A cable maintenance robot with wind resistance

Abstract

The application discloses a cable maintenance robot with wind resistance, comprising a body, a flight mechanism, a positioning and cleaning mechanism, a cutting mechanism and a repairing mechanism arranged on one side of the cutting mechanism are installed on the upper part of the body, the flight mechanism comprises four connecting frames and paddles, a protective cover is arranged on the outer side of the paddle, landing gears are symmetrically installed on the bottom of the body, a camera is installed on the top edge of the body, and sliding grooves are symmetrically formed in the bottom plate of the body. The cutting mechanism can strip the cut skin from the cable on the basis of cutting the skin of the damaged part, the cable can be repaired through the repairing mechanism, a new skin is formed on the damaged part, the cable can be patrolled and the damaged part can be repaired, manual repairing of the cable is not needed, the application is safer and more efficient.

Description

Technical Field

[0001] This invention relates to the field of cable repair robots, and specifically to a cable repair robot with wind resistance capabilities. Background Technology

[0002] Cables are widely used in power transmission and distribution, and cable inspection plays a crucial role in ensuring the safe operation of basic power equipment. Traditional cable inspection tasks require inspectors to climb high up the cables to conduct daily inspections. The entire inspection process is carried out at height, which is extremely dangerous and inefficient.

[0003] Currently, when cable damage is discovered during inspections, in order to avoid personal injury or death from electric shock, or short circuits causing overheating and fires, the damaged area must be repaired. The traditional method is to manually climb to a high place to repair the cable. This method has a low safety factor, is prone to causing injury to cable repair personnel, and is inefficient.

[0004] Therefore, it is necessary to invent a cable repair robot with wind resistance capabilities to solve the above problems. Summary of the Invention

[0005] The purpose of this invention is to provide a cable repair robot with wind resistance capabilities to solve the problems of low safety, easy injury to cable repair personnel, and low efficiency caused by the current traditional method of manual cable repair.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a cable repair robot with wind resistance capability, comprising a body, a flight mechanism mounted on the upper part of the body, the flight mechanism comprising four connecting frames and propellers, a protective cover provided on the outer side of the propellers, landing gear symmetrically mounted on the bottom of the body, a camera mounted on the top edge of the body, and symmetrical sliding grooves provided on the bottom plate of the body, two sets of guide grooves symmetrically provided on one side of the sliding grooves, and a strip-shaped hole provided on one side of the guide grooves;

[0007] A positioning and cleaning mechanism is disposed between two landing gears. The positioning and cleaning mechanism includes a drive motor, a bidirectional lead screw, a clamping part, and a cleaning part disposed opposite to the clamping part. The bidirectional lead screw is rotatably disposed inside the machine body. Both the clamping part and the cleaning part are disposed at the bottom of the machine body.

[0008] The cable includes a cutting mechanism and a repair mechanism located on one side of the cutting mechanism. The cutting mechanism and the repair mechanism are located between the clamping part and the cleaning part. The cutting mechanism is used to cut off the outer sheath of the damaged part of the cable, and the repair mechanism is used to repair the damaged part of the cable.

[0009] In a preferred embodiment of the present invention, one end of the bidirectional lead screw is fixedly connected to the output shaft of the drive motor. Two nut seats with opposite directions of movement are meshed on the outer wall of the bidirectional lead screw. A sliding part that slides with a sliding groove is installed on one side of each of the two nut seats. A movable bracket is installed at the bottom of each sliding part. An clearance opening is provided in the middle of the movable bracket. Two through slots are provided on the movable bracket. A sliding member is slidably arranged in the through slot. An adaptive spring is installed on one side of the sliding member. One side of the sliding member is connected to the movable bracket through the adaptive spring. The clamping part consists of two clamping wheels arranged symmetrically. A shaft is rotatably arranged at the center of each of the two clamping wheels. The two shafts are inserted and fixed at the center of the two sliding members located in front. The cross-sectional shape of the clamping wheel is set to V-shape. The drive motor is fixedly installed inside the machine body.

[0010] In a preferred embodiment of the present invention, the cleaning unit consists of two symmetrically arranged cleaning wheels. Each cleaning wheel includes two fixed discs and a cleaning roller fixedly installed between the two fixed discs. The outer wall of the cleaning roller is provided with multiple sets of cleaning brushes and air jets arranged in a circular array along the radial direction. The air jets are spaced apart from the cleaning brushes. An air inlet pipe is connected to the center of one end of the cleaning roller. The air inlet pipe passes through the center of one of the fixed discs. The top end of the air inlet pipe passes through a strip hole and then through a sliding member located behind it. The air inlet pipe is rotatably connected to the sliding member through a bearing. A limit ring is fixedly sleeved on the upper part of the air inlet pipe.

[0011] As a preferred embodiment of the present invention, the cutting mechanism includes a cutting motor, a transmission rod, a cutting part, two electric push rods and a locking part. The output shaft of the cutting motor is fixedly connected to the upper end of the transmission rod. The cutting motor is fixed to the bottom of the top plate of the machine body. The transmission rod passes through the bottom plate of the machine body and is rotatably connected to the bottom plate of the machine body through a bearing. A transmission gear is installed at the lower end of the transmission rod.

[0012] The two electric push rods are symmetrically arranged and fixed to the bottom of the machine body. Each electric push rod has a movable frame installed on its piston rod. Guide slide rails are installed on both sides of the movable frame. The guide slide rails are fixed to the bottom of the machine body. Two sliding rods are slidably arranged inside the guide slide rails. The two sliding rods are connected by a buffer spring. Each sliding rod is fixedly connected to the corresponding movable frame.

[0013] The cutting section has a ring-shaped structure and includes two arc-shaped fixed platforms. An arc-shaped slide rail is rotatably mounted on the inner side of the arc-shaped fixed platform. A cutting blade is installed at the center of the inner arc surface of the arc-shaped slide rail. The cutting blade includes two circular blades and a blade holder for fixing the circular blades. The blade holder is fixedly connected to the arc-shaped slide rail by screws. A peeling blade is provided between the two circular blades. One side of the peeling blade is fixedly connected to the blade holder. An arc-shaped guide strip is installed on the inner arc surface of the arc-shaped fixed platform. Several limiting wheels for constraining the arc-shaped slide rail are evenly distributed on one side of the arc-shaped fixed platform. An arc-shaped guide rod is provided on the other side of the arc-shaped fixed platform. The arc-shaped guide rod is rotatably mounted in the recessed part of the arc-shaped fixed platform. Several meshing teeth that mesh with the transmission gear are evenly distributed on the arc-shaped guide rod. One side of the arc-shaped guide rod is fixedly connected to the arc-shaped slide rail, and the other side has an annular groove that mates with the arc-shaped guide rod.

[0014] As a preferred embodiment of the present invention, both locking parts include an electric locking push rod that passes through the arc-shaped fixed platform. The piston rod of the electric locking push rod is connected to a connecting arm. A plurality of locking teeth that mesh with the meshing teeth are installed on the side of the connecting arm near the arc-shaped guide rod. A clearance frame is provided on the outer side of the electric locking push rod. The two ends of the clearance frame are fixedly connected to the arc-shaped fixed platform and the movable frame, respectively.

[0015] As a preferred embodiment of the present invention, the repair mechanism includes a servo motor, two symmetrically arranged upright plates and an arc-shaped repair component. The servo motor is fixed to the bottom of the top plate of the machine body. The output shaft of the servo motor is sleeved and fixed with a transmission cam. The upright plates are fixed to the inner bottom plate of the machine body. A guide rod with a T-shaped cross-section is fixedly installed on the lower part of the upright plate. A sliding plate with a lower part cooperating with a guide groove is slidably arranged outside the guide rod. One side of the sliding plate is in contact with the outer arc surface of the transmission cam, and the other side is connected to the upright plate through a connecting spring. A crossbar is installed at the bottom end of the sliding plate.

[0016] Both of the arc-shaped repair parts are equipped with fixing arms on their outer arc surfaces. The fixing arms are fixed to the bottom of the crossbar. Both of the arc-shaped repair parts are provided with cooling chambers. Both of the arc-shaped repair parts are provided with repair fluid inlets through the middle. Coolant inlets and coolant outlets communicating with the cooling chambers are respectively installed on both sides of the repair fluid inlets. One of the arc-shaped repair parts is provided with multiple guide posts arranged side by side, and the other arc-shaped repair part is provided with guide post holes adapted to the guide posts.

[0017] As a preferred embodiment of the present invention, an air pump is installed inside the machine body. The air outlet of the air pump is connected to the air inlet pipe through an air supply pipe. A controller is installed on one side of the air pump. A material tank and a coolant storage tank are installed on one side of the controller. A melt pump and a circulation pump are respectively installed on one side of the material tank and the coolant storage tank. The inlet of the melt pump is connected to the outlet of the material tank through a pipe. The outlet of the melt pump is connected to the inlet of the repair fluid through a repair fluid pipe.

[0018] The inlet of the circulating pump is connected to the coolant outlet via a cooling pipe, the outlet of the circulating pump is connected to the inlet of the coolant storage tank, the outlet of the coolant storage tank is connected to the coolant inlet via a cooling pipe, and a heater is installed through one side of the tank.

[0019] As a preferred embodiment of the present invention, the protective cover includes a protective frame, two sets of first protective leaves and second protective leaves. The lower part of the protective frame is fixed to the bottom of the machine body by screws. A central fixing member is symmetrically arranged on the inner side of the protective frame. Fixing ring plates are provided on both the upper and lower sides of the protective frame. Six bolt holes are evenly distributed on the fixing ring plates. A pressure block is arranged in a ring array on the side of the fixing ring plate near the protective frame. The protective frame includes two fixing rings, which are connected by several evenly distributed uprights. The number of first protective leaves in each set is six. A first positioning block is installed at both ends of each first protective leaf. The number of second protective leaves in each set is six. A second positioning block is installed at both ends of each second protective leaf. Bolt holes are opened on each second positioning block. Three weight reduction grooves are opened on both the first and second protective leaves.

[0020] Each of the central fixing components consists of an annular fixing block and an annular positioning block. The annular fixing block has six pressure blocks and bolt holes arranged in a circular array on one side. The top and bottom of the protective frame and the annular positioning block are provided with a first positioning groove that mates with the first positioning block and a second positioning groove that mates with the second positioning block. The center of the first positioning groove is provided with a bolt hole. The first positioning groove and the second positioning groove are spaced apart. The depth of the first positioning groove is greater than the depth of the second positioning groove. The second protective leaf is fixedly connected to the central fixing component, the protective frame and the fixing ring plate by bolts.

[0021] As a preferred embodiment of the present invention, the four connecting frames are symmetrically distributed in pairs on the upper part of the body. Each connecting frame has a motor base installed at the end away from the body. An electric motor for driving the blades is fixedly installed inside the motor base, and the output end of the electric motor is fixedly connected to the blades.

[0022] The technical effects and advantages provided by the present invention in the above technical solution are as follows:

[0023] 1. This invention controls the movement of the flight mechanism and uses a clamping part of the positioning and cleaning mechanism to hold the cable to improve the stability of the movement. At the same time, the cleaning part cleans the dust on the surface of the cable. During the movement, a camera is used to capture images and inspect the cable. The cutting mechanism can remove the outer layer of the damaged area and peel off the cut outer layer of the cable. The repair mechanism repairs the cable, so that a new outer layer is formed at the damaged area. This invention can complete the inspection of the cable and the repair of the damaged area without the need for manual cable repair, which is not only safer but also more efficient.

[0024] 2. By starting the drive motor and controlling the rotation of the bidirectional lead screw, the nut seat drives the sliding part to move closer together, and the sliding part drives the moving bracket to move closer together, so that the two clamping wheels clamp the cable, which can make the movement of the device more stable. At the same time, the cleaning brush on the cleaning wheel contacts the cable surface, which can automatically clean the dust on the cable surface. In addition, the air ejected from the air jet hole blows away the falling dust, and the air ejected from the air jet hole can also blow away the dust adhering to the cleaning brush, which can effectively prevent the dust on the cleaning brush from adhering to the cable surface, and further improve the cleaning effect.

[0025] 3. When cutting off the outer sheath of the damaged part of the cable, the arc-shaped repair piece can be used to clamp the cable, which can improve stability and thus improve wind resistance.

[0026] 4. By bolting the assembled protective cover to the outside of the blade, the blade can be protected. Compared with the traditional one-piece protective cover, if a part of the protective cover is damaged during use, the damaged part can be directly replaced without replacing the entire protective cover, thus saving resources. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0028] Figure 1 This is a first-view perspective perspective view of the present invention;

[0029] Figure 2 This is a second-view perspective view of the present invention (cooling pipes and repair fluid pipes omitted);

[0030] Figure 3 This is a first-view perspective view of the present invention (protective cover omitted);

[0031] Figure 4This is a cross-sectional view of the body of the present invention (excluding the protective cover, cooling pipes, and repair fluid pipes);

[0032] Figure 5 This is a diagram showing the positions of the cutting mechanism and the repair mechanism of the present invention;

[0033] Figure 6 This is a perspective view of the cutting mechanism of the present invention;

[0034] Figure 7 This is a perspective view of the cut-off portion (with the avoidance frame omitted) of the present invention;

[0035] Figure 8 This is an exploded view of the cut-off portion (avoidance frame omitted) of the present invention.

[0036] Figure 9 This is a perspective view of the repair mechanism of the present invention;

[0037] Figure 10 This is a cross-sectional view of the arc-shaped repair component of the present invention;

[0038] Figure 11 This is a perspective view of the positioning and cleaning mechanism of the present invention;

[0039] Figure 12 This is an exploded view of the cleaning wheel of the present invention;

[0040] Figure 13 This is a perspective view of the slider of the present invention;

[0041] Figure 14 This is a perspective view of the protective cover of the present invention;

[0042] Figure 15 This is an exploded view of the protective cover of the present invention;

[0043] Figure 16 This is a perspective view of the first protective leaf of the present invention;

[0044] Figure 17 This is a perspective view of the second protective leaf of the present invention;

[0045] Figure 18 This is a perspective view of the protective frame of the present invention;

[0046] Figure 19 This is an exploded view of the central fixing component of the present invention.

[0047] Explanation of reference numerals in the attached figures:

[0048] 1. Machine body; 11. Sliding groove; 12. Guide groove; 13. Coolant storage tank; 131. Circulating pump; 14. Connecting frame; 15. Paddle; 16. Air pump; 17. Material bin; 171. Heater; 172. Melt pump; 2. Camera; 3. Protective cover; 31. Protective frame; 311. Fixing ring; 312. Upright pole; 32. Fixing ring plate; 321. Pressure block one; 33. Central fixing component; 331. Annular fixing block; 3311. Pressure block two; 332. Annular positioning block; 3 4. First protective leaf; 341. First positioning block; 35. Second protective leaf; 351. Second positioning block; 36. Weight reduction groove; 37. Second positioning groove; 38. First positioning groove; 4. Landing gear; 5. Controller; 6. Cutting mechanism; 61. Cutting motor; 62. Transmission gear; 63. Cutting section; 631. Arc-shaped fixed platform; 6311. Clearance frame; 6312. Arc-shaped guide bar; 632. Arc-shaped slide rail; 633. Arc-shaped guide rod; 6331. Annular groove; 634. Cutting blade; 6341. Circular blade; 6342. Peeling blade; 6343. Blade holder; 635. Locking part; 6351. Electric locking push rod; 6352. Connecting arm; 6353. Locking tooth; 636. Limiting wheel; 64. Movable frame; 65. Electric push rod; 66. Guide rail; 661. Buffer spring; 662. Sliding rod; 7. Repair mechanism; 71. Arc-shaped repair part; 711. Guide post; 712. Guide post hole; 713. Cooling chamber; 714. Coolant inlet; 715. Repair 72. Liquid inlet; 73. Fixed arm; 74. Servo motor; 75. Transmission cam; 76. Vertical plate; 77. Guide rod; 78. Connecting spring; 79. Sliding plate; 80. Positioning and cleaning mechanism; 81. Drive motor; 82. Two-way lead screw; 83. Nut seat; 84. Clamping wheel; 85. Cleaning wheel; 86. Fixed plate; 87. Cleaning roller; 88. Cleaning brush; 89. Air inlet pipe; 80. Limiting ring; 81. Moving bracket; 82. Adaptive spring; 83. Sliding component. Detailed Implementation

[0049] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0050] This invention provides, for example Figure 1-19 The cable repair robot shown includes a body 1. A flight mechanism is installed on the upper part of the body 1. The flight mechanism includes four connecting frames 14 and propellers 15. A protective cover 3 is provided on the outer side of the propellers 15. Landing gears 4 are symmetrically installed on the bottom of the body 1. A camera 2 is installed at the top edge of the body 1. Sliding grooves 11 are symmetrically opened on the bottom plate of the body 1. Two sets of guide grooves 12 are symmetrically opened on one side of the sliding grooves 11. A strip hole is opened on one side of the guide grooves 12.

[0051] The positioning and cleaning mechanism 8 is located between the two landing gears 4. The positioning and cleaning mechanism 8 includes a drive motor 81, a two-way lead screw 82, a clamping part, and a cleaning part located opposite the clamping part. The two-way lead screw 82 is rotatably located inside the body 1. Both the clamping part and the cleaning part are located at the bottom of the body 1.

[0052] The cutting mechanism 6 and the repair mechanism 7 are disposed on one side of the cutting mechanism 6. The cutting mechanism 6 and the repair mechanism 7 are disposed between the clamping part and the cleaning part. The cutting mechanism 6 is used to cut off the outer sheath of the damaged part of the cable, and the repair mechanism 7 is used to repair the damaged part of the cable.

[0053] Specifically, during use, the movement of the flight mechanism control device is controlled by the clamping part set by the positioning and cleaning mechanism 8 to improve the stability of the movement. At the same time, the cleaning part is used to clean the dust on the surface of the cable. During the movement, the camera 2 is used to capture images to inspect the cable. The controller compares the captured images with the images of intact cables stored in the database. If the cable is damaged, the cutting mechanism 6 cuts off the outer skin of the damaged part, and then the repair mechanism 7 repairs the cable to form a new outer skin on the damaged part.

[0054] To improve the stability of the device during inspection, one end of the bidirectional lead screw 82 is fixedly connected to the output shaft of the drive motor 81. Two nut seats 83 with opposite directions of movement are meshed on the outer wall of the bidirectional lead screw 82. Each nut seat 83 has a sliding part on one side that slides into the sliding groove 11. A movable bracket 86 is installed at the bottom of each sliding part. An clearance opening is provided in the middle of the movable bracket 86 to facilitate the operation of the cutting mechanism 6 and the repair mechanism 7. Two through slots are provided on the movable bracket 86, through which the sliding parts slide... The device is equipped with a sliding member 88, and an adaptive spring 87 is installed on one side of the sliding member 88. One side of the sliding member 88 is connected to the movable bracket 86 through the adaptive spring 87. The clamping part consists of two symmetrically arranged clamping wheels 84. A shaft is rotatably provided at the center of each of the two clamping wheels 84. The two shafts are inserted and fixed at the center of the two sliding members 88 located in front. The cross-sectional shape of the clamping wheel 84 is set to V-shape. The drive motor 81 is fixedly installed inside the body 1. The clamping wheel 84 is a rubber wheel to avoid damage to the cable.

[0055] Specifically, when the robot is manually controlled by the remote control device to fly onto the cable, the drive motor 81 is started, controlling the bidirectional lead screw 82 to rotate, causing the nut seat 83 to drive the sliding part to move closer together. The sliding part drives the moving bracket 86 to move closer together, so that the two clamping wheels 84 clamp the cable (the clamping wheels 84 are just in contact with the surface of the cable), which makes the movement of the device more stable. Then, the flying mechanism is used to move the device along the cable, and the camera 2 is used to take pictures to perform cable inspection. During the movement, when the clamping wheel 84 encounters a bulge or damaged position, the elasticity of the adaptive spring 87 and the space in the sliding groove 11 are used to realize the self-adaptation of the clamping wheel 84, so that the clamping wheel 84 can pass smoothly through the bulge or damaged position.

[0056] To clean the dust on the cable surface and further extend the cable's service life, the cleaning section of the structure consists of two symmetrically arranged cleaning wheels 85. Each cleaning wheel 85 includes two fixed discs 851 and a cleaning roller 852 fixedly installed between the two fixed discs 851. The outer wall of the cleaning roller 852 is radially arranged with multiple sets of cleaning brushes 853 and air jets in a circular array. The air jets are spaced apart from the cleaning brushes 853. An air inlet pipe 854 is connected to the center of one end of the cleaning roller 852. The air inlet pipe 854 passes through the center of one of the fixed discs 851. The top end of the air inlet pipe 854 passes through a strip hole and then through a sliding member 88 located at the rear. The air inlet pipe 854 is rotatably connected to the sliding member 88 through a bearing. A limit ring 855 is fixedly sleeved on the upper part of the air inlet pipe 854.

[0057] Specifically, as the robot moves along the cable using its flight mechanism, it uses the cleaning brush 853 on the cleaning roller 852 to clean the dust on the cable surface. At the same time, it uses the air jets to blow away the falling dust, and the air jets can also blow away the dust adhering to the cleaning brush 853. This can effectively prevent the dust on the cleaning brush 853 from adhering to the cable surface, and can further improve the cleaning effect.

[0058] In order to cut off the outer sheath of the cable at the damaged location, the cutting mechanism 6 in the structure includes a cutting motor 61, a transmission rod, a cutting part 63, two electric push rods 65 and a locking part 635. The output shaft of the cutting motor 61 is fixedly connected to the upper end of the transmission rod. The cutting motor 61 is fixed to the bottom of the top plate of the body 1. The transmission rod passes through the bottom plate of the body 1 and is rotatably connected to the bottom plate of the body 1 through a bearing. A transmission gear 62 is installed at the lower end of the transmission rod.

[0059] In this structure, two electric push rods 65 are symmetrically arranged and both electric push rods 65 are fixed to the bottom of the machine body 1. Each electric push rod 65 has a movable frame 64 installed on its piston rod. Guide slide rails 66 are installed on both sides of the movable frame 64. The guide slide rails 66 are fixed to the bottom of the machine body 1. Two sliding rods 662 are slidably arranged inside the guide slide rails 66. The two sliding rods 662 are connected by a buffer spring 661. Each sliding rod 662 is fixedly connected to the corresponding movable frame 64.

[0060] In addition, the cutting section 63 in the structure is a ring structure, which includes two arc-shaped fixing platforms 631. An arc-shaped slide rail 632 is rotatably arranged on the inner side of the arc-shaped fixing platform 631. A cutting blade 634 is installed at the center of the inner arc surface of the arc-shaped slide rail 632. The cutting blade 634 includes two circular blades 6341 and a blade holder 6343 for fixing the circular blades 6341. The blade holder 6343 is fixedly connected to the arc-shaped slide rail 632 by screws. A peeling blade 6342 is arranged between the two circular blades 6341. One side of the peeling blade 6342 is fixedly connected to the blade holder 6343. Furthermore, an arc-shaped guide bar 6312 is installed on the inner arc surface of the arc-shaped fixed platform 631. Several limiting wheels 636 for constraining the arc-shaped slide rail 632 are evenly distributed on one side of the arc-shaped fixed platform 631. An arc-shaped guide rod 633 is provided on the other side of the arc-shaped fixed platform 631. The arc-shaped guide rod 633 is rotatably set in the concave part of the arc-shaped fixed platform 631. Several meshing teeth that mesh with the transmission gear 62 are evenly distributed on the arc-shaped guide rod 633. One side of the arc-shaped guide rod 633 is fixedly connected to the arc-shaped slide rail 632, and the other side is provided with an annular groove 6331 that cooperates with the arc-shaped guide rod 633.

[0061] Specifically, when the cutting mechanism 6 moves to the damaged position of the cable, the electric push rod 65 is activated. The electric push rod 65 drives the movable frame 64 to move closer together, so that the arc-shaped fixed platform 631 comes together to form the ring-shaped cutting part 63. At this time, the circular blade 6341 and the stripping blade 6342 on the cutting blade 634 cut into the surface of the cable. Then, the cutting motor 61 is activated, which controls the transmission rod to drive the transmission gear 62. The transmission gear 62 and the meshing teeth drive the arc-shaped guide rod 633 to drive the arc-shaped slide rail 632 to rotate, thereby causing the cutting blade 634 to rotate around the cable once. The circular blade 6341 cuts the surface of the cable, and the stripping blade 6342 peels off the cut-off outer layer from the cable, thus completing the cutting of the outer layer at the damaged position of the cable.

[0062] When not in use, in order to lock the arc-shaped guide rod 633, both locking parts 635 in the structure include an electric locking push rod 6351 that passes through the arc-shaped fixed platform 631. The piston rod of the electric locking push rod 6351 is connected to a connecting arm 6352. The side of the connecting arm 6352 near the arc-shaped guide rod 633 is equipped with multiple locking teeth 6353 that mesh with the meshing teeth. Furthermore, an obstacle 6311 is provided on the outer side of the electric locking push rod 6351. The two ends of the obstacle 6311 are fixedly connected to the arc-shaped fixed platform 631 and the movable frame 64, respectively. The obstacle 6311 facilitates the operation of the locking part 635.

[0063] Specifically, when no cutting work is being performed, the electric locking push rod 6351 is activated. The electric locking push rod 6351 drives the connecting arm 6352 to approach the arc-shaped guide bar 6312, so that the locking teeth 6353 lock the meshing teeth, thereby fixing the arc-shaped slide rail 632 and the arc-shaped guide rod 633 and preventing the arc-shaped slide rail 632 and the arc-shaped guide rod 633 from detaching from the arc-shaped fixing platform 631.

[0064] To repair cables, the repair mechanism 7 in the structure includes a servo motor 73, two symmetrically arranged upright plates 75, and an arc-shaped repair component 71. The servo motor 73 is fixed to the bottom of the top plate of the body 1. The output shaft of the servo motor 73 is sleeved and fixed with a transmission cam 74. The upright plates 75 are fixed to the inner bottom plate of the body 1. A guide rod 751 with a T-shaped cross section is fixedly installed on the lower part of the upright plate 75. A sliding plate 77 with a lower part cooperating with the guide groove 12 is slidably arranged on the outside of the guide rod 751. One side of the sliding plate 77 is in contact with the outer arc surface of the transmission cam 74, and the other side is connected to the upright plate 75 through a connecting spring 76. A crossbar is installed at the bottom end of the sliding plate 77.

[0065] In this structure, the outer arc surfaces of the two arc-shaped repair parts 71 are each equipped with a fixing arm 72, which is fixed to the bottom of the crossbar. Each of the two arc-shaped repair parts 71 is provided with a cooling cavity 713. A repair fluid inlet 715 is provided through the middle of each of the two arc-shaped repair parts 71. Coolant inlets 714 and coolant outlets connected to the cooling cavity 713 are respectively installed on both sides of the repair fluid inlet 715. Multiple guide posts 711 are arranged side by side on one of the arc-shaped repair parts 71, and guide post holes 712 adapted to the guide posts 711 are opened on the other arc-shaped repair part 71. The guide post holes 712 and guide posts 711 are used to position the two arc-shaped repair parts 71, so that the two arc-shaped repair parts 71 fit more tightly.

[0066] Specifically, during repair, the repair mechanism 7 moves to the damaged cable location, then the servo motor 73 is activated to control the transmission cam 74 to rotate 90°. At this time, the short side of the transmission cam 74 contacts the sliding plate 77. The elastic force of the connecting spring 76 causes the sliding plate 77 to drive the two arc-shaped repair parts 71 to come together, forming a complete sleeve. Then, the melt pump 172 is activated to send the repair fluid inside the material box 17 into the repair fluid inlet 715 through the repair fluid pipeline. The repair fluid flowing out of the repair fluid inlet 715 will fill the damaged area of ​​the cable. After cooling and molding, a new protective layer is formed. Compared with traditional repair technology, the repair is more convenient and faster. Moreover, when cutting off the outer sheath of the damaged part of the cable, the arc-shaped repair parts 71 can be controlled to clamp the cable, which can improve stability and thus improve wind resistance.

[0067] In the above technical solution, an air pump 16 is installed inside the body 1. Activating the air pump 16 sends air into the cleaning roller 852, which is then ejected through the jet nozzle. The air pump 16's intake pipe runs through the body 1, and a filter can be installed at the intake port to prevent dust from entering. The air pump 16's outlet is connected to the intake pipe 854 via an air supply pipe. A controller 5 is installed on one side of the air pump 16. The controller 5 controls the operation of various mechanisms within the device. The controller 5 is based on current UAV controllers. It has functions such as remote control and image data transmission. A material tank 17 and a coolant storage tank 13 are installed on one side of the controller 5. A melt pump 172 and a circulation pump 131 are installed on one side of the material tank 17 and the coolant storage tank 13, respectively. The inlet of the melt pump 172 is connected to the outlet of the material tank 17 through a pipeline. The outlet of the melt pump 172 is connected to the repair fluid inlet 715 through a repair fluid pipeline. When the melt pump 172 is started, the repair fluid inside the material tank 17 can be sent into the repair fluid inlet 715 through the repair fluid pipeline.

[0068] In this structure, the inlet of the circulating pump 131 is connected to the coolant outlet through a cooling pipe, and the outlet of the circulating pump 131 is connected to the inlet of the coolant storage tank 13. The outlet of the coolant storage tank 13 is connected to the coolant inlet 714 through a cooling pipe. By starting the circulating pump 131, the coolant circulates between the coolant storage tank 13, the cooling pipe, and the cooling chamber 713. The coolant accelerates the cooling of the repair fluid and improves the repair efficiency. A heater 171 is installed through one side of the material tank 17. The heater 171 is used to provide heat and maintain the temperature of the repair fluid.

[0069] To prevent the propeller blades from hitting the cables, the following optimizations are made: the protective cover 3 includes a protective frame 31, two sets of first protective blades 34 and second protective blades 35. The lower part of the protective frame 31 is fixed to the bottom of the body 1 by screws. A central fixing member 33 is symmetrically arranged on the inner side of the protective frame 31. Fixing ring plates 32 are provided on both the upper and lower sides of the protective frame 31. Six bolt holes are evenly distributed on the fixing ring plates 32. A pressure block 321 arranged in a ring array is provided on the side of the fixing ring plate 32 near the protective frame 31. The protective frame 31 includes two fixing rings 311 and two fixing... The rings 311 are connected by a number of evenly distributed uprights 312, and each group of first protective leaves 34 has six leaves. Each first protective leaf 34 has a first positioning block 341 installed at both ends. Each group of second protective leaves 35 has six leaves. Each second protective leaf 35 has a second positioning block 351 installed at both ends. Each second positioning block 351 has bolt holes. Each first protective leaf 34 and second protective leaf 35 has three weight-reducing grooves 36. The weight-reducing grooves 36 can reduce the weight of the entire protective cover 3.

[0070] Each central fixing component 33 in the structure is composed of an annular fixing block 331 and an annular positioning block 332. The annular fixing block 331 has six pressure blocks 3311 arranged in an annular array and bolt holes on one side. The top and bottom of the protective frame 31 and the annular positioning block 332 are provided with a first positioning groove 38 that cooperates with the first positioning block 341 and a second positioning groove 37 that cooperates with the second positioning block 351. A bolt hole is provided at the center of the first positioning groove 38. The first positioning groove 38 and the second positioning groove 37 are spaced apart. The depth of the first positioning groove 38 is greater than the depth of the second positioning groove 37. The second protective leaf 35 is fixedly connected to the central fixing component 33, the protective frame 31 and the fixing ring plate 32 by bolts.

[0071] Specifically, by utilizing the cooperation between the first positioning block 341 and the first positioning groove 38, a set of first protective blades 34 are mounted on the annular positioning block 332. Then, by utilizing the cooperation between the second positioning block 351 and the second positioning groove 37, a set of second protective blades 35 are mounted on the annular positioning block 332. Next, the annular fixing block 331 is installed, and the second protective blades 35, the annular positioning block 332, and the annular fixing block 331 are fixed with bolts. The annular fixing block 331 is used to press the first protective blades 34. Then, the assembled parts are installed into the protective frame 31 in the same way to complete the assembly of the protective cover 3. The assembled protective cover 3 is then installed on the outside of the blade 15 with bolts to protect the blade 15. If a part is damaged during use, the damaged part can be directly replaced without replacing the entire protective cover 3, thus saving resources.

[0072] In the above technical solution, four connecting frames 14 are symmetrically distributed in pairs on the upper part of the body 1. Each connecting frame 14 has a motor mount installed at the end away from the body 1. An electric motor for driving the propeller 15 is fixedly installed inside the motor mount. The output end of the electric motor is fixedly connected to the propeller 15. The electric motor drives the propeller 15, which drives the device to rise, fall, etc., so that the device can fly onto the cable. After the device flies onto the cable, it can drive the device to move along the cable. The flight principle of the flight mechanism is the same as the flight principle of the remote-controlled drone in the prior art.

[0073] The foregoing has only described certain exemplary embodiments of the present invention by way of illustration. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the foregoing drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A cable inspection robot having windage resistance, characterized by, Include: The body (1), the upper part of the body (1) is installed with flight mechanism, the bottom plate of the body (1) is symmetrically provided with sliding groove (11), one side of the sliding groove (11) is symmetrically provided with two groups of guide slot (12), one side of the guide slot (12) is provided with strip-shaped hole; Positioning and cleaning mechanism (8), the positioning and cleaning mechanism (8) is arranged on the lower side of the body (1), the positioning and cleaning mechanism (8) includes drive motor (81), two-way screw rod (82), clamping part and cleaning part arranged on the opposite side of the clamping part, the two-way screw rod (82) is rotatably arranged in the body (1), the clamping part and the cleaning part are arranged on the bottom of the body (1); Cutting mechanism (6) and repair mechanism (7) arranged on one side of the cutting mechanism (6), the cutting mechanism (6) and the repair mechanism (7) are arranged between the clamping part and the cleaning part, the cutting mechanism (6) is used for cutting the outer skin of the cable damage site, the repair mechanism (7) is used for repairing the cable damage site, one end of the two-way screw rod (82) is fixedly connected with the output shaft of the drive motor (81), the outer wall of the two-way screw rod (82) is engagedly connected with two nut seats (83) with opposite movement directions, one side of the two nut seats (83) is provided with a sliding part which is slidingly matched with the sliding groove (11), the bottom of each sliding part is provided with a moving bracket (86), the middle part of the moving bracket (86) is provided with an avoiding opening, the moving bracket (86) is provided with two through grooves, the through grooves are slidingly provided with sliding members (88), one side of the sliding member (88) is provided with an adaptive spring (87), one side of the sliding member (88) is connected with the moving bracket (86) through the adaptive spring (87), and the clamping part is composed of two symmetrically arranged clamping wheels (84), shaft rods are rotatably arranged at the centers of the two clamping wheels (84), the two shaft rods are insertedly fixed at the center positions of the two front sliding members (88), and the drive motor (81) is fixedly installed in the body (1), the cleaning part is composed of two symmetrically arranged cleaning wheels (85), the cleaning wheel (85) includes two fixed discs (851) and a cleaning roller (852) fixedly installed in the middle of the two fixed discs (851), a plurality of groups of cleaning brushes (853) and air injection holes are arranged on the outer wall of the cleaning roller (852) in the radial direction, the center of one end of the cleaning roller (852) is communicated with an air inlet pipe (854), the air inlet pipe (854) penetrates the center position of one of the fixed discs (851), and the top end of the air inlet pipe (854) penetrates the sliding member (88) located at the rear through the strip-shaped hole, and the air inlet pipe (854) is rotatably connected with the sliding member (88) through a bearing.

2. The cable inspection robot with windage resistance according to claim 1, wherein: The cutting mechanism (6) comprises a cutting motor (61), a transmission rod, a cutting part (63), two electric push rods (65) and a locking part (635), the output shaft of the cutting motor (61) is fixedly connected with the upper end of the transmission rod, the cutting motor (61) is fixed at the bottom of the top plate of the machine body (1), the transmission rod penetrates through the bottom plate of the machine body (1) and is rotationally connected with the bottom plate of the machine body (1) through a bearing, and the lower end of the transmission rod is provided with a transmission gear (62); The two electric push rods (65) are symmetrically arranged, the two electric push rods (65) are both fixed at the bottom of the machine body (1), the piston rod of each electric push rod (65) is provided with a movable rack (64), the two sides of the movable rack (64) are both provided with a guide slide rail (66), the guide slide rail (66) is fixed to the bottom of the machine body (1), and the inside of the guide slide rail (66) is slidably provided with two sliding rods (662), the two sliding rods (662) are connected through a buffer spring (661), and each sliding rod (662) is fixedly connected with the corresponding movable rack (64); The cutting part (63) has an annular structure, the cutting part (63) comprises two arc-shaped fixed tables (631), the inner side of the arc-shaped fixed table (631) is rotationally provided with an arc-shaped slide rail (632), the inner arc surface of the arc-shaped slide rail (632) is provided with a cutting knife (634) at the center position, the cutting knife (634) comprises two circular blades (6341) and a knife seat (6343) for fixing the circular blades (6341), the knife seat (6343) is fixedly connected with the arc-shaped slide rail (632) through screws, a stripping knife (6342) is arranged between the two circular blades (6341), one side of the stripping knife (6342) is fixedly connected with the knife seat (6343), the inner arc surface of the arc-shaped fixed table (631) is provided with an arc-shaped guide strip (6312), a plurality of limiting wheels (636) for restricting the arc-shaped slide rail (632) are distributed at equal intervals on one side of the arc-shaped fixed table (631), the other side of the arc-shaped fixed table (631) is provided with an arc-shaped guide rod (633), the arc-shaped guide rod (633) is rotationally arranged at the lower recessed position of the arc-shaped fixed table (631), a plurality of meshing teeth meshing with the transmission gear (62) are distributed at equal intervals on the arc-shaped guide rod (633), one side of the arc-shaped guide rod (633) is fixedly connected with the arc-shaped slide rail (632), and the other side is provided with an annular groove (6331) matched with the arc-shaped guide strip (6312).

3. The cable inspection robot with windage resistance according to claim 2, wherein: Two locking parts (635) each include an electric locking push rod (6351) penetrating through the arc-shaped fixing table (631), the piston rod of the electric locking push rod (6351) is connected with a connecting arm (6352), the connecting arm (6352) is installed with a plurality of locking teeth (6353) engaged with the meshing teeth on the side close to the arc-shaped guide rod (633), and the outer side of the electric locking push rod (6351) is provided with an avoiding frame (6311), and the two ends of the avoiding frame (6311) are fixedly connected with the arc-shaped fixing table (631) and the movable frame (64) respectively.

4. The cable inspection robot with windage resistance according to claim 2, wherein: The repairing mechanism (7) comprises a servo motor (73), two vertical plates (75) and arc-shaped repairing parts (71), the servo motor (73) is fixed to the bottom of the top plate of the machine body (1), a transmission cam (74) is fixedly sleeved on the output shaft of the servo motor (73), the vertical plates (75) are fixed on the inner bottom plate of the machine body (1), T-shaped guide rods (751) are fixedly installed on the lower parts of the vertical plates (75), sliding plates (77) matched with the guide grooves (12) are slidingly arranged on the outer parts of the guide rods (751), one side of the sliding plate (77) is in contact with the outer arc surface of the transmission cam (74), the other side is connected with the vertical plate (75) through a connecting spring (76), and horizontal rods are installed at the bottom ends of the sliding plates (77). The outer arc surfaces of the two arc-shaped repairing parts (71) are each provided with a fixing arm (72), the fixing arm (72) is fixed to the bottom of the horizontal rod, the arc-shaped repairing parts (71) are each provided with a cooling cavity (713), the arc-shaped repairing parts (71) are each provided with a repairing liquid inlet (715) penetrating through the middle part, the two sides of the repairing liquid inlet (715) are each provided with a cooling liquid inlet (714) and a cooling liquid outlet in communication with the cooling cavity (713), and a plurality of guide columns (711) are arranged side by side on one of the arc-shaped repairing parts (71), and a guide column hole (712) matched with the guide column (711) is arranged on the other arc-shaped repairing part (71).

5. The cable inspection robot with windage resistance according to claim 4, wherein: The machine body (1) is internally provided with an air pump (16), the air outlet end of the air pump (16) is connected with the air inlet pipe (854) through an air supply pipeline, a controller (5) is installed on one side of the air pump (16), a material tank (17) and a cooling liquid storage tank (13) are installed on one side of the controller (5), a melt pump (172) and a circulating pump (131) are installed on one side of the material tank (17) and the cooling liquid storage tank (13) respectively, the inlet of the melt pump (172) is connected with the outlet of the material tank (17) through a pipeline, and the outlet of the melt pump (172) is connected with the repairing liquid inlet (715) through a repairing liquid pipeline; The inlet of the circulating pump (131) is connected with the cooling liquid outlet through a cooling pipeline, the outlet of the circulating pump (131) is connected with the inlet of the cooling liquid storage tank (13), the outlet of the cooling liquid storage tank (13) is connected with the cooling liquid inlet (714) through a cooling pipeline, and one side of the material tank (17) is provided with a heater (171).

6. The cable inspection robot with windage resistance according to claim 1, wherein: The flying mechanism comprises four connecting frames (14) and paddles (15), the outer side of the paddle (15) is provided with a protective cover (3), the protective cover (3) comprises a protective frame (31), two groups of first protective leaves (34) and second protective leaves (35), the lower part of the protective frame (31) is fixed on the bottom of the body (1) through screws, the inner side of the protective frame (31) is symmetrically provided with a center fixing piece (33), the upper and lower sides of the protective frame (31) are provided with fixed ring plates (32), the fixed ring plates (32) are uniformly provided with six bolt holes, the side of the fixed ring plate (32) close to the protective frame (31) is provided with a ring-shaped array of pressing blocks (321), and the protective frame (31) comprises two fixed rings (311), the two fixed rings (311) are connected through a plurality of uniformly distributed vertical rods (312), the number of each group of first protective leaves (34) is six, the two ends of each first protective leaf (34) are provided with first positioning blocks (341), the number of each group of second protective leaves (35) is six, the two ends of each second protective leaf (35) are provided with second positioning blocks (351), a bolt hole is formed in each second positioning block (351), and three lightening grooves (36) are formed in the first protective leaf (34) and the second protective leaf (35). Each center fixing piece (33) is composed of a ring-shaped fixing block (331) and a ring-shaped positioning block (332), one side of the ring-shaped fixing block (331) is provided with six ring-shaped arrayed pressing blocks (3311) and bolt holes, a group of first positioning grooves (38) matched with the first positioning blocks (341) and a group of second positioning grooves (37) matched with the second positioning blocks (351) are formed in the top and bottom of the protective frame (31) and the ring-shaped positioning block (332), a bolt hole is formed in the center of the second positioning groove (37), the first positioning groove (38) and the second positioning groove (37) are arranged at intervals, the depth of the first positioning groove (38) is greater than that of the second positioning groove (37), and the second protective leaf (35) is fixedly connected with the center fixing piece (33), the protective frame (31) and the fixed ring plate (32) through bolts.

7. The cable inspection robot with windage resistance according to claim 6, wherein: The four connecting frames (14) are symmetrically distributed in two groups on the upper part of the body (1), and a motor seat is mounted at the end of each connecting frame (14) away from the body (1), an electric motor for driving the paddle (15) is fixedly installed in the motor seat, and the output end of the electric motor is fixedly connected with the paddle (15).

8. The cable inspection robot with windage resistance according to claim 1, wherein: The cross section shape of the clamping wheel (84) is set as V shape, the air injection hole is set apart from the cleaning brush (853), and the upper part of the air inlet pipe (854) is fixedly sleeved with a limiting ring (855).

Images