of the schematic diagrams of the motion state of the present invention transferring from the cable to the angle steel of the power tower.

[0036] Fig.13 for Fig.12 Schematic diagram of the main structure.

[0037] Fig.14 This is the second schematic diagram of the motion state of the transfer from the cable to the angle steel of the power tower according to the present invention.

[0038] Fig.15 for Fig.14 Schematic diagram of the main structure.

[0039] Fig.16 This is the third schematic diagram of the motion state of the transfer from the cable to the angle steel of the power tower according to the present invention.

[0040] Fig.17 for Fig.16 Schematic diagram of the main structure.

[0041] Fig.18 This is one of the schematic diagrams of the motion state of the present invention on the angle steel of the power tower.

[0042] Fig.19 for Fig.18 Schematic diagram of the top view structure.

[0043] Fig. 20 This is the second schematic diagram of the motion state of the present invention on the angle steel of the power tower.

[0044] Fig.21 for Fig. 20 Schematic diagram of the top view structure.

[0045] Figure Number:

[0046] 1. Suspension frame; 2. Suspension wheel; 3. Crimping frame; 4. Crimping wheel; 5. Lifting plate; 6. Step shaft; 7. Suspension angle 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 rod; 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 rod; 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. Power tower angle steel; 27. Electromagnet. DETAILED DESCRIPTION

[0047] The following is a further description with reference to the embodiments shown in the accompanying drawings.

[0048] like Figure 1The composite main power device of the line patrol robot that can walk on the power tower and the cable is connected to the 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 on the cable and / or the angle steel. 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), and each group of power components is fixedly installed with an electromagnet 27, so that the main power device can be adsorbed on the angle steel 26 of the power tower through the electromagnet.

[0049] 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 power assembly 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 can drive the wheel frame structure to clamp or disengage the cable 18, and the power conversion structure can stop or allow the rotation of the crimping wheel to adapt to different movement modes of the line patrol robot on the cable or the angle steel of the power tower.

[0050] like Figure 5.1 , Figure 5.2 , Figure 6.1 , Figure 6.2 As shown, 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. The suspension frame is fixedly connected to the electromagnet. 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 (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.

[0051] like Figure 7.1 , Figure 7.2As 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.

[0052] like Fig.10 As 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.

[0053] The working principle of the power conversion structure is as follows:

[0054] 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 power assembly can be driven to move along the cable as a whole (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, so that the line patrol robot can move on the angle steel of the power tower.

[0055] 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.

[0056] The working method of this embodiment is as follows:

[0057] Method 1: If Figure 1 As 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 three rotating motors of the mechanical arm do not work. At this time, the power motor housings in the two power components are fixedly connected by the mechanical arm (the positions of the first connecting arm and the second connecting arm overlap each other), which is equivalent to fixing the housing of the power motor to prevent the housing from rotating when the power motor works on the cable, 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, and the line patrol robot moves along the cable.

[0058] Method 2: If Figures 12 to 17As shown in the figure, when the line patrol robot moves along the cable to the angle steel of the power tower and needs to transfer from the cable to the angle steel of the power tower, both sets of power components perform power conversion (that is, the buckle rods in the two sets of power components pass through the holes of the crimping wheel), and the power component close to the angle steel of the power tower ( Fig.13 The lifting motor of the power assembly on the right side (in the middle) works to separate the crimping wheel and the suspension wheel of the power assembly. At this time, the power assembly ( Fig.13 The left power assembly in the middle) remains suspended on the cable (see Fig.12 , Fig.13 Then the three rotating 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, the same below), and the right power assembly is adsorbed on the angle steel of the power tower through the electromagnet (see Fig.14 , Fig.15 ). Then, the three rotating motors of the robot arm cooperate with each other to shrink the robot arm (that is, the positions of the first connecting arm and the second connecting arm overlap each other, the same below), and the left power component is adsorbed to the angle steel of the power tower through the electromagnet. In this way, the line patrol robot can be transferred from the cable to the angle steel of the power tower (see Fig.16 , Fig.17 ).

[0059] Method 3: If Figures 18 to 21 As shown in the figure, when the line patrol robot needs to move on the angle steel of the power tower, both sets of power components perform power conversion, and then the left power component (i.e. Fig.19 and Fig.21 The electromagnet of the power assembly on the upper side is energized and fixed on the angle steel of the power tower. Fig.19 and Fig.21 The electromagnet of the power assembly on the lower side is powered off. The three rotating motors of the robotic arm cooperate with each other to extend the robotic arm, adjust the right power assembly to the corresponding landing point of the power tower angle steel, and fix the right power assembly to the landing point by adsorption through the electromagnet. After that, the electromagnet of the left power assembly is powered off, and the three rotating motors of the robotic arm cooperate with each other to shrink the robotic arm. After the electromagnet is energized, the left power assembly can be adsorbed and fixed on the power tower angle steel, completing a displacement of the line patrol robot on the power tower angle steel; the above operations are repeated to realize continuous movement of the line patrol robot on the power tower angle steel.

[0060] Method 4: When the line patrol robot bypasses the power tower and needs to transfer from the power tower angle steel to the cable on the other side of the power tower, both power components perform power conversion, the electromagnet of the left power component is energized, and the electromagnet of the right power component is de-energized. The three rotating motors of the robotic arm cooperate with each other to extend the robotic arm, and then the power motor of the left power component works to adjust the right power component to the cable height position. Through the cooperation of the three rotating motors and the lifting motor of the robotic arm, the right power component is suspended and fixed on the cable. At this time, the left power component is still adsorbed and fixed on the power tower angle steel. Afterwards, the electromagnet of the left power component is de-energized, and the three rotating motors of the robotic arm cooperate with each other to shrink the robotic arm. The power motor of the right power component works to adjust the left power component to the cable height position. With the cooperation of the three rotating motors and the lifting motor of the robotic arm, the left power motor is also suspended on the cable (at this time, the left power component is still on the left side of the right power component). In this way, the auxiliary deformation of the motion form of the line patrol robot can be completed, and the power tower angle steel can be bypassed smoothly, ensuring that the line patrol robot can continuously perform cable inspection operations.

[0061] 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 patrolling robots that can walk on power towers and cables, characterized by: It comprises at least two groups of power assemblies of the same structure and both of which are equipped with electromagnets (27); each group of power assemblies 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 assemblies are connected via 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 around 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 comprises a buckle rod (15) slidably positioned on the crimping frame to prevent or allow the crimping wheel to rotate, and a power conversion motor (14) fixed on the crimping frame and driving the buckle 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 correspondingly 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 crimping wheel are perpendicular to each other; The mechanical arm comprises a first rotating motor (21), a second rotating motor (22), a third rotating motor (23), a first connecting arm (24) having 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) having 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 the rotating motors are parallel to each other and perpendicular to the rotating axis of the stepped shaft; The lifting plate is fixedly connected to the crimping frame via a cantilever fixing structure; The hanging angle 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 of the line patrol robot capable of walking on power towers and cables according to claim 1 is characterized in that: The electromagnet is fixedly connected to the suspension frame.

3. The composite main power device of the line patrol robot capable of walking on power towers and cables according to claim 2 is characterized in that: 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.

4. The composite main power device of the line patrol robot capable of walking on power towers and cables according to claim 3 is 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 two ends of the load-bearing rod; the upper mounting plate is fixedly connected to the suspension frame.

5. The composite main power device of the line patrol robot capable of walking on power towers and cables according to claim 4 is characterized in that: A bracket (13) is fixed on the outer shell of the power motor so as to be connected with the line patrol robot.

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