A three-arm obstacle-crossing high-voltage line inspection robot

Abstract

A three-arm obstacle-crossing high-voltage line inspection robot, comprising a frame, a motor, a battery pack, a driving spur gear, a driven spur gear, a main shaft, a first wire-hanging walking cantilever, a second wire-hanging walking cantilever and a third wire-hanging walking cantilever; the motor and the battery pack are both fixedly installed at the bottom of the frame and are electrically connected; the main shaft is rotationally installed at the bottom of the frame through a bearing seat; the driving spur gear is coaxially fixedly connected to the power output shaft of the motor, the driven spur gear is coaxially fixedly installed on the main shaft, and the driven spur gear meshes with the driving spur gear; the three wire-hanging walking cantilevers are sequentially installed on the frame along a straight line; the driving force of the motor is synchronously transmitted to the three wire-hanging walking cantilevers through the driving spur gear, the driven spur gear and the main shaft in sequence. As a whole, the present invention only needs one driving motor to provide driving force for the three wire-hanging walking cantilevers, the structure of the robot is simplified, and each wire-hanging walking cantilever of the robot is independently configured with a pure mechanical obstacle-crossing trigger mechanism, and the obstacle-crossing process is simple and efficient and the difficulty of obstacle-crossing control is reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of high-voltage line inspection, and particularly relates to a three-arm obstacle-crossing high-voltage line inspection robot. Background Art

[0002] The power transmission line shoulders the important task of power transmission. The inspection work is an important means to ensure the reliable operation of the power transmission line.

[0003] Since most high-voltage power transmission lines are far from towns, the natural environment in the areas where they are located is relatively harsh. As a result, problems such as rapid material aging, broken strands, wear, and corrosion of the conductors occur, and even mechanical and electrical failures, changes in the towers, foundations, and safety distances of cross-overs occur, which brings many difficulties to line maintenance and seriously affects the safe operation of the power transmission line.

[0004] Once a power supply interruption accident occurs in a high-voltage power transmission line, it is usually a relatively serious accident, characterized by difficult repair work, long cycle, and wide area of power outage. Therefore, high-quality, highly reliable, and efficient inspection work is one of the necessary means to reduce power supply interruption accidents in high-voltage power transmission lines.

[0005] Currently, the inspection work of high-voltage lines has gradually transitioned rapidly from manual inspection to robot inspection. Various types of inspection robots have been developed one after another. Among them, the inspection robot with a wheel-arm structure is the most common. When such an inspection robot crosses an obstacle, multiple wheel arms are always in a suspended state. Although a relatively high safety factor can be obtained, there are problems such as a complex obstacle-crossing process and complex control.

[0006] In addition, the inspection robot with a snake-shaped bionic structure is also relatively common. Such an inspection robot adopts a structure form of head decision-making and tail body following. Although it can ensure the safety and stability of obstacle crossing, restricted by the multi-section split configuration under the snake-shaped bionic structure, each component needs to cross the obstacle separately, resulting in cumbersome and time-consuming control, and it is not suitable for crossing obstacles with a relatively large spacing. Summary of the Invention

[0007] Aiming at the problems existing in the prior art, the present invention provides a three-arm obstacle-crossing high-voltage line inspection robot, which only uses three hanging-wire walking cantilevers arranged in a straight line. The whole inspection robot only needs one driving motor to provide driving force for the three hanging-wire walking cantilevers, further simplifying the structure of the inspection robot. Moreover, each hanging-wire walking cantilever of the inspection robot is independently equipped with an obstacle-crossing trigger mechanism, and the obstacle-crossing trigger mechanism adopts a pure mechanical form, with a simple and efficient obstacle-crossing process, greatly reducing the difficulty of obstacle-crossing control of the inspection robot.

[0008] To achieve the above object, the present invention adopts the following technical solution: A three-arm obstacle-crossing high-voltage line inspection robot, comprising a frame, a motor, a battery pack, a driving spur gear, a driven spur gear, a main shaft, a first wire-hanging walking cantilever, a second wire-hanging walking cantilever and a third wire-hanging walking cantilever; the motor and the battery pack are both fixedly installed at the bottom of the frame, and the motor is electrically connected to the battery pack; the main shaft is rotatably installed at the bottom of the frame through a bearing seat; the driving spur gear is coaxially fixed to the power output shaft of the motor, the driven spur gear is coaxially fixed to the main shaft, and the driven spur gear meshes with the driving spur gear; the first wire-hanging walking cantilever, the second wire-hanging walking cantilever and the third wire-hanging walking cantilever are sequentially installed on the frame in a straight line; the driving force of the motor is synchronously transmitted to the first wire-hanging walking cantilever, the second wire-hanging walking cantilever and the third wire-hanging walking cantilever through the driving spur gear, the driven spur gear and the main shaft in sequence.

[0009] The first wire-hanging walking cantilever, the second wire-hanging walking cantilever and the third wire-hanging walking cantilever have the same structure, and each includes a wire-hanging walking wheel, a wheel shaft, a first bevel gear, a second bevel gear, a third bevel gear, a fourth bevel gear, a first gear shaft and a first support sleeve; the wire-hanging walking wheel is coaxially and rotatably installed on the wheel shaft; the first bevel gear is coaxially and rotatably installed on the wheel shaft, and the first bevel gear is fixedly connected to the wire-hanging walking wheel; the second bevel gear is coaxially fixed to one end of the first gear shaft, and the second bevel gear meshes with the first bevel gear; the third bevel gear is coaxially fixed to the other end of the first gear shaft; the fourth bevel gear is coaxially sleeved and fitted with the main shaft, and the fourth bevel gear does not have a rotational freedom relative to the main shaft; the fourth bevel gear is in meshing transmission cooperation with the third bevel gear; the first support sleeve is coaxially sleeved outside the first gear shaft, the first gear shaft has a rotational freedom relative to the first support sleeve, and the first support sleeve is fixedly connected to the side of the frame through a transfer bracket.

[0010] The first wire-hanging walking cantilever, the second wire-hanging walking cantilever and the third wire-hanging walking cantilever are all equipped with an obstacle-crossing triggering mechanism; the obstacle-crossing triggering mechanism includes an obstacle-crossing triggering lever, a wheel shaft unlocking unit and a walking wheel wire-off executing unit; the obstacle-crossing triggering lever adopts an L-shaped structure, the horizontal arm of the obstacle-crossing triggering lever is located above the vertical arm, the vertical arm of the obstacle-crossing triggering lever is connected to the side of the frame through a transfer bracket, and the vertical arm of the obstacle-crossing triggering lever has a rotational freedom on the transfer bracket; the wheel shaft unlocking unit is arranged between the wheel shaft and the side of the frame, and the wheel shaft unlocking unit is in transmission connection with the obstacle-crossing triggering lever; the walking wheel wire-off executing unit is arranged between the main shaft and the wheel shaft, and the walking wheel wire-off executing unit is in transmission connection with the obstacle-crossing triggering lever.

[0011] The axle unlocking unit includes a first swing rod, a first pin, a rack, a rack limiting chute, a transmission spur gear, a gear frame, a second gear shaft and a limiting bushing; one end of the first swing rod is fixedly connected to the vertical arm of the obstacle-crossing trigger lever, and the other end of the first swing rod adopts a U-shaped fork structure; the rack limiting chute is fixedly connected to the side of the frame, the rack is located in the rack limiting chute, and the rack has a linear sliding freedom relative to the rack limiting chute; the first pin is vertically fixed at the bottom of the rack, and the first pin is located in the U-shaped fork of the first swing rod; the gear frame is fixedly installed on the top of the rack limiting chute, and the second gear shaft is rotatably connected to the gear frame; the transmission spur gear is coaxially fixed on the second gear shaft, and the transmission spur gear meshes with the rack; the limiting bushing is coaxially fixed at the inner end of the second gear shaft, and a notch is formed on the side wall of the limiting bushing, and the axle passes in and out of the limiting bushing through the notch; when the notch faces downward, the axle is radially limited by the limiting bushing, and when the notch faces upward, the axle is in a radially unlocked state relative to the limiting bushing.

[0012] The walking wheel derailment execution unit includes a derailment trigger assembly and a derailment execution assembly; the derailment trigger assembly is arranged between the obstacle-crossing trigger lever and the derailment execution assembly, and the derailment execution assembly is arranged between the main shaft and the axle.

[0013] The derailment trigger assembly includes a second swing rod, a connecting rod, a pull rod, a slider, a sliding table plate, a first return spring, a positioning wedge, a second return spring, a force transmission cable, a third return spring, a force transmission block and a block limiting slide; the second swing rod adopts an O-shaped structure, the main shaft passes through the O-shaped hole of the second swing rod, one end of the second swing rod is fixedly connected to the vertical arm of the obstacle-crossing trigger lever, and the other end of the second swing rod is hinged to one end of the connecting rod, and the other end of the connecting rod is hinged to the slider, and the slider is located in the slider limiting chute of the sliding table plate, and the slider has a linear sliding freedom relative to the slider limiting chute; one end of the pull rod is hinged to the slider, and the other end of the pull rod is connected to the derailment execution assembly; the first return spring is connected between the slider and the sliding table plate; one end of the positioning wedge is hinged to the sliding table plate, and the other end of the positioning wedge is a free end, and a positioning card slot matching the free end of the positioning wedge is arranged on the slider; the rubber outer sleeve at one end of the force transmission cable is fixed to the sliding table plate through an adapter block, and the end of the steel wire inner core on the same side is fixedly connected to the positioning wedge, and the second return spring is connected between the positioning wedge and the adapter block; the force transmission block is located in the block limiting chute of the block limiting slide, and the force transmission block has a linear sliding freedom relative to the block limiting chute; the rubber outer sleeve at the other end of the force transmission cable is fixed to the block limiting slide through an adapter block, and the end of the steel wire inner core on the same side is fixedly connected to the force transmission block, and the third return spring is connected between the force transmission block and the adapter block.

[0014] The offline execution component includes a fifth bevel gear, a sixth bevel gear, a spline bushing, a third gear shaft, an eccentric wheel, a cam dial, a support rotating shaft and a second support sleeve; the spline bushing is coaxially sleeved on the main shaft, and a spline shaft structure matching the spline bushing is provided on the main shaft. The spline bushing has only a linear sliding freedom relative to the main shaft; the fourth bevel gear is coaxially fixed at one end of the spline bushing; the fifth bevel gear is coaxially fixed at the other end of the spline bushing; the third gear shaft is rotatably installed at the bottom of the frame through a bearing seat; the sixth bevel gear is coaxially fixed on the third gear shaft, and the sixth bevel gear is in meshing transmission cooperation with the fifth bevel gear; a first annular chute is opened on the outer surface of the spline bushing along the circumferential direction, and the other end of the pull rod is slidably connected in the first annular chute through a universal ball joint; the cam dial is fixedly sleeved on the third gear shaft, and the cam dial is used in cooperation with the force transmission dial; the eccentric wheel is fixedly sleeved on the third gear shaft, and a second annular chute is opened on the outer surface of the eccentric wheel along the circumferential direction; the lower end of the support rotating shaft is slidably connected in the second annular chute through a universal ball joint, and the upper end of the support rotating shaft is fixedly connected to the rear end of the wheel shaft; the second support sleeve is coaxially sleeved outside the support rotating shaft. The support rotating shaft has a rotational freedom and a linear sliding freedom relative to the second support sleeve. The second support sleeve is fixedly connected to the side of the frame through a transfer bracket; a support rotating shaft guiding chute is opened on the pipe wall of the second support sleeve. The lower section of the support rotating shaft guiding chute is linear, and the upper section of the support rotating shaft guiding chute is spiral; a second pin shaft is fixedly installed on the surface of the support rotating shaft, and the second pin shaft is located in the support rotating shaft guiding chute.

[0015] Advantages of the present invention:

[0016] For the three-arm obstacle-crossing high-voltage line inspection robot of the present invention, only three hanging-wire walking cantilevers arranged in a straight line are adopted. The whole inspection robot only needs one driving motor to provide driving force for the three hanging-wire walking cantilevers, which further simplifies the structure of the inspection robot. Moreover, each hanging-wire walking cantilever of the inspection robot is independently configured with an obstacle-crossing trigger mechanism, and the obstacle-crossing trigger mechanism adopts a pure mechanical form. The obstacle-crossing process is simple and efficient, and greatly reduces the obstacle-crossing control difficulty of the inspection robot. Description of the drawings

[0017] Figure 1 is a three-dimensional view of a three-arm obstacle-crossing high-voltage line inspection robot of the present invention;

[0018] Figure 2 is a top view of a three-arm obstacle-crossing high-voltage line inspection robot of the present invention;

[0019] Figure 3 is a structural schematic diagram when the first / second / third hanging-wire walking cantilever of the present invention is assembled with the frame alone;

[0020] Figure 4 Schematic structural diagram (viewpoint one) of the first / second / third wire-hanging walking cantilever of the present invention;

[0021] Figure 5 Schematic structural diagram (viewpoint two) of the first / second / third wire-hanging walking cantilever of the present invention;

[0022] Figure 6 Schematic structural diagram (viewpoint three) of the first / second / third wire-hanging walking cantilever of the present invention;

[0023] Figure 7 Schematic structural diagram (viewpoint four) of the first / second / third wire-hanging walking cantilever (eccentric wheel and block limit slide not shown) of the present invention;

[0024] Figure 8 Obstacle-crossing schematic diagram of a three-arm obstacle-crossing type high-voltage line inspection robot of the present invention;

[0025] In the figure, 1 - frame, 2 - motor, 3 - battery pack, 4 - driving spur gear, 5 - driven spur gear, 6 - main shaft, 7 - first wire-hanging walking cantilever, 8 - second wire-hanging walking cantilever, 9 - third wire-hanging walking cantilever, 10 - wire-hanging walking wheel, 11 - wheel axle, 12 - first bevel gear, 13 - second bevel gear, 14 - third bevel gear, 15 - fourth bevel gear, 16 - first gear shaft, 17 - first support sleeve, 18 - obstacle-crossing trigger lever, 19 - first swing rod, 20 - first pin, 21 - rack, 22 - rack limit chute, 23 - driving spur gear, 24 - gear rack, 25 - second gear shaft, 26 - limit bushing, 27 - notch, 28 - second swing rod, 29 - connecting rod, 30 - pull rod, 31 - slider, 32 - slide plate, 33 - first return spring, 34 - positioning wedge, 35 - second return spring, 36 - force transmission cable, 37 - third return spring, 38 - force transmission block, 39 - block limit slide, 40 - slider limit chute, 41 - positioning card slot, 42 - block limit chute, 43 - fifth bevel gear, 44 - sixth bevel gear, 45 - spline bushing, 46 - third gear shaft, 47 - eccentric wheel, 48 - cam block, 49 - support rotating shaft, 50 - second support sleeve, 51 - first annular chute, 52 - second annular chute, 53 - support rotating shaft guiding chute, 54 - second pin, 55 - high-voltage wire, 56 - suspension cable. Detailed implementation manners

[0026] The following further elaborates on the present invention in detail in conjunction with the accompanying drawings and specific embodiments.

[0027] As Figures 1 to 8As shown, a three-arm obstacle-crossing high-voltage line inspection robot comprises a frame 1, a motor 2, a battery pack 3, a driving spur gear 4, a driven spur gear 5, a main shaft 6, a first hanging line walking cantilever 7, a second hanging line walking cantilever 8 and a third hanging line walking cantilever 9; the motor 2 and the battery pack 3 are fixedly mounted on the bottom of the frame 1, and the motor 2 is electrically connected to the battery pack 3; the main shaft 6 is rotatably mounted on the bottom of the frame 1 through a bearing seat; the driving spur gear 4 is coaxially fixed on the power output shaft of the motor 2, and the driven spur gear 5 is coaxially fixed on the main shaft 6, and the driven spur gear 5 is meshed with the driving spur gear 4; the first hanging line walking cantilever 7, the second hanging line walking cantilever 8 and the third hanging line walking cantilever 9 are sequentially mounted on the frame 1 along a straight line; the driving force of the motor 2 is synchronously transmitted to the first hanging line walking cantilever 7, the second hanging line walking cantilever 8 and the third hanging line walking cantilever 9 through the driving spur gear 4, the driven spur gear 5 and the main shaft 6 in sequence.

[0028] The first wire hanging walking cantilever 7, the second wire hanging walking cantilever 8 and the third wire hanging walking cantilever 9 have the same structure, and all include a wire hanging walking wheel 10, a wheel axle 11, a first bevel gear 12, a second bevel gear 13, a third bevel gear 14, a fourth bevel gear 15, a first gear shaft 16 and a first supporting sleeve 17; the wire hanging walking wheel 10 is coaxially rotatably mounted on the wheel axle 11; the first bevel gear 12 is coaxially rotatably mounted on the wheel axle 11, and the first bevel gear 12 is fixedly connected to the wire hanging walking wheel 10; the second bevel gear 13 is coaxially fixedly mounted on the first gear shaft 16 end, the second bevel gear 13 is meshed with the first bevel gear 12; the third bevel gear 14 is coaxially fixed on the other end of the first gear shaft 16; the fourth bevel gear 15 is coaxially fitted with the main shaft 6, and the fourth bevel gear 15 has no rotational freedom relative to the main shaft 6; the fourth bevel gear 15 is meshed and transmission-fitted with the third bevel gear 14; the first support sleeve 17 is coaxially fitted on the outside of the first gear shaft 16, and the first gear shaft 16 has rotational freedom relative to the first support sleeve 17, and the first support sleeve 17 is fixedly connected to the side of the frame 1 through an adapter bracket.

[0029] The first hanging wire walking cantilever 7, the second hanging wire walking cantilever 8 and the third hanging wire walking cantilever 9 are all equipped with an obstacle trigger mechanism; the obstacle trigger mechanism includes an obstacle trigger lever 18, a wheel axle unlocking unit and a walking wheel off-line execution unit; the obstacle trigger lever 18 adopts an L-shaped structure, the horizontal arm of the obstacle trigger lever 18 is located above the vertical arm, the vertical arm of the obstacle trigger lever 18 is connected to the side of the frame 1 through an adapter bracket, and the vertical arm of the obstacle trigger lever 18 has a rotational freedom on the adapter bracket; the wheel axle unlocking unit is arranged between the wheel axle 11 and the side of the frame 1, and the wheel axle unlocking unit is connected to the obstacle trigger lever 18 in transmission connection; the walking wheel off-line execution unit is arranged between the main shaft 6 and the wheel axle 11, and the walking wheel off-line execution unit is connected to the obstacle trigger lever 18 in transmission connection.

[0030] The axle unlocking unit includes a first swing rod 19, a first pin 20, a rack 21, a rack limiting chute 22, a transmission spur gear 23, a gear bracket 24, a second gear shaft 25 and a limiting bushing 26; one end of the first swing rod 19 is fixedly connected to the vertical arm of the obstacle-crossing trigger lever 18, and the other end of the first swing rod 19 adopts a U-shaped fork structure; the rack limiting chute 22 is fixedly connected to the side of the frame 1, the rack 21 is located in the rack limiting chute 22, and the rack 21 has a linear sliding freedom relative to the rack limiting chute 22; the first pin 20 is vertically fixed at the bottom of the rack 21, and the first pin 20 is located in the U-shaped fork of the first swing rod 19; the gear bracket 24 is fixedly installed at the top of the rack limiting chute 22, and the second gear shaft 25 is rotatably connected to the gear bracket 24; the transmission spur gear 23 is coaxially fixed on the second gear shaft 25, and the transmission spur gear 23 meshes with the rack 21; the limiting bushing 26 is coaxially fixed at the inner end of the second gear shaft 25, and a notch 27 is formed on the side wall of the limiting bushing 26, and the axle 11 passes in and out of the limiting bushing 26 through the notch 27; when the notch 27 faces downward, the axle 11 is radially limited by the limiting bushing 26, and when the notch 27 faces upward, the axle 11 is in a radially unlocked state relative to the limiting bushing 26.

[0031] The walking wheel off-line execution unit includes an off-line trigger assembly and an off-line execution assembly; the off-line trigger assembly is arranged between the obstacle-crossing trigger lever 18 and the off-line execution assembly, and the off-line execution assembly is arranged between the main shaft 6 and the axle 11.

[0032] The offline trigger assembly includes a second swing rod 28, a connecting rod 29, a pull rod 30, a slider 31, a slide table plate 32, a first return spring 33, a positioning wedge 34, a second return spring 35, a force transmission brake wire 36, a third return spring 37, a force transmission block 38 and a block limit slide 39; the second swing rod 28 adopts an O-shaped structure, the main shaft 6 passes through the O-shaped hole of the second swing rod 28, one end of the second swing rod 28 is fixedly connected to the vertical arm of the obstacle crossing trigger lever 18, and the other end of the second swing rod 28 is hinged to one end of the connecting rod 29, the other end of the connecting rod 29 is hinged to the slider 31, the slider 31 is located in the slider limit chute 33 of the slide table plate 32, and the slider 31 has a linear sliding freedom relative to the slider limit chute 40; one end of the pull rod 30 is hinged to the slider 31, and the other end of the pull rod 30 is connected to the offline execution assembly; the first return spring 33 is connected between the slider 31 and the slide table plate 32; one end of the positioning wedge 34 is hinged to the slide table plate 32, the other end of the positioning wedge 34 is a free end, and a positioning card slot 41 matching the free end of the positioning wedge 34 is provided on the slider 31; the rubber outer sleeve at one end of the force transmission brake wire 36 is fixed to the slide table plate 32 through an adapter block, and the end of the steel wire inner core on the same side is fixedly connected to the positioning wedge 34, and the second return spring 35 is connected between the positioning wedge 34 and the adapter block; the force transmission block 38 is located in the block limit chute 42 of the block limit slide 39, and the force transmission block 38 has a linear sliding freedom relative to the block limit chute 42; the rubber outer sleeve at the other end of the force transmission brake wire 36 is fixed to the block limit slide 39 through an adapter block, and the end of the steel wire inner core on the same side is fixedly connected to the force transmission block 38, and the third return spring 37 is connected between the force transmission block 38 and the adapter block.

[0033] The off-line actuator assembly includes a fifth bevel gear 43, a sixth bevel gear 44, a spline sleeve 45, a third gear shaft 46, an eccentric wheel 47, a cam shifter 48, a support shaft 49 and a second support sleeve 50; the spline sleeve 45 is coaxially sleeved on the main shaft 6, and a spline shaft structure used in conjunction with the spline sleeve 45 is provided on the main shaft 6, and the spline sleeve 45 has only a linear sliding degree of freedom relative to the main shaft 6; the fourth bevel gear 15 is coaxially fixed to one end of the spline sleeve 45; the The fifth bevel gear 43 is coaxially fixed on the other end of the spline shaft sleeve 45; the third gear shaft 46 is rotatably mounted on the bottom of the frame 1 through a bearing seat; the sixth bevel gear 44 is coaxially fixed on the third gear shaft 46, and the sixth bevel gear 44 is meshed and transmission-coordinated with the fifth bevel gear 43; a first annular groove 51 is provided on the outer surface of the spline shaft sleeve 45 in the circumferential direction, and the other end of the pull rod 30 is slidably connected in the first annular groove 51 through a universal ball joint; the cam shift block 48 is fixedly sleeved on the third gear shaft 46, and the cam shift block 48 is used in conjunction with the force transmission shift block 38; the eccentric wheel 47 is fixedly sleeved on the third gear shaft 46, and a second annular groove 52 is provided on the outer surface of the eccentric wheel 47 in the circumferential direction; the lower end of the support shaft 49 is slidably connected in the second annular groove 52 through a universal ball joint, and the upper end of the support shaft 49 is fixedly connected to the rear end of the wheel axle 11; the second support sleeve 50 is coaxially sleeved on the outer side of the support shaft 49, and the support shaft 49 is mutually The second support sleeve 50 has rotational freedom and linear sliding freedom, and is fixedly connected to the side of the frame 1 through an adapter bracket; a support shaft guide groove 53 is opened on the tube wall of the second support sleeve 50, the lower section of the support shaft guide groove 53 is linear, and the upper section of the support shaft guide groove 53 is spiral; a second pin shaft 54 ​​is fixedly installed on the surface of the support shaft 49, and the second pin shaft 54 ​​is located in the support shaft guide groove 53.

[0034] The following describes a one-time use process of the present invention in conjunction with the accompanying drawings:

[0035] In the initial state, the wire hanging walking wheels 10 of the first wire hanging walking cantilever 7, the second wire hanging walking cantilever 8 and the third wire hanging walking cantilever 9 and the high-voltage wire 55 are all in the wire hanging state. When the robot needs to carry out inspection work along the high-voltage wire 55, it only needs to start the motor 2, and the motor 2 drives the active spur gear 4 to rotate, and then drives the driven spur gear 5 and the main shaft 6 to rotate. The rotating main shaft 6 will synchronously drive the spline sleeve 45 of the first wire hanging walking cantilever 7, the second wire hanging walking cantilever 8 and the third wire hanging walking cantilever 9 to rotate.

[0036] With the rotation of the spline shaft sleeve 45, the fourth bevel gear 15 will be driven to rotate synchronously. In the initial state, the fourth bevel gear 15 is in meshing with the third bevel gear 14. Therefore, the fourth bevel gear 15 will drive the third bevel gear 14 to rotate, and then drive the first gear shaft 16 and the second bevel gear 13 to rotate synchronously. Since the second bevel gear 13 is in meshing with the first bevel gear 12, the second bevel gear 13 will drive the first bevel gear 12 to rotate. Finally, the first bevel gear 12 drives the wire-hanging walking wheel 10 to rotate. Through the rotating wire-hanging walking wheel 10, the robot realizes its movement along the high-voltage wire 55.

[0037] When the robot encounters the suspension cable 56 during its movement along the high-voltage wire 55, the horizontal arm of the obstacle-crossing trigger lever 18 of the first wire-hanging walking cantilever 7 will be blocked by the suspension cable 56, which will cause the obstacle-crossing trigger lever 18 to deflect horizontally, and then drive the first swing rod 19 and the second swing rod 28 to swing synchronously.

[0038] With the swing of the first swing rod 19, a pulling effect will be exerted on the first pin 20. By pulling the first pin 20, the rack 21 will be driven to move along the rack limiting chute 22 to both sides. With the translation of the rack 21, since the rack 21 is in meshing with the transmission spur gear 23, the linear movement of the rack 21 will be converted into the rotary motion of the transmission spur gear 23. Then, through the rotating transmission spur gear 23, the second gear shaft 25 is driven to rotate synchronously. Finally, through the rotating second gear shaft 25, the limiting bushing 26 is driven to rotate 180°, making the original downward notch 27 face upward. At this time, the radial limit of the limiting bushing 26 on the wheel shaft 11 is released, that is, the wheel shaft 11 realizes radial unlocking.

[0039] At the same time, with the swing of the second swing rod 28, a pulling effect will be exerted on the connecting rod 29. The connecting rod 29 will directly transmit the pulling force to the slider 31 and drive the slider 31 to move along the slider limiting chute 40 until the positioning wedge 34 is stuck in the positioning slot 41 of the slider 31 and the positioning wedge 34 is locked. At this time, the first return spring 33 is in a compressed energy storage state. At the same moment, during the stroke of the slider 31 from the start of sliding to being locked, the moving slider 31 will drive the pull rod 30 to move synchronously, and the moving pull rod 30 will drive the spline shaft sleeve 45 to translate along the main shaft 6. First, the fourth bevel gear 15 is disengaged from the third bevel gear 14. With the translation of the spline shaft sleeve 45, until the fifth bevel gear 43 is meshed with the sixth bevel gear 44.

[0040] After the fifth bevel gear 43 and the sixth bevel gear 44 are in the meshing state, the fifth bevel gear 43 that rotates synchronously with the main shaft 6 and the spline shaft sleeve 45 will drive the sixth bevel gear 44 to rotate, and then drive the third gear shaft 46 to rotate synchronously. The rotating third gear shaft 46 will drive the eccentric wheel 47 to rotate synchronously. As the eccentric wheel 47 rotates, when the large-diameter end of the eccentric wheel 47 rotates from the lower side to the upper side, an upward thrust will be generated on the support rotating shaft 49, thereby prompting the support rotating shaft 49 to slide upward along the second support sleeve 50 first. As the support rotating shaft 49 moves upward, it will drive the wheel shaft 11 connected thereto to lift upward synchronously, thereby raising the wire-hanging walking wheel 10 and separating it from the high-voltage wire 55. As the support rotating shaft 49 continues to move upward, the second pin shaft 54 will enter the spiral upper section of the support rotating shaft guide chute 53. Under the guiding action of the support rotating shaft guide chute 53, it will prompt the support rotating shaft 49 to rotate and rise. The rotating and rising support rotating shaft 49 will further drive the wheel shaft 11 to horizontally rotate 90°. At this time, the wheel shaft 11 and the wire-hanging walking wheel 10 thereon completely avoid the suspension cable 56, enabling the robot to first achieve wire-off obstacle avoidance of the first wire-hanging walking cantilever 7 during the traveling process.

[0041] After the first wire-hanging walking cantilever 7 completes wire-off obstacle avoidance, since the robot is always in the process of moving, as the main shaft 6 and the spline shaft sleeve 45 continue to rotate, the third gear shaft 46 will be driven to continue to rotate synchronously. The rotating third gear shaft 46 will drive the eccentric wheel 47 to continue to rotate, and then the large-diameter end of the eccentric wheel 47 will rotate from the upper side back to the lower side. At this time, a downward pulling force will be generated on the support rotating shaft 49, prompting the second pin shaft 54 to move downward along the spiral upper section of the support rotating shaft guide chute 53. The rotating and descending support rotating shaft 49 will further drive the wheel shaft 11 to horizontally rotate 90° in the reverse direction, so that the wire-hanging walking wheel 10 moves back to directly above the high-voltage wire 55. As the support rotating shaft 49 continues to descend, the second pin shaft 54 re-enters the straight lower section of the support rotating shaft guide chute 53, and the vertical downward movement of the support rotating shaft 49 is realized, thereby driving the wheel shaft 11 to descend vertically until the wire-hanging walking wheel 10 resumes the wire-hanging state with the high-voltage wire 55 again, and at the same time the rotating shaft 11 falls into the limit bushing 26 through the notch 27 again.

[0042] While the large-diameter end of the eccentric wheel 47 rotates from above to below again, when the cam block 48 that rotates synchronously with the third gear shaft 46 passes by the force transmission block 38, it will generate a pushing force on the force transmission block 38, causing the force transmission block 38 to move along the block limiting chute 42. As the force transmission block 38 moves, it will exert a pulling effect on the steel wire inner core of the force transmission cable 36. Then, the pulling force is transmitted to the positioning wedge block 34 through the steel wire inner core of the force transmission cable 36, and further pulls the positioning wedge block 34 to deflect backward, causing the positioning wedge block 34 to disengage from the positioning card slot 41 of the slider 31. At this time, under the action of the first return spring 33, it will push the slider 31 to move back to the initial position. Under the action of the second return spring 35, the positioning wedge block 34 returns to the initial position. Under the action of the third return spring 37, the force transmission block 38 returns to the initial position. At the same time, the steel wire inner core of the force transmission cable 36 also synchronously returns to the initial position. As the slider 31 is reset, the pull rod 30 also resets synchronously with the slider 31. Then, the spline shaft sleeve 45 is driven by the pull rod 30 to slide back to the initial position, causing the fifth bevel gear 43 to disengage from the sixth bevel gear 44 and the fourth bevel gear 15 to resume meshing with the third bevel gear 14. During the process of the slider 31 returning to the initial position, it will drive the connecting rod 29 to move synchronously. Then, a reverse pulling force is generated on the second swing rod 28 through the connecting rod 29, and finally, the obstacle-crossing trigger lever 18 is driven to swing reversely by 90° to achieve reset.

[0043] As the obstacle-crossing trigger lever 18 is reset, it will further drive the first swing rod 19 to reset synchronously. During the reset process of the first swing rod 19, a reverse pulling effect is generated on the first pin 20. By reversely pulling the first pin 20, the rack 21 is driven to move toward the middle along the rack limiting chute 22. As the rack 21 translates, it will drive the transmission spur gear 23 to rotate reversely and synchronously drive the second gear shaft 25 to rotate reversely. Finally, the limiting bushing 26 is driven to rotate reversely by 180°, making the original upward notch 27 face downward. At this time, the limiting bushing 26 resumes the radial limit on the wheel shaft 11, and at this time, the first wire-hanging walking cantilever 7 also resumes from the obstacle-crossing state to the normal inspection state.

[0044] Similarly, when the second wire-hanging walking cantilever 8 triggers obstacle crossing, the robot is maintained in the wire-hanging state by the first wire-hanging walking cantilever 7 and the third wire-hanging walking cantilever 9. When the third wire-hanging walking cantilever 9 triggers obstacle crossing, the robot is maintained in the wire-hanging state by the first wire-hanging walking cantilever 7 and the second wire-hanging walking cantilever 8. The obstacle-crossing process is simple and efficient, greatly reducing the difficulty of obstacle-crossing control for the inspection robot.

[0045] The solutions in the embodiments are not intended to limit the patent protection scope of the present invention. Any equivalent implementation or modification without departing from the present invention is included in the patent scope of this case.

Claims

1. A three-arm obstacle-crossing high-voltage line inspection robot, Features: It includes a frame, a motor, a battery pack, a driving spur gear, a driven spur gear, a main shaft, a first wire-hanging walking cantilever, a second wire-hanging walking cantilever and a third wire-hanging walking cantilever; the motor and the battery pack are fixedly mounted on the bottom of the frame, and the motor is electrically connected to the battery pack; the main shaft is rotatably mounted on the bottom of the frame through a bearing seat; the driving spur gear is coaxially fixed to the power output shaft of the motor, and the driven spur gear is coaxially fixed to the main shaft, and the driven spur gear is meshed with the driving spur gear; the first wire-hanging walking cantilever, the second wire-hanging walking cantilever and the third wire-hanging walking cantilever are sequentially mounted on the frame along a straight line; the driving force of the motor is synchronously transmitted to the first wire-hanging walking cantilever, the second wire-hanging walking cantilever and the third wire-hanging walking cantilever through the driving spur gear, the driven spur gear and the main shaft in sequence; The first wire hanging walking cantilever, the second wire hanging walking cantilever and the third wire hanging walking cantilever have the same structure, and all include a wire hanging walking wheel, a wheel axle, a first bevel gear, a second bevel gear, a third bevel gear, a fourth bevel gear, a first gear shaft and a first supporting sleeve; the wire hanging walking wheel is coaxially rotatably mounted on the wheel axle; the first bevel gear is coaxially rotatably mounted on the wheel axle, and the first bevel gear is fixedly connected to the wire hanging walking wheel; the second bevel gear is coaxially fixedly mounted at one end of the first gear shaft, and the second bevel gear is meshed with the first bevel gear; the third bevel gear is coaxially fixedly mounted at the other end of the first gear shaft; the fourth bevel gear is coaxially fitted with the main shaft, and the fourth bevel gear has no rotational freedom relative to the main shaft; the fourth bevel gear is meshed with the third bevel gear for transmission cooperation; the first supporting sleeve is coaxially fitted on the outside of the first gear shaft, and the first gear shaft has rotational freedom relative to the first supporting sleeve, and the first supporting sleeve is fixedly connected to the side of the frame through an adapter bracket; The first hanging wire walking cantilever, the second hanging wire walking cantilever and the third hanging wire walking cantilever are all equipped with an obstacle trigger mechanism; the obstacle trigger mechanism includes an obstacle trigger lever, a wheel axle unlocking unit and a walking wheel off-line execution unit; the obstacle trigger lever adopts an L-shaped structure, the horizontal arm of the obstacle trigger lever is located above the vertical arm, the vertical arm of the obstacle trigger lever is connected to the side of the frame through an adapter bracket, and the vertical arm of the obstacle trigger lever has a rotational freedom on the adapter bracket; the wheel axle unlocking unit is arranged between the wheel axle and the side of the frame, and the wheel axle unlocking unit is connected to the obstacle trigger lever in a transmission connection; the walking wheel off-line execution unit is arranged between the main shaft and the wheel axle, and the walking wheel off-line execution unit is connected to the obstacle trigger lever in a transmission connection.

2. A three-arm obstacle-crossing high-voltage line inspection robot according to claim 1, Features: The axle unlocking unit includes a first swing rod, a first pin, a rack, a rack limiting chute, a transmission spur gear, a gear frame, a second gear shaft and a limiting bushing; one end of the first swing rod is fixedly connected to the vertical arm of the obstacle-crossing trigger lever, and the other end of the first swing rod adopts a U-shaped fork structure; the rack limiting chute is fixedly connected to the side of the frame, the rack is located in the rack limiting chute, and the rack has a linear sliding freedom relative to the rack limiting chute; the first pin is vertically fixed at the bottom of the rack, and the first pin is located in the U-shaped fork of the first swing rod; the gear frame is fixedly installed on the top of the rack limiting chute, and the second gear shaft is rotatably connected to the gear frame; the transmission spur gear is coaxially fixed on the second gear shaft, and the transmission spur gear meshes with the rack; the limiting bushing is coaxially fixed at the inner end of the second gear shaft, and a notch is formed on the side wall of the limiting bushing, and the axle passes in and out of the limiting bushing through the notch; when the notch faces downward, the axle is radially limited by the limiting bushing, and when the notch faces upward, the axle is in a radially unlocked state relative to the limiting bushing.

3. The three-arm obstacle-crossing type high-voltage line inspection robot according to claim 2, characterized in that: the walking wheel off-line execution unit includes an off-line trigger assembly and an off-line execution assembly; the off-line trigger assembly is arranged between the obstacle-crossing trigger lever and the off-line execution assembly, and the off-line execution assembly is arranged between the main shaft and the axle.

4. The three-arm obstacle-crossing type high-voltage line inspection robot according to claim 3, characterized in that: the off-line trigger assembly includes a second swing rod, a connecting rod, a pull rod, a slider, a slide plate, a first return spring, a positioning wedge, a second return spring, a force transmission cable, a third return spring, a force transmission block and a block limiting slide; the second swing rod adopts an O-shaped structure, the main shaft passes through the O-shaped hole of the second swing rod, one end of the second swing rod is fixedly connected to the vertical arm of the obstacle-crossing trigger lever, and the other end of the second swing rod is hinged to one end of the connecting rod, and the other end of the connecting rod is hinged to the slider, and the slider is located in the slider limiting chute of the slide plate, and the slider has a linear sliding freedom relative to the slider limiting chute; one end of the pull rod is hinged to the slider, and the other end of the pull rod is connected to the off-line execution assembly; the first return spring is connected between the slider and the slide plate; one end of the positioning wedge is hinged to the slide plate, and the other end of the positioning wedge is a free end, and a positioning card slot matching the free end of the positioning wedge is arranged on the slider; the rubber outer sleeve at one end of the force transmission cable is fixed to the slide plate through an adapter block, and the end of the steel wire inner core on the same side is fixedly connected to the positioning wedge, and the second return spring is connected between the positioning wedge and the adapter block; the force transmission block is located in the block limiting chute of the block limiting slide, and the force transmission block has a linear sliding freedom relative to the block limiting chute; the rubber outer sleeve at the other end of the force transmission cable is fixed to the block limiting slide through an adapter block, and the end of the steel wire inner core on the same side is fixedly connected to the force transmission block, and the third return spring is connected between the force transmission block and the adapter block.

5. The three-arm obstacle-crossing type high-voltage line inspection robot according to claim 4, characterized in that: The off-line execution assembly includes a fifth bevel gear, a sixth bevel gear, a spline sleeve, a third gear shaft, an eccentric wheel, a cam block, a supporting shaft and a second supporting sleeve; the spline sleeve is coaxially sleeved on the main shaft, and a spline shaft structure used in conjunction with the spline sleeve is provided on the main shaft, and the spline sleeve has only a linear sliding degree of freedom relative to the main shaft; the fourth bevel gear is coaxially fixed on one end of the spline sleeve; the fifth bevel gear is coaxially fixed on the other end of the spline sleeve; the third gear shaft is rotatably installed at the bottom of the frame through a bearing seat; the sixth bevel gear is coaxially fixed on the third gear shaft, and the sixth bevel gear is meshed with the fifth bevel gear for transmission cooperation; a first annular groove is opened on the outer surface of the spline sleeve in the circumferential direction, and the other end of the pull rod is slidably connected in the first annular groove through a universal ball joint; the cam block fixing sleeve Installed on the third gear shaft, the cam block and the force transmission block are used in conjunction with the; the eccentric wheel is fixedly sleeved on the third gear shaft, and a second annular groove is opened on the outer surface of the eccentric wheel in a circumferential direction; the lower end of the support shaft is slidably connected to the second annular groove through a universal ball joint, and the upper end of the support shaft is fixedly connected to the rear end of the wheel axle; the second support sleeve is coaxially sleeved on the outside of the support shaft, and the support shaft has rotational freedom and linear sliding freedom relative to the second support sleeve, and the second support sleeve is fixedly connected to the side of the frame through an adapter bracket; a support shaft guide groove is opened on the tube wall of the second support sleeve, the lower section of the support shaft guide groove is linear, and the upper section of the support shaft guide groove is spiral; a second pin is fixedly installed on the surface of the support shaft, and the second pin is located in the support shaft guide groove.

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