Passive auxiliary obstacle-crossing high-voltage line inspection robot

Abstract

The application discloses a passive auxiliary obstacle-crossing high-voltage line inspection robot, which comprises a rack, one passive obstacle-crossing mechanism arranged at each end of the rack, two walking mechanisms arranged on the rack between the two passive obstacle-crossing mechanisms, and a clamping jaw mechanism arranged between the two walking mechanisms and capable of walking along the rack. The passive obstacle-crossing mechanism comprises a line pressing support, a pressing wheel assembly arranged on the line pressing support and a pressing wheel resetting assembly. The walking mechanism comprises a line hanging walking wheel assembly, the line hanging walking wheel assembly is connected with a walking lifting assembly, and the bottom end of the walking lifting assembly is rotationally matched with the rack. The clamping jaw mechanism comprises a clamping jaw assembly, the lower end of the clamping jaw assembly is connected with a clamping jaw lifting assembly, and the bottom end of the clamping jaw lifting assembly is connected with a sliding assembly. In the application, when the two walking wheels are separated from the high-voltage line due to the obstacle-crossing requirement, the line pressing rollers of the two passive obstacle-crossing mechanisms are uniformly pressed on the high-voltage line, thereby reducing the risk that the walking wheels cannot be re-hung on the line.

Description

Technical Field

[0001] This invention belongs to the field of high-voltage line inspection robot technology, specifically relating to a passively assisted obstacle-crossing high-voltage line inspection robot. Background Technology

[0002] High-voltage transmission lines are the primary means of power distribution in my country. Various forms of damage and foreign object attachment on these lines can severely impact power transmission and distribution, posing a significant threat to normal power delivery and potentially leading to serious accidents. Therefore, timely inspection of high-voltage transmission lines is crucial. With the rapid development of robotics technology, high-voltage line inspection robots have become an important inspection method in the power industry today.

[0003] Current high-voltage power line inspection robots are typically three-armed robots that use attached wheels to walk along the high-voltage lines for inspection. During the inspection process, when encountering obstacles, the attached wheels rotate to one side to move away from the high-voltage line, thus overcoming the obstacle. However, due to the robot's own gravity, once the attached wheels have rotated away from the high-voltage line, the line at that location rises because it no longer has the weight of the attached wheels. This can lead to a risk that the repositioned attached wheels cannot reattach the line, resulting in inaccurate attachment and an imbalance in the center of gravity during obstacle crossing, causing the robot to tip over. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a passively assisted obstacle-crossing high-voltage line inspection robot.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A passive-assisted obstacle-crossing high-voltage line inspection robot includes a frame, with a passive obstacle-crossing mechanism at each end of the frame, two walking mechanisms on the frame between the two passive obstacle-crossing mechanisms, and a gripper mechanism that can walk along the frame between the two walking mechanisms.

[0007] The passive obstacle-crossing mechanism includes a wire-pressing bracket and a pressure wheel assembly and a pressure wheel reset assembly mounted on the wire-pressing bracket. The wire-pressing bracket is fixedly mounted on the frame. The pressure wheel assembly is hinged to the wire-pressing bracket to passively rotate and give way to obstacles on the high-voltage line. The pressure wheel reset assembly is connected to the pressure wheel assembly to drive the pressure wheel assembly to reset after crossing the obstacle on the high-voltage line.

[0008] The walking mechanism includes a hanging wheel assembly for walking on the high-voltage line. The hanging wheel assembly is connected to the walking lifting assembly, and the bottom end of the walking lifting assembly is rotatably engaged with the frame.

[0009] The gripper mechanism includes a gripper assembly capable of gripping high-voltage lines. The lower end of the gripper assembly is connected to a gripper lifting assembly, and the bottom end of the gripper lifting assembly is connected to a sliding assembly used to drive the gripper mechanism to move along the frame between two traveling mechanisms.

[0010] Preferably, the pressure roller assembly includes a pressure roller, and the two ends of the central shaft of the pressure roller are rotatably engaged with the pressure roller bracket; one end of the pressure roller bracket along the axial direction of the pressure roller is hinged to the pressure roller bracket through a first hinge shaft extending in the vertical direction, and the other end of the pressure roller bracket along the axial direction of the pressure roller is hinged to a second hinge shaft extending in the vertical direction.

[0011] The pressure roller reset assembly includes a connecting rod located on the upper part of the pressure roller bracket. One end of the connecting rod is hinged to a second hinge shaft, and the other end of the connecting rod is hinged to a third hinge shaft extending vertically. The bottom end of the third hinge shaft is connected to a pressure roller reset slider. The pressure roller reset slider is slidably engaged with a pressure roller reset guide shaft. Both ends of the pressure roller reset guide shaft are fixedly mounted on the pressure roller bracket by supports. A reset spring is provided on the pressure roller reset guide shaft between the support away from the pressure roller and the pressure roller reset slider.

[0012] Preferably, when the pressing roller presses the high-voltage line for pressing operations, the central axes of the first hinge shaft, the second hinge shaft, and the third hinge shaft are collinear, and the return spring presses the pressing return slider tightly onto the corresponding side support.

[0013] Preferably, the hanging line traveling wheel assembly includes a traveling wheel mounting base and a traveling wheel, with a hub motor installed inside the traveling wheel, and the motor shaft of the hub motor connected to the traveling wheel mounting base;

[0014] The walking and lifting assembly includes a walking fixed frame and a walking lifting frame that slides vertically with the walking fixed frame, and a lifting drive assembly is provided between the walking fixed frame and the walking lifting frame;

[0015] The walking wheel mounting base is fixedly connected to the walking lifting frame;

[0016] The traveling frame rotates in conjunction with the machine frame.

[0017] Preferably, a pressure wheel assembly is provided at the lower part of the walking wheel;

[0018] The clamping wheel assembly includes a mounting base, which is fixedly mounted on a traveling frame; an upwardly extending spring mounting shaft is fixedly mounted on the mounting base, and an adjusting spring is sleeved on the spring mounting shaft. The lower end of the adjusting spring is fixedly connected to the mounting base, and the upper end of the adjusting spring is fixedly connected to the clamping wheel seat. The clamping wheel seat and the spring mounting shaft are in sliding engagement.

[0019] The clamping wheel seat has two parallel clamping wheels that can press upwards onto the high-voltage line. The central axis of the clamping wheel is parallel to the central axis of the traveling wheel.

[0020] Preferably, a turntable is fixedly installed at the bottom of the walking frame, and a rotating motor corresponding to the turntable is installed on the frame, with the output shaft of the rotating motor being coaxially fixedly connected to the turntable.

[0021] Preferably, the gripper assembly includes a gripper mounting base and two symmetrically arranged grippers. A gripper rotating shaft is fixedly mounted at the bottom end of each gripper. Two gripper gears are coaxially fixedly mounted on the gripper rotating shaft, and corresponding gripper gears on the two gripper rotating shafts mesh with each other. The gripper rotating shaft is rotatably engaged with the gripper mounting base, and a gripper motor is mounted at the end of one of the gripper rotating shafts.

[0022] The two grippers face each other and are fitted with a rubber core. The two rubber cores face each other and are arranged in an arc shape to fit the high-voltage line.

[0023] The gripper lifting assembly includes a gripper fixing frame and a gripper lifting frame that slides vertically with the gripper fixing frame, and a lifting drive assembly is provided between the gripper fixing frame and the gripper lifting frame;

[0024] The gripper mounting base is fixedly connected to the gripper lifting frame;

[0025] The gripper holder is connected to the sliding assembly.

[0026] Preferably, the sliding assembly includes two parallel linear guide rails fixedly mounted on the frame, a sliding plate slidably fitted on the linear guide rails, a sliding motor fixedly mounted on the sliding plate, the output axis of the sliding motor passing downward through the sliding plate and being coaxially fixedly connected to the sliding gear; the frame is provided with a sliding rack meshing with the sliding gear, the length direction of the sliding rack being consistent with the length direction of the linear guide rails;

[0027] The gripper fixing frame is fixedly connected to the sliding plate.

[0028] Preferably, the lifting drive component includes a stepper motor, a lifting lead screw, and a lifting lead nut;

[0029] The output shaft end of the stepper motor is coaxially fixedly connected to the lifting screw, and the lifting nut is threadedly engaged with the lifting screw.

[0030] In the walking and lifting assembly, the stepper motor is fixedly installed inside the walking frame, and the lifting nut is fixedly connected to the walking and lifting component; both the walking frame and the walking and lifting component are square tube structures, and the walking and lifting component is sleeved inside the walking frame and slides vertically with the walking frame;

[0031] In the gripper lifting assembly, the stepper motor is fixedly installed inside the gripper fixing frame, and the lifting nut is fixedly connected to the gripper lifting frame; both the gripper fixing frame and the gripper lifting frame are square tube structures, and the gripper lifting frame is sleeved inside the gripper fixing frame and slides vertically with the gripper fixing frame.

[0032] Preferably, a control box is provided at the lower end of the frame, and a controller is provided inside the control box. The controller is electrically connected to the hub motor, the rotary motor, the gripper motor, the sliding motor, and the stepper motor.

[0033] The beneficial effects of this invention are:

[0034] (1) In this invention, when the two walking wheels leave the high-voltage line due to the need to cross the obstacle, the pressure rollers of the two passive obstacle crossing mechanisms are pressed on the high-voltage line. Therefore, the problem of the high-voltage line rising due to the loss of the pressure effect of the hanging walking wheel after the hanging walking wheel leaves the high-voltage line in the prior art can be avoided. Therefore, when the two walking mechanisms are reset after crossing the obstacle, the risk of the walking wheels being unable to re-hang the line is reduced, thereby reducing the probability of inaccurate hanging and the probability of tilting forward and backward due to the imbalance of the center of gravity when crossing the obstacle.

[0035] (2) In this invention, the walking mechanism adopts the method of installing the hanging walking wheel assembly, the walking lifting assembly and the turntable on the same arm as a whole, which enables the walking mechanism to perform obstacle crossing actions better, while reducing the overall space occupied.

[0036] (3) In this invention, the gripper mechanism adopts the method of overall installation of gripper assembly, gripper lifting assembly and sliding assembly, which enables the gripper mechanism to perform the line gripping action faster and more accurately, while reducing the overall space occupied. Attached Figure Description

[0037] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute an undue limitation of this application.

[0038] Figure 1 This is a three-dimensional schematic diagram of the passive-assisted obstacle-crossing high-voltage line inspection robot of the present invention;

[0039] Figure 2 This is a schematic diagram of the passive obstacle-crossing mechanism in this invention;

[0040] Figure 3 This is a schematic diagram of the pressure roller assembly and pressure roller reset assembly in this invention;

[0041] Figure 4 This is a schematic diagram of the walking mechanism in this invention;

[0042] Figure 5 This is a schematic diagram of the cable-hanging wheel assembly in this invention;

[0043] Figure 6 This is a schematic diagram of the pressure wheel assembly in this invention;

[0044] Figure 7 This is a schematic diagram of the gripper assembly in this invention;

[0045] Figure 8 This is a schematic diagram of the sliding component in this invention;

[0046] Figure 9 This is a schematic diagram of the lifting drive component in this invention;

[0047] Figure 10 This is a schematic diagram of the obstacle avoidance mechanism in this invention.

[0048] Figure 11 This is a flowchart of the obstacle avoidance process of the passive-assisted obstacle-crossing high-voltage line inspection robot of the present invention;

[0049] in:

[0050] 0 - High voltage line;

[0051] 1-Rack;

[0052] 2-Passive obstacle-crossing mechanism, 21-Filling wire bracket, 22-Filling wire roller, 23-Filling wire roller bracket, 24-First hinge shaft, 25-Second hinge shaft, 26-Connecting rod, 27-Third hinge shaft, 28-Filling wire reset slider, 29-Filling wire reset guide shaft, 210-Support, 211-Reset spring, 212-Filling wire bracket column, 213-Filling wire bracket horizontal plate;

[0053] 3-Traveling mechanism, 31-Traveling wheel mounting base, 32-Traveling wheel, 33-Hub motor, 34-Motor shaft, 35-End cover, 36-Deep groove ball bearing, 37-Traveling fixed frame, 38-Traveling lifting frame, 39-Mounting base, 310-Spring mounting shaft, 311-Adjusting spring, 312-Pressure wheel seat, 313-Pressure wheel, 314-Turntable, 315-Rotation motor, 316-Motor mounting base, 317-Photoelectric sensor;

[0054] 4-Gripper mechanism, 41-Gripper mounting base, 42-Gripper, 43-Gripper shaft, 44-Gripper gear, 45-Gripper motor, 46-Insulated core, 47-Gripper fixing frame, 48-Gripper lifting frame, 49-Linear guide rail, 410-Sliding plate, 411-Sliding motor, 412-Sliding gear, 413-Sliding rack, 414-Charging plug, 415-Plug housing, 416-Pin shaft;

[0055] 51-Stepper motor, 52-Lifting screw, 53-Lifting nut;

[0056] 6-Control box. Detailed Implementation

[0057] It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0058] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0059] In this invention, terms such as "upper," "lower," "bottom," and "top" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are merely relational terms determined for the convenience of describing the structural relationship of the various components or elements of this invention, and do not specifically refer to any component or element in this invention, and should not be construed as limiting this invention.

[0060] In this invention, terms such as "connected" and "linked" should be interpreted broadly, indicating a fixed connection, an integral connection, or a detachable connection; a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can determine the specific meaning of these terms in this invention based on the specific circumstances, and they should not be construed as limitations on the invention.

[0061] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0062] like Figure 1 As shown, a passive-assisted obstacle-crossing high-voltage line inspection robot includes a frame 1. A passive obstacle-crossing mechanism 2 is provided at each end of the frame 1. Two walking mechanisms 3 are provided on the frame 1 between the two passive obstacle-crossing mechanisms 2. A gripper mechanism 4 that can walk along the frame 1 is provided between the two walking mechanisms 3.

[0063] The passive obstacle-crossing mechanism 2 includes a wire pressing bracket 21 and a pressure wheel assembly and a pressure wheel reset assembly disposed on the wire pressing bracket 21; the wire pressing bracket 21 is fixedly disposed on the frame 1, the pressure wheel assembly is hinged to the wire pressing bracket 21 to give way to the obstacle on the high-voltage line 0 by passive rotation, and the pressure wheel reset assembly is connected to the pressure wheel assembly to drive the pressure wheel assembly to reset after crossing the obstacle on the high-voltage line 0;

[0064] The walking mechanism 3 includes a hanging wheel assembly for walking on the high-voltage line 0. The hanging wheel assembly is connected to the walking lifting assembly, and the bottom end of the walking lifting assembly is rotatably engaged with the frame 1.

[0065] The gripper mechanism 4 includes a gripper assembly capable of gripping the high-voltage line 0. The lower end of the gripper assembly is connected to the gripper lifting assembly, and the bottom end of the gripper lifting assembly is connected to a sliding assembly used to drive the gripper mechanism 4 to move along the frame 1 between the two walking mechanisms 3.

[0066] Preferred, such as Figure 2-3 As shown, the pressure roller assembly includes a pressure roller 22, and the two ends of the central axis of the pressure roller 22 are rotatably engaged with the pressure roller bracket 23; one end of the pressure roller bracket 23 along the axial direction of the pressure roller 22 is hinged to the pressure roller bracket 21 through a first hinge shaft 24 extending in the vertical direction, and the other end of the pressure roller bracket 23 along the axial direction of the pressure roller 22 is hinged to a second hinge shaft 25 extending in the vertical direction;

[0067] The pressure roller reset assembly includes a connecting rod 26 located on the upper part of the pressure roller bracket 23. One end of the connecting rod 26 is hinged to the second hinge shaft 25, and the other end of the connecting rod 26 is hinged to the third hinge shaft 27 extending in the vertical direction. The bottom end of the third hinge shaft 27 is connected to the pressure roller reset slider 28. The pressure roller reset slider 28 is slidably engaged with the pressure roller reset guide shaft 29. Both ends of the pressure roller reset guide shaft 29 are fixedly mounted on the pressure roller bracket 21 by supports 210. Specifically, the central axis of the pressure roller reset guide shaft 29 is perpendicular to the high voltage line 0. A reset spring 211 is provided on the pressure roller reset guide shaft 29 between the support 210 away from the pressure roller 22 and the pressure roller reset slider 28.

[0068] Preferably, when the pressing roller 22 presses the high-voltage line 0 to perform the pressing operation, the central axes of the first hinge shaft 24, the second hinge shaft 25, and the third hinge shaft 27 are collinear, and the return spring 211 presses the pressing return slider 28 onto the corresponding side support 210.

[0069] Specifically, the wire clamping bracket includes wire clamping bracket columns 212 arranged on both sides of the high voltage line 0. A wire clamping bracket horizontal plate 213 is fixedly installed at the top of the two wire clamping bracket columns 212. Two supports 210 are fixedly installed on the wire clamping bracket horizontal plate 213 on one side, and the wire clamping bracket horizontal plate 213 on the other side is higher than the connecting rod 26.

[0070] In this application, when the robot encounters an obstacle while moving along the high-voltage line 0, the pressing roller 22, the pressing roller bracket 23, and the connecting rod 26 rotate backward under the action of the obstacle. When the pressing roller 22 and the pressing roller bracket 23 rotate backward around the first hinge axis 24, the pressing roller bracket 23, the connecting rod 26, and the pressing reset slider 28 form a crank-slider mechanism. This causes the connecting rod 26 to rotate backward, driving the pressing reset slider 28 to slide along the pressing reset guide shaft 29, compressing the reset spring 211. After the robot moves forward and the passive obstacle-crossing mechanism 2 crosses the obstacle, under the action of the reset spring 211, the pressing roller 22, the pressing roller bracket 23, and the connecting rod 26 rotate forward until they reset so that the pressing roller 22 presses onto the high-voltage line 0 again to perform the pressing operation, thus allowing the pressing roller 22 to continue to bear the pressing function.

[0071] The process by which the passive obstacle-crossing mechanism 2 moves forward and passively rotates to yield to the obstacle on the high-voltage line 0 is as follows: Figure 10 As shown.

[0072] Preferred, such as Figure 4 , Figure 5 As shown, the cable-hanging wheel assembly includes a wheel mounting base 31 and a wheel 32. A hub motor 33 is installed inside the wheel 32, and the motor shaft 34 of the hub motor 33 is connected to the wheel mounting base 31. Specifically, end caps 35 for protecting the hub motor 33 are provided at both ends of the axial direction of the wheel 32, and the motor shaft 34 is rotatably engaged with the end caps 35 through a deep groove ball bearing 36.

[0073] The walking and lifting assembly includes a walking fixed frame 37 and a walking lifting frame 38 that slides vertically with the walking fixed frame 37. A lifting drive assembly is provided between the walking fixed frame 37 and the walking lifting frame 38.

[0074] The walking wheel mounting base 31 is fixedly connected to the walking lifting frame 38;

[0075] The walking fixed frame 37 is rotated with the frame 1.

[0076] Preferably, a pressure wheel assembly is provided at the lower part of the walking wheel 32;

[0077] like Figure 6 As shown, the clamping wheel assembly includes a mounting base 39, which is fixedly mounted on the traveling frame 37. An upwardly extending spring mounting shaft 310 is fixedly mounted on the mounting base 39. An adjusting spring 311 is sleeved on the spring mounting shaft 310. The lower end of the adjusting spring 311 is fixedly connected to the mounting base 39, and the upper end of the adjusting spring 311 is fixedly connected to the clamping wheel seat 312. The clamping wheel seat 312 and the spring mounting shaft 310 are in sliding engagement.

[0078] The pressing wheel seat 312 has two parallel pressing wheels 313 that can press upwards toward the high-voltage line 0. The central axis of the pressing wheel 313 is parallel to the central axis of the traveling wheel 32.

[0079] Specifically, a photoelectric sensor 317 is installed on the front side of the clamping wheel seat 312 to monitor obstacles.

[0080] Preferably, a turntable 314 is fixedly installed at the bottom of the walking frame 37, and a rotating motor 315 corresponding to the turntable 314 is installed on the frame 1. The output shaft of the rotating motor 315 is coaxially fixedly connected to the turntable 314.

[0081] Specifically, the rotary motor 315 is fixedly mounted on the frame 1 via a motor mounting base 316; a motor shaft hole is provided in the middle of the turntable 314, and the output shaft of the rotary motor 315 is keyed to the motor shaft hole.

[0082] Preferred, such as Figure 7 As shown, the gripper assembly includes a gripper mounting base 41 and two symmetrically arranged grippers 42. A gripper rotating shaft 43 is fixedly mounted on the bottom end of each gripper 42. Two gripper gears 44 are coaxially fixedly mounted on the gripper rotating shaft 43, and the corresponding gripper gears 44 on the two gripper rotating shafts 43 mesh with each other. The gripper rotating shaft 43 is rotatably engaged with the gripper mounting base 41, and a gripper motor 45 is mounted at the end of one of the gripper rotating shafts 43.

[0083] A rubber-coated core 46 is provided on one side of the two grippers 42 facing each other, and the two rubber-coated cores 46 on the opposite side form an arc-shaped structure adapted to the high-voltage line 0.

[0084] Specifically, the gripper shaft 43 and the gripper mounting base 41 are rotated together by bearings; the rubber-coated core 46 and the gripper 42 are connected by bolts.

[0085] The gripper lifting assembly includes a gripper fixing frame 47 and a gripper lifting frame 48 that slides vertically with the gripper fixing frame 47. A lifting drive assembly is provided between the gripper fixing frame 47 and the gripper lifting frame 48.

[0086] The gripper mounting base 41 is fixedly connected to the gripper lifting frame 48;

[0087] The gripper fixing frame 47 is connected to the sliding assembly.

[0088] Preferred, such as Figure 8As shown, the sliding assembly includes two parallel linear guide rails 49 fixedly mounted on the frame 1. A sliding plate 410 is slidably fitted on the linear guide rails 49. A sliding motor 411 is fixedly mounted on the sliding plate 410. The output axis of the sliding motor 411 passes downward through the sliding plate 410 and is coaxially fixedly connected to the sliding gear 412. A sliding rack 413 is provided on the frame 1 that meshes with the sliding gear 412. The length direction of the sliding rack 413 is consistent with the length direction of the linear guide rails 49.

[0089] The gripper fixing frame 47 is fixedly connected to the sliding plate 410.

[0090] Preferred, such as Figure 9 As shown, the lifting drive component includes a stepper motor 51, a lifting screw 52, ​​and a lifting nut 53;

[0091] The output shaft end of the stepper motor 51 is coaxially fixedly connected to the lifting screw 52, ​​and the lifting nut 53 is threadedly engaged with the lifting screw 52.

[0092] In the walking and lifting assembly, the stepper motor 51 is fixedly installed inside the walking frame 37, and the lifting nut 53 is fixedly connected to the walking and lifting component 38; both the walking frame 37 and the walking and lifting component 38 are square tube structures, and the walking and lifting component 38 is sleeved inside the walking frame 37 and slides vertically with the walking frame 37.

[0093] In the gripper lifting assembly, the stepper motor 51 is fixedly installed inside the gripper fixing frame 47, and the lifting nut 53 is fixedly connected to the gripper lifting frame 48; both the gripper fixing frame 47 and the gripper lifting frame 48 are square tube structures, and the gripper lifting frame 48 is sleeved inside the gripper fixing frame 47 and slides vertically with the gripper fixing frame 47.

[0094] Preferably, a control box 6 is provided at the lower end of the frame 1, and a controller is provided inside the control box 6. The controller is electrically connected to the hub motor 33, the rotary motor 315, the gripper motor 45, the sliding motor 411, and the stepper motor 51.

[0095] Specifically, cameras for inspecting high-voltage lines 0 are installed on both sides of the top of the control box 6.

[0096] Specifically, a charging plug 414 is provided on the gripper mounting base 41. The charging plug 414 is electrically connected to the controller. A plug housing 415 is provided at the lower end of the charging plug 414. The plug housing 415 is rotatably engaged with the gripper mounting base 41 via a pin 416.

[0097] A passively assisted obstacle-crossing high-voltage line inspection robot, the specific implementation of which is as follows:

[0098] The hub motors 33 in the two walking wheels 32 operate, causing the walking wheels 32 to press against the high-voltage line 0 and move forward. The line-pressing rollers 22 in the two passive obstacle-crossing mechanisms 2 press against the high-voltage line 0, and the gripper mechanism 4 is located below the high-voltage line 0. Figure 11 As shown in (a) in the text;

[0099] When encountering an obstacle during forward movement, the front-side pressure roller 22, pressure roller bracket 23, and connecting rod 26 rotate backward under the action of the obstacle, causing the pressure roller reset slider 28 to slide along the pressure reset guide shaft 29 to compress the reset spring 211. After the robot moves forward and the front-side passive obstacle-crossing mechanism 2 crosses the obstacle, under the action of the reset spring 211, the pressure roller 22, pressure roller bracket 23, and connecting rod 26 rotate forward until they reset so that the pressure roller 22 presses onto the high-voltage line 0 again to perform the pressure operation, thus allowing the pressure roller 22 to continue to bear the pressure function. Figure 11 As shown in (b) in the image;

[0100] Then, the gripper 42 rises and grips the high-voltage line 0, and the front walking wheel 32 rises and is no longer pressing on the high-voltage line 0. Afterwards, the front walking mechanism 3 is controlled by the corresponding rotating motor 315 to rotate outward so that the front walking wheel 32 is no longer directly above the high-voltage line 0. Figure 11 As shown in (c);

[0101] The hub motor 33 in the rear walking wheel 32 continues to operate, allowing the robot to continue moving along the high-voltage line 0 and enabling the front walking mechanism 4 to smoothly cross obstacles. Simultaneously, the sliding motor 411 activates to control the gripper 42 holding the high-voltage line 0 to move backward. Figure 11 As shown in (d);

[0102] After the front walking mechanism 4 passes the obstacle, the front walking mechanism 3 is controlled by the corresponding rotary motor 315 to rotate inward so that the front walking wheel 32 is once again positioned directly above the high-voltage line 0. Then, the front walking wheel 32 descends and presses down on the high-voltage line 0 again. Before the gripper 42 gripping the high-voltage line 0 encounters an obstacle, the gripper 42 is controlled to release the high-voltage line 0 and descend. The sliding motor 411 starts, controlling the gripper 42, which has left the high-voltage line 0, to move forward. Figure 11 As shown in (e);

[0103] After the gripper 42 is positioned in front of the obstacle, the gripper 42 is raised and grips the high-voltage line 0. The rear walking wheel 32 then rises and is no longer pressing on the high-voltage line 0. Afterwards, the rear walking mechanism 3 is controlled by the corresponding rotating motor 315 to rotate outward so that the rear walking wheel 32 is no longer directly above the high-voltage line 0. Figure 11 As shown in (f);

[0104] The hub motor 33 in the front walking wheel 32 continues to operate, enabling the robot to continue moving along the high-voltage line 0 and allowing the rear walking mechanism 4 to smoothly cross obstacles, such as... Figure 11 As shown in (g);

[0105] After the rear walking mechanism 4 passes the obstacle, the rear walking mechanism 3 is controlled by the corresponding rotating motor 315 to rotate inward so that the rear walking wheel 32 is once again directly above the high-voltage line 0. Then, the rear walking wheel 32 descends and presses down on the high-voltage line 0 again. Subsequently, the gripper 42 is controlled to release the high-voltage line 0 and descend, as... Figure 11 As shown in (h);

[0106] As the robot continues to move forward, the pressure roller 22, pressure roller bracket 23, and connecting rod 26 located at the rear rotate backward under the action of the obstacle, driving the pressure roller reset slider 28 to slide along the pressure reset guide shaft 29 to compress the reset spring 211. After the robot moves forward and the passive obstacle-crossing mechanism 2 at the rear crosses the obstacle, under the action of the reset spring 211, the pressure roller 22, pressure roller bracket 23, and connecting rod 26 rotate forward until they reset so that the pressure roller 22 presses onto the high-voltage line 0 again to perform the pressure operation, thus allowing the pressure roller 22 to continue to bear the pressure function. Figure 11 As shown in (i);

[0107] This completes the sequential obstacle-crossing operation of the robot in this application.

[0108] In this application, when the two walking wheels 32 leave the high-voltage line 0 due to obstacle crossing requirements, the pressure rollers 22 of the two passive obstacle crossing mechanisms 2 are both pressed on the high-voltage line 0. Therefore, the problem of the high-voltage line rising due to the loss of the pressure effect of the hanging walking wheels after leaving the high-voltage line in the prior art can be avoided. Therefore, when the two walking mechanisms 3 are reset after overcoming the obstacle, the risk of the walking wheels 32 being unable to re-hang the line is reduced, thereby reducing the probability of inaccurate hanging and the probability of tilting forward and backward due to imbalance of the center of gravity during obstacle crossing.

[0109] While the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, they are not intended to limit the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of the present invention are still within the protection scope of the present invention.

Claims

1. A passive-assisted obstacle-crossing high-voltage line inspection robot, comprising a frame, characterized in that, A passive obstacle-crossing mechanism is provided at each end of the frame, and two walking mechanisms are provided on the frame between the two passive obstacle-crossing mechanisms. A gripper mechanism that can walk along the frame is provided between the two walking mechanisms. The passive obstacle-crossing mechanism includes a wire-pressing bracket and a pressure wheel assembly and a pressure wheel reset assembly mounted on the wire-pressing bracket. The wire-pressing bracket is fixedly mounted on the frame. The pressure wheel assembly is hinged to the wire-pressing bracket to passively rotate and give way to obstacles on the high-voltage line. The pressure wheel reset assembly is connected to the pressure wheel assembly to drive the pressure wheel assembly to reset after crossing the obstacle on the high-voltage line. The walking mechanism includes a hanging wheel assembly for walking on the high-voltage line. The hanging wheel assembly is connected to the walking lifting assembly, and the bottom end of the walking lifting assembly is rotatably engaged with the frame. The gripper mechanism includes a gripper assembly capable of gripping high-voltage lines. The lower end of the gripper assembly is connected to a gripper lifting assembly, and the bottom end of the gripper lifting assembly is connected to a sliding assembly used to drive the gripper mechanism to move along the frame between two traveling mechanisms. The pressure roller assembly includes a pressure roller, and the two ends of the central shaft of the pressure roller are rotatably engaged with the pressure roller bracket; one end of the pressure roller bracket along the axial direction of the pressure roller is hinged to the pressure roller bracket through a first hinge shaft extending in the vertical direction, and the other end of the pressure roller bracket along the axial direction of the pressure roller is hinged to a second hinge shaft extending in the vertical direction. The pressure roller reset assembly includes a connecting rod located on the upper part of the pressure roller bracket. One end of the connecting rod is hinged to a second hinge shaft, and the other end of the connecting rod is hinged to a third hinge shaft extending vertically. The bottom end of the third hinge shaft is connected to a pressure roller reset slider. The pressure roller reset slider is slidably engaged with a pressure roller reset guide shaft. Both ends of the pressure roller reset guide shaft are fixedly mounted on the pressure roller bracket by supports. A reset spring is provided on the pressure roller reset guide shaft between the support away from the pressure roller and the pressure roller reset slider. The hanging line traveling wheel assembly includes a traveling wheel mounting base and a traveling wheel. A hub motor is installed inside the traveling wheel, and the motor shaft of the hub motor is connected to the traveling wheel mounting base. The walking and lifting assembly includes a walking fixed frame and a walking lifting frame that slides vertically with the walking fixed frame, and a lifting drive assembly is provided between the walking fixed frame and the walking lifting frame; The wheel mounting base is fixedly connected to the walking lift frame; The walking frame is rotatably engaged with the machine frame; A turntable is fixedly installed at the bottom of the walking frame, and a rotating motor corresponding to the turntable is installed on the frame. The output shaft of the rotating motor is coaxially fixedly connected to the turntable.

2. The passively assisted obstacle-crossing high-voltage line inspection robot as described in claim 1, characterized in that, When the pressure roller presses the high-voltage line for pressure operation, the central axes of the first hinge shaft, the second hinge shaft, and the third hinge shaft are collinear, and the return spring presses the pressure return slider tightly onto the corresponding side support.

3. The passively assisted obstacle-crossing high-voltage line inspection robot as described in claim 1, characterized in that, A pressure wheel assembly is provided at the lower part of the walking wheel; The clamping wheel assembly includes a mounting base, which is fixedly mounted on a traveling frame; an upwardly extending spring mounting shaft is fixedly mounted on the mounting base, and an adjusting spring is sleeved on the spring mounting shaft. The lower end of the adjusting spring is fixedly connected to the mounting base, and the upper end of the adjusting spring is fixedly connected to the clamping wheel seat. The clamping wheel seat and the spring mounting shaft are in sliding engagement. The clamping wheel seat has two parallel clamping wheels that can press upwards onto the high-voltage line. The central axis of the clamping wheel is parallel to the central axis of the traveling wheel.

4. The passively assisted obstacle-crossing high-voltage line inspection robot as described in claim 1, characterized in that, The gripper assembly includes a gripper mounting base and two symmetrically arranged grippers. A gripper rotating shaft is fixedly mounted at the bottom end of each gripper. Two gripper gears are coaxially fixedly mounted on the gripper rotating shaft, and corresponding gripper gears on the two gripper rotating shafts mesh with each other. The gripper rotating shaft is rotatably engaged with the gripper mounting base, and a gripper motor is mounted at the end of one of the gripper rotating shafts. The two grippers face each other and are fitted with a rubber core. The two rubber cores face each other and are arranged in an arc shape to fit the high-voltage line. The gripper lifting assembly includes a gripper fixing frame and a gripper lifting frame that slides vertically with the gripper fixing frame, and a lifting drive assembly is provided between the gripper fixing frame and the gripper lifting frame; The gripper mounting base is fixedly connected to the gripper lifting frame; The gripper holder is connected to the sliding assembly.

5. The passively assisted obstacle-crossing high-voltage line inspection robot as described in claim 4, characterized in that, The sliding assembly includes two parallel linear guide rails fixedly mounted on the frame. A sliding plate is slidably fitted on the linear guide rails. A sliding motor is fixedly mounted on the sliding plate. The output axis of the sliding motor passes downward through the sliding plate and is coaxially fixedly connected to the sliding gear. A sliding rack that meshes with the sliding gear is provided on the frame. The length direction of the sliding rack is consistent with the length direction of the linear guide rails. The gripper fixing frame is fixedly connected to the sliding plate.

6. The passively assisted obstacle-crossing high-voltage line inspection robot as described in claim 5, characterized in that, The lifting drive components include a stepper motor, a lifting screw, and a lifting nut; The output shaft end of the stepper motor is coaxially fixedly connected to the lifting screw, and the lifting nut is threadedly engaged with the lifting screw. In the walking and lifting assembly, the stepper motor is fixedly installed inside the walking frame, and the lifting nut is fixedly connected to the walking and lifting component; both the walking frame and the walking and lifting component are square tube structures, and the walking and lifting component is sleeved inside the walking frame and slides vertically with the walking frame; In the gripper lifting assembly, the stepper motor is fixedly installed inside the gripper fixing frame, and the lifting nut is fixedly connected to the gripper lifting frame; both the gripper fixing frame and the gripper lifting frame are square tube structures, and the gripper lifting frame is sleeved inside the gripper fixing frame and slides vertically with the gripper fixing frame.

7. The passively assisted obstacle-crossing high-voltage line inspection robot as described in claim 6, characterized in that, A control box is installed at the lower end of the frame, and a controller is installed inside the control box. The controller is electrically connected to the hub motor, the rotary motor, the gripper motor, the sliding motor, and the stepper motor.

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