A distribution line clamp directional inspection robot

Abstract

The present invention is applicable to the field of electric power inspection technology, and provides a distribution line clamp directional inspection robot, including a cross mounting plate, a management module, a directional mechanism, a control mechanism, a fixed column, a camera module, a fixed frame and a driving mechanism, wherein the management module is electrically connected to the four control mechanisms, the camera module, the directional mechanism and the driving mechanism respectively, and further includes: a deflection mechanism, wherein the deflection mechanism is perpendicular to the fixed column, wherein two control mechanisms are respectively mounted on the deflection mechanism, and the deflection mechanism is connected to the driving mechanism. In the distribution line clamp directional inspection robot of the present invention, the control mechanism can not only drive the camera module to quickly rise to the height of the cable, but also drive it to move along the cable distribution trajectory, thereby realizing a fast and efficient inspection of the cables, improving the work efficiency, and reducing the risk of direct manual participation in high-altitude operations.

Description

Technical Field

[0001] The invention belongs to the technical field of electric power inspection, and in particular relates to a distribution line clamping directional inspection robot. Background Art

[0002] Distribution lines generally refer to the lines that send electricity from step-down substations to distribution transformers or from distribution substations to electricity users. The construction of distribution lines requires safety and reliability, maintaining power supply continuity, reducing line losses, improving transmission efficiency, and ensuring good power quality. In order to ensure that distribution lines can work stably and sustainably, they need to be inspected regularly to detect problems in the lines early and solve them. For overhead distribution lines, wire inspection robots are generally used to inspect them.

[0003] The existing inspection robot includes a four-wing UAV, a clamping mechanism and a control box. The clamping mechanism and the control box are both installed on the four-wing UAV. The four-wing UAV can drive the clamping mechanism and the control box to rise to the height of the line. A camera device is provided at the bottom of the control box for patrolling. The clamping mechanism clamps the line and is provided with a wheel clamp structure to enable the device to slide along the line with the help of the four-wing UAV.

[0004] Since the rotation speed of the wings at the front and rear ends of the four-wing drone changes when it moves forward and backward, the moving trajectory of the four-wing drone in the existing inspection robot becomes tilted when it moves along the line. This inclination will cause the clamping mechanism to tilt and exert a stretching effect on the clamped line, which will not only exert additional pressure on the line, but also increase the frictional resistance between the line and the line, thereby affecting the speed and efficiency of the inspection. What is more serious is that this situation may also cause certain damage to the line.

[0005] Therefore, in view of the above situation, there is an urgent need to develop a distribution line clamp directional inspection robot to overcome the shortcomings in current practical applications. Summary of the invention

[0006] In view of the deficiencies in the prior art, an embodiment of the present invention aims to provide a distribution line clamping directional inspection robot to solve the problems in the above-mentioned background technology.

[0007] To achieve the above object, the present invention provides the following technical solutions:

[0008] A distribution line clamp directional inspection robot, comprising a cross mounting plate, a management module is fixed at the bottom of the cross mounting plate, and two directional mechanisms are installed at the bottom of the cross mounting plate, mounting grooves are provided at the four corners of the cross mounting plate, and control mechanisms are arranged above the four mounting grooves, two control mechanisms are symmetrically fixed at the two corners of the cross mounting plate through fixed columns, and the other two control mechanisms are movably arranged at the other two corners of the cross mounting plate, the installation directions of the two fixed columns are consistent with the installation directions of the two directional mechanisms, the bottoms of the two control mechanisms fixed on the cross mounting plate are provided with camera modules, and the two camera modules are respectively fixed to the bottoms of the two control mechanisms through fixed frames, the management module is electrically connected to the four control mechanisms, the two camera modules and the two directional mechanisms, respectively, and also includes:

[0009] A deflection mechanism, wherein the deflection mechanism is symmetrically mounted on the other two corners of the cross mounting plate, the two deflection mechanisms are perpendicular to the two fixing columns, the other two control mechanisms are respectively connected to the two deflection mechanisms, the two deflection mechanisms are connected to a driving mechanism mounted on the middle of the cross mounting plate, and the driving mechanism is electrically connected to the management module;

[0010] The deflection mechanism comprises a first mounting tube, a second mounting tube, a moving assembly and a deflection assembly, the first mounting tube and the second mounting tube are fixedly connected to each other, and the first mounting tube and the second mounting tube are both installed on the mounting groove, the moving assembly is installed at the connection between the first mounting tube and the second mounting tube, one end of the moving assembly extends to the outside of the first mounting tube and the second mounting tube and is connected to the driving mechanism, the other end of the moving assembly extends to the inside of the first mounting tube and the second mounting tube and conflicts with one end of the deflection assembly slidably installed in the first mounting tube, and the other end of the deflection assembly extends to the outside of the first mounting tube and is fixedly connected to the control mechanism;

[0011] In the initial state, the management module controls the air outlet directions of the four control mechanisms to be all downward, and the four control mechanisms drive the cross mounting plate and the deflection mechanism, driving mechanism and directional mechanism thereon to rise to the height where the cable is located, and the directional mechanism is slidably connected with the outer surface of the cable by telescoping;

[0012] The management module controls the driving mechanism to work, and the driving mechanism drives the moving components on the two deflection mechanisms to work at the same time. The moving components drive the other two control mechanisms to move outward while rotating 90 degrees by cooperating with the deflection components.

[0013] The two control mechanisms rotated 90 degrees drive the cross mounting plate and the camera module thereon to move along the distribution trajectory of the cables by cooperating with the directional mechanism. The camera module realizes fast and efficient inspection of the cables by moving. The two non-rotated control mechanisms continue to work to keep the robot constantly above the cables.

[0014] As a further technical solution of the present invention, the mobile component includes:

[0015] A mounting shaft rotatably mounted at the connection between the first mounting tube and the second mounting tube, one end of the mounting shaft extending outside the first mounting tube and the second mounting tube and connected to the driving mechanism;

[0016] A gear located in the first mounting tube and the second mounting tube and fixedly connected to the mounting shaft;

[0017] A rack having two ends slidably mounted in the first mounting tube and the second mounting tube respectively, the rack being meshed with the gear; and

[0018] A moving member is fixed to one end of the rack, and the moving member abuts against the deflection assembly.

[0019] As a further technical solution of the present invention, the deflection assembly comprises:

[0020] A sliding member slidably arranged in the first mounting tube, one end of the sliding member abuts against the moving member, a spring is installed between the other end of the sliding member and the first mounting tube, and a guide groove is spirally opened on the outer wall of the sliding member;

[0021] a connecting column fixed to the other end of the sliding member, one end of which passes through the first mounting tube and is connected to the control mechanism; and

[0022] The guide piece is fixed on the side wall of the first mounting tube by a fixing screw, and the guide piece is slidably matched with the guide groove.

[0023] As a further technical solution of the present invention, the driving mechanism comprises:

[0024] A motor fixed in the middle of the cross mounting plate, the motor being electrically connected to the management module;

[0025] a spindle fixed to the output end of the motor; and

[0026] A transmission member connected to the main shaft at one end and to the mounting shaft at the other end.

[0027] As a further technical solution of the present invention, the control mechanism includes:

[0028] A mounting base respectively fixed on the fixing column and the connecting column;

[0029] a motor fixed on the mounting base, the motor being electrically connected to the management module; and

[0030] Propeller blades mounted on the output end of the motor.

[0031] As a further technical solution of the present invention, the orientation mechanism comprises:

[0032] A mounting frame symmetrically fixed to the bottom of the cross mounting plate along the mounting direction of the fixing column, wherein a sliding groove is provided on the mounting frame;

[0033] an orientation assembly mounted on a mounting frame; and

[0034] A regulating component is installed at the bottom of the cross mounting plate, one end of which is slidably matched with the slide groove and rotationally connected with the directional component, and the regulating component is electrically connected with the management module.

[0035] As a further technical solution of the present invention, the control component includes:

[0036] A telescopic cylinder rotatably mounted on the bottom of the cross mounting plate and electrically connected to the management module;

[0037] a telescopic rod fixed to the output end of the telescopic cylinder; and

[0038] A roller is mounted on one end of the telescopic rod, the roller is slidably matched with the slide groove, and the roller is rotationally connected to one end of the directional assembly.

[0039] As a further technical solution of the present invention, the directional component includes:

[0040] Rotating the directional wheel mounted on the mounting frame via the connecting shaft; and

[0041] The wire clamping wheel installed on the roller is rotated through the connecting shaft, and the cable is placed between the directional wheel and the wire clamping wheel.

[0042] As a further technical solution of the present invention, the cross mounting plate is symmetrically provided with adjustment grooves near the two deflection mechanisms, and a counterweight module is fixed in the adjustment groove by bolts. The counterweight module calibrates the center of gravity of the robot by cooperating with a spirit level installed in the middle of the cross mounting plate.

[0043] Compared with the prior art, the present invention has the following beneficial effects:

[0044] In the initial state, the management module ensures that the air outlet directions of the four control mechanisms are all facing downward, thus providing a basis for the stable rise of the robot's overall structure. The four control mechanisms drive the cross mounting plate and the deflection mechanism, drive mechanism and directional mechanism thereon to rise to the height of the cable. The directional mechanism is slidably connected to the outer surface of the cable by telescoping, providing a guiding basis for subsequent cable inspections, allowing the robot to move along the distribution trajectory of the cables, thereby fully and effectively inspecting the cables.

[0045] Next, the management module controls the driving mechanism to work, and the driving mechanism drives the two deflection mechanisms to work at the same time. The two deflection mechanisms synchronously drive the other two control mechanisms to rotate 90 degrees while moving outward, which not only avoids the control mechanism from colliding with the first mounting cylinder or the cross mounting plate during the rotation process, but also ensures the stable operation of the control mechanism, and allows the air outlet direction of the other two control mechanisms to be opposite to the inspection direction of the cable;

[0046] The two control mechanisms rotated 90 degrees, in cooperation with the directional mechanism, can drive the cross mounting plate and the camera module thereon to move along the distribution trajectory of the cables, thereby realizing fast and efficient inspection of the cables, improving work efficiency, and reducing the risk of direct human participation in high-altitude operations, providing an efficient and safe solution for high-altitude operations. The two non-rotating control mechanisms can provide a certain buoyancy for the robot so that its own weight will not be applied to the cables. By reducing or eliminating the direct pressure of the robot on the cables, the wear or damage of the cables caused by long-term exposure to gravity can be significantly reduced, thereby extending the service life of the cables. The existence of buoyancy enables the robot to move along the cables more easily, reducing friction and resistance during movement, thereby improving the efficiency and speed of inspections.

[0047] In order to more clearly illustrate the structural features and effects of the present invention, the present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 A schematic structural diagram of a distribution line clamp directional inspection robot from a first perspective provided in an embodiment of the present invention.

[0049] Figure 2 A schematic structural diagram of a second perspective of a distribution line clamp directional inspection robot provided in an embodiment of the present invention.

[0050] Figure 3 A schematic structural diagram of a distribution line clamp directional inspection robot from a third perspective provided in an embodiment of the present invention.

[0051] Figure 4 for Figure 2Enlarged view of the center fixed column and control mechanism.

[0052] Figure 5 for Figure 3 Enlarged view of the orientation mechanism.

[0053] Figure 6 for Figure 2 Enlarged view of the control mechanism and deflection mechanism.

[0054] Figure 7 for Figure 6 Schematic diagram of the structure with partial cross-section of the control mechanism and deflection mechanism.

[0055] Figure 8 for Figure 7 A magnified view of the structure in the middle.

[0056] Fig. 9 for Figure 7 Schematic diagram of the structure of the moving assembly and the first mounting cylinder.

[0057] Fig.10 for Figure 7 Schematic diagram of the structure of the deflection component.

[0058] Figure numerals: 1-cross mounting plate, 2-mounting groove, 3-control mechanism, 31-mounting seat, 32-motor, 33-propeller blade, 4-fixing column, 5-deflection mechanism, 51-first mounting cylinder, 52-second mounting cylinder, 53-moving assembly, 531-mounting shaft, 532-gear, 533-rack, 534-moving member, 54-deflection assembly, 541-sliding member, 542-connecting column, 543-spring, 544-guide groove, 545 -guide part, 546-fixing screw, 6-driving mechanism, 61-motor, 62-spindle, 63-transmission part, 7-orienting mechanism, 71-mounting frame, 711-slideway, 72-orienting assembly, 721-orienting wheel, 722-clamping wheel, 723-connecting shaft, 73-regulating assembly, 731-roller, 732-telescopic rod, 733-telescopic cylinder, 8-management module, 9-adjustment slot, 10-camera module, 11-counterweight module, 12-fixed frame. DETAILED DESCRIPTION

[0059] 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.

[0060] The specific implementation of the present invention is described in detail below in conjunction with specific embodiments.

[0061] like Figures 1 to 10As shown, a distribution line clamp directional inspection robot provided as an embodiment of the present invention includes a cross mounting plate 1, a management module 8 is fixed at the bottom of the cross mounting plate 1, and two directional mechanisms 7 are installed at the bottom of the cross mounting plate 1, and the two directional mechanisms 7 are in conflict with the cables, and the four corners of the cross mounting plate 1 are provided with mounting grooves 2, and the tops of the four mounting grooves 2 are provided with control mechanisms 3, and the two control mechanisms 3 are symmetrically fixed on the two corners of the cross mounting plate 1 through fixed columns 4, and the other two control mechanisms 3 are movably arranged on the other two corners of the cross mounting plate 1, and the installation directions of the two fixed columns 4 are consistent with the installation directions of the two directional mechanisms 7, and the bottoms of the two control mechanisms 3 fixed on the cross mounting plate 1 are installed with camera modules 10, and the two camera modules 10 are respectively fixed to the bottoms of the two control mechanisms 3 through fixed frames 12, and the management module 8 is electrically connected to the four control mechanisms 3, the two camera modules 10 and the two directional mechanisms 7, respectively, and also includes:

[0062] Deflection mechanism 5, the deflection mechanism 5 is symmetrically mounted on the other two corners of the cross mounting plate 1, the two deflection mechanisms 5 are perpendicular to the two fixing columns 4, the other two control mechanisms 3 are respectively connected to the two deflection mechanisms 5, the two deflection mechanisms 5 are connected to the driving mechanism 6 mounted on the middle part of the cross mounting plate 1, and the driving mechanism 6 is electrically connected to the management module 8;

[0063] The deflection mechanism 5 includes a first mounting cylinder 51, a second mounting cylinder 52, a moving component 53 and a deflection component 54. The first mounting cylinder 51 and the second mounting cylinder 52 are fixedly connected to each other, and the first mounting cylinder 51 and the second mounting cylinder 52 are both installed on the mounting groove 2. The moving component 53 is installed at the connection between the first mounting cylinder 51 and the second mounting cylinder 52. One end of the moving component 53 extends to the outside of the first mounting cylinder 51 and the second mounting cylinder 52 and is connected to the driving mechanism 6. The other end of the moving component 53 extends into the first mounting cylinder 51 and the second mounting cylinder 52 and conflicts with one end of the deflection component 54 slidably installed in the first mounting cylinder 51. The other end of the deflection component 54 extends to the outside of the first mounting cylinder 51 and the second mounting cylinder 52 and is fixedly connected to the control mechanism 3.

[0064] In this embodiment, in the initial state, the management module 8 ensures that the air outlet directions of the four control mechanisms 3 are all consistent and downward, thereby providing a basis for the stable rise of the overall structure of the robot. The four control mechanisms 3 drive the cross mounting plate 1 and the deflection mechanism 5, the driving mechanism 6 and the directional mechanism 7 thereon to rise to the height where the cable is located. The directional mechanism 7 is slidably connected to the outer surface of the cable in a telescopic manner, providing a guiding basis for subsequent inspections of the cable, allowing the robot to move along the distribution trajectory of the cable, thereby fully and effectively inspecting the cable;

[0065] Next, the management module 8 controls the driving mechanism 6 to work, and the driving mechanism 6 drives the moving components 53 on the two deflection mechanisms 5 to work at the same time. The moving component 53 can drive the other two control mechanisms 3 to move outward while rotating 90 degrees by cooperating with the deflection component 54. This not only avoids the control mechanism 3 from colliding with the first mounting tube 51 or the cross mounting plate 1 during the rotation process, but also ensures the stable operation of the control mechanism 3, and allows the air outlet direction of the other two control mechanisms 3 to be opposite to the inspection direction of the cable.

[0066] The two control mechanisms 3 rotated 90 degrees can drive the cross mounting plate 1 and the camera module 10 thereon to move along the distribution track of the cables in cooperation with the orientation mechanism 7, thereby realizing a fast and efficient inspection of the cables, improving the working efficiency, and reducing the risk of direct manual participation in high-altitude operations, thus providing an efficient and safe solution for high-altitude operations;

[0067] The two non-rotating control mechanisms 3 can provide a certain buoyancy for the robot so that its own weight will not be applied to the cable. By reducing or eliminating the direct pressure of the robot on the cable, the wear or damage of the cable caused by long-term exposure to gravity can be significantly reduced, thereby extending the service life of the cable. The existence of buoyancy enables the robot to move along the cable more easily, reducing friction and resistance during movement, thereby improving the efficiency and speed of inspection.

[0068] In a preferred embodiment, the management module 8 may include a single-chip microcomputer and a power supply. The single-chip microcomputer is provided with a wireless connection module electrically connected to a ground remote control, so that the staff can control the operation mode of the robot on the ground through the remote control. The single-chip microcomputer is electrically connected to the camera module 10, and the image data taken by the camera module 10 can be transmitted back, so that the staff on the ground can obtain cable inspection information in real time, and the single-chip microcomputer is electrically connected to the power supply, and the power supply is electrically connected to the driving mechanism 6, the control mechanism 3 and the directional mechanism 7 respectively. A power warning mechanism can also be set inside the power supply to ensure the minimum power of the robot system operation and meet the power demand of the return process, so that the staff can replace or charge it in time.

[0069] like Figures 2 to 9As shown, as a preferred embodiment of the present invention, the moving assembly 53 includes a mounting shaft 531, a gear 532, a rack 533 and a moving part 534. The mounting shaft 531 is rotatably mounted at the connection between the first mounting cylinder 51 and the second mounting cylinder 52. One end of the mounting shaft 531 extends to the outside of the first mounting cylinder 51 and the second mounting cylinder 52 and is connected to the driving mechanism 6. The gear 532 is located in the first mounting cylinder 51 and the second mounting cylinder 52 and is concentrically fixedly connected to the mounting shaft 531. The gear 532 is meshed with a rack 533 whose two ends are respectively slidably mounted in the first mounting cylinder 51 and the second mounting cylinder 52. A moving part 534 that conflicts with the deflection assembly 54 is fixed at one end of the rack 533.

[0070] In this embodiment, when the driving mechanism 6 is working, the driving mechanism 6 drives the installation shaft 531 to rotate, the installation shaft 531 drives the gear 532 to rotate, and the gear 532 drives the moving part 534 to move toward the direction close to the first installation cylinder 51 through the rack 533. The moving part 534 drives the deflection assembly 54 to work, so that the deflection assembly 54, under the push of the moving part 534, can drive the connected control mechanism 3 to move and rotate at the same time, and ensure that it rotates 90 degrees, so that the air outlet direction of the two control mechanisms 3 is opposite to the inspection direction of the cable, so that it can effectively drive the cross mounting plate 1 to move along the distribution trajectory of the cable.

[0071] In a preferred embodiment, both ends of the installation shaft 531 are rotatably mounted at the connection between the first installation cylinder 51 and the second installation cylinder 52 through bearings. The first installation cylinder 51 and the second installation cylinder 52 are connected to each other to fix the bearings at both ends of the installation shaft 531, thereby fixing the installation shaft 531.

[0072] The moving member 534 preferably adopts a plate-like structure.

[0073] like Figures 2 to 10 As shown, as a preferred embodiment of the present invention, the deflection assembly 54 includes a sliding member 541, a connecting column 542, a spring 543, a guide groove 544, a guide member 545 and a fixing screw 546. The sliding member 541 is slidably arranged in the first mounting tube 51, one end of the sliding member 541 is in conflict with the moving member 534, the other end of the sliding member 541 is fixedly connected to one end of the connecting column 542, the other end of the connecting column 542 passes through the first mounting tube 51 and is connected to the control mechanism 3, a spring 543 is installed between the other end of the sliding member 541 and the inner wall of the first mounting tube 51, a guide groove 544 is spirally opened on the outer wall of the sliding member 541, the guide groove 544 is slidably matched with the guide member 545, and the guide member 545 is fixed to the side wall of the first mounting tube 51 by a fixing screw 546.

[0074] In this embodiment, in the initial state, the spring 543 uses its inherent elastic force to push the sliding member 541 toward the moving member 534 to achieve close contact between the two. At this time, the guide member 545 is located at one end of the guide groove 544, and the air outlet direction of the control mechanism 3 connected to the connecting column 542 is downward;

[0075] When the moving member 534 receives power from the driving mechanism 6 and starts to move, it drives the sliding member 541 to move together. Since the sliding member 541 is connected to the connecting column 542, this movement is simultaneously transmitted to the connecting column 542, and finally causes the control mechanism 3 connected thereto to move. In this process, the spring 543 is compressed and accumulates energy, providing power for subsequent actions. The use of the spring 543 not only provides the necessary elasticity for the system, but also increases the stability of the system, reducing the impact and damage that may be caused by sudden movement.

[0076] At the same time, the shape and path of the guide groove 544 control the movement trajectory of the sliding member 541, so that while it is moving in a straight line, it can also drive the sliding member 541 to rotate by cooperating with the guide member 545, and due to the limitation of the guide groove 544, the sliding member 541 can only rotate 90 degrees. This design ensures the accuracy and controllability of the rotational movement. Therefore, when the sliding member 541 rotates, it drives the connecting column 542 and the control mechanism 3 thereon to rotate 90 degrees together. While realizing the steering of the control mechanism 3, it can also avoid the control mechanism 3 from colliding with the first mounting tube 51 or the cross mounting plate 1.

[0077] In a preferred embodiment, the sliding member 541 preferably adopts a circular columnar structure;

[0078] The guide member 545 preferably adopts a spherical structure.

[0079] like Figures 2 to 9 As shown, as a preferred embodiment of the present invention, the driving mechanism 6 includes a motor 61, a main shaft 62 and a transmission member 63. The motor 61 is fixed in the middle of the cross mounting plate 1. The main shaft 62 is fixed on the output end of the motor 61. The main shaft 62 is respectively connected to two symmetrically arranged mounting shafts 531 through the transmission member 63. The motor 61 is electrically connected to the management module 8.

[0080] In this embodiment, when the orienting mechanism 7 is slidably connected to the cable, the management module 8 controls the motor 61 to work, the motor 61 drives the main shaft 62 to rotate, and the main shaft 62 simultaneously drives the two mounting shafts 531 to rotate through the transmission member 63, thereby realizing the steering of the two control mechanisms 3, so that it can push the overall structure of the robot to move along the distribution trajectory of the cable and inspect the cable.

[0081] In a preferred embodiment, the transmission member 63 preferably adopts a transmission structure composed of a belt and a pulley, and may also adopt a transmission structure composed of a chain and a sprocket that meets the conditions, as long as the transmission function can be achieved, and no further elaboration is given here.

[0082] like Figures 1 to 7 As shown, as a preferred embodiment of the present invention, the control mechanism 3 includes a mounting seat 31, a motor 32 and a propeller blade 33, the mounting seat 31 is respectively fixed on the fixing column 4 and the connecting column 542, the motor 32 is fixed on the mounting seat 31, the propeller blade 33 is installed on the output end of the motor 32, and the motor 32 is electrically connected to the management module 8.

[0083] In this embodiment, during the robot's ascending stage, the management module 8 can simultaneously drive the four motors 32 to work, so that the four propeller blades 33 rotate synchronously, thereby driving the entire robot structure to rise to the height of the cable, so that the orientation mechanism 7 can be slidably connected with the cable;

[0084] During the robot inspection stage, the management module 8 controls the four motors 32 to continue working. The two motors 32 connected to the connecting column 542 and the propeller blades 33 thereon can push the overall structure of the robot to move along the distribution trajectory of the cable by rotating 90 degrees, thereby realizing the inspection of the cable. The two motors 32 connected to the fixed column 4 and the propeller blades 33 thereon can provide a certain buoyancy for the robot by rotating, so that its own weight will not be applied to the cable. By reducing or eliminating the direct pressure of the robot on the cable, the wear or damage of the cable caused by long-term exposure to gravity can be significantly reduced, thereby extending the service life of the cable. The existence of buoyancy enables the robot to move along the cable more easily, reducing friction and resistance during movement, thereby improving the efficiency and speed of the inspection.

[0085] like Figures 1 to 5 As shown, as a preferred embodiment of the present invention, the orientation mechanism 7 includes a mounting frame 71, an orientation component 72 and an adjustment component 73. The mounting frame 71 is symmetrically fixed to the bottom of the cross mounting plate 1 along the mounting direction of the fixed column 4. The mounting frame 71 is provided with a slide groove 711 for slidingly cooperating with the adjustment component 73. The orientation component 72 is installed on the mounting frame 71, and the orientation component 72 is rotatably connected to the adjustment component 73 installed at the bottom of the cross mounting plate 1. The adjustment component 73 is electrically connected to the management module 8.

[0086] like Figures 1 to 5As shown, as a preferred embodiment of the present invention, the regulating component 73 includes a roller 731, a telescopic rod 732 and a telescopic cylinder 733, the roller 731 is installed at one end of the telescopic rod 732, the roller 731 is slidably matched with the slide groove 711, the roller 731 is connected to one end of the directional component 72, the other end of the telescopic rod 732 is fixed to the output end of the telescopic cylinder 733, the telescopic cylinder 733 is rotatably installed at the bottom of the cross mounting plate 1, and the telescopic cylinder 733 is connected to the management module 8, and the telescopic cylinder 733 is preferably an electric telescopic cylinder 733.

[0087] In this embodiment, when the control mechanism 3 drives the directional mechanism 7 to rise to the height of the cable and places the cable in the directional assembly 72, the management module 8 controls the telescopic cylinder 733 to work, the telescopic cylinder 733 drives the telescopic rod 732 to extend and retract, the telescopic rod 732 drives the roller 731 to slide in the slide groove 711, and the roller 731 drives one end of the directional assembly 72 to move, so that the directional assembly 72 can be slidably connected with the outer surface of the cable. This connection method not only ensures the contact stability between the two, but also allows the directional assembly 72 to slide freely without damaging the cable. This sliding connection provides the necessary flexibility for the directional mechanism 7 to adapt to different inclinations and curved paths of the cable.

[0088] Furthermore, the cooperation of this sliding connection and the control mechanism 3 allows the cross mounting plate 1 and the camera module 10 thereon to move along the trajectory of cable distribution, so that the robot can automatically perform efficient inspection or maintenance work along the cables without direct human participation, greatly improving the safety and efficiency of the operation.

[0089] like Figures 1 to 5 As shown, as a preferred embodiment of the present invention, the orientation assembly 72 includes an orientation wheel 721, a wire clamping wheel 722 and a connecting shaft 723, the orientation wheel 721 is rotatably mounted on the mounting frame 71 via the connecting shaft 723, the wire clamping wheel 722 is rotatably mounted on the roller 731 via the connecting shaft 723, and the cable is placed between the orientation wheel 721 and the wire clamping wheel 722.

[0090] In this embodiment, when the telescopic rod 732 drives the roller 731 to slide in the slide groove 711, the roller 731 drives the wire clamping wheel 722 to move toward the direction close to the directional wheel 721 through the connecting shaft 723, and the wire clamping wheel 722 can stably place the cable between the directional wheel 721 by approaching each other, thereby realizing a sliding connection with the cable, guiding the patrol direction of the robot, and effectively patrolling the cable.

[0091] In a preferred embodiment, arc-shaped grooves for sliding against cables are provided on the end surfaces of the directional wheel 721 and the wire clamping wheel 722 that are close to each other, so that the directional wheel 721 and the wire clamping wheel 722 can establish a sliding connection relationship with cables of different diameters, effectively helping the robot to inspect cables of different diameters.

[0092] like Figures 1 to 3 As shown, as a preferred embodiment of the present invention, the cross mounting plate 1 is symmetrically provided with adjustment grooves 9 at positions close to the two deflection mechanisms 5, and a counterweight module 11 is fixed in the adjustment groove 9 by bolts. The counterweight module 11 can calibrate the center of gravity of the robot and balance the gravity on both sides thereof by cooperating with a spirit level installed in the middle of the cross mounting plate 1. Under the control of the control mechanism 3, the robot can be helped to move stably and continuously along the distribution trajectory of the cables, thereby realizing effective inspection of the cables and reducing the risk of accidents caused by instability.

[0093] The working principle of the present invention is:

[0094] In the initial state, the management module 8 ensures that the air outlet directions of the four control mechanisms 3 are all consistent and downward, thereby providing a basis for the stable rise of the overall structure of the robot. The management module 8 can drive the four motors 32 to work at the same time, so that the four propeller blades 33 rotate synchronously, thereby driving the cross mounting plate 1 and the deflection mechanism 5, the driving mechanism 6 and the directional mechanism 7 thereon to rise to the height of the cable, and placing the cable between the directional wheel 721 and the clamping wheel 722. The management module 8 controls the telescopic cylinder 733 to work, and the telescopic cylinder 733 drives the telescopic rod 732 to extend and retract, and the telescopic rod 732 drives the roller 731 to slide in the slide groove 711, and the roller 731 drives the clamping wheel 722 to move in the direction close to the directional wheel 721 through the connecting shaft 723, and the clamping wheel 722 can stably place the cable between the directional wheel 721 by approaching the directional wheel 721, so as to achieve a sliding connection with the cable, thereby providing a guiding basis for subsequent inspections of the cable.

[0095] Next, the management module 8 controls the motor 61 to work, the motor 61 drives the main shaft 62 to rotate, the main shaft 62 drives the two installation shafts 531 to rotate through the transmission member 63, the installation shaft 531 drives the gear 532 to rotate, and the gear 532 drives the moving member 534 to move toward the direction close to the first installation cylinder 51 through the rack 533;

[0096] When the moving member 534 receives the power from the driving mechanism 6 and starts to move, it drives the sliding member 541 to move together. Since the sliding member 541 is connected to the connecting column 542, this movement is simultaneously transmitted to the connecting column 542, and finally causes the control mechanism 3 connected thereto to move synchronously. At the same time, the shape and path of the guide groove 544 control the movement trajectory of the sliding member 541, so that while it is moving linearly, it can also drive the sliding member 541 to rotate by cooperating with the guide member 545. Due to the limitation of the guide groove 544, the sliding member 541 can only rotate 90 degrees. When the sliding member 541 rotates, it drives the connecting column 542 and the control mechanism 3 thereon to rotate 90 degrees together. While realizing the steering of the control mechanism 3, it can also prevent the control mechanism 3 from colliding with the first mounting cylinder 51 or the cross mounting plate 1.

[0097] The two control mechanisms 3 rotated 90 degrees can drive the cross mounting plate 1 and the camera module 10 thereon to move along the distribution track of the cable in cooperation with the orientation mechanism 7, thereby realizing a fast and efficient inspection of the cable; and the two control mechanisms 3 that have not rotated can provide a certain buoyancy for the robot, so that its own weight will not be applied to the cable. By reducing or eliminating the direct pressure of the robot on the cable, the wear or damage of the cable caused by long-term exposure to gravity can be significantly reduced, thereby extending the service life of the cable. The existence of buoyancy enables the robot to move along the cable more easily, reducing the friction and resistance during the movement, thereby improving the efficiency and speed of the inspection;

[0098] The above is the working principle of the distribution line clamp directional inspection robot.

[0099] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A distribution line clamp directional inspection robot, comprising a cross mounting plate, a management module is fixed at the bottom of the cross mounting plate, and two directional mechanisms are installed at the bottom of the cross mounting plate, mounting grooves are opened on the four corners of the cross mounting plate, and control mechanisms are arranged above the four mounting grooves, two of the control mechanisms are symmetrically fixed on the two corners of the cross mounting plate through fixed columns, and the other two control mechanisms are movably arranged on the other two corners of the cross mounting plate, the installation directions of the two fixed columns are consistent with the installation directions of the two directional mechanisms, the bottoms of the two control mechanisms fixed on the cross mounting plate are provided with camera modules, and the two camera modules are respectively fixed to the bottoms of the two control mechanisms through fixed frames, the management module is electrically connected to the four control mechanisms, the two camera modules and the two directional mechanisms, respectively, and it is characterized in that Also includes: A deflection mechanism, wherein the deflection mechanism is symmetrically mounted on the other two corners of the cross mounting plate, the two deflection mechanisms are perpendicular to the two fixing columns, the other two control mechanisms are respectively connected to the two deflection mechanisms, the two deflection mechanisms are connected to a driving mechanism mounted on the middle of the cross mounting plate, and the driving mechanism is electrically connected to the management module; The deflection mechanism comprises a first mounting tube, a second mounting tube, a moving assembly and a deflection assembly, the first mounting tube and the second mounting tube are fixedly connected to each other, and the first mounting tube and the second mounting tube are both installed on the mounting groove, the moving assembly is installed at the connection between the first mounting tube and the second mounting tube, one end of the moving assembly extends to the outside of the first mounting tube and the second mounting tube and is connected to the driving mechanism, the other end of the moving assembly extends to the inside of the first mounting tube and the second mounting tube and conflicts with one end of the deflection assembly slidably installed in the first mounting tube, and the other end of the deflection assembly extends to the outside of the first mounting tube and is fixedly connected to the control mechanism; The mobile assembly comprises: A mounting shaft rotatably mounted at the connection between the first mounting tube and the second mounting tube, one end of the mounting shaft extending outside the first mounting tube and the second mounting tube and connected to the driving mechanism; A gear located in the first mounting tube and the second mounting tube and fixedly connected to the mounting shaft; A rack having two ends slidably mounted in the first mounting tube and the second mounting tube respectively, the rack being meshed with the gear; and A moving member fixed to one end of the rack, the moving member abutting against the deflection assembly; The deflection assembly comprises: A sliding member slidably arranged in the first mounting tube, one end of the sliding member abuts against the moving member, a spring is installed between the other end of the sliding member and the first mounting tube, and a guide groove is spirally opened on the outer wall of the sliding member; a connecting column fixed to the other end of the sliding member, one end of which passes through the first mounting tube and is connected to the control mechanism; and The guide piece is fixed on the side wall of the first mounting tube by a fixing screw, and the guide piece is slidably matched with the guide groove.

2. The power distribution line clamp directional inspection robot according to claim 1, characterized in that: The driving mechanism comprises: A motor fixed in the middle of the cross mounting plate, the motor being electrically connected to the management module; a spindle fixed to the output end of the motor; and A transmission member connected to the main shaft at one end and to the mounting shaft at the other end.

3. The power distribution line clamping directional inspection robot according to claim 2, characterized in that: The control mechanism comprises: A mounting base respectively fixed on the fixing column and the connecting column; a motor fixed on the mounting base, the motor being electrically connected to the management module; and Propeller blades mounted on the output end of the motor.

4. The distribution line clamp directional inspection robot according to claim 1, characterized in that: The orientation mechanism comprises: A mounting frame symmetrically fixed to the bottom of the cross mounting plate along the mounting direction of the fixing column, wherein a sliding groove is provided on the mounting frame; an orientation assembly mounted on a mounting frame; and A regulating component is installed at the bottom of the cross mounting plate, one end of which is slidably matched with the slide groove and rotationally connected with the directional component, and the regulating component is electrically connected with the management module.

5. The power distribution line clamping directional inspection robot according to claim 4, characterized in that: The control components include: A telescopic cylinder rotatably mounted on the bottom of the cross mounting plate and electrically connected to the management module; a telescopic rod fixed to the output end of the telescopic cylinder; and A roller is mounted on one end of the telescopic rod, the roller is slidably matched with the slide groove, and the roller is rotationally connected to one end of the directional assembly.

6. The power distribution line clamping directional inspection robot according to claim 5, characterized in that: The directional component includes: Rotating the directional wheel mounted on the mounting frame via the connecting shaft; and The wire clamping wheel installed on the roller is rotated through the connecting shaft, and the cable is placed between the directional wheel and the wire clamping wheel.

7. The power distribution line clamp directional inspection robot according to claim 1, characterized in that: The cross mounting plate is symmetrically provided with adjustment slots near the two deflection mechanisms, in which a counterweight module is fixed by bolts. The counterweight module calibrates the center of gravity of the robot by cooperating with a spirit level installed in the middle of the cross mounting plate.

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