An electric power inspection robot
By designing a power line inspection robot equipped with ice-breaking and ice-scraping mechanisms, the problem of high-voltage line icing was solved, achieving efficient and safe de-icing results, and adapting to high-voltage lines of different thicknesses.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- STATE GRID ZHEJIANG ELECTRIC POWER CO LTD ZHOUSHAN POWER SUPPLY CO
- Filing Date
- 2023-03-03
- Publication Date
- 2026-06-26
AI Technical Summary
High-voltage power lines are prone to icing, and drones cannot effectively remove the ice. Traditional manual de-icing is difficult and dangerous, and existing technologies cannot effectively remove ice from high-voltage power lines.
Design a power line inspection robot equipped with an ice-crushing mechanism and an ice-shoveling mechanism, including ice-crushing gears and a shovel, which can break and remove ice blocks on high-voltage lines during inspection. The robot is stably fixed to the high-voltage lines through a walking mechanism and can adapt to high-voltage lines of different thicknesses.
It achieves efficient and safe de-icing of high-voltage lines, avoiding the dangers and inefficiencies of traditional methods, adapting to high-voltage lines of different thicknesses, and ensuring thorough de-icing without damaging the lines.
Smart Images
Figure CN116345349B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of power inspection robot technology, and in particular to a power inspection robot with de-icing function. Background Technology
[0002] High-voltage power transmission typically uses overhead lines supported by iron towers, with high-voltage and ultra-high-voltage overhead power lines being the primary method for long-distance power transmission and distribution. High-voltage transmission lines operate in harsh natural environments, and are prone to damage such as strand breakage, wear, and corrosion due to continuous mechanical tension, electrical flashover, and material aging. These defects can significantly disrupt the normal operation of the entire transmission line, requiring timely detection and repair. In frigid winters, high-voltage lines are easily covered in ice, causing significant damage to the cables. Due to the inherent danger and height limitations of high-voltage lines, de-icing is extremely difficult. Traditional manual de-icing methods are laborious, inefficient, and highly dangerous. Furthermore, obstacles such as lightning rods, insulators, line hardware, and line corridors further complicate de-icing. While existing technologies propose using drones for high-voltage line inspections, this approach cannot effectively de-ic the lines. Summary of the Invention
[0003] In order to overcome the shortcomings of existing technologies where high-voltage lines are prone to icing and drones cannot de-ice them, this invention provides a power line inspection robot that can de-ice high-voltage lines during the inspection process.
[0004] To achieve the above objectives, the present invention adopts the following technical solution:
[0005] A power line inspection robot includes an inspection platform and a walking mechanism for traversing high-voltage lines. The walking mechanism is positioned above the inspection platform and includes an ice-crushing mechanism and an ice-shoveling mechanism. The ice-shoveling mechanism is located at the front end of the walking mechanism, and the ice-crushing mechanism is located at the front end of the ice-shoveling mechanism. The ice-crushing mechanism includes an ice-crushing connecting plate, two ice-crushing gears, and an ice-crushing driver. The ice-crushing connecting plate is connected to the walking mechanism, and the ice-crushing gears are rotatably mounted on the ice-crushing connecting plate. The ice-crushing driver drives the ice-crushing gears to rotate. The two ice-crushing gears are located on the left and right sides of the high-voltage line. The ice-shoveling mechanism includes an ice-shoveling connecting plate and two blades. The ice-shoveling connecting plate is connected to the walking mechanism, and the blades are fixed to the ice-shoveling connecting plate. The two blades are located on opposite sides of the high-voltage line.
[0006] In the above technical solution, the inspection platform is equipped with a power supply for power supply and a camera for taking pictures and videos. The inspection platform is suspended below the walking mechanism. The ice-crushing mechanism is located at the front end and can crush ice blocks on the high-voltage line during the inspection process. As the walking mechanism moves forward, the ice-crushing gears rotate and use the teeth on the gears to crush the ice blocks on the high-voltage line. Two ice-crushing gears are located on the left and right sides of the high-voltage line to avoid interference from ice pillars hanging on the high-voltage line. The ice blocks on both sides of the high-voltage line are relatively flat, which is more conducive to crushing by the ice-crushing gears. The ice-shoveling mechanism can remove the ice blocks that have not yet fallen off the high-voltage line after crushing.
[0007] Preferably, two scrapers are positioned on the upper and lower sides of the high-voltage line. These two scrapers, together with two ice-crushing gears, can effectively remove ice from the high-voltage line in all directions.
[0008] Preferably, the traveling mechanism includes a front traveling arm and a rear traveling arm, both of which clamp the high-voltage line, with the front traveling arm positioned at the front end of the rear traveling arm. In this technical solution, the front and rear traveling arms allow the inspection platform to be stably fixed below the high-voltage line.
[0009] Preferably, the forward traveling arm includes a fixed frame, an upper sliding plate, an upper rack, an upper clamping wheel, a transmission gear, a lower rack, a lower sliding plate, a lower clamping wheel, and a clamping driver. The fixed frame is fixed to the inspection platform. The upper and lower sliding plates are slidably connected to the fixed frame in the vertical direction. The upper rack is fixed to the upper sliding plate. The upper clamping wheel is rotatably connected to the upper sliding plate. The lower rack is fixed to the lower sliding plate. The lower clamping wheel is rotatably connected to the lower sliding plate. The upper and lower racks are located on the left and right sides of the transmission gear and mesh with the transmission gear so that when the transmission gear rotates, it drives the upper and lower racks to move synchronously in the opposite direction. The upper and lower clamping wheels are located on the upper and lower sides of the high-voltage line. The clamping driver is driven by the transmission gear so that the upper and lower clamping wheels clamp the high-voltage line.
[0010] In the above technical solution, when the clamping driver drives the upper and lower clamping wheels to clamp the high-voltage line, the upper and lower clamping wheels move synchronously and in opposite directions, which can keep the high-voltage line at the center of the forward traveling arm and prevent eccentricity. This allows the ice-crushing mechanism and ice-shoveling mechanism connected to the forward traveling arm to accurately grasp the axis of the high-voltage line and better remove ice from the surface of the high-voltage line. It also prevents the shovel and ice-crushing gear on one side from getting too close to the high-voltage line, causing wear on the high-voltage line, shovel, and ice-crushing gear, and prevents the shovel and ice-crushing gear on one side from getting too far away from the high-voltage line, resulting in incomplete de-icing.
[0011] Preferably, the ice-shoveling connecting plate includes an upper ice-shoveling connecting plate and a lower ice-shoveling connecting plate. The upper ice-shoveling connecting plate is fixed to the upper sliding plate, and the lower ice-shoveling connecting plate is fixed to the lower sliding plate, so that the distance between the two blades changes with the distance between the upper clamping wheel and the lower clamping wheel.
[0012] In the above technical solution, the distance between the two blades changes with the distance between the upper and lower clamping wheels, allowing the inspection robot to adapt to the inspection of high-voltage lines of different thicknesses. It also ensures that the two blades will not directly rub against the surface of the high-voltage line, preventing wear, nor will they be too far from the line, resulting in incomplete de-icing. This solution allows for automatic adjustment of the distance between the two blades, eliminating the need for an additional adjustment mechanism between the two ice-crushing gears, making it more convenient to use.
[0013] Preferably, the ice crushing connecting plate includes a left ice crushing connecting plate and a right ice crushing connecting plate, which are slidably connected to the fixing frame in the left-right direction. Two ice crushing gears are rotatably connected to the left ice crushing connecting plate and the right ice crushing connecting plate, respectively. The ice crushing driver drives at least one of the ice crushing gears to rotate. The fixing frame is provided with a second gear that is tractively connected to the transmission gear. A first rack is fixed on the left ice crushing connecting plate, and a second rack is fixed on the right ice crushing connecting plate. The first rack and the second rack are located on the upper and lower sides of the second gear and both mesh with the second gear.
[0014] In the above technical solution, the distance between the two ice-crushing gears changes with the distance between the upper and lower clamping wheels, allowing the inspection robot to adapt to the inspection of high-voltage lines of different thicknesses. This solution enables automatic adjustment of the distance between the two ice-crushing gears, eliminating the need for an additional adjustment structure and making it more convenient to use.
[0015] Preferably, the second gear is coaxially fixed with the transmission gear; or, the second gear and the transmission gear are an integral structure.
[0016] Preferably, there are two upper clamping wheels, and the axis of the lower clamping wheel is arranged on the symmetrical plane of the two upper clamping wheels.
[0017] Preferably, the clamping driver is directly connected to the transmission gear; or, the clamping driver drives one of the upper and lower sliding plates to translate.
[0018] Preferably, the upper clamping wheel is provided with a positioning groove, and the lower clamping wheel is provided with a positioning groove.
[0019] Preferably, the ice-crushing connecting plate includes a left ice-crushing connecting plate and a right ice-crushing connecting plate, which are slidably connected to the fixing frame in the left-right direction. Two ice-crushing gears are rotatably connected to the left and right ice-crushing connecting plates, respectively. The ice-crushing driver drives at least one of the ice-crushing gears to rotate. The fixing frame is provided with a first helical gear coaxially fixed to the transmission gear, and a lead screw rotatably connected to the fixing frame. A second helical gear is coaxially fixed to the lead screw. The second helical gear meshes with the first helical gear, and their rotation axes are perpendicular to each other. The lead screw is provided with a positive thread and a negative thread. A first nut adapted to the positive thread is fixed to the left ice-crushing connecting plate, and a second nut adapted to the negative thread is fixed to the right ice-crushing connecting plate. The transmission gear drives the lead screw to rotate through the first and second helical gears to drive the left and right ice-crushing connecting plates to move relative to each other. The helix angle of the positive thread on the lead screw is less than the equivalent friction angle between the first nut and the positive thread, and the helix angle of the negative thread on the lead screw is less than the equivalent friction angle between the second nut and the negative thread.
[0020] In the above technical solution, when the transmission gear drives the lead screw to rotate, the distance between the two ice-crushing gears can change with the distance between the upper and lower clamping wheels, allowing the inspection robot to adapt to the inspection of high-voltage lines of different thicknesses. This solution enables automatic adjustment of the distance between the two ice-crushing gears, eliminating the need for an additional adjustment structure, making it more convenient to use. The helix angle of the positive thread on the lead screw is smaller than the equivalent friction angle between the first nut and the positive thread, providing a self-locking function between the first nut and the positive thread. Similarly, the helix angle of the negative thread on the lead screw is smaller than the equivalent friction angle between the second nut and the negative thread, also providing a self-locking function between the second nut and the negative thread. The use of a lead screw and nut structure gives the transmission mechanism a self-locking function. The distance between the two ice-crushing gears can only be changed by rotating the first helical gear. Even if the ice-crushing gears are subjected to a large reaction force during the ice-crushing process, the distance between the two ice-crushing gears will not increase, ensuring the ice-crushing effect. Furthermore, the reaction force from the ice-crushing will not drive the upper and lower racks through the transmission mechanism, preventing the upper and lower clamping wheels in the forward walking arm from loosening during the ice-crushing process. If the transmission mechanism did not have a self-locking function, when the ice-crushing gears are subjected to a large reaction force during the ice-crushing process, it would drive the transmission gear to rotate through the transmission mechanism, thereby moving the upper and lower sliding plates. This would increase the distance between the upper and lower clamping wheels, causing them to fail to clamp the wires securely, and posing a risk of the walking mechanism falling off. Attached Figure Description
[0021] Figure 1 This is a schematic diagram of the structure of the present invention;
[0022] Figure 2This is a schematic diagram of the structure of the forward traveling arm in this invention;
[0023] Figure 3 This is a schematic diagram of the ice-crushing mechanism in this invention. Figure 1 ;
[0024] Figure 4 yes Figure 1 A magnified view of a section at point A in the middle;
[0025] Figure 5 This is a schematic diagram of the ice-crushing mechanism in this invention. Figure 2 .
[0026] In the diagram: Inspection platform 1, Walking mechanism 2, Front walking arm 2.1, Fixed frame 2.1.1, Upper sliding plate 2.1.2, Upper rack 2.1.3, Upper clamping wheel 2.1.4, Transmission gear 2.1.5, Lower rack 2.1.6, Lower sliding plate 2.1.7, Lower clamping wheel 2.1.8, Clamping driver 2.1.9, Positioning slot 2.1.10, First helical gear 2.1.11, Lead screw 2.1.12, Second helical gear 2.1.13, First nut 2.1.14, Second Nut; 2.1.15, Rear Traveling Arm; 2.2, Ice Crushing Mechanism; 3, Ice Crushing Connecting Plate; 3.1, Left Ice Crushing Connecting Plate; 3.1.1, Right Ice Crushing Connecting Plate; 3.1.2, Ice Crushing Gear; 3.2, Ice Crushing Driver; 3.3, Second Gear; 3.4, First Rack; 3.5, Second Rack; 3.6, Ice Shovel Mechanism; 4, Ice Shovel Connecting Plate; 4.1, Upper Ice Shovel Connecting Plate; 4.1.1, Lower Ice Shovel Connecting Plate; 4.1.2, Shovel Blade; 4.2, High Voltage Wire; 5. Detailed Implementation
[0027] The present invention will now be further described with reference to the accompanying drawings and specific embodiments.
[0028] Example 1:
[0029] like Figures 1 to 4As shown, a power line inspection robot includes an inspection platform 1 and a walking mechanism 2 for walking on a high-voltage line 5. The walking mechanism 2 is positioned above the inspection platform 1. The walking mechanism 2 is equipped with an ice-crushing mechanism 3 and an ice-shoveling mechanism 4. The ice-shoveling mechanism 4 is located at the front end of the walking mechanism 2, and the ice-crushing mechanism 3 is located at the front end of the ice-shoveling mechanism 4. The ice-crushing mechanism 3 includes an ice-crushing connecting plate 3.1, two ice-crushing gears 3.2, and an ice-crushing driver 3.3. The ice-crushing connecting plate 3.1 is connected to the walking mechanism 2. The ice-crushing gears 3.2 are rotatably mounted on the ice-crushing connecting plate 3.1. The ice-shoveling driver 3.3 drives the ice-crushing gears 3.2 to rotate. The two ice-crushing gears 3.2 are symmetrically arranged on the left and right sides of the high-voltage line 5. The ice-shoveling mechanism 4 includes an ice-shoveling connecting plate 4.1 and two shovels 4.2. The ice-shoveling connecting plate 4.1 is connected to the walking mechanism 2, and the shovels 4.2 are fixed to the ice-shoveling connecting plate 4.1. The two shovels 4.2 are symmetrically arranged on opposite sides of the high-voltage line 5.
[0030] In the above technical solution, the inspection platform 1 is equipped with a power supply for power supply and a camera for taking pictures and videos. The inspection platform 1 is suspended below the walking mechanism 2. The ice-crushing mechanism 3 is located at the front end and can crush the ice on the high-voltage line 5 during the inspection process. As the walking mechanism 2 moves forward, the ice-crushing gear 3.2 rotates and uses the teeth on the gear to crush the ice on the high-voltage line 5. Two ice-crushing gears 3.2 are located on the left and right sides of the high-voltage line 5, which can avoid the interference of ice pillars hanging on the high-voltage line 5 with the ice-crushing gears 3.2. The ice on both sides of the high-voltage line 5 is relatively flat, which is more conducive to crushing by the ice-crushing gears 3.2. The ice-shoveling mechanism 4 can remove the ice that has not yet fallen off after crushing from the high-voltage line 5.
[0031] Preferably, the two scrapers 4.2 are positioned on the upper and lower sides of the high-voltage line 5. This configuration, together with the two ice-crushing gears 3.2, can effectively remove ice from the high-voltage line 5 in the vertical and horizontal directions.
[0032] like Figure 1 As shown, the walking mechanism 2 includes a front walking arm 2.1 and a rear walking arm 2.2, both of which clamp the high-voltage line 5. The front walking arm 2.1 is located at the front end of the rear walking arm 2.2. In the above technical solution, the front walking arm 2.1 and the rear walking arm 2.2 can stably fix the inspection platform 1 below the high-voltage line 5.
[0033] Preferred, such as Figure 2As shown, the forward traveling arm 2.1 includes a fixed frame 2.1.1, an upper sliding plate 2.1.2, an upper rack 2.1.3, an upper clamping wheel 2.1.4, a transmission gear 2.1.5, a lower rack 2.1.6, a lower sliding plate 2.1.7, a lower clamping wheel 2.1.8, and a clamping driver 2.1.9. The fixed frame 2.1.1 is fixed to the inspection platform 1. The upper sliding plate 2.1.2 and the lower sliding plate 2.1.7 are slidably connected to the fixed frame 2.1.1 in the vertical direction. The upper rack 2.1.3 is fixed to the upper sliding plate 2.1.2. The upper clamping wheel 2.1.4 is rotatably connected to the upper sliding plate 2.1.2. The lower rack 2.1.6 is slidably connected to the lower sliding plate 2.1.7 in the vertical direction. Plate 2.1.7 is fixed, and the lower clamping wheel 2.1.8 is rotatably connected to the lower sliding plate 2.1.7. The upper rack 2.1.3 and the lower rack 2.1.6 are arranged on the left and right sides of the transmission gear 2.1.5 and are both meshed with the transmission gear 2.1.5 so that when the transmission gear 2.1.5 rotates, it drives the upper rack 2.1.3 and the lower rack 2.1.6 to move synchronously in opposite directions. The upper clamping wheel 2.1.4 and the lower clamping wheel 2.1.8 are arranged on the upper and lower sides of the high-voltage line 5. The clamping driver 2.1.9 is connected to the transmission gear 2.1.5 so that the upper clamping wheel 2.1.4 and the lower clamping wheel 2.1.8 clamp the high-voltage line 5.
[0034] In the above technical solution, when the clamping driver 2.1.9 drives the upper clamping wheel 2.1.4 and the lower clamping wheel 2.1.8 to clamp the high-voltage line 5, the upper clamping wheel 2.1.4 and the lower clamping wheel 2.1.8 move synchronously and in opposite directions. This ensures that the high-voltage line 5 is always in the center position of the front traveling arm 2.1, without any eccentricity. This allows the ice-crushing mechanism 3 and the ice-shoveling mechanism 4 connected to the front traveling arm 2.1 to accurately align the high-voltage line 5 with its axis, thus better removing ice from the surface of the high-voltage line 5. This prevents the ice scraper 4.2 and the ice-crushing gear 3.2 on one side from getting too close to the high-voltage line 5, causing wear on the high-voltage line 5, the ice scraper 4.2, and the ice-crushing gear 3.2, and also prevents the ice scraper 4.2 and the ice-crushing gear 3.2 on one side from getting too far away from the high-voltage line 5, resulting in incomplete de-icing.
[0035] Preferably, there are two upper clamping wheels 2.1.4, and the axis of the lower clamping wheel 2.1.8 is arranged on the symmetrical plane of the two upper clamping wheels 2.1.4.
[0036] Preferably, the upper clamping wheel 2.1.4 is provided with a positioning groove 2.1.10, and the lower clamping wheel 2.1.8 is provided with a positioning groove 2.1.10.
[0037] The rear-traveling arm includes a fixed frame, an upper clamping wheel, a lower clamping wheel, a sliding plate, and a clamping driver. The fixed frame is fixed to the inspection platform, the sliding plate is slidably connected to the fixed frame in the vertical direction, the upper clamping wheel is rotatably connected to the fixed frame, and the lower clamping wheel is rotatably connected to the sliding plate. The clamping driver is fixed to the fixed frame and drives the sliding plate to move up and down, so that the upper and lower clamping wheels clamp the high-voltage line. The rear-traveling arm can be an active forward mechanism with a driver or a passive forward mechanism that only provides support without a driver.
[0038] In one embodiment, the ice-crushing driver drives one of the ice-crushing gears to rotate, and the two ice-crushing gears are connected by a transmission mechanism such as a gear transmission mechanism or a belt transmission mechanism. The ice-crushing driver is an electric motor.
[0039] Understandably, in another embodiment, the number of ice-crushing actuators is two, with each actuator driving an ice-crushing gear to rotate. The ice-crushing actuator is a motor.
[0040] Understandably, in another embodiment, two shovels could be positioned on the left and right sides of the high-voltage line.
[0041] In one embodiment, the output shaft of the clamping driver is directly fixed to the transmission gear, and the clamping driver is a motor.
[0042] Understandably, in another embodiment, the clamping driver causes one of the upper and lower sliding plates to translate, and the clamping driver is a linear driver.
[0043] Example 2:
[0044] like Figure 1 and Figure 4 As shown, based on Embodiment 1, the ice-shoveling connecting plate 4.1 includes an upper ice-shoveling connecting plate 4.1.1 and a lower ice-shoveling connecting plate 4.1.2. The upper ice-shoveling connecting plate 4.1.4 is fixed to the upper sliding plate 2.1.2, and the lower ice-shoveling connecting plate 4.1.2 is fixed to the lower sliding plate 2.1.7, so that the distance between the two shovel blades 4.2 changes with the distance between the upper clamping wheel 2.1.4 and the lower clamping wheel 2.1.8.
[0045] In the above technical solution, the distance between the two scraper blades 4.2 varies with the distance between the upper clamping wheel 2.1.4 and the lower clamping wheel 2.1.8, allowing the inspection robot to adapt to the inspection of high-voltage lines 5 of different thicknesses. It also ensures that the two scraper blades 4.2 will not directly wear against the surface of the high-voltage line 5, nor will they be too far from the high-voltage line 5, resulting in incomplete de-icing. This solution allows for automatic adjustment of the distance between the two scraper blades 4.2, eliminating the need for an additional adjustment structure to adjust the distance between the two ice-crushing gears 3.2, making it more convenient to use.
[0046] Example 3:
[0047] like Figure 3 As shown, based on Embodiment 1, the ice-crushing connecting plate 3.1 includes a left ice-crushing connecting plate 3.1.1 and a right ice-crushing connecting plate 3.1.2. The left ice-crushing connecting plate 3.1.1 and the right ice-crushing connecting plate 3.1.2 are slidably connected to the fixing frame 2.1.1 in the left and right directions, respectively. Two ice-crushing gears 3.2 are rotatably connected to the left ice-crushing connecting plate 3.1.1 and the right ice-crushing connecting plate 3.1.2, respectively. There are two ice-crushing actuators 3.3, which drive the corresponding ice-crushing gears 3.2 to rotate. The frame 2.1.1 is provided with a second gear 3.4 that is connected to the transmission gear 2.1.5. A first rack 3.5 is fixed on the left ice crushing connecting plate 3.1.1, and a second rack 3.6 is fixed on the right ice crushing connecting plate 3.1.2. The first rack 3.5 and the second rack 3.6 are located on the upper and lower sides of the second gear 3.4 and are both meshed with the second gear 3.4, so that the distance between the two ice crushing gears 3.2 changes with the distance between the upper clamping wheel 2.1.4 and the lower clamping wheel 2.1.8.
[0048] In the above technical solution, the distance between the two ice-crushing gears 3.2 changes with the distance between the upper clamping wheel 2.1.4 and the lower clamping wheel 2.1.8, allowing the inspection robot to adapt to the inspection of high-voltage lines 5 of different thicknesses. This solution enables automatic adjustment of the distance between the two ice-crushing gears 3.2, eliminating the need for an additional adjustment structure, making it more convenient to use. Furthermore, to ensure the reliability of the walking mechanism, the upper and lower clamping wheels in the front walking arm must clamp the high-voltage line from both vertical directions. To prevent icicles hanging from the high-voltage line 5 from interfering with the ice-crushing gears 3.2, the two ice-crushing gears 3.2 need to be arranged horizontally on both sides of the high-voltage line, not vertically. Therefore, the two ice-crushing gears 3.2 cannot be directly fixed to the upper and lower sliding plates respectively. The above structure allows the horizontal distance between the two ice-crushing gears 3.2 to change with the vertical distance between the upper clamping wheel 2.1.4 and the lower clamping wheel 2.1.8.
[0049] In one embodiment, the second gear 3.4 is coaxially fixed with the transmission gear 2.1.5.
[0050] Understandably, in another embodiment, the second gear 3.4 and the transmission gear 2.1.5 are an integral structure.
[0051] Example 4:
[0052] like Figure 5 As shown, based on Embodiment 1, the ice-crushing connecting plate 3.1 includes a left ice-crushing connecting plate 3.1.1 and a right ice-crushing connecting plate 3.1.2. The left and right ice-crushing connecting plates 3.1.1 and 3.1.2 are slidably connected to the fixed frame 2.1.1 in the left-right direction, respectively. Two ice-crushing gears 3.2 are rotatably connected to the left and right ice-crushing connecting plates 3.1.1 and 3.1.2, respectively. There are two ice-crushing actuators 3.3, which drive the corresponding ice-crushing gears 3.2 to rotate. The fixed frame 2.1.1 is provided with a first helical gear 2.1.11 coaxially fixed to the transmission gear 2.1.5. The fixed frame 2.1.1 is also provided with a lead screw 2.1.12 rotatably connected to the fixed frame 2.1.1. A second helical gear 2.1.13 is coaxially fixed to the lead screw 2.1.12. The lead screw 2.1.12, which meshes with the first helical gear 2.1.11 and whose rotation axes are perpendicular to each other, is provided with a positive thread and a negative thread. A first nut 2.1.14 adapted to the positive thread is fixed on the left ice crushing connecting plate 3.1.1, and a second nut 2.1.15 adapted to the negative thread is fixed on the right ice crushing connecting plate 3.1.2. The transmission gear 2.1.5 drives the lead screw 2.1.12 to rotate through the first helical gear 2.1.11 and the second helical gear 2.1.13, so as to drive the left ice crushing connecting plate 3.1.1 and the right ice crushing connecting plate 3.1.2 to move relative to each other. The helix angle of the positive thread on the lead screw 2.1.12 is less than the equivalent friction angle between the first nut 2.1.14 and the positive thread, and the helix angle of the negative thread on the lead screw 2.1.12 is less than the equivalent friction angle between the second nut 2.1.15 and the negative thread.
[0053] In the above technical solution, when the transmission gear 2.1.5 drives the lead screw 2.1.12 to rotate, the distance between the two ice-crushing gears 3.2 can change with the distance between the upper clamping wheel 2.1.4 and the lower clamping wheel 2.1.8, allowing the inspection robot to adapt to the inspection of high-voltage lines 5 of different thicknesses. This solution enables automatic adjustment of the distance between the two ice-crushing gears 3.2, eliminating the need for an additional adjustment structure, making it more convenient to use. The helix angle of the positive thread on the lead screw 2.1.12 is smaller than the equivalent friction angle between the first nut 2.1.14 and the positive thread, providing a self-locking function between the first nut 2.1.14 and the positive thread. Similarly, the helix angle of the negative thread on the lead screw 2.1.12 is smaller than the equivalent friction angle between the second nut 2.1.15 and the negative thread, also providing a self-locking function between the second nut 2.1.15 and the negative thread. The use of a lead screw and nut structure gives the transmission mechanism a self-locking function. The distance between the two ice-crushing gears 3.2 can only be changed by rotating the first helical gear 2.1.11. Even if the ice-crushing gear 3.2 is subjected to a large reaction force during the ice-crushing process, the distance between the two ice-crushing gears 3.2 will not increase, thus ensuring the ice-crushing effect. Moreover, the reaction force of ice crushing will not drive the upper rack 2.1.3 and lower rack 2.1.6 to move through the transmission mechanism, which can prevent the upper clamping wheel 2.1.4 and lower clamping wheel 2.1.8 in the forward walking arm 2.1 from loosening during the ice-crushing process. If the transmission mechanism does not have a self-locking function, when the ice-crushing gear 3.2 is subjected to a large reaction force during the ice-crushing process, it will drive the transmission gear 2.1.5 to rotate through the transmission mechanism, which in turn will drive the upper slide plate 2.1.2 and the lower slide plate 2.1.7 to move. This will cause the gap between the upper clamping wheel 2.1.4 and the lower clamping wheel 2.1.8 to increase, making it impossible for the upper clamping wheel 2.1.4 and the lower clamping wheel 2.1.8 to clamp the wire tightly, which will pose a risk of the walking mechanism 2 falling off.
Claims
1. A power line inspection robot, comprising an inspection platform and a walking mechanism for moving along high-voltage lines, the walking mechanism being disposed above the inspection platform, characterized in that, The walking mechanism is equipped with an ice-crushing mechanism and an ice-shoveling mechanism. The ice-shoveling mechanism is located at the front end of the walking mechanism, and the ice-crushing mechanism is located at the front end of the ice-shoveling mechanism. The ice-crushing mechanism includes an ice-crushing connecting plate, two ice-crushing gears, and an ice-crushing driver. The ice-crushing connecting plate is connected to the walking mechanism, and the ice-crushing gears are rotatably mounted on the ice-crushing connecting plate. The ice-crushing driver drives the ice-crushing gears to rotate. The two ice-crushing gears are located on the left and right sides of the high-voltage line. The ice-shoveling mechanism includes an ice-shoveling connecting plate and two shovels. The ice-shoveling connecting plate is connected to the walking mechanism, and the shovels are fixed to the ice-shoveling connecting plate. The two shovels are located on opposite sides of the high-voltage line. The walking mechanism includes a front walking arm and a rear walking arm. Both the front walking arm and the rear walking arm clamp the high-voltage line, and the front walking arm is located at the front end of the rear walking arm. The forward traveling arm includes a fixed frame, an upper sliding plate, an upper rack, an upper clamping wheel, a transmission gear, a lower rack, a lower sliding plate, a lower clamping wheel, and a clamping driver. The fixed frame is fixed to the inspection platform. The upper and lower sliding plates are slidably connected to the fixed frame in the vertical direction. The upper rack is fixed to the upper sliding plate. The upper clamping wheel is rotatably connected to the upper sliding plate. The lower rack is fixed to the lower sliding plate. The lower clamping wheel is rotatably connected to the lower sliding plate. The upper and lower racks are located on the left and right sides of the transmission gear and mesh with the transmission gear so that when the transmission gear rotates, it drives the upper and lower racks to move synchronously in the opposite direction. The upper and lower clamping wheels are located on the upper and lower sides of the high-voltage line. The clamping driver is driven by the transmission gear so that the upper and lower clamping wheels clamp the high-voltage line. The ice-shoveling connecting plate includes an upper ice-shoveling connecting plate and a lower ice-shoveling connecting plate. The upper ice-shoveling connecting plate is fixed to the upper sliding plate, and the lower ice-shoveling connecting plate is fixed to the lower sliding plate, so that the distance between the two blades changes with the distance between the upper clamping wheel and the lower clamping wheel. Alternatively, the ice crushing connecting plate includes a left ice crushing connecting plate and a right ice crushing connecting plate, which are slidably connected to the fixing frame in the left and right directions, respectively. Two ice crushing gears are rotatably connected to the left ice crushing connecting plate and the right ice crushing connecting plate, respectively. The ice crushing driver drives at least one of the ice crushing gears to rotate. The fixing frame is provided with a second gear that is tractively connected to the transmission gear. A first rack is fixed on the left ice crushing connecting plate, and a second rack is fixed on the right ice crushing connecting plate. The first rack and the second rack are located on the upper and lower sides of the second gear and both mesh with the second gear. Alternatively, the ice-crushing connecting plate includes a left ice-crushing connecting plate and a right ice-crushing connecting plate, which are slidably connected to the fixed frame in the left-right direction. Two ice-crushing gears are rotatably connected to the left and right ice-crushing connecting plates, respectively. The ice-crushing driver drives at least one of the ice-crushing gears to rotate. The fixed frame is provided with a first helical gear coaxially fixed to the transmission gear. The fixed frame is provided with a lead screw rotatably connected to the fixed frame. A second helical gear is coaxially fixed to the lead screw. The second helical gear meshes with the first helical gear and their rotation axes are perpendicular to each other. The lead screw is provided with a positive thread and a negative thread. A first nut adapted to the positive thread is fixed to the left ice-crushing connecting plate, and a second nut adapted to the negative thread is fixed to the right ice-crushing connecting plate. The transmission gear drives the lead screw to rotate through the first and second helical gears to drive the left and right ice-crushing connecting plates to move relative to each other. The helix angle of the positive thread on the lead screw is less than the equivalent friction angle between the first nut and the positive thread, and the helix angle of the negative thread on the lead screw is less than the equivalent friction angle between the second nut and the negative thread.
2. The power inspection robot according to claim 1, characterized in that, Two shovels are positioned on the top and bottom sides of the high-voltage line.
3. The power inspection robot according to claim 1, characterized in that, The second gear is fixed coaxially with the transmission gear; or, the second gear and the transmission gear are an integral structure.
4. The power inspection robot according to claim 1, characterized in that, The number of upper clamping wheels is two, and the axis of the lower clamping wheel is set on the symmetrical plane of the two upper clamping wheels.
5. A power inspection robot according to claim 1, characterized in that, The clamping driver is directly connected to the transmission gear; or, the clamping driver drives one of the upper and lower sliding plates to translate.