A small obstacle-crossing power inspection robot

Abstract

The present invention discloses a small obstacle-crossing electric power inspection robot, which belongs to the technical field of cable installation and maintenance equipment. The small obstacle-crossing electric power inspection robot includes a box body, a detection module located on the side of the box body facing the cable, the detection module can rotate to shoot the cable, and the detection module can measure the distance between the box body and the spacer; an adjustment seat located on the vertical side wall of the box body, a contact group is installed at the end of the adjustment seat, the contact group hangs the box body under the cable, and the adjustment seat can drive any contact group to move horizontally along the side wall of the box body. When crawling, the contact group can clamp the cable to maintain the stability of the suspension and resist lateral swing. When approaching the spacer bar, the hanger can swing out, and the limit frame can deform adaptively to ensure that the spacer bar position can be passed smoothly, and autonomous obstacle crossing can be achieved. The entire cable between two power towers can be continuously inspected to improve the inspection efficiency.

Description

Technical Field

[0001] The invention belongs to the technical field of cable installation and maintenance equipment, and in particular relates to a small obstacle-crossing electric power inspection robot. Background Art

[0002] Power inspection robots can conduct inspections in high-risk areas, such as high-voltage transmission lines, to reduce the risk of direct contact between personnel and the power grid. They can be equipped with detection equipment such as visual sensors, infrared thermal imagers, or ultrasonic sensors to inspect cables and insulators.

[0003] In order to extend the working time, the existing power inspection robots are equipped with obstacle crossing structures so that they can pass through the insulators at the connection between the cables and the power towers and perform long-distance continuous work. However, the existing obstacle crossing scenarios only involve how to cross the insulators at the power tower position. In the transmission scenario of multiple cables, spacers are set between the cables, and the spacers between the multiple cables are in special shapes such as four-pointed stars or five-pointed stars, resulting in the cables not being at the same level. On the existing obstacle crossing robots, the single-row design of the obstacle crossing wheels and the lack of separate design considerations for the obstacle crossing at the spacer position will result in the inability to pass the spacer normally. In view of this, a small obstacle crossing power inspection robot is designed. Summary of the invention

[0004] The technical problem to be solved by the present invention is to overcome the disadvantages of the above-mentioned prior art and provide a small obstacle-crossing power inspection robot.

[0005] The technical solution adopted to solve the above technical problems is:

[0006] A small obstacle-crossing power inspection robot comprises a box body and:

[0007] A detection module is located on the side of the box facing the cable, the detection module can rotate to take pictures of the cable, and the detection module can measure the distance between the box and the spacer;

[0008] An adjustment seat is located on the vertical side wall of the box, and a contact group is installed at the end of the adjustment seat. The contact group hangs the box under the cable. There are four contact groups, which are symmetrically arranged in groups of two on both sides of the box. The adjustment seat can drive any contact group to move horizontally along the side wall of the box;

[0009] The contact group includes a limit frame crimped on the lower surface of the cable, and a hanger crimped on the upper surface of the cable, the limit frame is provided with a lower roller, the lower roller can passively move downward when passing through the spacer position, the lower roller always presses the lower surface of the spacer during the downward movement, and the hanger can be away from the range of the spacer when passing through the spacer position;

[0010] The driver is used for driving the box to move horizontally, the driver indirectly contacts the cable through the lower roller, and the driver is provided with a avoider to avoid blocking the lower roller from moving downward.

[0011] During installation, the cable is clamped in the middle of the contact group, the lower roller of the limit frame is pressed against the lower surface of the cable, the hanger is pressed against the upper surface of the cable, and the box is suspended under the cable; during operation, the driver is indirectly transmitted through the lower roller to drive the entire device to move along the cable, and use the detection module to photograph the surface of the cable and upload it to the ground operator for intuitive inspection; during the process, when the detection module detects that it is close to the spacer bar, the adjustment seat drives the rear contact group to move forward to a position above the center of gravity of the device, and the hanger in the front contact group swings away from the spacer bar. At the same time, the driver in the front contact group opens the space under the lower roller, and uses the rear contact group to level the box The box is suspended and driven to continue moving forward. When the front contact group passes the spacer position, the hanger in the front contact group swings back to the upper surface of the cable, and the hanger in the rear contact group swings away from the spacer. The adjustment seat drives the box forward until the center of gravity moves to just below the front contact group. The front contact group is used to suspend the box horizontally and drive it to continue moving forward until the rear contact group passes the spacer position. The entire obstacle crossing process is completed. During the process, the limit frame always contacts the lower surface of the cable to prevent the device from swinging sideways. At least two hangers contact the upper surface of the cable to prevent them from falling off. The center of gravity position of the box is adjusted synchronously when crossing obstacles to prevent the end of the box from falling and interfering with the resetting of the hanger.

[0012] Furthermore, the adjustment seat includes four brackets, and the lower parts of the four brackets are all installed with thread hole sleeves, the thread hole sleeves at the lower parts of two brackets on the same side are staggered, and the box body is built with a screw module that cooperates separately with the thread hole sleeves.

[0013] Through the above technical solution, at least four contact groups are provided to ensure stability during suspension and obstacle crossing. The adjustment seat is used to drive the four contact groups individually. The contact groups are fixed on the top of four brackets respectively. The lower part of the bracket is connected to the screw module through the threaded sleeve. The screw module is used to realize the individual horizontal drive of the bracket to achieve the effect of individual displacement of the four contact groups for obstacle crossing operations.

[0014] Furthermore, two screw modules are provided, and the screw modules include screw module 1 and screw module 2 which are stacked up and down, and the two side walls of the bracket located on the same side are respectively fixedly installed with a wire hole sleeve and a light hole sleeve, and the two wire hole sleeves and the two light hole sleeves are staggered and arranged on the outside of screw module 1 and screw module 2.

[0015] Through the above technical scheme, in order to ensure the verticality of the bracket, a light hole sleeve must be installed at the same time as the wire hole sleeve is installed on the bracket. The screw module 1 and the screw module 2 in the screw module are stacked up and down, and the wire hole sleeve and the light hole sleeve are also stacked up and down. When the wire hole sleeve on the bracket is engaged with the screw module 1, the light hole sleeve on the bracket is slidably sleeved with the screw module 2 to perform vertical limiting of the bracket. Similarly, when the wire hole sleeve on the bracket is engaged with the screw module 2, the light hole sleeve on the bracket is slidably sleeved with the screw module 1. Under the premise of not affecting the independent drive of the bracket, the screw module is used to ensure the verticality of the bracket, and there is no need to set up other guiding structures. The existing parts and limited space are fully utilized to reduce the dead weight.

[0016] Furthermore, the limiting frame also includes a fixed frame, and a damping member is installed on the vertical side wall of the fixed frame, and the damping member is assembled and connected to the end of the lower roller.

[0017] Through the above technical scheme, in order to achieve that the lower roller can move downward when contacting the spacer bar without completely separating from the spacer bar, a damping member is installed at the end of the lower roller. The damping member is a vertical damping rod. The damping rod can shrink when under pressure and always maintains rebound potential energy. Combined with the lower roller that is thin in the middle and thick on both sides, it can achieve obstacle crossing and ensure horizontal limit, preventing the contact group from leaving the cable range during the obstacle crossing process, and ensuring that the bracket can be reset after crossing the spacer bar and can be pressed against the upper surface of the cable.

[0018] Furthermore, a vertical sliding opening is opened on the upper part of the fixed frame, a sliding seat is vertically slidably installed in the vertical sliding opening, the sliding seat is fixedly connected to the top end of the damping member, and the lower roller is rotatably connected to the sliding seat.

[0019] Through the above technical solution, in order to ensure that the position of the lower roller will not shift when it moves up and down, a vertical sliding opening is opened on the fixed frame, and a sliding seat is used for sliding limit, ensuring that the lower roller can only move up and down and will not move horizontally or twist, thereby ensuring the accurate resetting of the bracket.

[0020] Furthermore, the hanging bracket includes a movable frame, a hinged seat is provided at the lower end of the movable frame and is rotatably connected to the adjustment seat, an upper roller is rotatably installed at the upper end of the movable frame, the upper roller horizontally contacts the upper surface of the cable, and the movable frame can drive the upper roller to swing away from the cable.

[0021] Through the above technical scheme, in order to achieve the obstacle-crossing action of the hanger away from the spacer rod, the movable frame of the hanger can swing around the lower end hinge seat, and the upper roller can reduce the rolling friction with the upper surface of the cable. At the same time, the upper roller is thin in the middle and thick at both ends. When resetting, it can squeeze the outer edge of the cable through its own inclined side wall to complete the center positioning, ensuring smooth and accurate resetting. It can also cooperate with the lower roller to complete the clamping limit of the cable during normal movement, resist crosswind, and improve the stability of the suspension.

[0022] Furthermore, the bracket also includes a driving member, which is located below the moving frame. A support ear is provided at the lower end of the moving frame at the hinge seat. The lower end of the support ear is rotatably connected to the end of the driving member. The other end of the driving member is rotatably installed on the side wall of the adjustment seat. The shortening of the driving member can move the top of the moving frame away from the cable through the support ear.

[0023] Through the above technical scheme, a driving structure is provided for the obstacle crossing of the hanging frame. A horizontal driving member can be set, and a support ear with a downward tilted end is installed at the lower end of the moving frame. The extension and retraction of the driving member can be used to drive the moving frame to swing, thereby realizing the swing obstacle crossing action. The support ear can lengthen the power arm and enhance the resetting force output by the driving member, thereby ensuring that the upper roller can smoothly return to the top of the cable.

[0024] Furthermore, the avoider of the driver adopts a vertical avoider, and the vertical avoider can drive the driving wheel to move downward away from the lower roller. The driving wheel is driven to rotate by the driving motor, and the vertical avoider can drive the driving motor and the driving wheel to move synchronously.

[0025] Through the above technical solution, the vertical avoider can utilize the space under the lower roller. When crossing an obstacle, the avoider drives the drive motor and the active wheel to move downward. At this time, the lower roller can move downward under pressure to smoothly pass the spacer position. Moreover, by using the telescopic rod as an active driving part, the active wheel can always be pressed against the lower edge of the lower roller, providing a larger and more stable contact pressure, adapting to environments with large crosswinds or lines with large inclination angles, and ensuring stable suspension and smooth movement.

[0026] Furthermore, the avoider of the driver adopts a lateral avoider, and the lateral avoider sets the driving wheel in the air at the lower edge of the lower roller. The lateral avoider can drive the driving wheel to translate out of the downward movement range of the lower roller.

[0027] Through the above technical solution, the lateral avoider does not occupy the space under the lower roller, the disengagement action is fast and the time is short, the action during obstacle crossing is faster, the suspension time of the contact group that does not fully contact the cable is reduced, and the stability of the suspension is ensured.

[0028] Furthermore, a driving motor is fixedly installed on the side wall of the bracket located at the lower edge of the lower roller, and the lateral avoider includes a through sleeve installed at the output shaft of the driving motor, an inner sleeve is installed on the inner side of the through sleeve, a transmission sleeve is rotatably installed in the middle of the inner sleeve, a spline shaft meshing with the transmission sleeve is fixed at the rotation axis of the driving wheel, and the driving motor transmits rotational driving force to the spline shaft through the transmission sleeve, an electromagnet is installed on the side of the through sleeve facing the driving wheel, and an elastic member is installed between the electromagnet and the driving wheel.

[0029] Through the above technical solution, the setting of the lateral avoider can fix the drive motor separately, and it does not need to move synchronously with the driving wheel. The installation environment of the drive motor is more stable. The electromagnet is energized to attract the driving wheel to move laterally away from the lower roller. The action is fast and the control is simple. The elastic part can push the driving wheel laterally to reset it after the electromagnet is powered off. During the translation process of the entire device after the obstacle is overcome, the electromagnet does not need to consume energy, which reduces energy consumption and extends the battery life of the equipment.

[0030] The beneficial effects of the present invention are as follows:

[0031] (1) The present invention sets a contact group. When crawling, the contact group can clamp the cable to maintain the stability of the suspension and resist swaying. When approaching the spacer, the hanger can swing away and the limit frame can deform adaptively to ensure that the spacer position can be passed smoothly and autonomous obstacle crossing can be achieved. The entire cable between the two towers can be continuously inspected, thereby improving the inspection efficiency.

[0032] (2) The present invention sets a position adjustment seat. When crawling, the position adjustment seat makes the contact group be located at the corner of the device, ensuring the stable suspension of the device and providing a stable inspection walking platform. When performing obstacle crossing, the position relationship between the suspension point and the center of gravity of the device can be adjusted in time, and the auxiliary limit of the limit frame can be used to ensure the horizontal stability of the device when passing through the spacer bar, and the normal obstacle crossing will not be affected by unilateral tilt;

[0033] (3) The present invention optimizes the driver, which transmits the driving force through the lower roller of the limit frame, so that the device can crawl on the cable and ensure that the lower roller will not move downward during the crawling process, so as to keep stable contact with the cable and avoid slipping. When performing obstacle crossing, the driver can detach from the lower roller to leave space for its downward movement, so as to ensure that the driver will not be stuck by the part of the spacer protruding from the cable when passing through the spacer position. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is the overall structural diagram of the present invention;

[0035] Figure 2 is a schematic diagram of the position of the first state of the obstacle crossing of the present invention;

[0036] Figure 3 is a schematic diagram of the position of the second state of the obstacle crossing of the present invention;

[0037] Figure 4 It is a schematic diagram of the structure of the present invention after the obstacle crossing is completed;

[0038] Figure 5 It is a schematic diagram of the first position between the position adjustment seat, the driver, the hanger and the limit frame of the present invention;

[0039] Figure 6 It is a schematic diagram of the second position between the position adjustment seat, the driver, the hanger and the limit frame of the present invention;

[0040] Figure 7 It is a schematic structural diagram of the position adjusting seat, the hanging bracket and the position limiting bracket of the present invention;

[0041] Figure 8 It is a schematic diagram of the overall structure of the position adjustment seat of the present invention;

[0042] Fig. 9 is a schematic structural diagram of another driver of the present invention;

[0043] Fig.10 yes Fig. 9 Schematic diagram of a cross-section of the drive in FIG.

[0044] 1. Box body; 2. Detection module; 3. Adjustment seat; 31. Bracket; 32. Thread hole sleeve; 33. Light hole sleeve; 34. Screw module one; 35. Screw module two; 4. Limiting frame; 41. Fixed frame; 42. Damping element; 43. Sliding seat; 44. Lower roller; 5. Hanging rack; 51. Moving frame; 52. Upper roller; 53. Driving element; 54. Articulated seat; 55. Support ear; 6. Driver; 61. Driving wheel; 62. Driving motor; 63. Vertical avoider; 64. Horizontal avoider; 641. Through sleeve; 642. Spline shaft; 643. Inner sleeve; 644. Electromagnet; 645. Elastic element; 646. Transmission sleeve; 7. Cable; 8. Spacer. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0046] like Figure 1 - Fig.10 As shown, this embodiment provides a small obstacle-crossing power inspection robot, including a box 1, the box 1 is used to load necessary components such as batteries, communication equipment, control equipment, etc., and also includes:

[0047] For detection module 2, refer to Figure 2, the detection module 2 is located on the side of the box 1 facing the cable 7, the detection module 2 can rotate to shoot the cable 7, and the detection module 2 can measure the distance between the box 1 and the spacer 8. It should be noted that it can also be equipped with an infrared thermal imager to detect the hot spots of the cable 7 to prevent overheating failures, or an ultrasonic sensor to detect the inherent defects of the insulator and the wire. At the same time, it has a remote communication function, and the captured images and measured data can be uploaded in time. The specific measurement process and uploading method belong to the existing technology and will not be repeated here. Among them, the detection module 2 can be equipped with a 360-degree rotating platform and a lifting structure to perform all-round detection of the cables 7 at different angles and heights. The specific structure and working principle of the rotating platform and the lifting structure belong to the existing technology and will not be repeated here;

[0048] For adjustment seat 3, refer to Figure 1 The position adjustment seat 3 is located on the vertical side wall of the box 1, and a contact group is installed at the end of the position adjustment seat 3. The contact group hangs the box 1 under the cable 7. There are four contact groups, which are symmetrically arranged on both sides of the box 1 in groups of two. Lifting force can be provided from the four corners to ensure the level of the box 1. The position adjustment seat 3 can drive any contact group to move horizontally along the side wall of the box 1. When crossing obstacles, the position can be adjusted to ensure the horizontal stability of the box 1 and the smooth crossing of obstacles.

[0049] For contact groups, see Figure 2 and Figure 3 , including a limit frame 4 and a hanger 5, the limit frame 4 is provided with a lower roller 44, the lower roller 44 is always pressed against the lower surface of the cable 7 during crawling, and the hanger 5 is pressed against the upper surface of the cable 7, the cable 7 can be clamped during crawling to ensure the stability of the suspension, and during the obstacle-crossing action, the hanger 5 can be away from the range of the spacer bar 8 when passing the spacer bar 8 position, and then the lower roller 44 can be passively moved downward when passing the spacer bar 8 position to prevent being blocked by the spacer bar 8, so that it can be pushed to achieve obstacle crossing, and the lower roller 44 always presses the lower surface of the spacer bar 8 during the downward movement, and keeps in contact during the obstacle-crossing process, which can avoid horizontal lateral movement and ensure that the position of the device is controllable;

[0050] For driver 6, refer to Figure 1 The driver 6 indirectly contacts the cable 7 through the lower roller 44 to drive the box 1 to move horizontally. Figure 2 and Figure 3 When performing an obstacle-crossing action, the driver 6 is provided with an avoider, which can separate from the lower roller 44 to leave space for its downward movement, thereby preventing the lower roller 44 from being blocked from descending when being pressed down by the spacer bar 8.

[0051] Further, see Figure 1 - Figure 4At least four contact groups are provided to ensure stability during suspension and obstacle crossing. The adjustment seat 3 includes four brackets 31. The adjustment seat 3 is used to drive the four contact groups separately. The contact groups are fixed on the top of the four brackets 31 respectively. The lower parts of the four brackets 31 are installed with thread sleeves 32. The lower part of the bracket 31 is connected to the screw module through the thread sleeve 32. The screw module is used to realize the independent horizontal driving of the bracket 31 to achieve the effect of independent displacement of the four contact groups for obstacle crossing operation. The thread sleeves 32 at the lower parts of the two brackets 31 on the same side are staggered to ensure that there is no interference during driving. Similarly, the screw module can also be replaced by an electric telescopic rod, and the length of the electric telescopic rod is equal to half the length of the box body 1, that is, it can ensure that the corresponding bracket 31 is driven to move to the vicinity of the center of gravity in the middle of the box body 1, so that the electric telescopic rod will not overlap and interfere with each other in the horizontal direction, and can also reduce the dead weight and improve the cruising range.

[0052] Further, see Figure 8 In order to ensure the verticality of the bracket 31, two screw modules are provided, and the screw module includes a screw module 1 34 and a screw module 2 35 which are stacked up and down. The screw module 1 34 and the screw module 2 35 respectively drive one of the two brackets 31 on the same side. The side walls of the two brackets 31 on the same side are respectively fixedly installed with a wire hole sleeve 32 and a light hole sleeve 33. The light hole sleeve 33 is installed at the same time as the wire hole sleeve 32 is installed on the bracket 31. The screw module 1 34 and the screw module 2 35 in the screw module are stacked up and down, and the wire hole sleeve 32 and the light hole sleeve 33 are also stacked up and down. When the wire hole sleeve 32 on the bracket 31 is fixed, the light hole sleeve 33 is installed at the same time. When the sleeve 32 is engaged with the screw module 1 34, the light hole sleeve 33 on the bracket 31 is slidably mounted with the screw module 2 35 to vertically limit the bracket 31. Similarly, when the wire hole sleeve 32 on the bracket 31 is engaged with the screw module 2 35, the light hole sleeve 33 on the bracket 31 is slidably mounted with the screw module 1 34. This arrangement, without affecting the independent drive of the bracket 31, utilizes the screw module as a driving component to realize the function of the guide member, thereby ensuring the verticality of the bracket 31 without setting up other guiding structures, making full use of existing parts and limited space, and reducing the dead weight.

[0053] In a further embodiment, referring to Figure 7In order to achieve that the lower roller 44 can move downward when contacting the spacer bar 8 without completely separating from the spacer bar 8, the limit frame 4 also includes a fixed frame 41, which is a fixed part. A damping member 42 is installed on the vertical side wall of the fixed frame 41, and the damping member 42 is installed at the end of the lower roller 44. The damping member 42 is a vertical damping rod. The damping rod can shrink when under pressure and always maintains rebound potential energy. The damping member 42 is assembled and connected to the end of the lower roller 44. The damping member 42 generates an upward rebound force when the lower roller 44 moves downward. With the lower roller 44 that is thin in the middle and thick on both sides, it can achieve obstacle crossing and ensure horizontal limitation, avoid the contact group from leaving the range of the cable 7 during the obstacle crossing process, ensure that the lower roller 44 is reset after crossing the spacer bar 8, and can be pressed against the lower surface of the cable 7, thereby ensuring the accurate reset of the bracket 5.

[0054] In a further embodiment, referring to Figure 5 To ensure that the position of the lower roller 44 does not shift when it moves up and down, a vertical sliding opening is opened on the upper part of the fixed frame 41, and a sliding seat 43 is vertically slidably installed in the vertical sliding opening. The vertical sliding opening is used to slide the sliding seat 43 to limit the sliding position, ensuring that the lower roller 44 can only move up and down, and will not move horizontally or twist, thereby ensuring the accurate reset of the hanger 5. The sliding seat 43 is fixedly connected to the top of the damping member 42, and the lower roller 44 is rotatably connected to the sliding seat 43, which can ensure that the downward movement of the lower roller 44 can drive the damping member 42 to be compressed, and the damping member 42 can also vertically guide the lower roller 44, and after the lower roller 44 passes over the spacer bar 8, it uses its own potential energy to push the lower roller 44 to reset upward to ensure that it will not be separated from the cable 7.

[0055] In a further embodiment, referring to Figure 5 and Figure 6 In order to achieve the obstacle-crossing action of the hanger 5 away from the spacer bar 8, the hanger 5 includes a movable frame 51, and a hinge seat 54 is provided at the lower end of the movable frame 51, which is rotatably connected to the adjustment seat 3. The movable frame 51 of the hanger 5 can swing around the hinge seat 54 at the lower end, and the movable frame 51 can drive the upper roller 52 to swing in the direction away from the cable 7 to complete the preliminary preparation action of overcoming the obstacle. Among them, the upper end of the movable frame 51 is rotatably installed with an upper roller 52, and the upper roller 52 horizontally contacts the upper surface of the cable 7. The upper roller 52 can reduce the rolling friction with the upper surface of the cable 7. At the same time, the upper roller 52 is thin in the middle and thick at both ends. When resetting, the outer edge of the cable 7 can be squeezed by its own inclined side wall to complete the centering positioning, ensuring smooth and accurate resetting. It can also cooperate with the lower roller 44 to complete the clamping limit of the cable 7 during normal movement to resist crosswind and improve the stability of the suspension.

[0056] In a further embodiment, a driving structure is provided for the rack 5 to overcome obstacles, referring to Figure 7The bracket 5 also includes a driving member 53, which is arranged horizontally and can be extended and retracted. The driving member 53 is located below the movable frame 51. The lower end of the movable frame 51 is provided with a support ear 55 at the hinge seat 54. The lower end of the support ear 55 is rotatably connected to the end of the driving member 53. The other end of the driving member 53 is rotatably mounted on the side wall of the adjustment seat 3. The extension and retraction of the driving member 53 can be used to drive the movable frame 51 to swing, that is, the shortening of the driving member 53 can make the top of the movable frame 51 away from the cable 7 through the support ear 55. Similarly, the driving member 53 The extension of the member 53 can make the top of the movable frame 51 close to the cable 7 through the support ear 55, wherein the end of the support ear 55 extends downward and away from the driving member 53, which can lengthen the power arm. Furthermore, during the swing reset action, the upper roller 52 is thick at both ends and thin in the middle. When it passes over the top of the cable 7 at the edge of the upper roller 52, there will be a certain friction resistance due to the contact between the edge of the upper roller 52 and the top surface of the cable 7. The support ear 55 can enhance the reset force output by the driving member 53 to ensure that the upper roller 52 smoothly returns to the top of the cable 7.

[0057] In a further embodiment, a specific avoider structure is provided, referring to Figure 5 and Figure 6 The avoider of the driver 6 adopts a vertical avoider 63, which can use the space under the lower roller 44. When crossing an obstacle, the vertical avoider 63 drives the driving motor 62 and the driving wheel 61 to move downward, and the driving wheel 61 moves downward away from the lower roller 44. The lower roller 44 can be pressed downward when passing through the position of the spacer bar 8 to smoothly pass through the position of the spacer bar 8. The vertical avoider 63 can drive the driving motor 62 and the driving wheel 61 to move synchronously to ensure that there is enough space under the lower roller 44. Moreover, during normal crawling, the driving wheel 61 is driven to rotate by the driving motor 62, and the telescopic rod is used as the active driving part. During crawling, the telescopic rod always works in an extended state, and the driving wheel 61 can always be pressed against the lower edge of the lower roller 44, providing a larger and more stable contact pressure, adapting to an environment with large crosswinds or a line with a large inclination angle, and ensuring stable suspension and smooth movement.

[0058] In a further embodiment, referring to Fig. 9 The avoider of the driver 6 adopts a lateral avoider 64. The lateral avoider 64 sets the driving wheel 61 overhead at the lower edge of the lower roller 44. During normal crawling, the lower roller 44 and the driving wheel 61 are stably contacted and transmitted. The lateral avoider 64 can drive the driving wheel 61 to move horizontally out of the downward movement range of the lower roller 44. The lateral avoider 64 does not occupy the space under the lower roller 44. Only the driving wheel 61 and the lower edge of the lower roller 44 overlap and contact in a small range. The disengagement path is short, the disengagement action is fast and the time is short. The action in the obstacle crossing process is faster, which reduces the suspension time of the contact group that does not completely contact the cable 7, and ensures the stability of the suspension.

[0059] In a further embodiment, referring to Fig.10, discloses a specific configuration of a lateral avoider 64, a drive motor 62 is fixedly installed on the side wall of the hanger 5 located at the lower edge of the lower roller 44, the drive motor 62 is fixed separately, and does not need to move synchronously with the driving wheel 61, the installation environment of the drive motor 62 is more stable, the lateral avoider 64 includes a through sleeve 641 installed at the output shaft of the drive motor 62, an inner sleeve 643 is installed inside the through sleeve 641, a transmission sleeve 646 is rotatably installed in the middle of the inner sleeve 643, the inner sleeve 643 performs rotational limit on the transmission sleeve 646 to prevent the transmission sleeve 646 from lateral movement, a spline shaft 642 meshing with the transmission sleeve 646 is fixed at the rotation axis of the driving wheel 61, and the spline shaft 642 can be lateral The driving wheel 61 is moved horizontally by the electromagnet 644, and is ensured to be always engaged with the transmission sleeve 646. The driving motor 62 transmits the rotational driving force to the spline shaft 642 through the transmission sleeve 646. When performing the obstacle-crossing operation, an electromagnet 644 is installed on the side of the through sleeve 641 facing the driving wheel 61. An elastic member 645 is installed between the electromagnet 644 and the driving wheel 61. The electromagnet 644 can be energized to attract the driving wheel 61 to move horizontally away from the lower roller 44. The action is fast and the control is simple. The elastic member 645 can push the driving wheel 61 horizontally to reset it after the electromagnet 644 is powered off. During the translation process of the entire device after the obstacle-crossing is completed, the electromagnet 644 does not need to consume energy, thereby reducing energy consumption and extending the battery life of the equipment.

[0060] It should be noted that the elastic member 645 is a spring whose inner diameter is larger than the outer diameter of the spline shaft 642 but smaller than the outer diameter of the driving wheel 61, and has a lower cost. The elastic member 645 can also use a pneumatic damping rod arranged parallel to the spline shaft 642, and has better reset stability. Similarly, the elastic member 645 can be replaced with other parts or structures that can realize the telescopic damping function, which can be selected according to the usage requirements and will not be elaborated here.

[0061] The working principle of this embodiment is as follows:

[0062] During installation, a contact group is provided at each of the four corners of the box 1. The two cables 7 at the bottom are clamped in the middle of the contact groups on both sides. The box 1 is suspended below the cables 7. The lower roller 44 of the limit frame 4 is pressed against the lower surface of the cables 7. The hanger 5 is pressed against the upper surface of the cables 7 to maintain stable contact.

[0063] When inspecting the cable 7, the driver 6 is indirectly driven through the lower roller 44, and the lower roller 44 rolls along the lower surface of the cable 7, which can drive the entire device to move along the cable 7, and use the detection module 2 to take pictures of the surface of the cable 7 and upload them to the ground operator for intuitive inspection;

[0064] During the walking process, the detection module 2 stops moving forward when it detects that the distance close to the spacer bar 8 is the minimum, and the adjustment seat 3 drives the two contact groups away from the spacer bar 8 to move forward to a position above the center of gravity of the device, and the hangers 5 in the two contact groups close to the spacer bar 8 swing away from the spacer bar 8. At the same time, the drivers 6 in the two contact groups close to the spacer bar 8 open the space under the lower roller 44, and use the two contact groups away from the spacer bar 8 to suspend the box 1 horizontally and drive the entire device to continue moving forward. The forward distance is not less than the width of one spacer bar 8 to ensure that the two contact groups close to the spacer bar 8 completely cross the spacer bar 8. During the process, the lower roller 44 will be squeezed by the lower edge of the spacer bar 8 and move downward, but it will always be close to the lower surface of the spacer bar 8 and the cable 7. When the two contact groups close to the spacer bar 8 After the contact group passes the position of the spacer bar 8, the lower roller 44 will contact the lower surface of the cable 7 again, and then the hangers 5 in the two contact groups close to the spacer bar 8 will swing back to hang on the upper surface of the cable 7, completing the obstacle-crossing action of the two contact groups close to the spacer bar 8. After that, the hangers 5 in the two contact groups that have not passed the spacer bar 8 will swing away from the spacer bar 8, and the adjustment seat 3 will drive the box 1 to move forward relative to the contact group until the center of gravity of the device moves to just below the two contact groups that have passed the spacer bar 8. The box 1 is horizontally suspended and driven to continue to move forward by using the two contact groups that have passed the spacer bar 8, until the two contact groups that have not passed the spacer bar 8 also pass the position of the spacer bar 8, and the two hangers 5 that were previously away from the spacer bar 8 are also reset and hung on the upper surface of the cable 7 again, thus completing the entire obstacle-crossing process;

[0065] It should be noted that during the obstacle crossing process, the center of gravity of the box 1 is adjusted synchronously to ensure the horizontal suspension of the box 1, prevent the end of the box 1 from falling due to the detachment of the hanger 5 from the cable 7, and ensure that the hanger 5 detached from the cable 7 can be successfully reset.

[0066] The above are only preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention.

Claims

1. A small obstacle-crossing power inspection robot, comprising a box (1), characterized in that: Also includes: A detection module (2) is located on a side of the box (1) facing the cable (7), the detection module (2) being capable of rotating to photograph the cable (7), and the detection module (2) being capable of measuring the distance between the box (1) and the spacer rod (8); A positioning seat (3) is located on the vertical side wall of the box body (1), and a contact group is installed at the end of the positioning seat (3). The contact group hangs the box body (1) below the cable (7). There are four contact groups, which are symmetrically arranged in groups of two on both sides of the box body (1). The positioning seat (3) can drive any contact group to move horizontally along the side wall of the box body (1); The contact group comprises a limit frame (4) crimped on the lower surface of the cable (7), and a hanger (5) crimped on the upper surface of the cable (7); the limit frame (4) is provided with a lower roller (44); the lower roller (44) can passively move downward when passing through the position of the spacer bar (8); the lower roller (44) always presses the lower surface of the spacer bar (8) during the downward movement; the hanger (5) can move away from the range where the spacer bar (8) is located when passing through the position of the spacer bar (8); A driver (6) for driving the box (1) to move horizontally, the driver (6) indirectly contacts the cable (7) via a lower roller (44), and the driver (6) is provided with a avoider to avoid blocking the lower roller (44) from moving downward; The avoider of the driver (6) adopts a vertical avoider (63). The vertical avoider (63) uses a telescopic rod as an active driving part. The driving wheel (61) is arranged at the lower edge of the lower roller (44). The vertical avoider (63) can drive the driving wheel (61) to move downward away from the lower roller (44). The driving wheel (61) is driven to rotate by a driving motor (62). The vertical avoider (63) can drive the driving motor (62) and the driving wheel (61) to move synchronously.

2. The small obstacle-crossing power inspection robot according to claim 1 is characterized in that: The adjustment seat (3) comprises four brackets (31), the lower parts of the four brackets (31) are all equipped with thread hole sleeves (32), the thread hole sleeves (32) at the lower parts of two brackets (31) located on the same side are arranged in a staggered manner, and the box body (1) is built with a screw rod module that is separately matched with the thread hole sleeves (32).

3. The small obstacle-crossing power inspection robot according to claim 2 is characterized in that: The screw modules are provided with two, and the screw modules include a screw module 1 (34) and a screw module 2 (35) which are stacked up and down, and the side walls of the two brackets (31) located on the same side are respectively fixedly mounted with a wire hole sleeve (32) and a light hole sleeve (33), and the two wire hole sleeves (32) and the two light hole sleeves (33) are staggered and sleeved on the outside of the screw module 1 (34) and the screw module 2 (35).

4. The small obstacle-crossing power inspection robot according to claim 1, characterized in that: The limiting frame (4) further comprises a fixed frame (41), a damping member (42) being installed on a vertical side wall of the fixed frame (41), and the damping member (42) being assembled and connected to the end of the lower roller (44).

5. The small obstacle-crossing power inspection robot according to claim 4 is characterized in that: A vertical sliding opening is provided at the upper portion of the fixed frame (41), a sliding seat (43) is vertically slidably installed in the vertical sliding opening, the sliding seat (43) is fixedly connected to the top end of the damping member (42), and the lower roller (44) is rotatably connected to the sliding seat (43).

6. The small obstacle-crossing power inspection robot according to claim 1, characterized in that: The hanging frame (5) comprises a movable frame (51), the lower end of the movable frame (51) is provided with a hinge seat (54) rotatably connected to the position adjustment seat (3), the upper end of the movable frame (51) is rotatably mounted with an upper roller (52), the upper roller (52) horizontally contacts the upper surface of the cable (7), and the movable frame (51) can drive the upper roller (52) to swing in a direction away from the cable (7).

7. The small obstacle-crossing power inspection robot according to claim 6, characterized in that: The hanger (5) further comprises a driving member (53), wherein the driving member (53) is located below the movable frame (51), and a support ear (55) is provided at the lower end of the movable frame (51) at the hinge seat (54), wherein the lower end of the support ear (55) is rotatably connected to the end of the driving member (53), and the other end of the driving member (53) is rotatably mounted on the side wall of the adjustment seat (3), and the shortening of the driving member (53) can move the top end of the movable frame (51) away from the cable (7) through the support ear (55).

8. The small obstacle-crossing power inspection robot according to claim 1, characterized in that: The avoider of the driver (6) is a lateral avoider (64), and the lateral avoider (64) sets the driving wheel (61) in the air at the lower edge of the lower roller (44). The lateral avoider (64) can drive the driving wheel (61) to move horizontally out of the downward movement range of the lower roller (44).

9. The small obstacle-crossing power inspection robot according to claim 8, characterized in that: A drive motor (62) is fixedly mounted on a side wall of the hanger (5) located at the lower edge of the lower roller (44); the lateral avoider (64) comprises a through sleeve (641) mounted on the output shaft of the drive motor (62); an inner sleeve (643) is mounted inside the through sleeve (641); a transmission sleeve (646) is rotatably mounted in the middle of the inner sleeve (643); a spline shaft (642) meshing with the transmission sleeve (646) is fixed at the rotation axis of the driving wheel (61); the drive motor (62) transmits a rotational driving force to the spline shaft (642) via the transmission sleeve (646); an electromagnet (644) is mounted on a side of the through sleeve (641) facing the driving wheel (61); and an elastic member (645) is mounted between the electromagnet (644) and the driving wheel (61).

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