High-voltage cable maintenance robot

Abstract

The application relates to the technical field of high-voltage maintenance, in particular to a high-voltage cable maintenance robot, which comprises a machine body, a flying mechanism is arranged at the upper end of the machine body, an upper plate is fixedly arranged at the lower end of the machine body, a lower plate is movably arranged below the upper plate through a lifting mechanism, an upper shooting mechanism is arranged at the lower end surface of the upper plate, a lower shooting mechanism is arranged at the upper end surface of the lower plate, and symmetrical line pressing mechanisms are arranged at the front and back of the upper plate. The application can check the specific fault position of the cable, is more delicate, is stable during the checking process, does not damage the cable, can clean the ice and snow on the surface of the cable during the cable checking in the special ice and snow disaster, prevents the cable from being loaded by a large amount of ice and snow, and thus reduces the cable fault.

Description

Technical Field

[0001] This invention relates to the field of high-voltage maintenance technology, and in particular to a high-voltage cable maintenance robot. Background Technology

[0002] High-voltage cables are a type of power cable, referring to power cables used to transmit power between 1kV and 1000kV. They are mostly used for power transmission and distribution. For suspended cables, the main detection location when a fault occurs is the cable rack. The detection of the suspended cable location is quite limited, and it is generally difficult to accurately detect the specific location of damage to the suspended cable. Secondly, from the perspective of power maintenance during special snow and ice disasters, daily inspection and maintenance of the suspended cable location is also very important. If a large amount of ice and snow adheres to the cable surface, it can easily cause the cable to bear too much weight.

[0003] Existing small aircraft (such as DJI drones) are based on mature existing technology, which can realize technologies and functions such as remote flight control, remote photography and videography, remote image transmission, and hovering. However, when this technology is specifically applied to the maintenance of high-voltage cables, there are still obvious defects and shortcomings, which need to be improved accordingly. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of the prior art by proposing a high-voltage cable maintenance robot.

[0005] To achieve the above objectives, the technical solution adopted by this invention is as follows: a high-voltage cable maintenance robot, comprising a body, a flying mechanism mounted on the upper end of the body, an upper plate fixedly mounted on the lower end of the body, a lower plate movably mounted below the upper plate via a lifting mechanism, an upper shooting mechanism mounted on the lower end face of the upper plate, a lower shooting mechanism mounted on the upper end face of the lower plate, and symmetrical wire pressing mechanisms arranged at the front and rear of the upper plate, wherein:

[0006] The lower shooting mechanism includes a bottom strip fixedly installed on the upper surface of the lower plate, a plurality of first cameras installed on the inner bottom surface of the bottom strip, and a wire mechanism provided on the upper edge of the bottom strip.

[0007] The upper shooting mechanism includes an upper strip fixedly installed on the lower end face of the upper plate, several second cameras installed on the lower end face of the upper strip, and several de-icing mechanisms set on the lower end face of the upper strip.

[0008] Preferably, the flight mechanism includes a connecting frame fixedly mounted on the upper surface of the fuselage, a drive motor fixedly mounted on the end of the connecting frame, and a propeller mounted on the output shaft end of the drive motor.

[0009] Preferably, the conductor mechanism includes a transverse rod fixedly installed on the edge of the bottom strip and several sleeves movably fitted on the outer surface of the transverse rod.

[0010] Preferably, the de-icing mechanism includes a plurality of high-temperature fans embedded in the lower end of the upper strip, wherein the high-temperature fans are arranged between every two adjacent second cameras.

[0011] Preferably, the lifting mechanism includes a telescopic cylinder fixedly installed on the lower end face of the upper plate, the lower telescopic end of the telescopic cylinder being fixedly installed on the upper end face of the lower plate, and the ends of the upper plate and the lower plate near the telescopic cylinder extending vertically out of the folded plates in a direction of mutual approach, the two folded plates being movably fitted together, and the upper end face of the lower plate near the telescopic cylinder being fixedly installed on a guide rod, the guide rod sliding through the upper end face of the upper plate.

[0012] Preferably, one end of the upper strip is fixedly connected to a mounting bracket, the mounting bracket is fixedly installed on the lower end face of the upper plate, and one end of the upper strip extends vertically into a bent portion.

[0013] Preferably, the pressing mechanism includes a fixed plate fixedly installed on the lower end face of the upper plate and located above the upper strip, a sliding plate movably installed vertically inside the fixed plate, and a lead screw threaded through the inner side of the sliding plate. The upper end of the lead screw is fixedly connected to the output shaft of a servo motor. The servo motor is fixedly installed on the lower end face of the upper plate. Thickened portions are connected to both sides of the sliding plate through rotating parts. Connecting plates are connected to the ends of the thickened portions on both sides that are far apart from each other. A pressing rod is fixedly connected to the edge of the connecting plate. The two ends of the pressing rod extend into raised ends.

[0014] Preferably, the rotating part includes a bent plate fixedly connected to the side surface of the fixed plate and an insertion shaft extending vertically from the surface of the bent plate. The outer surface of the thickened part is provided with a sliding groove, and the insertion shaft extends movably into the inner side of the sliding groove.

[0015] Preferably, a horizontal plate is provided above the bottom strip, and a plurality of guide posts extend vertically from the lower end face of the horizontal plate. The lower end of the guide post slides into the upper end face of the bottom strip, and a return spring is sleeved on the outer side of the guide post. The first camera is embedded and installed on the upper end face of the horizontal plate. A vertical part extends from one end of the bottom strip near the lifting mechanism. The vertical part slides through the upper end face of the upper plate, and an inclined surface is provided at the other end of the bottom strip.

[0016] Preferably, a support frame is fixedly installed on the lower end face of the bottom strip.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. This invention can inspect the specific location of cable faults more precisely, and the inspection process is smooth and will not damage the cable.

[0019] 2. During cable inspections during special snow and ice disasters, high-temperature fans are turned on. The high-temperature fans continuously blow air to melt the snow and ice. At the same time, due to the contact between the sleeve and the lower end of the upper strip with the cable, the snow and ice on the cable surface can be cleared, which can remove the snow and ice and prevent the accumulation of a large amount of snow and ice from increasing the weight of the cable, thereby reducing cable faults and facilitating cable maintenance during special snow and ice disasters.

[0020] 3. With the assistance of the flight mechanism, the aircraft performs remote-controlled flight. The control cable passes between the upper and lower bars, so that the cable abuts against the surface of the sleeve. The sleeve plays a role in assisting the cable to make stable contact. By controlling the extension and retraction of the telescopic cylinder, the lower plate moves upward, so that the cable is closer to the upper and lower bars. With the cooperation of the first and second cameras, the surface of the cable is comprehensively photographed. Therefore, the surface of the cable can be photographed in time, and problems with the cable, such as cracks, can be detected in time. The inspection of cable faults is more accurate and scientific, and the operation is convenient.

[0021] 4. During the inspection process, the servo motor drives the lead screw to rotate, which in turn causes the sliding plate to move up and down. The connection between the thickened part and the sliding plate rotates and engages with each other. At this time, the insertion shaft slides and rotates on the inner side of the groove, which causes the pressure rod to move down and press down the cable. Therefore, the cable is raised above the bottom bar. This ensures that the cable remains stable during flight and will not slide directly between the bottom bar and the top bar due to excessive airflow. The entire inspection process is smooth. During the process of the cable being raised, the guide post moves down and squeezes the return spring to prevent the upper end of the bottom bar from contacting the cable surface and damaging the cable due to excessive friction. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the high-voltage cable maintenance robot of the present invention;

[0023] Figure 2 This is a partial structural schematic diagram of the high-voltage cable maintenance robot of the present invention;

[0024] Figure 3 This is a schematic diagram of the upper and lower plates of the high-voltage cable maintenance robot of the present invention;

[0025] Figure 4 This is a schematic diagram of the wire clamping mechanism and a portion of the rotating part of the high-voltage cable repair robot of the present invention.

[0026] Figure 5 This is a schematic diagram of the wire clamping mechanism and a portion of the rotating part of the high-voltage cable repair robot of the present invention.

[0027] Figure 6This is a schematic diagram of the structure near the upper imaging mechanism and the de-icing mechanism of the high-voltage cable maintenance robot of the present invention.

[0028] Figure 7 This is a schematic diagram of the structure of the bottom bar, vertical part, and near the inclined surface of the high-voltage cable maintenance robot of the present invention;

[0029] Figure 8 The high-voltage cable maintenance robot of the present invention Figure 7 Enlarged view of point A in the middle.

[0030] 1. Body; 2. Upper plate; 3. Lower plate; 4. Lifting mechanism; 41. Telescopic cylinder; 42. Guide rod; 43. Folding plate; 5. Lower shooting mechanism; 51. Bottom strip; 52. Vertical part; 53. Inclined surface; 54. Horizontal plate; 55. First camera; 56. Horizontal rod; 57. Sleeve; 58. Guide post; 59. Return spring; 6. Upper shooting mechanism; 61. Upper strip; 62. Second camera; 63. High-temperature fan ; 64. Bending section; 65. Mounting bracket; 7. Wire pressing mechanism; 71. Pressing rod; 72. Raised end; 73. Connecting plate; 74. Fixing plate; 75. Thickened section; 76. Sliding plate; 77. Lead screw; 78. Servo motor; 79. Rotating part; 791. Bending plate; 792. Insertion shaft; 793. Slide groove; 8. Flight mechanism; 81. Connecting bracket; 82. Drive motor; 83. Blade; 9. Support frame. Detailed Implementation

[0031] The following description is intended to disclose the invention and enable those skilled in the art to implement it. The preferred embodiments described below are merely examples, and other obvious variations will occur to those skilled in the art.

[0032] like Figures 1-8 The high-voltage cable maintenance robot shown includes a body 1. A flight mechanism 8 is installed on the upper end of the body 1. An upper plate 2 is fixedly installed on the lower end of the body 1. A lower plate 3 is movably installed below the upper plate 2 via a lifting mechanism 4. An upper shooting mechanism 6 is installed on the lower end face of the upper plate 2, and a lower shooting mechanism 5 is installed on the upper end face of the lower plate 3. Symmetrical cable pressing mechanisms 7 are arranged at the front and rear of the upper plate 2.

[0033] The lower shooting mechanism 5 includes a bottom strip 51 fixedly installed on the upper surface of the lower plate 3, a plurality of first cameras 55 installed on the inner bottom surface of the bottom strip 51, and a wire mechanism is provided on the upper edge of the bottom strip 51.

[0034] The upper shooting mechanism 6 includes an upper strip 61 fixedly installed on the lower end face of the upper plate 2, a number of second cameras 62 installed on the lower end face of the upper strip 61, and a number of de-icing mechanisms set on the lower end face of the upper strip 61.

[0035] This invention can more precisely inspect the specific location of cable faults. The inspection process is smooth and will not damage the cable. During the cable inspection process in special snow and ice disasters, ice and snow on the cable surface can be cleared at the same time to prevent the accumulation of ice and snow from aggravating the cable and thus reducing cable faults.

[0036] The flight mechanism 8 includes a connecting frame 81 fixedly installed on the upper surface of the fuselage 1, a drive motor 82 fixedly installed at the end of the connecting frame 81, and a propeller 83 installed at the output shaft end of the drive motor 82. The drive motor 82 drives the propeller 83 to rotate, thereby driving the fuselage 1 to fly and move.

[0037] The conductor mechanism includes a transverse rod 56 fixedly installed on the edge of the bottom strip 51 and several sleeves 57 movably fitted on the outer surface of the transverse rod 56. The sleeves 57 can rotate along the surface of the transverse rod 56 to reduce the friction when in contact with the cable.

[0038] The de-icing mechanism includes several high-temperature fans 63 embedded in the lower end of the upper bar 61. The high-temperature fans 63 are positioned between every two adjacent second cameras 62. When the high-temperature fans 63 are turned on, they continuously blow air to soften and melt the ice and snow on the cable surface. At the same time, due to the contact between the sleeve 57, the lower end face of the upper bar 61 and the cable, they can scrape away the ice and snow, prevent the accumulation of ice and snow, and facilitate the maintenance of the cable during special ice and snow disasters.

[0039] The lifting mechanism 4 includes a telescopic cylinder 41 fixedly installed on the lower end face of the upper plate 2. The lower telescopic end of the telescopic cylinder 41 is fixedly installed on the upper end face of the lower plate 3. The ends of the upper plate 2 and the lower plate 3 near the telescopic cylinder 41 extend vertically outwards as they approach each other, forming two folding plates 43 that movably fit together. The upper end face of the lower plate 3 near the telescopic cylinder 41 is fixedly installed on a guide rod 42, which slides through the upper end face of the upper plate 2. The aircraft 1 flies under the action of the flight mechanism 8. The control cable passes between the upper bar 61 and the bottom bar 51, so that the cable abuts against the surface of the sleeve 57, which acts as a... To assist in the smooth contact with the cable, the telescopic cylinder 41 is controlled to extend and retract, causing the lower plate 3 to move upwards, so that the cable is closer to the upper bar 61 and the bottom bar 51. With the cooperation of the first camera 55 and the second camera 62, the surface of the cable is comprehensively photographed. Therefore, the surface of the cable can be photographed in time, and problems with the cable, such as cracks, can be detected in time. The inspection of cable faults is more accurate and scientific, and the operation is convenient. The telescopic cylinder 41 can be an electric cylinder, which can control the lifting and lowering more precisely. The guide rod 42 can improve the smoothness of the up and down movement of the lower plate 3.

[0040] One end of the upper bar 61 is fixedly connected to a mounting bracket 65, which is fixedly installed on the lower end face of the upper plate 2. One end of the upper bar 61 extends vertically into a bent portion 64 to prevent the cable from entering between the upper bar 61 and the upper plate 2.

[0041] The pressing mechanism 7 includes a fixed plate 74 fixedly installed on the lower end face of the upper plate 2 and located above the upper strip 61, a sliding plate 76 vertically movably installed inside the fixed plate 74, and a lead screw 77 threaded through the inner side of the sliding plate 76. The upper end of the lead screw 77 is fixedly connected to the output shaft of a servo motor 78, which is fixedly installed on the lower end face of the upper plate 2. Thickened portions 75 are connected to both sides of the sliding plate 76 via rotating portions 79. Connecting plates 73 are connected to the ends of the thickened portions 75 that are far apart from each other. Pressing rods 71 ​​are fixedly connected to the edges of the connecting plates 73. The servo motor 78 drives the lead screw 77 to rotate, thereby causing the sliding plate 76 to move up and down. The rotating plate 75 and the sliding plate 76... The connection points of 6 rotate and engage with each other. At this time, the insertion rod 792 slides and rotates relative to the inner side of the slide groove 793, thereby causing the pressure rod 71 to move down and press down the cable. Therefore, the cable is raised above the bottom bar 51, which can ensure that the cable remains stable during flight and will not slide directly out between the bottom bar 51 and the upper bar 61 due to excessive airflow. The entire inspection process is smooth. During the process of the cable being raised, the guide post 58 moves down and squeezes the return spring 59 to prevent the upper end of the bottom bar 51 from damaging the cable due to excessive contact friction with the cable surface. The two ends of the pressure rod 71 extend into raised ends 72, which prevent the cable from falling above the pressure rod 71.

[0042] The rotating part 79 includes a bent plate 791 fixedly connected to the side surface of the fixed plate 74, and an insertion shaft 792 extending vertically from the surface of the bent plate 791. The outer surface of the thickened part 75 is provided with a groove 793, and the insertion shaft 792 extends movably into the inner side of the groove 793, ensuring that the thickened part 75 can rotate and slide relative to the insertion shaft 792.

[0043] A horizontal plate 54 is provided above the bottom strip 51. Several guide posts 58 extend vertically from the lower end of the horizontal plate 54. The lower end of the guide post 58 slides into the upper end of the bottom strip 51. A return spring 59 is sleeved on the outside of the guide post 58. The first camera 55 is embedded in the upper end of the horizontal plate 54. A vertical part 52 extends from one end of the bottom strip 51 near the lifting mechanism 4. The vertical part 52 slides through the upper end of the upper plate 2. An inclined surface 53 is provided at the other end of the bottom strip 51. The inclined surface 53 is conducive to assisting the cable to enter between the upper plate 2 and the lower plate 3.

[0044] A support frame 9 is fixedly installed on the lower end face of the bottom strip 51 to facilitate the stable landing of the body 1.

[0045] This invention employs strict insulating materials and measures. The body 1, upper plate 2, lower plate 3, guide rod 42, folding plate 43, bottom strip 51, inclined surface 53, transverse plate 54, transverse rod 56, sleeve 57, upper strip 61, bending part 64, mounting bracket 65, pressure rod 71, raised end 72, connecting plate 73, fixing plate 74, thickened part 75, sliding plate 76, lead rod 77, and slide groove 793 are all made of high-voltage resistant insulating materials.

[0046] During use, the aircraft 1 is remotely controlled to fly with the assistance of the flight mechanism 8. The control cable passes between the upper bar 61 and the lower bar 51, so that the cable abuts against the surface of the sleeve 57. The sleeve 57 plays a role in assisting the cable to make stable contact. By controlling the extension and retraction of the telescopic cylinder 41, the lower plate 3 moves upward, so that the cable is closer to the upper bar 61 and the lower bar 51. With the cooperation of the first camera 55 and the second camera 62, the surface of the cable is comprehensively photographed. Therefore, the surface of the cable can be photographed in time, and problems with the cable, such as cracks, can be captured in time. The inspection of cable faults is more accurate and scientific, and the operation is convenient. During the inspection process, the servo motor 78 drives the lead screw 77 to rotate, which in turn causes the sliding plate 76 to move up and down. The connection between the thickened part 75 and the sliding plate 76 rotates relative to each other. At this time, the insertion shaft 792 slides and rotates relative to the inner side of the slide groove 793, thereby causing the pressure rod 71 to move down and press down the cable. Therefore, the cable is raised above the bottom bar 51, which can ensure that the cable remains stable during flight and will not slide directly out between the bottom bar 51 and the upper bar 61 due to excessive airflow. The entire inspection process is smooth. During the process of the cable being raised, the guide post 58 moves down and squeezes the return spring 59 to prevent the upper end of the bottom bar 51 from damaging the cable due to excessive contact friction with the cable surface. During cable inspection during special ice and snow disasters, the high-temperature fan 63 is turned on. The high-temperature fan 63 blows continuously to melt the ice and snow. At the same time, due to the contact between the sleeve 57 and the lower end face of the upper bar 61 and the cable, it plays a role in scraping away ice and snow, effectively preventing the accumulation of ice and snow, which is beneficial to cable maintenance.

[0047] In this invention, the terms "installation," "connection," "linking," and "fixing" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of these terms in this invention according to the specific circumstances.

[0048] In the description of this specification, the use of terms such as "one embodiment," "some embodiments," or "specific embodiment" indicates that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0049] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention. The scope of protection claimed by the appended claims and their equivalents is defined.

Claims

1. A high-voltage cable maintenance robot, comprising a body (1), characterized in that: A flight mechanism (8) is installed at the upper end of the body (1), and an upper plate (2) is fixedly installed at the lower end of the body (1). A lower plate (3) is movably installed below the upper plate (2) via a lifting mechanism (4). An upper shooting mechanism (6) is installed on the lower end face of the upper plate (2), and a lower shooting mechanism (5) is installed on the upper end face of the lower plate (3). Symmetrical pressure line mechanisms (7) are provided at the front and rear of the upper plate (2). The lower shooting mechanism (5) includes a bottom strip (51) fixedly installed on the upper surface of the lower plate (3) and a plurality of first cameras (55) installed on the inner bottom surface of the bottom strip (51). A wire mechanism is provided on the upper edge of the bottom strip (51). The upper shooting mechanism (6) includes an upper strip (61) fixedly installed on the lower end face of the upper plate (2), a number of second cameras (62) installed on the lower end face of the upper strip (61), and a number of de-icing mechanisms set on the lower end face of the upper strip (61); The de-icing mechanism includes a plurality of high-temperature fans (63) embedded in the lower end of the upper strip (61), and the high-temperature fans (63) are arranged between every two adjacent second cameras (62); The pressing mechanism (7) includes a fixed plate (74) fixedly installed on the lower end face of the upper plate (2) and located above the upper strip (61), a sliding plate (76) movably installed on the inner side of the fixed plate (74) in a vertical direction, and a lead screw (77) that passes through the inner side of the sliding plate (76) and is threadedly engaged. The upper end of the lead screw (77) is fixedly connected to the output shaft of a servo motor (78). The servo motor (78) is fixedly installed on the lower end face of the upper plate (2). The two sides of the sliding plate (76) are respectively connected to thickened parts (75) through rotating parts (79). The ends of the thickened parts (75) on both sides that are far apart from each other are respectively connected to connecting plates (73). A pressing rod (71) is fixedly connected to the edge of the connecting plate (73). The two ends of the pressing rod (71) extend outwards as raised ends (72).

2. The high-voltage cable maintenance robot according to claim 1, characterized in that: The flight mechanism (8) includes a connecting frame (81) fixedly installed on the upper surface of the fuselage (1), a drive motor (82) fixedly installed at the end of the connecting frame (81), and a propeller (83) installed at the output shaft end of the drive motor (82).

3. The high-voltage cable maintenance robot according to claim 1, characterized in that: The conductor mechanism includes a transverse rod (56) fixedly installed on the edge of the bottom strip (51) and several sleeves (57) movably fitted on the outer surface of the transverse rod (56).

4. The high-voltage cable maintenance robot according to claim 1, characterized in that: The lifting mechanism (4) includes a telescopic cylinder (41) fixedly installed on the lower end face of the upper plate (2). The lower telescopic end of the telescopic cylinder (41) is fixedly installed on the upper end face of the lower plate (3). The ends of the upper plate (2) and the lower plate (3) near the telescopic cylinder (41) extend vertically out of the folding plate (43) in the direction of mutual approach. The two folding plates (43) are movably attached to each other. The side of the upper end face of the lower plate (3) near the telescopic cylinder (41) is fixedly installed on the guide rod (42). The guide rod (42) slides through the upper end face of the upper plate (2).

5. The high-voltage cable maintenance robot according to claim 1, characterized in that: One end of the upper strip (61) is fixedly connected to a mounting bracket (65), which is fixedly installed on the lower end face of the upper plate (2). The other end of the upper strip (61) extends vertically into a bent portion (64).

6. The high-voltage cable maintenance robot according to claim 1, characterized in that: The rotating part (79) includes a bent plate (791) fixedly connected to the side surface of the fixed plate (74) and an insertion shaft (792) extending vertically from the surface of the bent plate (791). The outer surface of the thickened part (75) is provided with a groove (793), and the insertion shaft (792) extends movably into the inner side of the groove (793).

7. The high-voltage cable maintenance robot according to claim 1, characterized in that: A horizontal plate (54) is provided above the bottom strip (51). Several guide posts (58) extend vertically from the lower end face of the horizontal plate (54). The lower end of the guide post (58) slides into the upper end face of the bottom strip (51). A reset spring (59) is sleeved on the outside of the guide post (58). The first camera (55) is embedded in the upper end face of the horizontal plate (54). A vertical part (52) extends from one end of the bottom strip (51) near the lifting mechanism (4). The vertical part (52) slides through the upper end face of the upper plate (2). An inclined surface (53) is provided at the other end of the bottom strip (51).

8. The high-voltage cable maintenance robot according to claim 1, characterized in that: A support frame (9) is fixedly installed on the lower end face of the bottom strip (51).

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