A charging anti-sway device and method for an overhead transmission line inspection robot

Abstract

The present invention relates to the technical field of charging devices, and specifically to a charging anti-sway device and method for an overhead transmission line inspection robot. The charging anti-sway device for the overhead transmission line inspection robot includes a guide assembly, a charging terminal and an inspection robot; the charging terminal and the guide assembly are fixedly connected, and the inspection robot includes a walking mechanism, a connecting arm, a robot body, a driving mechanism and a charging electrode; the guide assembly is fixed on an elevated iron tower. When the inspection robot needs to be charged, the walking mechanism moves along the guide assembly, and the walking mechanism drives the robot body, the driving mechanism and the charging electrode to approach the charging terminal through the connecting arm, and then drives the charging electrode to contact the charging terminal through the driving mechanism, thereby charging, which can avoid misalignment between the charging electrode and the charging terminal, and avoid causing a circuit breaker or short circuit.

Description

Technical Field

[0001] The present invention relates to the technical field of charging devices, and in particular to a charging anti-sway device and method for an overhead transmission line inspection robot. Background Art

[0002] At present, inspections of overhead transmission lines are usually carried out by inspection robots. How to ensure that equipment is effectively and safely charged at high altitudes over transmission lines has become a prerequisite and guarantee for the equipment's long-term cruising endurance. The commonly used method is to charge through mechanical contact, that is, to allow the inspection robot's charging electrodes to contact the charging terminals on the elevated towers for charging. However, since high-voltage transmission lines are generally located in remote areas and often pass through high mountains, the natural weather is bad, and they are affected by strong convective weather. Therefore, shaking of the towers and lines is normal, and the cathode and anode are easily broken after the charging terminals and the charging pole are successfully connected. Summary of the Invention

[0003] The object of the present invention is to provide an anti-shake device and method for charging an overhead transmission line inspection robot, which can prevent the charging electrode of the inspection robot from slipping after contacting the charging terminal and causing a circuit breaker.

[0004] To achieve the above-mentioned objectives, in a first aspect, the present invention provides a charging anti-sway device for an overhead transmission line inspection robot, comprising a guide assembly, a charging terminal, and an inspection robot;

[0005] The charging terminal is fixedly connected to the guide assembly and is located on the side of the guide assembly; the inspection robot includes a walking mechanism, a connecting arm, a robot body, a driving mechanism and a charging electrode; the walking mechanism is located on one side of the guide assembly; the connecting arm is arranged on one side of the walking mechanism; the robot body and the connecting arm are fixedly connected and are located on one side of the connecting arm; the driving mechanism is arranged on the side of the robot body; the charging electrode is arranged on one side of the driving mechanism, and the charging electrode and the robot body are electrically connected.

[0006] Wherein, the guide assembly includes a non-standard profile and a supporting angle iron; the non-standard profile is located on one side of the walking mechanism; the supporting angle iron is fixedly connected to the non-standard profile and is located on one side of the non-standard profile.

[0007] In which, the guide assembly also includes multiple U-shaped tightening bolts and rails; the multiple U-shaped tightening bolts are respectively connected to the non-standard profiles and are respectively located on one side of the non-standard profiles; the rails are located between the non-standard profiles and the U-shaped tightening bolts.

[0008] Among them, the walking mechanism includes a driving device, a driving wheel, a driven wheel and a belt; the driving device is fixedly connected to the connecting arm and is located on one side of the connecting arm; the driving wheel is fixedly connected to the driving device and is located on one side of the driving device; the driven wheel is located on one side of the driving wheel, and the belt is arranged on the sides of the driving wheel and the driven wheel.

[0009] In which, the driving mechanism includes a flip bracket and a telescopic electric cylinder; the flip bracket is rotatably connected to the connecting arm, and is fixedly connected to the charging electrode, and is located on one side of the connecting arm; the telescopic electric cylinder is rotatably connected to the connecting arm, and the output end of the telescopic electric cylinder is rotatably connected to the flip bracket, and is located between the connecting arm and the flip bracket.

[0010] Among them, the flip bracket includes a frame and a spring; the frame is rotationally connected to the output end of the telescopic electric cylinder, and is rotationally connected to the connecting arm, and is located on one side of the connecting arm; one end of the spring is fixedly connected to the frame, and the other end is fixedly connected to the charging electrode, and is located between the frame and the charging electrode.

[0011] In a second aspect, the present invention further provides a method for preventing shaking when charging an overhead transmission line inspection robot, comprising:

[0012] Control the walking mechanism to move the robot body, and the robot body drives the charging electrode to move below the charging terminal;

[0013] The driving mechanism drives the charging electrode to approach the charging terminal, and the charging electrode contacts the charging terminal to charge the inspection robot.

[0014] The present invention provides an anti-sway device and method for charging an overhead power line inspection robot, wherein the guide assembly is fixed on an elevated iron tower. When the inspection robot needs to be charged, the walking mechanism moves along the guide assembly, and the walking mechanism drives the robot body, the driving mechanism and the charging electrode to approach the charging terminal via the connecting arm, so that the charging electrode moves below the charging terminal, and then the driving mechanism drives the charging electrode to approach the charging terminal until the charging electrode contacts the charging terminal, thereby charging; the guide assembly can limit and guide the walking mechanism to prevent the walking mechanism from moving, and the driving mechanism can provide support force for the charging electrode to prevent the charging electrode from slipping with the charging terminal, thereby preventing open circuit or short circuit. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0016] Figure 1 The present invention is a schematic structural diagram of a charging anti-sway device for an overhead transmission line inspection robot.

[0017] Figure 2 This is a structural diagram of a charging anti-sway device for an overhead transmission line inspection robot of the present invention, which does not include a walking mechanism, a connecting arm and a robot body.

[0018] Figure 3 It is a structural schematic diagram of the guide assembly, charging terminal, driving pulley, driven pulley and belt of the present invention.

[0019] Figure 4 It is a structural schematic diagram of the guide assembly and charging terminal of the present invention.

[0020] Figure 5 It is a structural schematic diagram of the charging terminal, non-standard profile and multiple U-shaped tension bolts of the present invention.

[0021] Figure 6 It is a structural schematic diagram of the charging terminal, driving mechanism and charging electrode of the present invention.

[0022] Figure 7 The present invention is a flowchart of a method for preventing shaking when charging an overhead transmission line inspection robot.

[0023] 1-Guide assembly, 2-Charging terminal, 3-Inspection robot, 4-Travel mechanism, 5-Connecting arm, 6-Robot body, 7-Drive mechanism, 8-Charging electrode, 9-Non-standard profile, 10-Support angle iron, 11-U-type tensioning bolt, 12-Track, 13-Drive device, 14-Driving wheel, 15-Driven wheel, 16-Belt, 17-Flip bracket, 18-Telescopic electric cylinder, 19-Frame, 20-Spring. DETAILED DESCRIPTION

[0024] The following describes embodiments of the present invention in detail, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and are not to be construed as limiting the present invention.

[0025] In the description of the present invention, it should be understood that the terms "length," "width," "up," "down," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inside," "outside," and the like, indicating positions or location relationships, are based on the positions or location relationships shown in the accompanying drawings and are intended only to facilitate the description of the present invention and simplify the description. They do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limiting the present invention. Furthermore, in the description of the present invention, "plurality" means two or more, unless otherwise expressly and specifically defined.

[0026] See also Figures 1 to 7 In a first aspect, the present invention provides a charging anti-sway device for an overhead transmission line inspection robot, comprising a guide assembly 1, a charging terminal 2, and an inspection robot 3;

[0027] The charging terminal 2 is fixedly connected to the guide assembly 1 and is located on the side of the guide assembly 1; the inspection robot 3 includes a walking mechanism 4, a connecting arm 5, a robot body 6, a driving mechanism 7 and a charging electrode 8; the walking mechanism 4 is located on one side of the guide assembly 1; the connecting arm 5 is arranged on one side of the walking mechanism 4; the robot body 6 and the connecting arm 5 are fixedly connected and are located on one side of the connecting arm 5; the driving mechanism 7 is arranged on the side of the robot body 6; the charging electrode 8 is arranged on one side of the driving mechanism 7, and the charging electrode 8 is electrically connected to the robot body 6.

[0028] In this embodiment, the guide assembly 1 is fixed on an elevated iron tower. When the inspection robot 3 needs to be charged, the walking mechanism 4 moves along the guide assembly 1. The walking mechanism 4 drives the robot body 6, the driving mechanism 7 and the charging electrode 8 to approach the charging terminal 2 through the connecting arm 5, so that the charging electrode 8 moves to the bottom of the charging terminal 2, and then drives the charging electrode 8 to approach the charging terminal 2 through the driving mechanism 7 until the charging electrode 8 contacts the charging terminal 2, thereby charging; the guide assembly 1 can limit and guide the walking mechanism 4 to prevent the walking mechanism 4 from moving, and the driving mechanism 7 can provide support force for the charging electrode 8 to avoid misalignment between the charging electrode 8 and the charging terminal 2, thereby avoiding open circuit or short circuit.

[0029] Furthermore, the guide assembly 1 includes a non-standard profile 9 and a supporting angle iron 10; the non-standard profile 9 is located on one side of the walking mechanism 4; the supporting angle iron 10 is fixedly connected to the non-standard profile 9 and is located on one side of the non-standard profile 9.

[0030] In this embodiment, the non-standard profile 9 is provided with a slide groove adapted to the walking mechanism 4, which is used to support the movement of the walking mechanism 4 and provide guidance for the walking mechanism 4; the supporting angle iron 10 is used to fix the non-standard profile 9 on the elevated iron tower.

[0031] Furthermore, the guide assembly 1 also includes a plurality of U-shaped tightening bolts 11 and a rail 12; the plurality of U-shaped tightening bolts 11 are respectively connected to the non-standard profile 9 and are respectively located on one side of the non-standard profile 9; the rail 12 is located between the non-standard profile 9 and the U-shaped tightening bolts 11.

[0032] In this embodiment, the track 12 is used to provide guidance for the traveling mechanism 4 , and the U-shaped tightening bolt 11 is used to limit and fix the track 12 .

[0033] Furthermore, the walking mechanism 4 includes a driving device 13, a driving wheel 14, a driven wheel 15 and a belt 16; the driving device 13 is fixedly connected to the connecting arm 5 and is located on one side of the connecting arm 5; the driving wheel 14 is fixedly connected to the driving device 13 and is located on one side of the driving device 13; the driven wheel 15 is located on one side of the driving wheel 14, and the belt 16 is sleeved on the sides of the driving wheel 14 and the driven wheel 15.

[0034] In this embodiment, the driving wheel 14 is driven to rotate by the driving device 13, and the driving wheel 14 drives the driven wheel 15 to rotate via the belt 16, so that the driving wheel 14 and the driven wheel 15 move along the non-standard profile 9, thereby driving the connecting arm 5 and the charging electrode 8 to move; the track 12 and the non-standard profile 9 are used to provide guidance and limitation for the driving wheel 14 and the driven wheel 15, ensuring that the driving wheel 14 and the driven wheel 15 move forward or backward smoothly without jamming, and at the same time ensuring that the inspection robot 3 will not shake left and right on the non-standard profile 9, so that the charging terminal 2 is always in close contact with the charging electrode 8 when the inspection robot 3 is charging; the power source of the driving device 13 adopts a device in the prior art that can drive the driving wheel 14 to rotate, such as a motor, a motor, etc.

[0035] Furthermore, the driving mechanism 7 includes a flip bracket 17 and a telescopic electric cylinder 18; the flip bracket 17 is rotatably connected to the connecting arm 5, and is fixedly connected to the charging electrode 8, and is located on one side of the connecting arm 5; the telescopic electric cylinder 18 is rotatably connected to the connecting arm 5, and the output end of the telescopic electric cylinder 18 is rotatably connected to the flip bracket 17, and is located between the connecting arm 5 and the flip bracket 17.

[0036] In this embodiment, the flip bracket 17 is used to support the charging electrode 8. The output end of the telescopic electric cylinder 18 extends to push the flip bracket 17 to rotate. The flip bracket 17 drives the charging electrode 8 to move and contact the charging terminal 2 for charging.

[0037] Furthermore, the flip bracket 17 includes a frame 19 and a spring 20; the frame 19 is rotationally connected to the output end of the telescopic electric cylinder 18, and is rotationally connected to the connecting arm 5, and is located on one side of the connecting arm 5; one end of the spring 20 is fixedly connected to the frame 19, and the other end is fixedly connected to the charging electrode 8, and is located between the frame 19 and the charging electrode 8.

[0038] In this embodiment, the output end of the telescopic electric cylinder 18 extends to push the frame 19 to rotate, and the frame 19 drives the charging electrode 8 to move and contact the charging terminal 2 for charging. During charging, the spring 20 is in a compressed state, so that the charging electrode 8 can float up and down within a certain range, ensuring that the charging electrode 8 is always in close contact with the charging terminal 2 to avoid open circuit or short circuit.

[0039] In a second aspect, the present invention further provides a method for preventing shaking when charging an overhead transmission line inspection robot, comprising:

[0040] S1 controls the walking mechanism 4 to move and drives the robot body 6 to move, and the robot body 6 drives the charging electrode 8 to move below the charging terminal 2;

[0041] The guide assembly 1 is fixed on an elevated iron tower. When the inspection robot 3 needs to be charged, the walking mechanism 4 moves along the guide assembly 1. The walking mechanism 4 drives the robot body 6, the driving mechanism 7 and the charging electrode 8 to approach the charging terminal 2 through the connecting arm 5, so that the charging electrode 8 moves to the bottom of the charging terminal 2.

[0042] S2 The driving mechanism 7 drives the charging electrode 8 to approach the charging terminal 2, and the charging electrode 8 contacts the charging terminal 2 to charge the inspection robot 3;

[0043] The driving mechanism 7 drives the charging electrode 8 close to the charging terminal 2 until the charging electrode 8 contacts the charging terminal 2, thereby charging; the guide assembly 1 can limit and guide the walking mechanism 4 to prevent the walking mechanism 4 from moving, and the driving mechanism 7 can provide supporting force for the charging electrode 8 to avoid misalignment between the charging electrode 8 and the charging terminal 2, thereby avoiding open circuit or short circuit.

[0044] The above disclosure is only a preferred embodiment of the present invention, and certainly cannot be used to limit the scope of the rights of the present invention. Ordinary technicians in this field can understand that all or part of the processes of the above embodiment and equivalent changes made in accordance with the claims of the present invention are still within the scope of the invention.

Claims

1. A charging anti-sway device for an overhead power line inspection robot, characterized in that: Including guide components, charging terminals and inspection robots; The charging terminal is fixedly connected to the guide assembly and is located on the side of the guide assembly; the inspection robot includes a walking mechanism, a connecting arm, a robot body, a driving mechanism and a charging electrode; the walking mechanism is located on one side of the guide assembly; the connecting arm is arranged on one side of the walking mechanism; the robot body is fixedly connected to the connecting arm and is located on one side of the connecting arm; the driving mechanism is arranged on the side of the robot body; the charging electrode is arranged on one side of the driving mechanism, and the charging electrode is electrically connected to the robot body; the driving mechanism includes a flip bracket and a telescopic electric cylinder; the flip bracket is rotatably connected to the connecting arm and is fixedly connected to the charging electrode and is located on one side of the connecting arm; the telescopic electric cylinder is rotatably connected to the connecting arm, and the output end of the telescopic electric cylinder is rotatably connected to the flip bracket and is located between the connecting arm and the flip bracket; the flip bracket includes a frame and a spring; the frame is rotatably connected to the output end of the telescopic electric cylinder and is rotatably connected to the connecting arm and is located on one side of the connecting arm; one end of the spring is fixedly connected to the frame, and the other end is fixedly connected to the charging electrode and is located between the frame and the charging electrode.

2. The anti-sway device for charging an overhead power line inspection robot according to claim 1, characterized in that: The guide assembly includes a non-standard profile and a supporting angle iron; the non-standard profile is located on one side of the walking mechanism; the supporting angle iron is fixedly connected to the non-standard profile and is located on one side of the non-standard profile.

3. The anti-sway device for charging an overhead power line inspection robot according to claim 2, characterized in that: The guide assembly also includes a plurality of U-shaped tightening bolts and a track; the plurality of U-shaped tightening bolts are respectively connected to the non-standard profile and are respectively located on one side of the non-standard profile; the track is located between the non-standard profile and the U-shaped tightening bolts.

4. The anti-sway device for charging an overhead power line inspection robot according to claim 3, characterized in that: The walking mechanism includes a driving device, a driving wheel, a driven wheel and a belt; the driving device is fixedly connected to the connecting arm and is located on one side of the connecting arm; the driving wheel is fixedly connected to the driving device and is located on one side of the driving device; the driven wheel is located on one side of the driving wheel, and the belt is sleeved on the sides of the driving wheel and the driven wheel.

5. A charging anti-sway method for an overhead power line inspection robot, applied to a charging anti-sway device for an overhead power line inspection robot as claimed in any one of claims 1 to 4, characterized in that: include: Control the walking mechanism to move the robot body, and the robot body drives the charging electrode to move below the charging terminal; The driving mechanism drives the charging electrode to approach the charging terminal, and the charging electrode contacts the charging terminal to charge the inspection robot.

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