A separately controlled overhead line inspection robot

Abstract

The present invention discloses a separately controlled overhead line inspection robot, comprising a first arm assembly, a second arm assembly, a retractable arm assembly, and a main control box assembly; the first arm assembly and the second arm assembly have the same structure, both comprising a robotic arm body and an arm chassis, the arm chassis comprising a box body and an arm control panel; the box body is disposed on the back of the arm housing; the arm control panel is mounted within the box body and electrically connected to the robotic arm body for controlling the movements of the robotic arm body; a main control panel is disposed within the main control box assembly, the main control panel being communicatively connected to the arm control panel for controlling the arm control panel. The overhead line inspection robot changes the control mode of the existing integrated main control of the inspection robot to independent control of the first arm assembly and the second arm assembly, and then controls the arm control panels on the first arm assembly and the second arm assembly via the main control panel. When a control problem occurs on one arm, the operation of the other arm is not affected.

Description

Technical Field

[0001] The present invention relates to the field of inspection robots, and in particular to a separate control type overhead line inspection robot. Background Art

[0002] Transmission lines are a crucial component of the power system, crucial to society and people's livelihoods. They serve as the "arteries" of national infrastructure and social development. To ensure their safe and stable operation, patrol robots are required to conduct regular inspections. Domestic patrol robot research and technical solutions are mostly based on two- or three-arm climbing models, consisting of a mobile body, a rear arm, and a front arm. The body is connected to the front and rear arms via a revolving pair, with claws at the ends of the arms. The front and rear arms have identical structures, using a sliding structure formed by a combination of slide rails, slide rails, and ball screws to drive the clamping wheel seat for lifting and lowering.

[0003] The movement of the existing inspection robots' arms, including both retraction and extension, is centrally controlled by a main control panel on the mobile body. If one arm malfunctions, the movement of the other arm is also affected. Furthermore, the main control panel on the mobile body is connected to the two arms via long cables, making the electrical signal transmission process susceptible to external interference. Summary of the Invention

[0004] The purpose of the present invention is to propose a separately controlled overhead line inspection robot to solve the problem that the movement of the arms on both sides and the movement of the retracted and extended arms of the existing inspection robot are centrally controlled on the main control board of the mobile body, resulting in that when one arm fails, the movement control of the arm on the other side will also be affected.

[0005] To achieve this object, the present invention adopts the following technical solutions:

[0006] The present invention provides a separately controlled overhead line inspection robot, comprising a first arm assembly, a second arm assembly, a retractable arm assembly, and a main control box assembly; the first arm assembly and the second arm assembly have the same structure, both comprising a mechanical arm body and an arm chassis; the upper end of the mechanical arm body is used for driving walking, and the lower end of the mechanical arm body is assembled and connected to the retractable arm assembly; the retractable arm assembly is used to drive the first arm assembly or the second arm assembly to move horizontally; the main control box assembly is arranged at the bottom of the retractable arm assembly;

[0007] The arm chassis includes a box body and an arm control panel; the box body is arranged on the back of the arm shell; the arm control panel is installed in the box body and is electrically connected to the robotic arm body for controlling the movement of the robotic arm body; a main control panel is provided in the main control box assembly, and the main control panel is communicatively connected to the arm control panel for controlling the arm control panel.

[0008] In the separately controlled overhead line inspection robot, the robot arm body includes a walking wheel mechanism, an arm housing, a lifting assembly, a lifting arm, a pressure wheel seat, and a base; the top end of the arm housing is assembled and connected to the walking wheel mechanism, and the bottom of the arm housing is assembled and connected to the base; the side wall of the arm housing is provided with a longitudinal accommodating groove; the lifting assembly is arranged in the longitudinal accommodating groove; the base is slidably assembled with the retractable and extendable arm assembly;

[0009] A cover plate and a pressing seat are provided at the notch of the longitudinal accommodating groove, and the driving end of the lifting assembly extends out from the longitudinal accommodating groove and is connected to the pressing seat; the pressing seat is provided with a mounting groove adapted to the cover plate; the cover plate is embedded in the mounting groove, and the length of the cover plate is adapted to the length of the arm shell; the lifting arm is sleeved on the outer side of the pressing seat, and the driving end of the lifting assembly drives the lifting arm to move in the vertical direction; the pressing wheel seat is assembled on the lifting arm and is arranged on the same side as the driving end of the walking wheel mechanism.

[0010] In the separately controlled overhead line inspection robot, the lifting assembly includes a guide rail, a guide rail slider, a lead screw, a lead screw nut and a lead screw drive;

[0011] The lead screw is arranged in the longitudinal accommodating groove; the lead screw drive is arranged on the base, and the lower end of the lead screw is assembled and connected with the driving end of the lead screw drive; the lead screw passes through the longitudinal accommodating groove, and the upper end of the lead screw is rotatably assembled with the top of the longitudinal accommodating groove; the lead screw nut is threadedly connected to the lead screw, and the left side of the lead screw nut is connected to the lifting arm;

[0012] The guide rail is vertically arranged on the groove wall of the longitudinal accommodating groove, the other side of the lead screw nut is connected to the guide rail slider, and the guide rail slider is slidably assembled with the guide rail.

[0013] In the separately controlled overhead line inspection robot, the walking wheel mechanism includes a walking wheel drive device and a walking wheel; the walking wheel drive device is bolted to the box and is located on the top of the arm shell; the walking wheel is assembled at the driving end of the walking wheel drive device, and the walking wheel is located above the clamping wheel seat.

[0014] In the separately controlled overhead line inspection robot, the robotic arm body further comprises a visual judgment component, and the visual judgment component comprises a first camera, a second camera, and a third camera;

[0015] The first camera is arranged on the side wall near the top end of the arm housing, and the first camera is electrically connected to the arm control panel and is used to observe obstacles in front or behind;

[0016] The second camera is arranged on a side of the base facing away from the main control box assembly, and is electrically connected to the arm control board for observing distant obstacles;

[0017] The third camera is arranged on the left side of the base, and the third camera is located below the pressure wheel seat. The third camera is electrically connected to the arm control board and is used to observe the pressing condition between the running wheel of the running wheel mechanism and the pressure wheel of the pressure wheel seat;

[0018] The fourth camera is arranged on the inner side of the robotic arm body, and the fourth camera is electrically connected to the arm control board for viewing the inner side image of the robotic arm body.

[0019] In the separately controlled overhead line inspection robot, the pressing wheel seat comprises a pressing frame, a pressing wheel assembly and a collision sensing component;

[0020] The middle part of the pressing frame is provided with a mounting notch; the pressing frame is provided with a mounting notch, and the driving end of the lifting assembly is plugged into the mounting notch;

[0021] There are two groups of pressing wheel assemblies, which are rotatably mounted on the top of the pressing frame. There are two groups of collision sensing components, which are symmetrically arranged on both sides of the pressing frame.

[0022] The collision sensing component includes a plate, a sensing spring and a collision sensing part;

[0023] The upper end of the plate body is hinged to the pressing frame, and the induction spring is arranged at the lower end of the plate body, with both ends respectively abutting between the plate body and the side wall of the pressing frame;

[0024] The collision sensing component is located between the plate body and the side wall of the pressing frame, and the collision sensing component is provided with the obstacle sensing end, and the obstacle sensing end is located at the contact position with the plate body.

[0025] In the separately controlled overhead line inspection robot, the pressing wheel seat further comprises a pressing support rod sleeve, and the pressing support rod sleeve is installed in the installation slot;

[0026] The compression support rod sleeve is provided with a connecting hole, the driving end of the lifting assembly passes through the connecting hole, the cross section of the connecting hole is fan-shaped, and the upper end opening size of the connecting hole is smaller than the lower end opening size of the connecting hole.

[0027] In the separately controlled overhead line inspection robot, the compression wheel seat further comprises a compression sensing assembly, and the compression sensing assembly comprises a compression sensing part and two circuit boards;

[0028] The compression sensing component is installed at the upper end of the installation slot. The compression sensing component is electrically connected to two circuit boards respectively. The circuit boards are respectively arranged below the corresponding compression wheel groups.

[0029] In the separately controlled overhead line inspection robot, the main control box assembly includes a main control box body, a power box and a pan / tilt platform;

[0030] Two L-shaped connecting plates are symmetrically provided on one side of the main control box body, and the two L-shaped connecting plates form an installation area, and a power box is provided in the installation area;

[0031] Each of the L-shaped connecting plates is provided with a mounting block on one side away from the mounting interval, and each of the mounting blocks is provided with an automatic rebound pin. The power box is located between the two automatic rebound pins, and positioning holes that are compatible with the automatic rebound pins are provided on both sides of the power box; the pan-tilt head is arranged at the bottom of the main control box body.

[0032] In the separately controlled overhead line inspection robot, the retractable arm assembly includes a sliding cross arm, a first drive slider and a second drive slider. The sliding cross arm is arranged on the top surface of the main control box assembly. The sliding cross arm is provided with a slide rail. The first drive slider and the second drive slider are respectively slidably assembled on the slide rail. The first drive slider and the second drive slider are both provided with a drive device, and the drive device is electrically connected to the main control board; the drive device is used to drive the first drive slider or the second drive slider to move along the slide rail; the bottom of the first arm assembly is connected to the first drive slider, and the bottom of the second arm assembly is connected to the second drive slider.

[0033] A technical solution in the present invention can have the following beneficial effects:

[0034] The overhead line inspection robot splits the existing control module into three parts: the left arm motion control module, the right arm motion control module, and the main control module. The main control module is located on the main control box. The existing integrated main control system of the inspection robot is modified to allow independent control of the first and second arm components. The main control board then controls the arm control panels on the first and second arm components. This allows control issues on one arm to remain unaffected by the operation of the other arm. Furthermore, the arm control panels are closer to the various drive devices on the robot body, reducing cable length and minimizing external interference with the electrical signal transmission process. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a structural schematic diagram of one embodiment of the present invention;

[0036] Figure 2 is a schematic structural diagram of a first arm assembly in one embodiment of the present invention;

[0037] Figure 3 is a schematic diagram of the connection between the lifting assembly and the lifting arm in one embodiment of the present invention;

[0038] Figure 4 This is a schematic structural diagram of a lifting assembly in one embodiment of the present invention;

[0039] Figure 5 is a schematic structural diagram of a second arm assembly in one embodiment of the present invention;

[0040] Figure 6 This is a schematic structural diagram of a pressure wheel seat in one embodiment of the present invention;

[0041] Figure 7 is a schematic cross-sectional view of a pressure wheel seat in one embodiment of the present invention;

[0042] Figure 8 This is a structural diagram of the main control box assembly in one embodiment of the present invention;

[0043] Figure 9 This is a schematic structural diagram of a retractable arm assembly in one embodiment of the present invention;

[0044] In the figure: the robot body 1, the arm chassis 2; the retractable arm assembly 3, the main control box assembly 4;

[0045] Travel wheel mechanism 11, arm housing 12, lifting assembly 13, lifting arm 14, pressure wheel seat 15, base 16; cover plate 17, pressure seat 18; box body 21, arm control panel 22; sliding cross arm 31, first drive slider 32; second drive slider 33, drive device 34; main control box body 41, power box 42, pan / tilt head 43, live rangefinder 44;

[0046] First camera 101, second camera 102, third camera 103, fourth camera 104; travel wheel drive device 111, travel wheel 112; longitudinal accommodating groove 120; guide rail 131, guide rail slider 132, lead screw 133, lead screw nut 134, lead screw drive 135; connecting seat 141, connecting rod 142; pressing frame 151, pressing wheel assembly 152; collision sensing assembly 153, pressing support rod sleeve 154, pressing sensing assembly 155; slide rail 311; L-shaped guide rail 401, limit plate 402; L-shaped connecting plate 411, limit groove 412, mounting block 413; automatic rebound latch 414;

[0047] Obstacle sensing end 1530 , plate 1531 , sensing spring 1532 , collision sensing element 1533 , connecting hole 1540 , and pressing sensing element 1551 . DETAILED DESCRIPTION

[0048] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0049] In the description of the present invention, it should be understood that the terms "longitudinal", "transverse", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operate in a specific direction, and therefore should not be understood as limiting the present invention. In addition, features defined as "first" or "second" may explicitly or implicitly include one or more such features, and are used to distinguish between the described features, without distinction of order or importance.

[0050] In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0051] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0052] Please refer to Figures 1 to 9 The present invention provides a separately controlled overhead line inspection robot, comprising a first arm assembly, a second arm assembly, a retractable arm assembly 3, and a main control box assembly 4; the first arm assembly and the second arm assembly have the same structure, both comprising a robot body 1 and an arm chassis 2; the upper end of the robot body 1 drives walking, and the lower end of the robot body 1 is assembled and connected to the retractable arm assembly 3; the retractable arm assembly 3 is used to drive the first arm assembly or the second arm assembly to move horizontally; the main control box assembly 4 is arranged at the bottom of the retractable arm assembly 3;

[0053] The arm chassis 2 includes a box body 21 and an arm control board 22; the box body 21 is arranged on the back of the arm housing 12; the arm control board 22 is installed in the box body 21 and is electrically connected to the robotic arm body 1 for controlling the movement of the robotic arm body 1; a main control board is provided in the main control box assembly 4, and the main control board is communicated with the arm control board 22 for controlling the arm control board 22.

[0054] The overhead line inspection robot splits the existing control module into three parts, including the left arm motion control, the right arm motion control, and the main control module. The main control module is on the main control box. The control method of the existing integrated main control of the inspection robot is changed to independent control of the first arm component and the second arm component, and then the arm control panel 22 on the first arm component and the second arm component is controlled by the main control panel. When there is a problem with the control of one arm, it will not affect the operation of the other arm. In addition, the arm control panel 22 is closer to the various drive devices on the robot body 1, which can reduce the length of the cable and reduce the interference of the outside world on the electrical signal transmission process.

[0055] The first and second arm assemblies are identical in structure, differing only in their mounting locations. The housing 21, located on the back of the arm housing 12, enhances arm strength without affecting the movement of the first and second arm assemblies, the retractable arm assembly 3, or the ability of the decentralized overhead line inspection robot to navigate obstacles.

[0056] Specifically, the robot arm body 1 includes a walking wheel mechanism 11, an arm housing 12, a lifting assembly, a lifting arm 14, a pressure wheel seat 15 and a base 16; the top end of the arm housing 12 is assembled and connected to the walking wheel mechanism 11, and the bottom of the arm housing 12 is assembled and connected to the base 16; the side wall of the arm housing 12 is provided with a longitudinal accommodating groove 120; the lifting assembly is arranged in the longitudinal accommodating groove 120; the base 16 is slidably assembled with the retractable arm assembly 3;

[0057] A cover plate 17 and a pressing seat 18 are provided at the notch of the longitudinal accommodating groove 120, and the driving end of the lifting assembly extends out from the longitudinal accommodating groove 120 and is connected to the pressing seat 18; the pressing seat 18 is provided with a mounting groove adapted to the cover plate 17; the cover plate 17 is embedded in the mounting groove, and the length of the cover plate 17 is adapted to the length of the arm shell 12; the lifting arm 14 is sleeved on the outside of the pressing seat 18, and the driving end of the lifting assembly drives the lifting arm 14 to move in the vertical direction; the pressing wheel seat 15 is assembled on the lifting arm 14 and is arranged on the same side as the driving end of the walking wheel mechanism 11.

[0058] The arm structure is provided with a longitudinal accommodating groove 120 on the side wall of the arm housing 12, so that the lifting assembly can be installed inside the arm housing 12, and the cover plate 17 is embedded in the installation groove of the clamping seat 18. By providing the cover plate 17, the side wall opening of the longitudinal accommodating groove 120 can be concealed, so that the lifting assembly can be hidden, thereby preventing the lifting assembly of the overhead line inspection robot from encountering frost, dust or snow accumulation in bad weather, thereby avoiding the problem of the lifting assembly getting stuck. The clamping wheel seat on the line inspection robot arm is prevented from being affected by frost, dust or snow accumulation and being unable to press against or move away from the power transmission line as required, so that the line inspection robot can move normally along the power transmission line in heavy snow or windy and sandy environments.

[0059] When the robotic arm needs to clamp the power line and move, the driving end of the lifting assembly drives the lifting arm 14 upward, so that the pressure roller seat 15 is in close contact with the power line. The pressure roller seat 15 cooperates with the upper running wheel mechanism 11 to achieve the effect of clamping the power line, and the driving end of the running wheel mechanism 11 can rotate on the power line, thereby achieving the effect of moving on the power line. When encountering an obstacle, the driving end of the lifting assembly drives the lifting arm 14 downward to avoid the obstacle on the power line. The base 16 is used to connect with the retracting and extending arm assembly 3.

[0060] Specifically, the lifting assembly includes a guide rail 131, a guide rail slider 132, a lead screw 133, a lead screw nut 134 and a lead screw drive 135;

[0061] The lead screw 133 is disposed in the longitudinal accommodating groove 120; the lead screw drive 135 is disposed on the base 16, and the lower end of the lead screw 133 is assembled and connected to the driving end of the lead screw drive 135; the lead screw 133 passes through the longitudinal accommodating groove 120, and the upper end of the lead screw 133 is rotatably assembled with the top of the longitudinal accommodating groove 120; the lead screw nut 134 is threadedly connected to the lead screw 133, and the left side of the lead screw nut 134 is connected to the lifting arm 14;

[0062] The guide rail 131 is vertically arranged on the groove wall of the longitudinal accommodating groove 120 , and the other side of the lead screw nut 134 is connected to the guide rail slider 132 , and the guide rail slider 132 is slidably assembled with the guide rail 131 .

[0063] The lead screw nut 134 is the driving end of the lifting assembly. With the above structure, the rotation of the spiral on the lead screw 133 is used to realize the transmission of force and the transformation of action. The lead screw drive 135 is specifically a motor, which can drive the lead screw 133 to rotate with the axis of the lead screw 133 itself as the rotation axis. When the lead screw 133 rotates, due to the presence of the spiral groove on the lead screw 133, the upper guide rail 131 and the guide rail slider 132 play a limiting role, so the lead screw nut 134 will move linearly along the axial direction of the lead screw 133, thereby driving the lifting arm 14 and the pressure wheel seat 15 to rise or fall. In a specific embodiment of the present invention, the lead screw nut 134 protrudes outward to form a connecting block for connecting the lifting arm 14.

[0064] The cross section of the longitudinal accommodating groove 120 is circular or elliptical, and the shape of the lead screw nut 134 is adapted to the longitudinal accommodating groove 120 .

[0065] Lifting arm 14 includes a connecting seat 141 and a connecting rod 142. The right side of connecting seat 141 is provided with a nesting groove that matches the shape of pressing seat 18, into which pressing seat 18 fits. Connecting rod 142 is mounted on the left side of connecting seat 141, and pressing roller seat 15 is mounted on connecting rod 142. The nesting groove allows connecting seat 141 to connect with pressing seat 18, allowing screw nut 134 to drive connecting seat 141 upward or downward movement.

[0066] Specifically, the walking wheel mechanism 11 includes a walking wheel driving device 111 and a walking wheel 112; the walking wheel driving device 111 is bolted to the box body 21 and is located at the top of the arm housing 12; the walking wheel 112 is assembled at the driving end of the walking wheel driving device 111, and the walking wheel 112 is located above the clamping wheel seat 15.

[0067] The walking wheel driving device 111 and the walking wheel 112 can refer to the walking wheel driving motor and walking wheel of the existing inspection robot. The walking wheel driving motor drives the walking wheel to rotate, and cooperates with the clamping wheel seat 15 to clamp the transmission line, thereby achieving the effect of the inspection robot moving along the transmission line.

[0068] Specifically, the robot body 1 further includes a visual judgment component, which includes a first camera 101, a second camera 102 and a third camera 103;

[0069] The first camera 101 is disposed on a side wall near the top end of the arm housing 12. The first camera 101 is electrically connected to the arm control panel 22 and is used to observe obstacles in front or behind.

[0070] The second camera 102 is disposed on a side of the base 16 facing away from the main control box assembly 4. The second camera 102 is electrically connected to the arm control board 22 and is used to observe distant obstacles.

[0071] The third camera 103 is provided on the left side of the base 16 and is located below the pressing wheel seat 15. The third camera 103 is electrically connected to the arm control panel 22 and is used to observe the pressing condition between the running wheel of the running wheel mechanism 11 and the pressing wheel of the pressing wheel seat 15.

[0072] The fourth camera 104 is disposed on the inner side of the robotic arm body 1 . The fourth camera 104 is electrically connected to the arm control board 22 and is used to view the inner side of the robotic arm body 1 .

[0073] The first camera 101, the second camera 102, and the third camera 103 can refer to existing inspection robot cameras. The first camera 101 is used to monitor obstacles or transmission lines near the overhead line inspection robot, and transmits image data to the arm control board 22, which then transmits the image data to the main control board for judgment and processing.

[0074] Second camera 102 monitors obstacles in the distance of the overhead line inspection robot. It transmits image data to arm control board 22, which then transmits it to the main control board for evaluation and processing. Second camera 102, in conjunction with first camera 101, enables the main control board to assess the presence of obstacles and transmits the planned action to arm control board 22 in the form of electrical signals. Arm control board 22 then controls the robot arm 1 to execute its actions, ultimately avoiding obstacles.

[0075] The third camera 103 is arranged on the left side of the base 16, and the third camera 103 is used to observe the pressing condition between the walking wheel of the walking wheel mechanism 11 and the clamping wheel of the clamping wheel seat 15, and transmit the image information to the arm control board 22, and then transmit it to the main control board through the arm control board 22. The main control board determines whether the walking wheel and the clamping wheel are clamped. The main control board then plans the action information in the form of an electrical signal to the arm control board 22 according to the actual situation. The arm control board 22 controls the robot body 1 to realize the operation of lifting the height of the clamping wheel seat 15 to clamp the walking wheel and the clamping wheel, and realize or lower the height of the clamping wheel seat 15 to move the walking wheel and the clamping wheel away from each other.

[0076] The opposite side of the two robotic arm bodies 1 is the inner side of the robotic arm body 1, which is used to observe the situation between the two robotic arm bodies 1 and transmit the image information to the arm control board 22, and then transmit it to the main control board through the arm control board 22. The main control board judges the distance between the robotic arm bodies 1. The main control board then plans the action information in the form of an electrical signal according to the actual situation. The arm control board 22 controls the retraction and extension of the arm assembly, thereby realizing the operation of adjusting the distance between the robotic arm bodies 1; it can also observe the situation between the robotic arm bodies 1 and judge whether there is a problem with the robotic arm bodies 1.

[0077] The first camera 101 and the second camera 102 on the first arm assembly face the front side, while the first camera 101 and the second camera 102 on the second arm assembly face the rear side.

[0078] Specifically, the pressing wheel seat 15 includes a pressing frame 151, a pressing wheel assembly 152 and a collision sensing component 153;

[0079] The middle portion of the pressing frame 151 is provided with a mounting notch; the pressing frame 151 is provided with a mounting notch, and the driving end of the lifting assembly is plugged into the mounting notch;

[0080] There are two sets of pressing wheel assemblies 152, which are rotatably mounted on the top of the pressing frame 151. There are two sets of collision sensing components 153, which are symmetrically arranged on both sides of the pressing frame 151.

[0081] The collision sensing assembly 153 includes a plate 1531 , a sensing spring 1532 and a collision sensing member 1533 ;

[0082] The upper end of the plate 1531 is hinged to the pressing frame 151 , and the induction spring 1532 is provided at the lower end of the plate 1531 , with both ends respectively abutting between the plate 1531 and the side wall of the pressing frame 151 ;

[0083] The collision sensing member 1533 is located between the plate body 1531 and the side wall of the pressing frame 151 , and the collision sensing member 1533 is provided with the obstacle sensing end 1530 . The obstacle sensing end 1530 is located at a contact position with the plate body 1531 .

[0084] When collision sensing assembly 153 contacts an obstacle, the lower end of plate 1531 is squeezed, causing it to rotate toward compression frame 151 about its upper hinge. This compresses sensing spring 1532 and triggers collision sensing element 1533, causing it to emit a "collision detection" signal. Once plate 1531 clears the obstacle, sensing spring 1532 resets plate 1531, and the "collision detection" signal from collision sensing element 1533 disappears.

[0085] In a specific embodiment of the present invention, two pressing wheel seats are provided on the top of the pressing frame, and the two pressing wheel seats are symmetrically distributed; both pressing wheel seats are provided with a pressing through-hole; the pressing wheel assembly 152 includes a pressing wheel, a pressing bearing, a pressing wheel shaft, and a pressing wheel seat bearing cap; the pressing bearing is installed in the pressing through-hole, the pressing wheel shaft passes through the pressing wheel, and the two ends of the pressing wheel shaft are rotatably installed on the two pressing bearings, and the wheel surface of the pressing wheel is a rotating surface; the pressing wheel seat bearing cap is connected to the pressing wheel seat screw for axial positioning of the pressing wheel assembly 152. With the above structure, the pressing wheel seat supports the pressing wheel shaft and the pressing wheel with a clearance fit with the pressing wheel shaft through the pressing bearing, so as to achieve contact with the transmission line and rotation along the transmission line.

[0086] Specifically, the pressing wheel seat 15 further includes a pressing support rod sleeve 154, and the pressing support rod sleeve 154 is installed in the installation slot;

[0087] The compression support rod sleeve 154 is provided with a connecting hole 1540 , through which the driving end of the lifting assembly passes. The cross section of the connecting hole 1540 is fan-shaped, and the upper opening size of the connecting hole 1540 is smaller than the lower opening size of the connecting hole 1540 .

[0088] With the above structure, the connecting rod 142 passes through the connecting hole 1540, connecting the lifting arm 14 to the pressure roller seat 15. Because the cross-section of the connecting hole 1540 is fan-shaped, after the lifting arm 14 passes through the connecting hole 1540, the pressure roller seat 15 can swing a certain range with the connecting rod 142 as the rotation axis, ensuring that in the normal state, the pressure roller and the conductive roller of the pressure roller assembly 152 can both compress the transmission line; in the anti-slip state, both the pressure roller and the conductive roller can compress the transmission line simultaneously.

[0089] Specifically, the compression wheel seat 15 further includes a compression sensing assembly 155, and the compression sensing assembly 155 includes a compression sensing member 1551 and two circuit boards;

[0090] The compression sensing assembly 155 is installed at the upper end of the installation slot. The compression sensing assembly 1551 is electrically connected to the two circuit boards. The circuit boards are respectively arranged below the corresponding compression wheel assembly 152.

[0091] In a specific embodiment of the present invention, the compression sensing component 155 is a pressure sensor. A pressure sensing terminal is provided below the compression wheel assembly 152 to detect and control the compression force of the compression wheels on both sides to avoid the compression force being too small or too large.

[0092] Moreover, the pressure sensor is installed in a manner that a pressure sensing end is added and an appropriate gap is set, so that the pressing support rod and the pressure sensor can move up and down without affecting the swing of the pressing wheel.

[0093] Specifically, the main control box assembly 4 includes a main control box body 41, a power box 42 and a pan / tilt head 43;

[0094] Two L-shaped connecting plates 411 are symmetrically provided on one side of the main control box body 41. The two L-shaped connecting plates 411 form an installation area 412. The power box 42 is provided in the installation area 412.

[0095] Each of the L-shaped connecting plates 411 is provided with a mounting block 413 on the side away from the mounting section 412, and each of the mounting blocks 413 is provided with an automatic rebound pin 414. The power box is located between the two automatic rebound pins 414, and positioning holes that are compatible with the automatic rebound pins 414 are provided on both sides of the power box 42; the pan-tilt head 43 is arranged at the bottom of the main control box body 41.

[0096] In a specific embodiment of the present invention, handles are symmetrically provided on both sides of the main control box body 41 to facilitate users to carry the inspection robot body.

[0097] In one embodiment of the present invention, a fire line rangefinder 44 is provided on the side wall of the main control box body 41. This rangefinder 44 is connected to the main control board via a wire. The rangefinder 44 can monitor the distance between the patrol robot and the fire line below it during operation. When a critical value is reached, the patrol robot stops and issues a warning, preventing the patrol robot from falling below the fire line and potentially causing safety hazards.

[0098] A docking plate is provided at the top of the pan-tilt head 43, and a concave cavity is provided at the bottom of the main control box body 41. L-shaped guide rails 401 are symmetrically provided in the concave cavity. One end of the two L-shaped guide rails 401 is connected to a limiting plate 402, and the docking plate is slidably installed between the two L-shaped guide rails 401.

[0099] By adopting the above structure, the docking plate is slidably connected to the two L-shaped guide rails 401, and the limiting plate 402 is used to block the docking plate to prevent the docking plate from deviating. This can facilitate the disassembly and assembly between the docking plate and the main control box body 41, thereby facilitating the disassembly and assembly between the pan-tilt head 43 and the main control box body 41.

[0100] Specifically, the retractable arm assembly 3 includes a sliding cross arm 31, a first driving slider 32 and a second driving slider 33. The sliding cross arm 31 is arranged on the top surface of the main control box assembly 4. The sliding cross arm 31 is provided with a slide rail 311. The first driving slider 32 and the second driving slider 33 are respectively slidably assembled on the slide rail 311. The first driving slider 32 and the second driving slider 33 are both provided with a driving device 34, and the driving device 34 is electrically connected to the main control board; the driving device 34 is used to drive the first driving slider 32 or the second driving slider 33 to move along the slide rail 311; the bottom of the first arm assembly is connected to the first driving slider 32, and the bottom of the second arm assembly is connected to the second driving slider 33.

[0101] The driving device 34 is electrically connected to the main control board. The main control board can control the driving device 34 to start, so that the first driving slider 32 or the second driving slider 33 moves along the slide rail 311, thereby adjusting the position of the first driving slider 32 or the second driving slider 33 on the slide rail 311, thereby adjusting the distance between the first arm assembly and the second arm assembly.

[0102] The technical principles of the present invention have been described above with reference to specific embodiments. These descriptions are intended solely to illustrate the principles of the present invention and are not to be construed in any way as limiting the scope of protection of the present invention. Based on the explanations herein, those skilled in the art will be able to devise other specific embodiments of the present invention without inventive effort, and such equivalent variations or substitutions are intended to be encompassed within the scope of the claims of this application.

Claims

1. A sub-control type overhead line inspection robot, characterized in that: It includes a first arm assembly, a second arm assembly, a retractable arm assembly and a main control box assembly; the first arm assembly and the second arm assembly have the same structure, both including a robotic arm body and an arm chassis; The robot arm body includes a walking wheel mechanism, an arm shell, a lifting assembly, a lifting arm, a pressure wheel seat and a base; the top end of the arm shell is assembled and connected to the walking wheel mechanism, and the bottom of the arm shell is assembled and connected to the base; the side wall of the arm shell is provided with a longitudinal accommodating groove; the lifting assembly is arranged in the longitudinal accommodating groove; the base is slidably assembled with the retracting and extending arm assembly; A cover plate and a pressing seat are provided at the notch of the longitudinal accommodating groove, and the driving end of the lifting assembly extends out of the longitudinal accommodating groove and is connected to the pressing seat; the pressing seat is provided with a mounting groove adapted to the cover plate; the cover plate is embedded in the mounting groove, and the length of the cover plate is adapted to the length of the arm shell; the lifting arm is sleeved on the outer side of the pressing seat, and the driving end of the lifting assembly drives the lifting arm to move in the vertical direction; the pressing wheel seat is assembled on the lifting arm and is arranged on the same side as the driving end of the walking wheel mechanism; the retractable arm assembly is used to drive the first arm assembly or the second arm assembly to move horizontally; the main control box assembly is arranged at the bottom of the retractable arm assembly; The arm chassis includes a box body and an arm control panel; the box body is arranged on the back of the arm shell; the arm control panel is installed in the box body and is electrically connected to the robotic arm body for controlling the movement of the robotic arm body; a main control panel is provided in the main control box assembly, and the main control panel is communicatively connected to the arm control panel for controlling the arm control panel.

2. A separately controlled overhead line inspection robot according to claim 1, characterized in that: The lifting assembly includes a guide rail, a guide rail slider, a lead screw, a lead screw nut and a lead screw drive; The lead screw is arranged in the longitudinal accommodating groove; the lead screw drive is arranged on the base, and the lower end of the lead screw is assembled and connected with the driving end of the lead screw drive; the lead screw passes through the longitudinal accommodating groove, and the upper end of the lead screw is rotatably assembled with the top of the longitudinal accommodating groove; the lead screw nut is threadedly connected to the lead screw, and the left side of the lead screw nut is connected to the lifting arm; The guide rail is vertically arranged on the groove wall of the longitudinal accommodating groove, the other side of the lead screw nut is connected to the guide rail slider, and the guide rail slider is slidably assembled with the guide rail.

3. The separately controlled overhead line inspection robot according to claim 1, characterized in that: The walking wheel mechanism includes a walking wheel driving device and a walking wheel; the walking wheel driving device is bolted to the box body and is located on the top of the arm shell; the walking wheel is assembled to the driving end of the walking wheel driving device, and the walking wheel is located above the clamping wheel seat.

4. The separately controlled overhead line inspection robot according to claim 1, characterized in that: The robotic arm body further includes a visual judgment component, which includes a first camera, a second camera, a third camera, and a fourth camera; The first camera is arranged on the side wall of the arm housing, and the first camera is electrically connected to the arm control panel, and is used to observe obstacles in front or behind; The second camera is arranged on a side of the base facing away from the main control box assembly, and is electrically connected to the arm control board for observing distant obstacles; The third camera is arranged on the left side of the base, and the third camera is located below the pressure wheel seat. The third camera is electrically connected to the arm control board and is used to observe the pressing condition between the running wheel of the running wheel mechanism and the pressure wheel of the pressure wheel seat; The fourth camera is arranged on the inner side of the robotic arm body, and the fourth camera is electrically connected to the arm control board for viewing the inner side image of the robotic arm body.

5. The separately controlled overhead line inspection robot according to claim 1, characterized in that: The pressing wheel seat comprises a pressing frame, a pressing wheel assembly and a collision sensing component; A mounting notch is provided in the middle of the compacting frame; a lifting arm connected to the driving end of the lifting assembly is plugged into the mounting notch; There are two groups of pressing wheel assemblies, which are rotatably mounted on the top of the pressing frame. There are two groups of collision sensing components, which are symmetrically arranged on both sides of the pressing frame. The collision sensing component includes a plate, a sensing spring and a collision sensing part; The upper end of the plate body is hinged to the pressing frame, and the induction spring is arranged at the lower end of the plate body, and its two ends respectively abut against the side walls of the plate body and the pressing frame; The collision sensing component is located between the plate body and the side wall of the pressing frame, and the collision sensing component is provided with an obstacle sensing end, and the obstacle sensing end is located at the contact point between the collision sensing component and the plate body.

6. The separately controlled overhead line inspection robot according to claim 5, characterized in that: The pressing wheel seat further comprises a pressing support rod sleeve, and the pressing support rod sleeve is installed in the installation slot; The compression support rod sleeve is provided with a connecting hole, and the lifting arm connected to the driving end of the lifting assembly passes through the connecting hole. The cross section of the connecting hole is fan-shaped, and the upper end opening size of the connecting hole is smaller than the lower end opening size of the connecting hole.

7. The separately controlled overhead line inspection robot according to claim 5, characterized in that: The pressing wheel seat further comprises a pressing sensing assembly, which comprises a pressing sensing part and two circuit boards; The compression sensing component is installed at the upper end of the installation slot, and the compression sensing component is electrically connected to the two circuit boards respectively. The circuit boards are respectively arranged below the corresponding compression wheel groups.

8. The separately controlled overhead line inspection robot according to claim 1, characterized in that: The main control box assembly includes a main control box body, a power box and a pan / tilt head; Two L-shaped connecting plates are symmetrically provided on one side of the main control box body, and the two L-shaped connecting plates form an installation area, and a power box is provided in the installation area; Each of the L-shaped connecting plates is provided with a mounting block on one side away from the mounting interval, and each of the mounting blocks is provided with an automatic rebound pin. The power box is located between the two automatic rebound pins, and positioning holes that are compatible with the automatic rebound pins are provided on both sides of the power box; the pan-tilt head is arranged at the bottom of the main control box body.

9. The separately controlled overhead line inspection robot according to claim 1, characterized in that: The retractable arm assembly includes a sliding cross arm, a first driving slider and a second driving slider. The sliding cross arm is arranged on the top surface of the main control box assembly. The sliding cross arm is provided with a slide rail. The first driving slider and the second driving slider are respectively slidably assembled on the slide rail. The first driving slider and the second driving slider are both provided with a driving device, and the driving device is electrically connected to the main control board; the driving device is used to drive the first driving slider or the second driving slider to move along the slide rail; the bottom of the first arm assembly is connected to the first driving slider, and the bottom of the second arm assembly is connected to the second driving slider.

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