A tracked obstacle-crossing high-voltage line inspection robot

Abstract

A crawler obstacle-crossing high-voltage line inspection robot, a crawler walking mode is introduced in the design, the robot as a whole only needs one driving motor to provide power, the driving motor is powered by a battery pack, the walking driving motor, the battery pack and the controller are installed in parallel on the bottom layer of the frame, the walking driving motor and the track wheel are transmitted in turn through a bevel gear set and a sprocket chain mechanism, a hanging line foot is arranged between the left and right tracks of the inspection robot, and a hanging line foot is arranged between each track chain link at the same position of the left and right tracks, and the installation directions of any two adjacent hanging line feet are opposite; the hanging line foot is switched between a hanging line locking state and a deployed unlocking state by an external triggering mode, so as to realize the inspection movement along the high-voltage line, an obstacle recognition sensor is arranged on the front top of the frame, when the sensor recognizes and determines the obstacle of the suspension cable, the corresponding hanging line foot can be temporarily maintained in the deployed unlocking state for obstacle crossing, the obstacle crossing process is simple and efficient, and the difficulty of obstacle crossing control is reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of high-voltage line inspection, and in particular relates to a crawler obstacle-crossing high-voltage line inspection robot. Background Art

[0002] Transmission lines are the lifeline for the stable and sustainable development of the national economy and bear the heavy responsibility of power transmission. Inspection work is an important means to ensure the reliable operation of transmission lines.

[0003] Since most high-voltage transmission lines are far away from towns and the natural environment in the areas where they are located is relatively harsh, they are subject to rapid material aging, wire breakage, wear, corrosion and other damages, and even mechanical and electrical failures, changes in poles, foundations and crossing safety distances, which bring many difficulties to line maintenance and seriously affect the safe operation of transmission lines.

[0004] Once a power outage occurs in a high-voltage transmission line, it is usually a serious accident, with the characteristics of difficult repair work, long cycle, and wide area affected by the power outage. Therefore, high-quality, high-reliability, and efficient inspection work is one of the necessary means to reduce the occurrence of power outage accidents in high-voltage transmission lines.

[0005] At present, the inspection work of high-voltage lines has gradually transitioned from manual inspection to robot inspection. Many 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 this type of inspection robot crosses obstacles, multiple wheel arms always remain in a suspended state. Although a higher safety factor can be obtained, there are problems with the complex obstacle crossing process and complex control.

[0006] In addition, inspection robots with serpentine bionic structures are also relatively common. This type of inspection robot adopts a structure in which the head makes decisions and the tail follows. Although it can ensure the safety and stability of obstacle crossing, it is limited by the multi-section split configuration under the serpentine bionic structure. Each section needs to cross obstacles separately, which makes the control cumbersome and time-consuming, and it is not suitable for crossing obstacles with large spacing. Summary of the invention

[0007] In view of the problems existing in the prior art, the present invention provides a tracked obstacle-crossing high-voltage line inspection robot, which introduces a tracked walking mode into the design of the inspection robot. The inspection robot as a whole only needs one drive motor to provide power, so that the structure of the inspection robot is further simplified, and each line-hanging foot of the inspection robot can be independently adjusted to the obstacle crossing mode. The obstacle crossing process is simple and efficient, which greatly reduces the difficulty of obstacle crossing control of the inspection robot.

[0008] In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a crawler obstacle-crossing high-voltage line inspection robot, including a frame, a travel drive motor, a battery pack, a controller, a driving bevel gear, a driven bevel gear, a main shaft, a first driving sprocket, a first driven sprocket, a second driving sprocket, a second driven sprocket, a first chain, a second chain, a first driving track wheel, a second driving track wheel, a first driven track wheel, a second driven track wheel, a first crawler, a second crawler and a hanging line foot; the travel drive motor, the battery pack and the controller are installed in parallel at the bottom layer of the frame, and the control end of the travel drive motor is connected to the control end The control device is electrically connected, the power supply end of the walking drive motor is electrically connected to the battery pack, and the power supply end of the controller is electrically connected to the battery pack; the walking drive motor is horizontally arranged, and the driving bevel gear is coaxially fixed on the motor shaft of the walking drive motor; the main shaft is horizontally installed at the rear of the frame through a bearing, and the main shaft is perpendicular to the motor shaft of the walking drive motor; the driven bevel gear is coaxially fixed in the middle of the main shaft, and the driven bevel gear is meshed with the driving bevel gear; the first driving sprocket is coaxially fixed at the right end of the main shaft, and the second driving sprocket is coaxially fixed at the left end of the main shaft; at the oblique upper side of the first driving sprocket A first rotating shaft is installed in the middle of the frame through a bearing, the first driven sprocket is coaxially fixedly mounted on the right end of the first rotating shaft, and the first driven sprocket is connected to the first driving sprocket through a first chain transmission; a second rotating shaft is installed in the middle of the frame obliquely above the second driving sprocket through a bearing, the second driven sprocket is coaxially fixedly mounted on the left end of the second rotating shaft, and the second driven sprocket is connected to the second driving sprocket through a second chain transmission; the first driving track wheel is coaxially fixedly mounted on the left end of the first rotating shaft, and the second driving track wheel is coaxially fixedly mounted on the right end of the second rotating shaft; the frame in front of the first driving track wheel A third rotating shaft is installed in the middle through a bearing, the first driven track wheel is coaxially fixed in the middle of the third rotating shaft, and the first driven track wheel is connected to the first driving track wheel through a first track transmission; a fourth rotating shaft is installed in the middle of the frame in front of the second driving track wheel through a bearing, the second driven track wheel is coaxially fixed in the middle of the fourth rotating shaft, and the second driven track wheel is connected to the second driving track wheel through a second track transmission; a hanging line foot is arranged between each track chain link at the same position of the first track and the second track, and the installation directions of any two adjacent hanging line feet are opposite.

[0009] The wire hanging foot includes a wire hanging rubber block, a wire hanging support rod, a wire hanging support seat, a wire hanging support rod swing trigger dial and a wire hanging support rod locking mechanism; the wire hanging support seat is fixedly installed on the track chain link of the first active track wheel or the second active track wheel, the end of the wire hanging support rod is hinged to the wire hanging support seat, and the wire hanging support rod swing trigger dial is connected to the end of the wire hanging support rod; a wire hanging support rod reset torsion spring is connected between the end of the wire hanging support rod and the wire hanging support seat; the wire hanging rubber block is fixedly installed in the middle of the wire hanging support rod; the wire hanging support rod locking mechanism is arranged on the track chain link of the second active track wheel or the first active track wheel.

[0010] The locking mechanism of the wire hanging support rod comprises a core column, an inner sleeve, an outer sleeve and a sleeve return spring; the core column is horizontally fixedly connected to the track chain link, and a linear slide groove is opened on the outer surface of the core column, and the linear slide groove is parallel to the central axis of the core column; the inner sleeve is coaxially sleeved on the outer side of the core column, and the inner sleeve has a linear sliding freedom relative to the core column; a limit slide pin is fixedly arranged on the inner sleeve, and the inner end of the limit slide pin extends into the linear slide groove; the sleeve return spring is located between the inner sleeve and the track chain link and sleeved on the core column; the outer sleeve is sleeved on the inner sleeve and the outer side of the core column, and the outer sleeve has a rotational freedom relative to the inner sleeve and the core column; a spiral slide groove is opened on the tube wall of the outer sleeve, and the outer end of the limit slide pin extends into the spiral slide groove; the front end of the wire hanging support rod is plugged and locked with the inner sleeve.

[0011] An outer sleeve rotation triggering protrusion is fixedly provided on the outer surface of the tube wall of the outer sleeve; a first outer sleeve rotation triggering stopper is provided on the top layer in front of the frame, a second outer sleeve rotation triggering stopper is provided on the lower layer in front of the frame, a third outer sleeve rotation triggering stopper is provided on the lower layer behind the frame, and a fourth outer sleeve rotation triggering stopper is provided on the top layer behind the frame; the outer sleeve rotation triggering protrusion is matched with the first outer sleeve rotation triggering stopper, the second outer sleeve rotation triggering stopper, the third outer sleeve rotation triggering stopper and the fourth outer sleeve rotation triggering stopper.

[0012] A first wire hanging support rod swing trigger guide rod is provided on the upper layer in front of the frame, a swing trigger guide rod posture adjustment mechanism is provided between the first wire hanging support rod swing trigger guide rod and the frame, and a second wire hanging support rod swing trigger guide rod is provided on the upper layer behind the frame.

[0013] The swing trigger guide rod attitude adjustment mechanism includes an attitude adjustment motor, a half gear, a full gear, a transmission shaft and a transmission shaft reset torsion spring; the attitude adjustment motor is fixedly installed on the frame, and the attitude adjustment motor is electrically connected to the controller; the half gear is coaxially fixed on the motor shaft of the attitude adjustment motor; the transmission shaft is installed on the frame through a bearing, and the transmission shaft is parallel to the motor shaft of the attitude adjustment motor; the full gear is coaxially fixed on the transmission shaft, and the full gear and the half gear are engaged for transmission; the transmission shaft reset torsion spring is connected between the transmission shaft and the frame and is sleeved on the transmission shaft; the first hanging wire support rod swing trigger guide rod is fixedly connected to the top of the transmission shaft.

[0014] An auxiliary support wheel is arranged on each track link of the first track and the second track, and the auxiliary support wheel is in rolling contact with the top of the frame.

[0015] An obstacle recognition sensor is arranged on the front top of the frame, and the obstacle recognition sensor is electrically connected to the controller.

[0016] A left-right torque balancing mechanism of the inspection robot is also arranged at the bottom layer of the frame; the left-right torque balancing mechanism of the inspection robot includes a balancing motor, a balancing idler wheel and a motor bracket; the motor bracket is fixedly connected to the frame, the balancing motor is hinged to the motor bracket through the outer shell, the motor shaft of the balancing motor is vertically upward, and the balancing idler wheel is coaxially fixed to the motor shaft of the balancing motor; the balancing motor is electrically connected to the controller.

[0017] Beneficial effects of the present invention:

[0018] The crawler obstacle-crossing high-voltage line inspection robot of the present invention introduces a crawler walking mode into the design of the inspection robot. The inspection robot as a whole only needs one drive motor to provide power, so that the structure of the inspection robot is further simplified, and each line-hanging foot of the inspection robot can be independently adjusted to the obstacle crossing mode. The obstacle crossing process is simple and efficient, which greatly reduces the difficulty of the inspection robot's obstacle crossing control. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of a crawler obstacle-crossing high-voltage line inspection robot of the present invention (viewing angle 1);

[0020] Figure 2 It is a structural schematic diagram of a crawler obstacle-crossing high-voltage line inspection robot of the present invention (viewing angle 2);

[0021] Figure 3 It is a structural schematic diagram of a crawler obstacle-crossing high-voltage line inspection robot (the crawler and the wire-hanging foot are not shown) of the present invention (viewing angle 1);

[0022] Figure 4It is a structural schematic diagram of a crawler obstacle-crossing high-voltage line inspection robot (the crawler and the wire-hanging foot are not shown) of the present invention (viewing angle 2);

[0023] Figure 5 It is a structural schematic diagram of a crawler obstacle-crossing high-voltage line inspection robot (the crawler, the wire hanging foot and the driven crawler wheel are not shown) of the present invention (viewing angle 3);

[0024] Figure 6 It is a schematic diagram of the assembly structure of the wire hanging foot and the crawler chain link of the present invention (the wire hanging foot is in a wire hanging locking state);

[0025] Figure 7 It is a schematic diagram of the assembly structure of the wire hanging foot and the crawler chain link of the present invention (the wire hanging foot is in an unfolded and unlocked state);

[0026] Figure 8 It is a structural schematic diagram of the locking mechanism of the wire hanging support rod of the present invention;

[0027] Fig. 9 It is a structural schematic diagram of the locking mechanism of the wire hanging support rod of the present invention (the outer sleeve is not shown);

[0028] Fig.10 It is a structural schematic diagram of the locking mechanism of the wire hanging support rod of the present invention (the inner sleeve and the outer sleeve are not shown);

[0029] Fig.11 It is a structural schematic diagram of the swing trigger guide rod posture adjustment mechanism of the present invention;

[0030] Fig.12 A schematic diagram of an inspection and obstacle crossing crawler obstacle crossing type high-voltage line inspection robot of the present invention;

[0031] In the figure, 1-frame, 2-travel drive motor, 3-battery pack, 4-controller, 5-driving bevel gear, 6-driven bevel gear, 7-spindle, 8-first driving sprocket, 9-first driven sprocket, 10-second driving sprocket, 11-second driven sprocket, 12-first chain, 13-second chain, 14-first driving track wheel, 15-second driving track wheel, 16-first driven track wheel, 17-second driven track wheel, 18-first crawler, 19-second crawler, 20-hanging line foot, 21-first rotating shaft, 22-second rotating shaft, 23-third rotating shaft, 24-fourth rotating shaft, 25-hanging line rubber block, 26-hanging line support rod, 27-hanging line support seat, 28-hanging line support rod swing trigger dial wheel, 29-hanging line support rod reset torsion spring, 30-core column, 31- Inner sleeve, 32—outer sleeve, 33—sleeve reset spring, 34—straight slide, 35—limit slide pin, 36—spiral slide, 37—outer sleeve rotation trigger protrusion, 38—first outer sleeve rotation trigger block, 39—second outer sleeve rotation trigger block, 40—third outer sleeve rotation trigger block, 41—fourth outer sleeve rotation trigger block, 42—first hanging line support rod swing trigger guide rod, 43—second hanging line support rod swing trigger guide rod, 44—attitude adjustment motor, 45—half gear, 46—full gear, 47—drive shaft, 48—drive shaft reset torsion spring, 49—auxiliary support wheel, 50—obstacle recognition sensor, 51—balancing motor, 52—balancing idler, 53—motor bracket, 54—track chain link, 55—high-voltage wire, 56—cable, 57—anti-vibration hammer. DETAILED DESCRIPTION

[0032] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0033] like Figures 1 to 12As shown, a crawler obstacle-crossing high-voltage line inspection robot includes a frame 1, a travel drive motor 2, a battery pack 3, a controller 4, a driving bevel gear 5, a driven bevel gear 6, a main shaft 7, a first driving sprocket 8, a first driven sprocket 9, a second driving sprocket 10, a second driven sprocket 11, a first chain 12, a second chain 13, a first driving track wheel 14, a second driving track wheel 15, a first driven track wheel 16, a second driven track wheel 17, a first crawler 18, a second crawler 19 and a hanging line foot 20; the travel drive motor 2, the battery pack 3 and the controller 4 are arranged in parallel on the bottom layer of the frame 1, the control end of the travel drive motor 2 is electrically connected to the controller 4, and the travel drive motor 2 is electrically connected to the controller 4. The power supply end of the driving motor 2 is electrically connected to the battery pack 3, and the power supply end of the controller 4 is electrically connected to the battery pack 3; the walking driving motor 2 is horizontally arranged, and the driving bevel gear 5 is coaxially fixed on the motor shaft of the walking driving motor 2; the main shaft 7 is horizontally installed at the rear of the frame 1 through a bearing, and the main shaft 7 is perpendicular to the motor shaft of the walking driving motor 2; the driven bevel gear 6 is coaxially fixed in the middle of the main shaft 7, and the driven bevel gear 6 is meshed with the driving bevel gear 5; the first driving sprocket 8 is coaxially fixed at the right end of the main shaft 7, and the second driving sprocket 10 is coaxially fixed at the left end of the main shaft 7; a first rotating shaft is installed in the middle of the frame 1 obliquely above the first driving sprocket 8 through a bearing 21, the first driven sprocket 9 is coaxially fixedly mounted on the right end of the first rotating shaft 21, and the first driven sprocket 9 is connected to the first driving sprocket 8 by a first chain 12; a second rotating shaft 22 is installed in the middle of the frame 1 obliquely above the second driving sprocket 10 through a bearing, the second driven sprocket 11 is coaxially fixedly mounted on the left end of the second rotating shaft 22, and the second driven sprocket 11 is connected to the second driving sprocket 10 by a second chain 13; the first driving track wheel 14 is coaxially fixedly mounted on the left end of the first rotating shaft 21, and the second driving track wheel 15 is coaxially fixedly mounted on the right end of the second rotating shaft 22; a second driving track wheel 15 is coaxially fixedly mounted on the middle of the frame 1 in front of the first driving track wheel 14 through a bearing There is a third rotating shaft 23, the first driven track wheel 16 is coaxially fixed in the middle of the third rotating shaft 23, and the first driven track wheel 16 is connected to the first driving track wheel 14 through a first crawler belt 18; a fourth rotating shaft 24 is installed in the middle of the frame 1 in front of the second driving track wheel 15 through a bearing, the second driven track wheel 17 is coaxially fixed in the middle of the fourth rotating shaft 24, and the second driven track wheel 17 is connected to the second driving track wheel 15 through a second crawler belt 19; a hanging line foot 20 is arranged between each track chain link 54 at the same position of the first crawler belt 18 and the second crawler belt 19, and the installation directions of any two adjacent hanging line feet 20 are opposite.

[0034] The wire hanging foot 20 includes a wire hanging rubber block 25, a wire hanging support rod 26, a wire hanging support seat 27, a wire hanging support rod swing trigger dial 28 and a wire hanging support rod locking mechanism; the wire hanging support seat 27 is fixedly mounted on the track link 54 of the first active track wheel 14 or the second active track wheel 15, the end of the wire hanging support rod 26 is hinged to the wire hanging support seat 27, and the wire hanging support rod swing trigger dial 28 is connected to the end of the wire hanging support rod 26; a wire hanging support rod reset torsion spring 29 is connected between the end of the wire hanging support rod 26 and the wire hanging support seat 27; the wire hanging rubber block 25 is fixedly mounted on the middle part of the wire hanging support rod 26; the wire hanging support rod locking mechanism is arranged on the track link 54 of the second active track wheel 15 or the first active track wheel 14.

[0035] The wire hanging support rod locking mechanism includes a core column 30, an inner sleeve 31, an outer sleeve 32 and a sleeve return spring 33; the core column 30 is horizontally fixed to the crawler chain link 54, and a linear slide groove 34 is provided on the outer surface of the core column 30, and the linear slide groove 34 is parallel to the central axis of the core column 30; the inner sleeve 31 is coaxially sleeved on the outer side of the core column 30, and the inner sleeve 31 has a linear sliding freedom relative to the core column 30; a limit slide pin 35 is fixedly provided on the inner sleeve 31, and the inner end of the limit slide pin 35 extends To the linear slide groove 34; the sleeve return spring 33 is located between the inner sleeve 31 and the track chain link 54 and is sleeved on the core column 30; the outer sleeve 32 is sleeved on the outer side of the inner sleeve 31 and the core column 30, and the outer sleeve 32 has rotational freedom relative to the inner sleeve 31 and the core column 30; a spiral slide groove 36 is opened on the tube wall of the outer sleeve 32, and the outer end of the limit slide pin 35 extends into the spiral slide groove 36; the front end of the hanging wire support rod 26 is plugged and locked with the inner sleeve 31.

[0036] An outer sleeve rotation triggering protrusion 37 is fixedly provided on the outer surface of the tube wall of the outer sleeve 32; a first outer sleeve rotation triggering block 38 is provided on the top layer in front of the frame 1, a second outer sleeve rotation triggering block 39 is provided on the lower layer in front of the frame 1, a third outer sleeve rotation triggering block 40 is provided on the lower layer behind the frame 1, and a fourth outer sleeve rotation triggering block 41 is provided on the top layer behind the frame 1; the outer sleeve rotation triggering protrusion 37 is in abutment with the first outer sleeve rotation triggering block 38, the second outer sleeve rotation triggering block 39, the third outer sleeve rotation triggering block 40 and the fourth outer sleeve rotation triggering block 41.

[0037] A first wire hanging support rod swing trigger guide rod 42 is provided on the upper front layer of the frame 1, a swing trigger guide rod posture adjustment mechanism is provided between the first wire hanging support rod swing trigger guide rod 42 and the frame 1, and a second wire hanging support rod swing trigger guide rod 43 is provided on the upper rear layer of the frame 1.

[0038] The swing trigger guide rod attitude adjustment mechanism includes an attitude adjustment motor 44, a half gear 45, a full gear 46, a transmission shaft 47 and a transmission shaft reset torsion spring 48; the attitude adjustment motor 44 is fixedly installed on the frame 1, and the attitude adjustment motor 44 is electrically connected to the controller 4; the half gear 45 is coaxially fixed on the motor shaft of the attitude adjustment motor 44; the transmission shaft 47 is installed on the frame 1 through a bearing, and the transmission shaft 47 is parallel to the motor shaft of the attitude adjustment motor 44; the full gear 46 is coaxially fixed on the transmission shaft 47, and the full gear 46 and the half gear 45 are engaged for transmission cooperation; the transmission shaft reset torsion spring 48 is connected between the transmission shaft 47 and the frame 1 and is sleeved on the transmission shaft 47; the first hanging line support rod swing trigger guide rod 42 is fixedly connected to the top of the transmission shaft 47.

[0039] An auxiliary support wheel 49 is provided on each track link 54 of the first track 18 and the second track 19 , and the auxiliary support wheel 49 is in rolling contact with the top of the frame 1 .

[0040] An obstacle recognition sensor 50 is disposed at the front top of the frame 1 , and the obstacle recognition sensor 50 is electrically connected to the controller 4 .

[0041] A left-right torque balancing mechanism of the inspection robot is also provided at the bottom layer of the frame 1; the left-right torque balancing mechanism of the inspection robot includes a balancing motor 51, a balancing idler wheel 52 and a motor bracket 53; the motor bracket 53 is fixedly connected to the frame 1, the balancing motor 51 is hinged to the motor bracket 53 through the outer shell, the motor shaft of the balancing motor 51 is vertically upward, and the balancing idler wheel 52 is coaxially fixedly connected to the motor shaft of the balancing motor 51; the balancing motor 51 is electrically connected to the controller 4.

[0042] The following describes a one-time use process of the present invention in conjunction with the accompanying drawings:

[0043] In the initial state, the wire hanging feet 20 above and below the robot are both in a wire hanging locked state, and the wire hanging feet 20 in front and behind the robot are both in an unfolded unlocked state.

[0044] When the robot needs to inspect the high-voltage line 55, the controller 4 first sends a start command to the travel drive motor 2. After the travel drive motor 2 is started, the travel drive motor 2 drives the active bevel gear 5 to rotate, and then drives the driven bevel gear 6 to rotate. The driven bevel gear 6 synchronously drives the main shaft 7, the first active sprocket 8 and the first driven sprocket 9 to rotate.

[0045] As the first driving sprocket 8 and the first driven sprocket 9 rotate, the second driving sprocket 10 and the second driven sprocket 11 are synchronously driven to rotate through the first chain 12 and the second chain 13, and then the first driving track wheel 14 and the second driving track wheel 15 are synchronously driven to rotate, and finally the first driven track wheel 16 and the second driven track wheel 17 are synchronously driven to rotate through the first crawler 18 and the second crawler 19.

[0046] During the synchronous rotation of the first driven track wheel 16 and the second driven track wheel 17 , the line hanging feet 20 on the first crawler track 18 and the second crawler track 19 move together with the crawler chain links 54 .

[0047] Observing from the left side of the robot's forward direction, it can be seen that the rotation direction of all track wheels is clockwise. The first hanging wire foot 20 in the front of the robot in a stationary state and in an unfolded and unlocked state is used as a tracking example for explanation.

[0048] As the robot starts inspection, the wire hanging foot 20 will move upward clockwise following the track link 54 on which it is located. During the movement of the robot, the outer sleeve rotation trigger protrusion 37 on the outer sleeve 32 of the wire hanging support rod locking mechanism will be blocked by the first outer sleeve rotation trigger block 38, forcing the outer sleeve 32 to rotate counterclockwise. As the outer sleeve 32 rotates, the rotational motion of the outer sleeve 32 can be converted into a linear retraction motion of the inner sleeve 31 through the guiding cooperation of the spiral slide groove 36, the limit slide pin 35 and the linear slide groove 34. At this time, the sleeve return spring 33 is compressed. At the same time, the wire hanging support rod swing trigger dial 28 will enter the range of the first wire hanging support rod swing trigger guide rod 42, the wire hanging support rod swing trigger dial 28 will roll with the first wire hanging support rod swing trigger guide rod 42, and change its position along the first wire hanging support rod swing trigger guide rod 42. Since the wire hanging support rod swing trigger dial 28 is connected to the end of the wire hanging support rod 26, the first wire hanging support rod swing trigger guide rod 42 will change its position and prompt the wire hanging support rod 26 to change from a vertical state to a horizontal state. At the same time, the wire hanging support rod reset torsion spring 29 accumulates spring force.

[0049] When the wire hanging support rod 26 becomes horizontal, at the same time, the outer sleeve rotation triggering protrusion 37 on the outer sleeve 32 just disengages from the rotation limit position and the first outer sleeve rotation triggering block 38. Since the outer sleeve rotation triggering protrusion 37 loses the external restriction, the inner sleeve 31 extends outward and resets under the thrust of the sleeve reset spring 33, and the reset inner sleeve 31 just inserts and sleeves the end of the wire hanging support rod 26 in the horizontal state, thereby locking the wire hanging support rod 26. During the process of the inner sleeve 31 extending outward and resetting, the outer sleeve 32 also rotates clockwise to the initial position synchronously through the guiding cooperation of the spiral slide 36, the limit slide pin 35 and the linear slide 34. At this time, the outer sleeve rotation triggering protrusion 37 also returns to the initial position synchronously, and the wire hanging foot 20 is stably hung on the high-voltage wire 55 through the wire hanging rubber block 25.

[0050] As the robot continues to move forward, when the wire hanging foot 20 is at the last position above the robot, during the movement of the robot, the outer sleeve rotation triggering protrusion 37 on the outer sleeve 32 of the wire hanging support rod locking mechanism will be blocked by the fourth outer sleeve rotation triggering block 41, forcing the outer sleeve 32 to rotate counterclockwise. As the outer sleeve 32 rotates, the rotational motion of the outer sleeve 32 can be converted into the linear retraction motion of the inner sleeve 31 through the guiding cooperation of the spiral slide 36, the limit slide pin 35 and the linear slide 34. At this time, the sleeve reset spring 33 is compressed, and the inner sleeve 31 is separated from the end of the wire hanging support rod 26, realizing the unlocking of the wire hanging support rod 26. At the same time, since the wire hanging support rod 26 loses the restriction of the inner sleeve 31, under the action of the spring force released by the wire hanging support rod reset torsion spring 29, the wire hanging support rod 26 will be prompted to quickly change from a horizontal state to a vertical state.

[0051] When the wire hanging support rod 26 becomes vertical, the wire hanging foot 20 in the unfolded and unlocked state can smoothly cross the high-voltage wire 55 and continue to move. At the same time, the outer sleeve rotation trigger protrusion 37 on the outer sleeve 32 just disengages from the fourth outer sleeve rotation trigger block 41 from the rotation limit position. Under the thrust of the sleeve return spring 33, the inner sleeve 31 and the outer sleeve 32 synchronously return to their initial positions.

[0052] As the robot continues to move forward, when the wire hanging foot 20 is at the first position behind the robot, during the movement of the robot, the outer sleeve rotation triggering protrusion 37 on the outer sleeve 32 of the wire hanging support rod locking mechanism will be blocked by the third outer sleeve rotation triggering block 40, forcing the outer sleeve 32 to rotate counterclockwise, thereby retracting the inner sleeve 31. At the same time, the wire hanging support rod swing triggering dial 28 will enter the range of the second wire hanging support rod swing triggering guide rod 43, and the wire hanging support rod swing triggering dial 28 will roll with the second wire hanging support rod swing triggering guide rod 43 and change its position along the second wire hanging support rod swing triggering guide rod 43, which will cause the wire hanging support rod 26 to change from a vertical state to a horizontal state, and the wire hanging support rod reset torsion spring 29 will accumulate spring force.

[0053] When the wire hanging support rod 26 becomes horizontal, at the same time, the outer sleeve rotation triggering projection 37 on the outer sleeve 32 just disengages from the third outer sleeve rotation triggering stopper 40 from the rotation limit position, and the inner sleeve 31 extends outward and resets under the thrust of the sleeve reset spring 33, so that the inner sleeve 31 is re-inserted on the end of the wire hanging support rod 26 in the horizontal state, and the wire hanging support rod 26 is locked again. During the process of the inner sleeve 31 extending outward and resetting, the outer sleeve 32 synchronously rotates clockwise to the initial position.

[0054] As the robot continues to move forward, when the wire hanging foot 20 is at the first positive position below the robot, during the movement of the robot, the outer sleeve rotation triggering protrusion 37 on the outer sleeve 32 of the wire hanging support rod locking mechanism will be blocked by the second outer sleeve rotation triggering block 39, forcing the outer sleeve 32 to rotate counterclockwise, thereby causing the inner sleeve 31 to retract, the sleeve reset spring 33 to be compressed, and the inner sleeve 31 to detach from the end of the wire hanging support rod 26, thereby unlocking the wire hanging support rod 26 again. At the same time, since the wire hanging support rod 26 loses the restriction of the inner sleeve 31, under the action of the spring force released by the wire hanging support rod reset torsion spring 29, the wire hanging support rod 26 will be prompted to quickly change from a horizontal state to a vertical state.

[0055] When the wire hanging support rod 26 becomes vertical again, the wire hanging foot 20 in the unfolded and unlocked state can smoothly cross the high-voltage wire 55 and continue to move. At the same time, the outer sleeve rotation trigger protrusion 37 on the outer sleeve 32 just disengages from the second outer sleeve rotation trigger block 39 from the rotation limit position. Under the thrust of the sleeve return spring 33, the inner sleeve 31 and the outer sleeve 32 synchronously return to their initial positions.

[0056] As the robot continues to move forward, the line hanging foot 20 is again located at the first position in front of the robot, and finally a complete cycle is achieved.

[0057] During the movement of the robot, since the robot has a bilaterally symmetrical structure, the anti-vibration hammer 57 can smoothly pass between the left and right tracks, completely avoiding obstruction by the anti-vibration hammer 57 .

[0058] When the robot encounters an obstacle such as a suspension cable 56 during its movement, the obstacle recognition sensor 50 at the top front of the robot can identify and judge the obstacle. When it is determined that the obstacle exists, the controller 4 sends a start command to the attitude adjustment motor 44. After the attitude adjustment motor 44 is started, it drives the half gear 45 to rotate, and the half-face teeth of the half gear 45 mesh with the full gear 46 for transmission, driving the full gear 46 to rotate, and then drives the transmission shaft 47 to rotate through the full gear 46. At the same time, the transmission shaft reset torsion spring 48 accumulates spring force, and finally drives the first hanging wire support rod swing trigger guide rod 42 to rotate, so that the first hanging wire support rod swing trigger guide rod 42 avoids the hanging wire support rod swing trigger dial 28, and then the hanging wire foot 20 at the first position in front of the robot moves to the top of the robot in an unfolded and unlocked state. At this time, the suspension cable 56 as an obstacle can just pass over the hanging wire foot 20 smoothly, thereby realizing the robot's rapid obstacle crossing.

[0059] When the robot passes over the suspension cable 56, the motor shaft of the attitude adjustment motor 44 rotates 180°, and the half-gear teeth of the half gear 45 disengage from the meshing with the full gear 46. After the full gear 46 loses the gear tooth limit of the half gear 45, the transmission shaft 47 and the full gear 46 return to their initial positions under the action of the spring force released by the transmission shaft reset torsion spring 48, and finally the first hanging line support rod swings to trigger the guide rod 42 to return to its initial position, and then continues to control the motor shaft of the attitude adjustment motor 44 to rotate 180°, so that the half gear 45 returns to its initial position.

[0060] In addition, the wire-hanging foot 20 in the obstacle crossing mode will maintain its unfolded and unlocked state until it reaches the first position from the rear of the robot, and then it will re-enter the normal cycle.

[0061] The solutions in the embodiments are not intended to limit the patent protection scope of the present invention. All equivalent implementations or changes that do not deviate from the present invention are included in the patent scope of this case.

Claims

1. A crawler obstacle-crossing high-voltage line inspection robot, characterized in that: The invention comprises a frame, a travel drive motor, a battery pack, a controller, a driving bevel gear, a driven bevel gear, a main shaft, a first driving sprocket, a first driven sprocket, a second driving sprocket, a second driven sprocket, a first chain, a second chain, a first driving track wheel, a second driving track wheel, a first driven track wheel, a second driven track wheel, a first crawler, a second crawler and a hanging line foot; the travel drive motor, the battery pack and the controller are installed in parallel on the bottom layer of the frame, the control end of the travel drive motor is electrically connected to the controller, the power supply end of the travel drive motor is electrically connected to the battery pack, and the controller The power supply end of the controller is electrically connected to the battery pack; the travel drive motor is horizontally arranged, and the driving bevel gear is coaxially fixed on the motor shaft of the travel drive motor; the main shaft is horizontally installed at the rear of the frame through a bearing, and the main shaft is perpendicular to the motor shaft of the travel drive motor; the driven bevel gear is coaxially fixed in the middle of the main shaft, and the driven bevel gear is meshed with the driving bevel gear; the first driving sprocket is coaxially fixed at the right end of the main shaft, and the second driving sprocket is coaxially fixed at the left end of the main shaft; a first rotating shaft is installed in the middle of the frame obliquely above the first driving sprocket through a bearing, The first driven sprocket is coaxially fixedly mounted on the right end of the first rotating shaft, and the first driven sprocket is connected to the first driving sprocket through a first chain transmission; a second rotating shaft is installed in the middle of the frame obliquely above the second driving sprocket through a bearing, the second driven sprocket is coaxially fixedly mounted on the left end of the second rotating shaft, and the second driven sprocket is connected to the second driving sprocket through a second chain transmission; the first driving track wheel is coaxially fixedly mounted on the left end of the first rotating shaft, and the second driving track wheel is coaxially fixedly mounted on the right end of the second rotating shaft; a The third rotating shaft, the first driven track wheel is coaxially fixed on the middle part of the third rotating shaft, and the first driven track wheel is connected to the first driving track wheel through the first track transmission; a fourth rotating shaft is installed through a bearing in the middle part of the frame in front of the second driving track wheel, the second driven track wheel is coaxially fixed on the middle part of the fourth rotating shaft, and the second driven track wheel is connected to the second driving track wheel through the second track transmission; a hanging line foot is arranged between each track chain link at the same position of the first track and the second track, and the installation directions of any two adjacent hanging line feet are opposite.

2. The crawler obstacle-crossing high-voltage line inspection robot according to claim 1, characterized in that: The wire hanging foot includes a wire hanging rubber block, a wire hanging support rod, a wire hanging support seat, a wire hanging support rod swing trigger dial and a wire hanging support rod locking mechanism; the wire hanging support seat is fixedly installed on the track chain link of the first active track wheel or the second active track wheel, the end of the wire hanging support rod is hinged to the wire hanging support seat, and the wire hanging support rod swing trigger dial is connected to the end of the wire hanging support rod; a wire hanging support rod reset torsion spring is connected between the end of the wire hanging support rod and the wire hanging support seat; the wire hanging rubber block is fixedly installed in the middle of the wire hanging support rod; the wire hanging support rod locking mechanism is arranged on the track chain link of the second active track wheel or the first active track wheel.

3. The crawler obstacle-crossing high-voltage line inspection robot according to claim 2, characterized in that: The locking mechanism of the wire hanging support rod comprises a core column, an inner sleeve, an outer sleeve and a sleeve return spring; the core column is horizontally fixedly connected to the track chain link, and a linear slide groove is opened on the outer surface of the core column, and the linear slide groove is parallel to the central axis of the core column; the inner sleeve is coaxially sleeved on the outer side of the core column, and the inner sleeve has a linear sliding freedom relative to the core column; a limit slide pin is fixedly arranged on the inner sleeve, and the inner end of the limit slide pin extends into the linear slide groove; the sleeve return spring is located between the inner sleeve and the track chain link and sleeved on the core column; the outer sleeve is sleeved on the inner sleeve and the outer side of the core column, and the outer sleeve has a rotational freedom relative to the inner sleeve and the core column; a spiral slide groove is opened on the tube wall of the outer sleeve, and the outer end of the limit slide pin extends into the spiral slide groove; the front end of the wire hanging support rod is plugged and locked with the inner sleeve.

4. The crawler obstacle-crossing high-voltage line inspection robot according to claim 3, characterized in that: An outer sleeve rotation triggering protrusion is fixedly provided on the outer surface of the tube wall of the outer sleeve; a first outer sleeve rotation triggering stopper is provided on the top layer in front of the frame, a second outer sleeve rotation triggering stopper is provided on the lower layer in front of the frame, a third outer sleeve rotation triggering stopper is provided on the lower layer behind the frame, and a fourth outer sleeve rotation triggering stopper is provided on the top layer behind the frame; the outer sleeve rotation triggering protrusion is matched with the first outer sleeve rotation triggering stopper, the second outer sleeve rotation triggering stopper, the third outer sleeve rotation triggering stopper and the fourth outer sleeve rotation triggering stopper.

5. The crawler obstacle-crossing high-voltage line inspection robot according to claim 4, characterized in that: A first wire hanging support rod swing trigger guide rod is provided on the upper layer in front of the frame, a swing trigger guide rod posture adjustment mechanism is provided between the first wire hanging support rod swing trigger guide rod and the frame, and a second wire hanging support rod swing trigger guide rod is provided on the upper layer behind the frame.

6. The crawler obstacle-crossing high-voltage line inspection robot according to claim 5, characterized in that: The swing trigger guide rod posture adjustment mechanism includes a posture adjustment motor, a half gear, a full gear, a transmission shaft and a transmission shaft reset torsion spring; the posture adjustment motor is fixedly mounted on the frame, and the posture adjustment motor is electrically connected to the controller; the half gear is coaxially fixed on the motor shaft of the posture adjustment motor; the transmission shaft is mounted on the frame through a bearing, and the transmission shaft is parallel to the motor shaft of the posture adjustment motor; The full gear is coaxially fixed on the transmission shaft, and the full gear and the half gear are meshed and transmitted; the transmission shaft reset torsion spring is connected between the transmission shaft and the frame and is sleeved on the transmission shaft; the first hanging wire support rod swing trigger guide rod is fixedly connected to the top of the transmission shaft.

7. The crawler obstacle-crossing high-voltage line inspection robot according to claim 1, characterized in that: An auxiliary support wheel is arranged on each track link of the first track and the second track, and the auxiliary support wheel is in rolling contact with the top of the frame.

8. The crawler obstacle-crossing high-voltage line inspection robot according to claim 1, characterized in that: An obstacle recognition sensor is arranged on the front top of the frame, and the obstacle recognition sensor is electrically connected to the controller.

9. The crawler obstacle-crossing high-voltage line inspection robot according to claim 1, characterized in that: A left-right torque balancing mechanism of the inspection robot is also arranged at the bottom layer of the frame; the left-right torque balancing mechanism of the inspection robot includes a balancing motor, a balancing idler wheel and a motor bracket; the motor bracket is fixedly connected to the frame, the balancing motor is hinged to the motor bracket through the outer shell, the motor shaft of the balancing motor is vertically upward, and the balancing idler wheel is coaxially fixed to the motor shaft of the balancing motor; the balancing motor is electrically connected to the controller.

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