A long-endurance, long-span intelligent inspection robot

Abstract

The present invention discloses a high-endurance and large-span intelligent inspection robot, including a shell, which is provided with a first long hole and a second long hole, the shell is connected to a first circular arc track, the first circular arc track is provided with a first connecting rod, the shell is fixedly connected to the second circular arc track, the second circular arc track is provided with a second connecting rod, the first connecting rod is connected to the first roller, the second connecting rod is connected to the second roller, the shell is connected to the first driven shaft and the second driven shaft, the first circular arc track is connected to the first sliding seat, the first sliding seat is connected to the third roller, the first long hole passes through the first transmission shaft, the second circular arc track is slidably connected to the second sliding seat, the second sliding seat is rotatably connected to the fourth roller, the second long hole passes through the second transmission shaft, a through hole is provided on the lower side of the shell, a pull rope passes through the through hole, a driving device is provided in the shell, and the lower end of the pull rope is connected to a weight block. The present invention can remove a faulty robot from the lightning protection line without the aid of climbing equipment.

Description

Technical Field

[0001] The present invention relates to the technical field of overhead power line inspection, and in particular to a high-endurance and large-span intelligent inspection robot. Background Art

[0002] In some pristine forest areas, inspection robots are often used to inspect multiple overhead power lines, greatly improving inspection efficiency. However, with existing technology, if an inspection robot malfunctions on a lightning conductor and becomes immobile, it often requires transporting climbing equipment to the pristine forest. The robot then needs to be ascended using the equipment to the inspection robot, removed from the conductor, and repaired, a very cumbersome process. Summary of the Invention

[0003] In order to solve the above-mentioned shortcomings of the prior art, the present invention proposes a long-endurance and large-span intelligent inspection robot.

[0004] To achieve the above object, the present invention adopts the following technical solutions:

[0005] The cam is secured to the chassis and has a first end connected to the chassis, with the first end connected to the chassis, and the second end connected to the chassis. The driving device and the first driven shaft are connected and used for driving the first sliding seat upwardly through the first driven shaft and the first universal joint to drive the first transmission shaft to rotate. The driving device and the second driven shaft are connected and used for driving the second transmission shaft to rotate through the second driven shaft and the second universal joint. The lower end of the pull rope is connected to a weight block, and the driving device is connected to the upper end of the pull rope and is used to wind or release the pull rope.

[0006] Furthermore, the center of the first arc track is on the first universal joint, and the center of the second arc track is on the second universal joint. When the first sliding seat is located at the upper end of the first arc track, the third roller is located at the lower side of the first roller and abuts against the first roller. When the second sliding seat is located at the upper end of the second arc track, the fourth roller is located at the lower side of the second roller and abuts against the second roller.

[0007] Furthermore, the driving device includes a driving shaft arranged between the first driven shaft and the second driven shaft, the driving shaft is fixedly connected to a driven gear, a motor is fixedly connected in the shell, the motor is connected to a driving gear, the driving gear and the driven gear are meshed, the driving shaft sleeve is provided with a winding wheel, the winding wheel and the driving shaft are rotatably connected, damping oil is arranged between the winding wheel and the driving shaft, the upper end of the pull rope is connected to the winding wheel, the first driven shaft and the second driven shaft are parallel, the first driven shaft and the driving shaft are perpendicular, the two ends of the driving shaft are respectively fixedly connected to the first driving bevel gear and the second driving bevel gear, the first driven shaft is fixedly connected to the first driven bevel gear meshing with the first driving bevel gear, and the second driven shaft is fixedly connected to the second driven bevel gear meshing with the second driving bevel gear.

[0008] Furthermore, the driving device also includes a first cylinder arranged at the lower side of the first transmission shaft and a second cylinder arranged at the lower side of the second transmission shaft, the cylinder body of the first cylinder is fixedly connected to the lower side of the shell, the output shaft of the first cylinder abuts the first transmission shaft, the cylinder body of the second cylinder is fixedly connected to the lower side of the shell, the output shaft of the second cylinder abuts the second transmission shaft, a valve body is fixedly connected to the lower side of the shell, the valve body is provided with a downward-opening slide groove, a valve core is slidably connected in the slide groove, a first air hole and a second air hole are provided on one side of the valve body, the first air hole is connected to the first cylinder, the first air hole and the second cylinder are connected, the second air hole is connected to the atmosphere, the valve core is provided with a first air channel and a second air channel, the upper end of the second air channel is connected to the slide groove, a limiting groove is provided on one side of the slide groove, and the valve The core is fixedly connected to a limiting block, which is slidably connected in the limiting groove, and the bottom of the slide groove is connected to the valve core through a first spring. When the limiting block is located at the lower end of the limiting groove, the first air hole is connected through the first air channel and the second air hole, and the slide groove is connected to the atmosphere through the second air channel. When the lower end of the valve core is flush with the lower end of the valve body, the slide groove is connected to the first air hole through the second air channel. The drive shaft is fixedly connected to a cam, and a cylinder is provided at the lower side of the cam, and a piston is slidably connected in the cylinder. A piston rod is provided on the upper side of the piston, and a second spring is provided between the cylinder and the piston rod for making the piston rod and the cam abut. A first one-way valve facing the inner side of the cylinder is provided on one side of the cylinder, and a third air channel is provided between the cylinder and the slide groove, and the third air channel is provided with a second one-way valve facing the slide groove.

[0009] Furthermore, the third roller is fixedly connected to the first output bevel gear, the end of the first transmission shaft close to the first sliding seat is fixedly connected to the first input bevel gear, the first input bevel gear and the first output bevel gear are meshed, and the first input bevel gear and the first output bevel gear are both arranged in the first sliding seat, the fourth roller is fixedly connected to the second output bevel gear, the end of the second transmission shaft close to the second sliding seat is fixedly connected to the second input bevel gear, the second input bevel gear and the second output bevel gear are meshed, and the second input bevel gear and the second output bevel gear are both arranged in the second sliding seat.

[0010] Furthermore, the first roller and the second roller have the same structure, the first roller includes a first main body, the two ends of the first main body extend outward to form a first flange, and a first embedding groove is formed between the first flanges; the third roller and the fourth roller have the same structure, the third roller includes a second main body, the two ends of the second main body extend outward to form a second flange for abutting against the first flange.

[0011] Compared with the prior art, the present invention provides a long-endurance, large-span intelligent inspection robot. When one of the robots fails, the other robot can be used to remove the failed robot from the lightning protection line without the need for climbing equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 A schematic diagram of an embodiment of the present application.

[0013] Figure 2 For the embodiments of this application Figure 1 Enlarged view of point A.

[0014] Figure 3 For the embodiments of this application Figure 1 BB cross-sectional view.

[0015] Figure 4 Schematic diagram of a first sliding seat according to an embodiment of the present application.

[0016] Figure 5 This is a schematic diagram of the abutment between the weight block and the lower end of the valve body in an embodiment of the present application.

[0017] Figure 6 For the embodiments of this application Figure 5 Enlarged view of point C.

[0018] Figure 7 This is a schematic diagram of a robot walking along a lightning protection line according to an embodiment of the present application.

[0019] Figure 8 This is a schematic diagram of the connection between the pull rope of the first robot and the pull rope of the second robot in an embodiment of the present application.

[0020] Figure 9 This is a schematic diagram of the second robot winding the pull rope in an embodiment of the present application.

[0021] Figure 10 This is a schematic diagram of the second robot walking according to an embodiment of the present application.

[0022] Figure 11 This is a schematic diagram of the second robot using a pull rope to pull the first robot off the first lightning protection line in an embodiment of the present application.

[0023] Figure 12This is a process diagram of the first robot detaching from the first lightning conductor in an embodiment of the present application. DETAILED DESCRIPTION

[0024] The technical solution of the present invention will be further specifically described below through embodiments and in conjunction with the accompanying drawings.

[0025] See also Figures 1 to 12, a high-endurance and large-span intelligent inspection robot includes a shell 11, a camera 12 is provided on the lower side of the shell 11, a wireless data transceiver 13 is provided in the shell 11, the wireless data transceiver 13 is connected to the camera 12, a first long hole 111 and a second long hole 112 are provided on the upper side of the shell 11, one end of the shell 11 close to the first long hole 111 is fixedly connected to a first arc track 113, the upper end of the first arc track 113 extends upward to form a first connecting rod 1131, and the end of the shell 11 close to the second long hole 112 is fixedly connected to a second arc track 114, the upper end of the second arc track 114 extends upward to form a second connecting rod 1141, and the upper end of the first connecting rod 1131 is rotatably connected to the first roller Wheel 1131a, the upper end of the second connecting rod 1141 is rotatably connected to the second roller 1141a, the first driven shaft 115 and the second driven shaft 116 are rotatably connected in the shell 11, the first arc track 113 is slidably connected to the first sliding seat 1132, the first sliding seat 1132 is rotatably connected to the third roller 1132a, the first long hole 111 passes through the first transmission shaft 1111, one end of the first transmission shaft 1111 is rotatably connected to the first sliding seat 1132 and is used to provide driving force to the third roller 1132a, the other end of the first transmission shaft 1111 is located in the shell 11 and is connected to the first driven shaft 115 through the first universal joint 1111a, the second arc track 114 is slidably connected to the second sliding seat 1142, The second sliding seat 1142 is rotatably connected to the fourth roller 1142a, and the second long hole 112 passes through the second transmission shaft 1121. One end of the second transmission shaft 1121 is rotatably connected to the second sliding seat 1142 and is used to provide driving force to the fourth roller 1142a. The other end of the second transmission shaft 1121 is located in the shell 11 and is connected to the second driven shaft 116 through the second universal joint 1121a. A through hole 117 is provided on the lower side of the shell 11, and a pull rope 1171 passes through the through hole 117. A driving device 118 is provided in the shell 11, and the driving device 118 is connected to the first transmission shaft 1111 and is used to drive the first sliding seat 1132 upward through the first transmission shaft 1111 so that the third roller 1132a and the first roller 1131a abuts, the driving device 118 is connected to the first driven shaft 115 and is used to drive the first transmission shaft 1111 to rotate through the first driven shaft 115 and the first universal joint 1111a, the driving device 118 is connected to the second transmission shaft 1121 and is used to drive the second sliding seat 1142 upward through the second transmission shaft 1121 to abut the fourth roller 1142a and the second roller 1141a, the driving device 118 is connected to the second driven shaft 116 and is used to drive the second transmission shaft 1121 to rotate through the second driven shaft 116 and the second universal joint 1121a, the lower end of the pull rope 1171 is connected to the weight block 1171a, the driving device 118 is connected to the upper end of the pull rope 1171 and is used to wind or release the pull rope 1171.

[0026] The center of the first arc track 113 is on the first universal joint 1111a, specifically, the center of the first arc track 113 is on the axis of the first driven shaft 115, and the center of the second arc track 114 is on the second universal joint 1121a, specifically, the center of the second arc track 114 is on the axis of the second driven shaft 116. When the first sliding seat 1132 is located at the upper end of the first arc track 113, the third roller 1132a is located at the lower side of the first roller 1131a and abuts against the first roller 1131a. When the second sliding seat 1142 is located at the upper end of the second arc track 114, the fourth roller 1142a is located at the lower side of the second roller 1141a and abuts against the second roller 1141a.

[0027] The driving device 118 includes a driving shaft 1181 disposed between the first driven shaft 115 and the second driven shaft 116. The driving shaft 1181 is fixedly connected to a driven gear 1181a. A motor 119 is fixedly connected to the housing 11. The motor 119 is connected to a driving gear 1191. The driving gear 1191 is meshed with the driven gear 1181a. The driving shaft 1181 is sleeved with a winding wheel 1181b. The winding wheel 1181b is rotatably connected to the driving shaft 1181. The winding wheel 1181b is rotatably connected to the driving shaft 1181. 181, damping oil is provided between the upper end of the pull rope 1171 and the winding wheel 1181b, the first driven shaft 115 and the second driven shaft 116 are parallel, the first driven shaft 115 and the driving shaft 1181 are perpendicular, and the two ends of the driving shaft 1181 are respectively fixedly connected with the first driving bevel gear and the second driving bevel gear, the first driven shaft 115 is fixedly connected with the first driven bevel gear meshing with the first driving bevel gear, and the second driven shaft 116 is fixedly connected with the second driven bevel gear meshing with the second driving bevel gear.

[0028] The driving device 118 also includes a first cylinder 1182 arranged on the lower side of the first transmission shaft 1111 and a second cylinder 1183 arranged on the lower side of the second transmission shaft 1121. The cylinder body of the first cylinder 1182 is fixedly connected to the lower side of the housing 11, and the output shaft of the first cylinder 1182 abuts the first transmission shaft 1111. The cylinder body of the second cylinder 1183 is fixedly connected to the lower side of the housing 11, and the output shaft of the second cylinder 1183 abuts the second transmission shaft 1121. A valve body 1184 is fixedly connected to the lower side of the housing 11, and the valve body 1184 is provided with a sliding groove opening downward. A valve core 1184a is slidably connected in the groove, and a first air hole 1184b and a second air hole 1184c are provided on one side of the valve body 1184. The first air hole 1184b is connected to the first cylinder 1182, the first air hole 1184b is connected to the second cylinder 1183, and the second air hole 1184c is connected to the atmosphere. The valve core 1184a is provided with a first air channel 1184d and a second air channel 1184e. The upper end of the second air channel 1184e is connected to the sliding groove, and a limiting groove 1184f is provided on one side of the sliding groove. The valve core 1184a is fixedly connected to the limiting block 1184g, and the limiting block 1184g is fixed to the valve core 1184a. 84g is slidably connected in the limiting groove 1184f, and the bottom of the sliding groove is connected to the valve core 1184a through the first spring. When the limiting block 1184g is located at the lower end of the limiting groove 1184f, the first air hole 1184b is connected through the first air channel 1184d and the second air hole 1184c, and the sliding groove is connected to the atmosphere through the second air channel 1184e. When the lower end of the valve core 1184a is flush with the lower end of the valve body 1184, the sliding groove is connected to the first air hole 1184b through the second air channel 1184e. The drive shaft 1181 is fixedly connected to the cam 1181c. The cam 1181c is A cylinder 1181d is provided on the lower side, and a piston 1181e is slidably connected inside the cylinder 1181d. A piston rod 1181f is provided on the upper side of the piston 1181e. A second spring is provided between the cylinder 1181d and the piston rod 1181f for making the piston rod 1181f and the cam 1181c abut against each other. A first one-way valve 1181g facing the inner side of the cylinder 1181d is provided on one side of the cylinder 1181d, and a third air channel 1181h is provided between the cylinder 1181d and the slide groove. The third air channel 1181h is provided with a second one-way valve 1181k facing the slide groove.

[0029] The third roller 1132a is fixedly connected to the first output bevel gear 1132b, and the end of the first transmission shaft 1111 close to the first sliding seat 1132 is fixedly connected to the first input bevel gear 1111b, the first input bevel gear 1111b and the first output bevel gear 1132b are meshed, and the first input bevel gear 1111b and the first output bevel gear 1132b are both arranged in the first sliding seat 1132, and the fourth roller 1142a is fixedly connected to the second output bevel gear (not shown in the figure), and the end of the second transmission shaft 1121 close to the second sliding seat 1142 is fixedly connected to the second input bevel gear (not shown in the figure), the second input bevel gear and the second output bevel gear are meshed, and the second input bevel gear and the second output bevel gear are both arranged in the second sliding seat 1142.

[0030] The first roller 1131a and the second roller 1141a have the same structure. The first roller 1131a includes a first main body 1131b, and both ends of the first main body 1131b extend outward to form a first flange 1131c. A first embedding groove 1131d is formed between the first flanges 1131c. The third roller 1132a and the fourth roller 1142a have the same structure. The third roller 1132a includes a second main body 1132c, and both ends of the second main body 1132c extend outward to form a second flange 1132d for abutting against the first flange 1131c.

[0031] Principle of the embodiment:

[0032] When in use, the first roller 1131a and the second roller 1141a are placed on the lightning conductor 200. Specifically, the lightning conductor 200 is embedded in the first embedding groove 1131d. When the first roller 1131a and the second roller 1141a rotate under the action of the driving device 118, the shell 11 will move along the lightning conductor 200, and the camera 12 on the lower side of the shell 11 will detect the overhead wires on the lower side of the lightning conductor 200. Specifically, the camera 12 shoots the overhead wires along the way and transmits the image to the background through the wireless data transceiver 13 for people to watch.

[0033] Before the drive unit 118 is operated, see Figure 1 and Figure 2At this point, the lower end of the valve core 1184a protrudes from the lower end of the valve body 1184, the stopper 1184g is located at the lower end of the stopper groove 1184f, the slide groove is connected to the atmosphere through the second air channel 1184e, the first sliding seat 1132 is located at the lower end of the first circular arc track 113, and the second sliding seat 1142 is located at the lower end of the second circular arc track 114. The third roller 1132a is disengaged from the first roller 1131a, and the fourth roller 1142a is disengaged from the second roller 1141a. At this point, the first roller 1131a and the second roller 1141a can be placed on the lightning conductor 200. When the first roller 1131a and the second roller 1141a are placed on the lightning conductor 200, the weight 1171a is close to the ground.

[0034] When the driving device 118 is running, the pull rope 1171 is wound, the weight block 1171a moves upward to the lower side of the shell 11, the first sliding seat 1132 moves upward along the first circular arc track 113 and makes the third roller 1132a and the first roller 1131a abut against each other, the second sliding seat 1142 moves upward along the second circular arc track 114 and makes the second roller 1141a and the fourth roller 1142a abut against each other, under the action of the third roller 1132a, the first roller 1131a rotates, under the action of the fourth roller 1142a, the second roller 1141a rotates, under the action of the first roller 1131a and the second roller 1141a, the robot walks along the lightning conductor 200.

[0035] For details, see Figure 5 and Figure 6When the driving device 118 is running, the motor 119 runs, and the driving shaft 1181 rotates through the driving gear 1191 and the driven gear 1181a. Since damping oil is provided between the driving shaft 1181 and the winding wheel 1181b, under the action of damping, the winding wheel 1181b winds the pull rope 1171, and the weight block 1171a moves upward. At the same time, the driving shaft 1181 drives the third roller 1132a to rotate through the first driving bevel gear, the first driven bevel gear, the first driven shaft 115, the first universal joint 1111a, the first transmission shaft 1111, the first input bevel gear 1111b, and the first output bevel gear 1132b. The driving shaft 1181 drives the third roller 1132a to rotate through the second driving bevel gear, the second driven bevel gear, the second driven shaft 116, the second universal joint 1121a, the second transmission shaft The shaft 1121, the second input bevel gear, and the second output bevel gear drive the fourth roller 1142a to rotate, and the drive shaft 1181 also drives the cam 1181c to rotate. Under the action of the cam 1181c, the piston rod 1181f reciprocates up and down. Under the action of the first one-way valve 1181g and the second one-way valve 1181k, the air in the atmosphere enters the cylinder 1181d through the first one-way valve 1181g, and the air in the cylinder 1181d enters the slide through the second one-way valve 1181k. Since the slide is connected to the atmosphere at this time, the air output by the second one-way valve 1181k is output to the atmosphere through the slide and the second air channel 1184e. As the weight block 1171a moves upward, when the weight block 1171a pushes the valve core 1184a upward and abuts against the lower end of the valve body 1184. At this time, the lower end of the valve body 1184 is flush with the lower end of the valve core 1184a, that is, the chute is connected to the first cylinder 1182 through the second air channel 1184e and the first air hole 1184b, and the chute is also connected to the second cylinder 1183 through the second air channel 1184e, the first air hole 1184b, and the second cylinder 1183. At this time, on the one hand, the weight 1171a cannot continue to move upward through the through hole 117, the drive shaft 1181 will overcome the damping oil and rotate, and the winding wheel 1181b will stop rotating. On the other hand, under the up and down reciprocating motion of the piston 1181e, the air in the cylinder 1181d will be input into the first cylinder 1182 and the second cylinder 1183 through the second air channel 1184e and the first air hole 1184b. Figure 7At this point, the output shafts of the first and second cylinders 1182 and 1183 move upward, respectively pushing the first transmission shaft 1111 and the second transmission shaft 1121 to rotate upward. Specifically, the first sliding seat 1132 slides upward along the first circular track 113, and the second sliding seat 1142 slides upward along the second circular track 114. When the first transmission shaft 1111 rotates upward, it rotates about the axis of the first driven shaft 115, while when the second transmission shaft 1121 rotates upward, it rotates about the axis of the second driven shaft 116. When the third roller 1132a abuts the first roller 1131a, it drives the first roller 1131a to rotate. When the fourth roller 1142a abuts the second roller 1141a, it drives the second roller 1141a to rotate. Specifically, when the second flange 1132d of the third roller 1132a abuts the first flange 1131c of the first roller 1131a, the third roller 1132a drives the first roller 1131a to rotate. When the second flange 1132d of the fourth roller 1142a abuts the first flange 1131c of the second roller 1141a, the fourth roller 1142a drives the second roller 1141a to rotate. At this point, the lightning conductor 200 is positioned between the first roller 1131a and the third roller 1132a, and between the second roller 1141a and the fourth roller 1142a. This prevents the lightning conductor 200 from dislodging from the first embedding slot 1131d during robot movement, thereby preventing the robot from falling off the lightning conductor 200. Pressure limiting valves are provided on the cylinder bodies of the first cylinder 1182 and the second cylinder 1183. When the output shafts of the first cylinder 1182 and the second cylinder 1183 cannot continue to move upward, the pressure of the first cylinder 1182 and the second cylinder 1183 continues to increase. When the air pressure exceeds the threshold value of the pressure limiting valve, air is output from the pressure limiting valve to the atmosphere.

[0036] When the driving device 118 stops running, the third roller 1132a and the fourth roller 1142a stop rotating, the robot stops walking on the lightning protection line 200, the first sliding seat 1132 moves downward along the first circular arc track 113, the third roller 1132a moves away from the first roller 1131a, the second sliding seat 1142 moves downward along the second circular arc track 114, the fourth roller 1142a moves away from the second roller 1141a, the driving device 118 releases the pull rope 1171, and the weight 1171a moves downward until it is close to the ground.

[0037] Specifically, when the driving device 118 stops running, the motor 119 stops moving, and the driving shaft 1181 stops rotating. Under the action of the gravity of the weight block 1171a, the winding wheel 1181b overcomes the damping of the damping oil and rotates, the pull rope 1171 moves downward, the weight block 1171a moves downward and disengages from the lower side of the shell 11. Under the action of the first spring, the valve core 1184a moves downward until the limit block 1184g moves to the lower end of the limit groove 1184f. At this time, the first air hole 1184b is connected to the second air hole 1184c through the first air channel 1184d, that is, the first air hole 1184b is connected to the atmosphere, that is, the first cylinder 1182 is connected to the atmosphere, and the second cylinder 1183 is connected to the atmosphere. At this time, the air in the first cylinder 1182 enters the atmosphere, and the air in the second cylinder 1183 enters the atmosphere. The output shaft of the first cylinder 1182 moves downward, and the output shaft of the second cylinder 1183 moves downward. Under the action of gravity, the first sliding seat 1132 moves downward along the first arc track 113, and the second sliding seat 1142 moves downward along the second arc track 114. The third roller 1132a moves away from the first roller 1131a, and the fourth roller 1142a moves away from the second roller 1141a. At this point, the robot returns to the initial state. Figure 1 .

[0038] When the robot's motor 119 fails during the inspection process and it cannot continue to move along the lightning conductor 200, according to the above, the pull rope 1171 will move downward, the weight 1171a will move to near the ground, the third roller 1132a will move away from the first roller 1131a, and the fourth roller 1142a will move away from the second roller 1141a. The robot with the fault will be named the first robot, and the corresponding lightning conductor 200 will be named the first lightning conductor. In addition, the lightning conductor 200 adjacent to the first lightning conductor will be named the second lightning conductor, and the robot inspecting along the second lightning conductor will be named the second robot. When the second robot moves to the vicinity of the first robot, the motor 119 of the second robot stops moving. Similarly, the pull rope 1171 of the second robot will move downward to near the ground. Connect the lower end of the pull rope 1171 of the first robot to the lower end of the pull rope 1171 of the second robot, see Figure 8 Then the motor 119 of the second robot is started, and the winding wheel 1181b of the second robot winds up the pull rope 1171. When the weight 1171a and the shell 11 of the second robot come into contact, Figure 9 , then the second robot moves along the second lightning protection line, see Figure 10. Under the action of the pull rope 1171, the lower end of the first robot is tilted toward the second robot under the action of the pull rope 1171, and is pulled toward the movement direction of the second robot by the pull rope 1171. In this embodiment, the first roller 1131a of the first robot is located on the side of the corresponding first connecting rod 1131 close to the second lightning conductor, and the second roller 1141a of the first robot is located on the side of the corresponding second connecting rod 1141 close to the second lightning conductor. Under the action of the pull rope 1171, the first robot will rotate relative to the first lightning conductor, and eventually the first roller 1131a and the second roller 1141a will fall off the first lightning conductor, see Figure 11 and Figure 12 . During this process, the first roller 1131a and the third roller 1132a of the second robot are in contact with each other, and the fourth roller 1142a and the second roller 1141a are in contact with each other, so the second robot will not be detached from the second lightning conductor. Under the action of gravity, the first robot falls near the ground. Since the pull rope 1171 of the first robot is connected to the second robot, the first robot will not fall directly to the ground. After stopping the second robot, the weight 1171a falls near the ground, and then the pull rope 1171 of the first robot and the second robot is untied, thereby realizing the separation of the first robot and the second robot, and then the first robot can be repaired.

[0039] In the present application, when one of the robots fails, the failed robot can be removed from the lightning protection line 200 by using another robot without the need for climbing equipment.

[0040] It should be understood that those skilled in the art can make improvements or changes based on the above description, and all such improvements and changes should fall within the scope of protection of the appended claims of the present invention.

Claims

1. A high-endurance and large-span intelligent inspection robot, characterized in that: The camcorder is a device for rotating the rotating shaft of the driving mechanism, and the camcorder is a device for rotating the rotating shaft of the driving mechanism. The camcorder is a device for rotating the rotating shaft of the driving mechanism, and the camcorder is a device for rotating the rotating shaft of the driving mechanism. The camcorder is a device for rotating the rotating shaft of the driving mechanism, and the camcorder is a device for rotating the rotating shaft of the driving mechanism. The seat is rotatably connected to the fourth roller, and the second long hole passes through the second transmission shaft. One end of the second transmission shaft is rotatably connected to the second sliding seat and is used to provide driving force to the fourth roller. The other end of the second transmission shaft is located in the housing and is connected to the second driven shaft through a second universal joint. A through hole is provided on the lower side of the housing, and a pull rope passes through the through hole. A driving device is provided in the housing, and the driving device is connected to the first transmission shaft and is used to drive the first sliding seat upward through the first transmission shaft so that the third roller and the first roller abut against the first roller. The driving device is connected to the first driven shaft and is used to drive the first transmission shaft to rotate through the first driven shaft and the first universal joint. The driving device is connected to the second transmission shaft and is used to drive the second sliding seat upward through the second transmission shaft so that the fourth roller and the second roller abut against the second roller. The driving device is connected to the second driven shaft and is used to drive the second transmission shaft to rotate through the second driven shaft and the second universal joint. A weight is connected to the lower end of the pull rope, and the driving device is connected to the upper end of the pull rope and is used to wind or release the pull rope.

2. The high-endurance, large-span intelligent inspection robot according to claim 1, characterized in that: The center of the first arc track is on the first universal joint, and the center of the second arc track is on the second universal joint. When the first sliding seat is located at the upper end of the first arc track, the third roller is located at the lower side of the first roller and abuts against the first roller. When the second sliding seat is located at the upper end of the second arc track, the fourth roller is located at the lower side of the second roller and abuts against the second roller.

3. The high-endurance, large-span intelligent inspection robot according to claim 1, characterized in that: The driving device includes a driving shaft arranged between the first driven shaft and the second driven shaft, the driving shaft is fixedly connected to a driven gear, a motor is fixedly connected in the housing, the motor is connected to a driving gear, the driving gear is meshed with the driven gear, the driving shaft sleeve is provided with a winding wheel, the winding wheel is rotatably connected to the driving shaft, damping oil is arranged between the winding wheel and the driving shaft, the upper end of the pull rope is connected to the winding wheel, the first driven shaft and the second driven shaft are parallel, the first driven shaft and the driving shaft are perpendicular, and the two ends of the driving shaft are respectively fixedly connected with a first driving bevel gear and a second driving bevel gear, the first driven shaft is fixedly connected with a first driven bevel gear meshed with the first driving bevel gear, and the second driven shaft is fixedly connected with a second driven bevel gear meshed with the second driving bevel gear.

4. The high-endurance, large-span intelligent inspection robot according to claim 3, characterized in that: The driving device also includes a first cylinder arranged at the lower side of the first transmission shaft and a second cylinder arranged at the lower side of the second transmission shaft, the cylinder body of the first cylinder is fixedly connected to the lower side of the housing, the output shaft of the first cylinder abuts the first transmission shaft, the cylinder body of the second cylinder is fixedly connected to the lower side of the housing, the output shaft of the second cylinder abuts the second transmission shaft, a valve body is fixedly connected to the lower side of the housing, the valve body is provided with a downward-opening slide groove, a valve core is slidably connected in the slide groove, a first air hole and a second air hole are provided on one side of the valve body, the first air hole is connected to the first cylinder, the first air hole is connected to the second cylinder, and the second air hole is connected to the atmosphere, the valve core is provided with a first air channel and a second air channel, the upper end of the second air channel is connected to the slide groove, a limiting groove is provided on one side of the slide groove, and the valve core is fixedly connected to a limited position The cam is fixedly connected to the drive shaft, and a cylinder is provided at the lower side of the spool, and a piston is slidably connected to the cylinder, and a piston rod is provided at the upper side of the piston, and a second spring is provided between the cylinder and the piston rod for making the piston rod and the cam abut. A first one-way valve facing the inner side of the cylinder is provided on one side of the cylinder, and a third air channel is provided between the cylinder and the slide groove, and the third air channel is provided with a second one-way valve facing the slide groove.

5. The high-endurance and large-span intelligent inspection robot according to claim 1, characterized in that: The third roller is fixedly connected to the first output bevel gear, the end of the first transmission shaft close to the first sliding seat is fixedly connected to the first input bevel gear, the first input bevel gear and the first output bevel gear are meshed, and the first input bevel gear and the first output bevel gear are both arranged in the first sliding seat, the fourth roller is fixedly connected to the second output bevel gear, the end of the second transmission shaft close to the second sliding seat is fixedly connected to the second input bevel gear, the second input bevel gear and the second output bevel gear are meshed, and the second input bevel gear and the second output bevel gear are both arranged in the second sliding seat.

6. The high-endurance, large-span intelligent inspection robot according to any one of claims 1 to 5, characterized in that: The first roller and the second roller have the same structure. The first roller includes a first main body, both ends of the first main body extend outward to form first flanges, and a first embedding groove is formed between the first flanges. The third roller and the fourth roller have the same structure. The third roller includes a second body. Both ends of the second body extend outward to form a second flange for abutting against the first flange.

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