Electric power inspection robot

Abstract

The invention provides an electric power inspection robot, and relates to the field of electric power inspection robots. The electric power inspection robot comprises a U-shaped rack and a mounting plate, the mounting plate is fixedly mounted in the U-shaped rack, telescopic assemblies are fixedly mounted at the two ends of the U-shaped rack, fixing forks are mounted at the two ends of each telescopic assembly, and the telescopic assemblies are used for changing the distance between the two fixing forks; obstacle crossing climbing assemblies are installed in the ends, away from the telescopic assemblies, of the fixed forks, worm wheel driving machines are fixedly installed at the positions, corresponding to the obstacle crossing climbing assemblies, of the fixed forks, and the output ends of the worm wheel driving machines are connected with the obstacle crossing climbing assemblies. According to the electric power inspection robot, the telescopic assembly and the obstacle crossing climbing assemblies are arranged, the distance between the two obstacle crossing climbing assemblies can be changed when the telescopic assembly stretches, and therefore the electric power inspection robot can adapt to power transmission lines of different distances, when obstacles exist on the power transmission lines, the obstacle crossing climbing assemblies are separated from the power transmission lines to operate, and the effect of easily crossing obstacles is achieved.

Description

Technical Field

[0001] The invention relates to the field of electric power inspection robots, in particular to an electric power inspection robot. Background Art

[0002] Power inspection refers to the timely and accurate inspection of the operating status of power lines and ancillary equipment, as well as the surrounding environment of power line corridors, to ensure the safe and reliable operation of transmission lines by discovering fault points and potential hazards that endanger power safety. Generally, transmission lines are built at high altitudes, which has the advantages of reducing man-made damage, reducing maintenance costs, and reducing power loss. The traditional inspection method for high-altitude transmission lines is manual routing inspection, in which inspection personnel use auxiliary tools to conduct close inspections of transmission lines, which is labor-intensive, has high safety risks, and requires high technical skills.

[0003] In view of the above situation, inspection robots came into being. In the relevant technology, the inspection robots walk on the transmission lines through rollers and conduct inspections through cameras. The processor processes the inspection information and feedbacks the inspection results. However, since aerial work is greatly affected by environmental factors, the transmission lines with long spans will shake under the action of wind, which can easily cause the inspection robots to separate from the transmission lines and roll over. Therefore, the existing inspection robots are mostly installed in a double-wire mounting manner. However, this installation method is limited by the spacing between two adjacent high-voltage transmission wires, and the distance between the two high-voltage wires in different sections is different. There will also be obstacles on a single wire, so many special equipment have come into being, resulting in different inspection robots and incompatibility.

[0004] Chinese patent publication number: CN108879464B discloses a miniature obstacle-crossing power inspection robot, comprising a driving component and a hanging component arranged above and below, the driving component and the hanging component are spaced a distance apart, the lower end of the driving component is provided with a driving wheel and an obstacle-crossing wheel, along the walking direction of the robot, the position of the driving wheel is staggered with the position of the obstacle-crossing wheel; the driving component and the hanging component are connected by a connecting arm (12), along the centerline direction of the driving wheel, the connecting arm is located on the same side of the driving wheel and the obstacle-crossing wheel. The robot does not need to rely on its own mechanical structure to cross obstacles, but relies on an obstacle-crossing bridge to cross obstacles, so that the robot body structure is simple, the volume is small, and it is easy to install and maintain; when climbing the obstacle-crossing bridge, the operation process is safe, stable and reliable, which is a key breakthrough in realizing the lightweight, commercialization and practical application of the power transmission line inspection robot.

[0005] Although the bridge-crossing method of this solution can pass through obstacles on the transmission lines, this requires the installation of obstacle-crossing rails on the transmission lines. However, some high-voltage transmission lines are also equipped with aviation warning lights, bird-proof spikes, ultrasonic bird-repellent devices, various monitoring devices, etc. Therefore, in the actual inspection process, it is still difficult for the robot to pass through these obstacles, resulting in the inspection robot being limited to a certain distance of the transmission line. Summary of the invention

[0006] In view of the deficiencies in the prior art, the present invention provides an electric power inspection robot that solves the problems raised in the above background technology.

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions: an electric power inspection robot, comprising a U-shaped frame and a mounting plate, the mounting plate is fixedly mounted in the U-shaped frame, telescopic components are fixedly mounted at both ends of the U-shaped frame, fixed forks are mounted at both ends of the telescopic components, the telescopic components are used to change the distance between the two fixed forks, an obstacle climbing component is mounted in one end of the fixed fork away from the telescopic component, a worm gear drive is fixedly mounted on the fixed fork corresponding to the obstacle climbing component, the output end of the worm gear drive is connected to the obstacle climbing component, and is used to change the angle between the obstacle climbing component and the fixed fork;

[0008] A guide rail is installed at the inner bottom wall of the U-shaped frame, and a counterweight block that can move autonomously along the guide rail is installed on the guide rail, and the counterweight block is located below the mounting plate.

[0009] Preferably, the obstacle climbing assembly comprises a motor A, the output end of which is far away from the fixed fork;

[0010] There are two connecting frames A, which are fixed on both sides of the motor A respectively. One end of the connecting frame A connected to the motor A is in the fixed fork and hinged with the fixed fork. The output end of the worm gear drive is connected to the hinge shaft of the connecting frame A and the fixed fork.

[0011] Motor B, which is located above the side of motor A away from the fixed fork, and the output shafts of the motor B are arranged opposite to each other;

[0012] There are two connecting frames B, which are fixed on both sides of the motor B respectively, and one end of the connecting frame B away from the motor B is hinged to the other end of the connecting frame A away from the motor A;

[0013] A transmission rod is connected to the output shaft of the motor A and is provided with a thread groove A;

[0014] The I-shaped wheel is connected to the output shaft of the motor B and is located above the transmission rod. It is divided into a middle part and two conical parts. The middle part is provided with a plurality of thread grooves B. The plurality of thread grooves B are distributed in an array along the circumference of the middle part. The conical surfaces of the conical parts are fixedly mounted with spiral protrusions.

[0015] The elastic monitoring component is installed at the hinge of the connecting frame A and the connecting frame B, and is used to change the angle between the motor A and the motor B.

[0016] Preferably, the elastic monitoring component comprises a core shaft, one end of which is fixed to the connecting frame A, and the other end of which passes through the connecting frame B and is rotatably connected thereto;

[0017] The arc-shaped plate has one end which is sleeved on one end of the mandrel passing through the connecting frame B and fixed thereto, and the other end which extends downwards, and a semicircular groove is provided on the side surface of the end of the arc-shaped plate connected to the mandrel;

[0018] A spring, one end of which is connected to the end of the arc plate away from the core shaft, and the other end of which is connected to the side of the connecting frame B. The two ends of the spring can change angles relative to the arc plate and the connecting frame B respectively;

[0019] One end of the pressing plate is elastically hinged on the side of the connecting frame B, and a semicircular convex point is provided at the end of the pressing plate away from the connecting frame B. When the arc plate rotates, the semicircular groove can be correspondingly stuck on the semicircular convex point to limit the arc plate. A pin is fixedly installed on the front side of the end of the pressing plate away from the connecting frame B;

[0020] The control strip has one end hinged to the connecting frame B and the other end is provided with a through circular through hole, which is sleeved on the pin shaft;

[0021] The L-shaped rod is fixed to one end of the control bar away from the pin shaft, and the other end of the L-shaped rod extends between the I-shaped wheel and the transmission rod.

[0022] Preferably, the thread groove B on the corresponding I-shaped wheel has the same thread direction as the thread groove A on the transmission rod, the cross-sectional shapes of the thread groove A and the thread groove B are both semicircular groove structures, and the cross-sectional shape of the spiral protrusion is a semicircular protrusion structure, which matches the shape of the thread groove A and the thread groove B.

[0023] Preferably, a torsion spring is installed at the hinge between the pressure plate and the connecting frame B, the hinge between the pressure plate and the connecting frame B is a circular structure, and the connection between the arc plate and the core shaft is also a circular structure.

[0024] Preferably, the L-shaped rod is tilted, and one end of the L-shaped rod away from the control strip approaches one side of the motor A, and the ends of the L-shaped rods of the two elastic monitoring components that are close to each other are at the same distance from the axis of the I-shaped wheel.

[0025] Preferably, the telescopic assembly includes a square tube A, a square tube B, a transverse plate and an electric push rod. Two square tubes A and two square tubes B are provided. One end of the square tube B is inserted into the square tube A and is slidably connected thereto. The square tube A is fixed to the U-shaped frame. The electric push rod is located between the two square tubes A and is fixed to the U-shaped frame. Two transverse plates are provided, one of which is fixed to one end of the two square tubes A away from the U-shaped frame, and the other is fixed to one end of the two square tubes B away from the U-shaped frame. The fixed end and the output end of the electric push rod are respectively fixed to the two transverse plates, and the two transverse plates are respectively connected to two fixing forks.

[0026] Preferably, the guide rail is parallel to the two telescopic components and is located in the middle of the U-shaped frame. Both ends of the guide rail pass over the U-shaped frame. A driving slider is installed on the guide rail. The driving slider can move autonomously along the guide rail, and the counterweight block is connected to the driving slider.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] 1. The electric power inspection robot is provided with a telescopic component and an obstacle climbing component. The obstacle climbing component is placed on the electric wire, and the electric wire passes between the I-wheel and the transmission rod. When the telescopic component is extended, the distance between the two obstacle climbing components can be changed, so that it can adapt to power transmission lines of different distances. When there is an obstacle on one of the transmission lines, the worm gear driver changes the angle of the obstacle climbing component, and uses the thread groove A, the thread groove B and the spiral protrusion to realize the cable moving out from between the I-wheel and the transmission rod. After crossing the obstacle, the worm gear driver throws the obstacle climbing component onto the electric wire, and uses the reaction force of the spring to restore the parallel state with the I-wheel. At this time, the electric wire is stuck and cannot be detached. The same is true when an obstacle occurs on the cable on the other side. When obstacles occur on both electric wires at the same time, the two obstacle climbing components on the telescopic component at the forward end need to be detached from the electric wire, and the rear drive moves forward. After the obstacle climbing component passes through the obstacle, the two obstacle climbing components in front are moved back to the electric wire, thereby having multiple obstacle crossing effects.

[0029] 2. The power inspection robot is equipped with guide rails and counterweights. When the two obstacle climbing components on one of the wires are moved down from the wire, the position of the counterweight can be changed, so that the device remains stable when moving on a wire. When one end is mounted on the wire again, a counterweight is also required to balance it and return it to the wire.

[0030] 3. The electric power inspection robot is provided with an electric push rod and a worm gear drive. The operation of the worm gear drive always cooperates with the electric push rod, or the operation of the electric push rod cooperates with the worm gear drive. The two cooperate dynamically to achieve a variety of actions while maintaining the balance of the device, and can also dynamically cooperate with two non-parallel power transmission lines.

[0031] 4. The power inspection robot is provided with an obstacle climbing component and a worm gear drive. When two obstacle climbing components fall off from one electric wire, the other two worm gear drives can reverse the device and move the fallen obstacle climbing components to another electric wire, so that it can flip and move on more than two parallel electric wires. Therefore, during power inspection, it can not only move along a single cable, but also inspect multiple electric wires between two transmission towers without disassembling the machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 The structure of the present invention is shown in FIG. Figure 1 ;

[0033] Figure 2 The structure of the present invention is shown in FIG. Figure 2 ;

[0034] Figure 3 The structure of the present invention is shown in FIG. Figure 3 ;

[0035] Figure 4 It is a connection diagram of the U-shaped frame and the telescopic assembly of the present invention;

[0036] Figure 5 It is a connection diagram of the U-shaped frame and the mounting plate of the present invention;

[0037] Figure 6 It is a connection diagram of the fixed fork and the obstacle climbing assembly of the present invention;

[0038] Figure 7 It is a schematic structural diagram of the obstacle climbing assembly of the present invention;

[0039] Figure 8 For the present invention Figure 7 A magnified view of a local area in ;

[0040] Fig. 9 It is a partial structural diagram of the obstacle climbing assembly of the present invention;

[0041] Fig.10 Schematic diagram of the structure of motor A and motor B of the present invention.

[0042] In the figure: 1, U-shaped frame; 2, mounting plate; 3, telescopic assembly; 301, square tube A; 302, square tube B; 303, cross plate; 304, electric push rod; 4, fixed fork; 5, obstacle climbing assembly; 501, motor A; 502, connecting frame A; 503, motor B; 504, connecting frame B; 505, transmission rod; 506, thread groove A; 507, I-shaped wheel; 508, middle part; 509, tapered part; 510. Thread groove B; 511. Spiral protrusion; 512. Elastic monitoring component; 5121. Mandrel; 5122. Arc plate; 5123. Semicircular groove; 5124. Spring; 5125. Pressure plate; 5126. Semicircular protrusion; 5127. Pin; 5128. Control strip; 5129. Circular through hole; 51210. L-shaped rod; 6. Worm gear drive; 7. Guide rail; 8. Counterweight; 9. Drive slider. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0044] It should be noted that all directional indications in the embodiments of the present application are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0045] In this application, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0046] In addition, in this application, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0047] like Figure 1-10 As shown, an electric power inspection robot comprises a U-shaped frame 1 and a mounting plate 2, wherein the mounting plate 2 is fixedly mounted in the U-shaped frame 1, telescopic components 3 are fixedly mounted at both ends of the U-shaped frame 1, and fixed forks 4 are mounted at both ends of the telescopic components 3, and the telescopic components 3 are used to change the distance between the two fixed forks 4, and obstacle climbing components 5 are mounted in one end of the fixed fork 4 away from the telescopic components 3, and a worm gear drive 6 is fixedly mounted on the fixed fork 4 at a position corresponding to the obstacle climbing component 5, and the output end of the worm gear drive 6 is connected to the obstacle climbing component 5, so as to change the angle between the obstacle climbing component 5 and the fixed fork 4;

[0048] A guide rail 7 is installed at the inner bottom wall of the U-shaped frame 1 , and a counterweight 8 which can move autonomously along the guide rail 7 is installed on the guide rail 7 . The counterweight 8 is located below the mounting plate 2 .

[0049] The mounting plate 2 is a large horizontal area and can be used to install more equipment. It can be used to install the inspection equipment of traditional power inspection robots, such as infrared sensors for detecting obstacles, various sensors, high-definition camera pan-tilts and other components. It can also be modularly installed with knocking de-icing components, bird-repelling components, and equipment for clearing weeds or foreign objects during actual use.

[0050] The worm gear drive 6 includes a servo motor, a worm gear, a worm and other structures, which can achieve rotation with a relatively large torque. The required torque needs to adapt to the overall weight of the device.

[0051] The obstacle climbing assembly 5 includes a motor A501, the output end of which is far away from the fixed fork 4;

[0052] There are two connecting frames A502, which are fixed on both sides of the motor A501 respectively. One end of the connecting frame A502 connected to the motor A501 is located in the fixed fork 4 and is hinged to the fixed fork 4. The output end of the worm gear drive 6 is connected to the hinge shaft of the connecting frame A502 and the fixed fork 4.

[0053] Motor B503, motor B503 is located above the side of motor A501 away from the fixing fork 4, and the output shafts of the motor B503 and motor A501 are arranged opposite to each other;

[0054] There are two connecting frames B504, which are fixed on both sides of the motor B503 respectively, and one end of the connecting frame B504 away from the motor B503 is hinged to the other end of the connecting frame A502 away from the motor A501;

[0055] The transmission rod 505 is connected to the output shaft of the motor A501 and has a thread groove A506;

[0056] The I-shaped wheel 507 is connected to the output shaft of the motor B503 and is located above the transmission rod 505. It is divided into a middle part 508 and two tapered parts 509. The middle part 508 is provided with a plurality of thread grooves B510. The plurality of thread grooves B510 are distributed in an array along the circumference of the middle part 508. The tapered surfaces of the tapered parts 509 are all fixedly mounted with spiral protrusions 511.

[0057] The elastic monitoring component 512 is installed at the hinge of the connecting frame A502 and the connecting frame B504, and is used to change the angle between the motor A501 and the motor B503.

[0058] The structure of the I-wheel 507 can just be stuck on the existing power transmission line, and the transmission rod 505 has the effect of closing the I-wheel 507 to prevent the power transmission line from falling off. The thread groove A506, the thread groove B510 and the spiral protrusion 511 can all match the external shape of the existing power transmission line cable.

[0059] The elastic monitoring component 512 includes a core shaft 5121, one end of which is fixed to the connecting frame A502, and the other end of which passes through the connecting frame B504 and is rotatably connected thereto;

[0060] The arc plate 5122 has one end which is sleeved on one end of the core shaft 5121 passing through the connecting frame B504 and fixed thereto, and the other end which extends downwards. A semicircular groove 5123 is provided on the side surface of the end of the arc plate 5122 which is connected to the core shaft 5121;

[0061] The spring 5124 has one end connected to the end of the arc plate 5122 away from the core shaft 5121, and the other end connected to the side of the connecting frame B504. The two ends of the spring 5124 can change angles relative to the arc plate 5122 and the connecting frame B504 respectively.

[0062] One end of the pressing plate 5125 is elastically hinged on the side of the connecting frame B504. A semicircular convex point 5126 is provided at the end of the pressing plate 5125 away from the connecting frame B504. When the arc plate 5122 rotates, the semicircular groove 5123 can be correspondingly stuck on the semicircular convex point 5126 to limit the arc plate 5122. A pin shaft 5127 is fixedly installed on the front side of the end of the pressing plate 5125 away from the connecting frame B504.

[0063] The control bar 5128 has one end hinged to the connecting frame B504 and the other end is provided with a through circular through hole 5129, which is sleeved on the pin 5127;

[0064] The L-shaped rod 51210 is fixed to one end of the control bar 5128 away from the pin 5127 , and the other end of the L-shaped rod 51210 extends between the I-shaped wheel 507 and the transmission rod 505 .

[0065] When the wire is separated from between the I-shaped wheel 507 and the transmission rod 505, the parallel state of the transmission rod 505 and the I-shaped wheel 507 will be destroyed. At this time, the spring 5124 is stretched until the semicircular protrusion 5126 is stuck in the semicircular groove 5123, fixing the state of the two.

[0066] The corresponding thread groove B510 on the I-shaped wheel 507 has the same thread direction as the thread groove A506 on the transmission rod 505. The cross-sectional shapes of the thread grooves A506 and B510 are both semicircular groove structures. The cross-sectional shape of the spiral protrusion 511 is a semicircular protrusion structure, which matches the shape of the thread grooves A506 and B510.

[0067] When the I-wheel 507 and the transmission rod 505 rotate in opposite directions, the obstacle climbing assembly 5 can move on the power line, and the lateral forces generated by the I-wheel 507 engaging with the thread grooves A506 and B510 on the transmission rod 505 offset each other.

[0068] A torsion spring is installed at the hinge between the pressing plate 5125 and the connecting frame B504. The hinge between the pressing plate 5125 and the connecting frame B504 is a circular structure, and the connection between the arc plate 5122 and the core shaft 5121 is also a circular structure.

[0069] The L-shaped rod 51210 is tilted, and one end of the L-shaped rod 51210 away from the control strip 5128 approaches one side of the motor A501. The ends of the L-shaped rods 51210 of the two elastic monitoring components 512 that are close to each other are at the same distance from the axis of the I-shaped wheel 507.

[0070] The L-shaped rod 51210 is used to receive the collision of the electric wire, so it is located on one side of the I-shaped wheel 507. When the I-shaped wheel 507 moves normally on the electric wire, the L-shaped rod 51210 does not affect the cable.

[0071] The telescopic assembly 3 includes a square tube A301, a square tube B302, a cross plate 303 and an electric push rod 304. Two square tubes A301 and two square tubes B302 are provided. One end of the square tube B302 is inserted into the square tube A301 and is slidably connected thereto. The square tube A301 is fixed to the U-shaped frame 1. The electric push rod 304 is located between the two square tubes A301 and is fixed to the U-shaped frame 1. Two cross plates 303 are provided, one of which is fixed to one end of the two square tubes A301 away from the U-shaped frame 1, and the other is fixed to one end of the two square tubes B302 away from the U-shaped frame 1. The fixed end and the output end of the electric push rod 304 are respectively fixed on the two cross plates 303, and the two cross plates 303 are respectively connected to two fixing forks 4.

[0072] The electric push rod 304 is a structure in the prior art, which can be extended and retracted when controlled. In actual use, the central processor receives the signal fed back by the infrared sensor and sends a driving signal to the controller on the electric push rod 304 to dynamically operate. The device can also be operated based on remote control by ground personnel.

[0073] The guide rail 7 is parallel to the two telescopic components 3 and is located in the middle of the U-shaped frame 1. Both ends of the guide rail 7 pass over the U-shaped frame 1. A driving slider 9 is installed on the guide rail 7. The driving slider 9 can move along the guide rail 7 independently, and the counterweight block 8 is connected to the driving slider 9.

[0074] A servo motor is installed in the driving slider 9 , and the servo motor can accurately control the position of the driving slider 9 on the guide rail 7 . The servo motor on the driving slider 9 is controlled by a central processing unit.

[0075] When in use, four obstacle climbing assemblies 5 are placed on two electric wires, and the electric wires pass between the I-shaped wheel 507 and the transmission rod 505. When the I-shaped wheel 507 and the transmission rod 505 rotate in opposite directions, the obstacle climbing assembly 5 can move on the electric wires, and the lateral forces generated by the meshing of the thread grooves A506 and B510 on the I-shaped wheel 507 and the transmission rod 505 with the transmission wires offset each other. When the telescopic assembly 3 is extended, the distance between the two obstacle climbing assemblies 5 can be changed, so as to adapt to transmission wires of different distances.

[0076] When there is an obstacle on one of the transmission lines, the worm gear drive 6 changes the angle of the obstacle climbing assembly 5 so that the transmission rod 505 faces upward. At this time, the transmission rod 505 and the I-wheel 507 rotate in the same direction. The thread groove A506, the thread groove B510 and the spiral protrusion 511 can be used to realize the cable being moved out from between the I-wheel 507 and the transmission rod 505. The tapered portion 509 of the I-wheel 507 plays an auxiliary role and reduces the resistance to moving out. When moving out, the parallel state between the transmission rod 505 and the I-wheel 507 is broken, the arc plate 5122 rotates, and the spring 5124 is in a stretched state. When the arc plate 5122 rotates to the position of the semicircular protrusion 5126, the semicircular protrusion 5126 is stuck in the semicircular groove 5123, fixing the state of the two. At this time, the entire device relies on one wire to move forward, and the counterweight can dynamically change its position to increase the stability during operation. After crossing the obstacle, the worm gear drive 6 controls the obstacle climbing assembly 5 to approach the wire. At this time, the counterweight also plays a role. Since the transmission rod 505 and the I-shaped wheel 507 were in a non-parallel and open state when falling before, the wire can easily enter between the two. When the worm gear drive 6 throws the obstacle climbing assembly 5 to the bottom of the wire, the wire can enter between the I-shaped wheel 507 and the transmission rod 505, and then touch the L-shaped rod 51210. The L-shaped rod 51210 can push the control bar 5128, and the control bar 5128 then prompts the pressure plate 5125 to rotate, so that the semicircular protrusion 5126 is separated from the semicircular groove 5123. At this time, the arc plate 5122 can lose its restriction, and then the reaction force of the spring 5124 is used to restore the parallel state of the transmission rod 505 and the I-shaped wheel 507. At this time, the wire is stuck and cannot be separated. The same applies when an obstacle appears on the cable on the other side.

[0077] When obstacles appear on two electric wires at the same time, the two obstacle climbing components 5 on the telescopic component 3 at the forward end need to be separated from the electric wires, and the two obstacle climbing components 5 at the rear are facing upward, and the U-shaped frame 1 is prompted to move downward and driven forward. After the obstacle climbing components 5 separated from the electric wires pass through the obstacles, the U-shaped frame 1 is lifted up again, and then the two obstacle climbing components 5 at the front are moved back onto the electric wires. In the above actions, the operation of the worm gear drive 6 always cooperates with the electric push rod 304, or the operation of the electric push rod 304 cooperates with the worm gear drive 6. The two dynamically cooperate to achieve a variety of actions when the device is balanced;

[0078] When two obstacle climbing components 5 fall off from one wire, the other two worm gear drives 6 can reverse the device and move the fallen obstacle climbing components 5 to another wire, so that they can be flipped and moved on more than two parallel wires.

[0079] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification.

[0080] In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0081] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A power inspection robot, characterized in that: The invention comprises a U-shaped frame (1) and a mounting plate (2), wherein the mounting plate (2) is fixedly mounted in the U-shaped frame (1), and telescopic components (3) are fixedly mounted at both ends of the U-shaped frame (1), and fixed forks (4) are mounted at both ends of the telescopic components (3), and the telescopic components (3) are used to change the distance between the two fixed forks (4), and an obstacle climbing component (5) is mounted in one end of the fixed fork (4) away from the telescopic components (3), and a worm gear drive (6) is fixedly mounted on the fixed fork (4) at a position corresponding to the obstacle climbing component (5), and the output end of the worm gear drive (6) is connected to the obstacle climbing component (5) and is used to change the angle between the obstacle climbing component (5) and the fixed fork (4); A guide rail (7) is installed at the inner bottom wall of the U-shaped frame (1), and a counterweight block (8) capable of autonomously moving along the guide rail (7) is installed on the guide rail (7), and the counterweight block (8) is located below the mounting plate (2).

2. The power inspection robot according to claim 1, characterized in that: The obstacle climbing assembly (5) comprises a motor A (501), the output end of which is far away from the fixed fork (4); Two connecting frames A (502) are provided, which are fixed on both sides of the motor A (501) respectively. One end of the connecting frame A (502) connected to the motor A (501) is located in the fixing fork (4) and is hinged to the fixing fork (4). The output end of the worm gear drive machine (6) is connected to the hinge shaft of the connecting frame A (502) and the fixing fork (4). Motor B (503), where motor B (503) is located above a side of motor A (501) away from the fixing fork (4), and the output shafts of the motor B (503) are arranged opposite to each other; Two connecting frames B (504) are provided and are fixed to both sides of the motor B (503) respectively. One end of the connecting frame B (504) away from the motor B (503) and one end of the connecting frame A (502) away from the motor A (501) are hinged to each other; A transmission rod (505) is connected to the output shaft of the motor A (501) and is provided with a thread groove A (506); The I-shaped wheel (507) is connected to the output shaft of the motor B (503) and is located above the transmission rod (505). The I-shaped wheel (507) is divided into a middle part (508) and two tapered parts (509). The middle part (508) is provided with a plurality of thread grooves B (510). The plurality of thread grooves B (510) are distributed in an array along the circumference of the middle part. The tapered surface of the tapered part (509) is fixedly provided with spiral protrusions (511). The elastic monitoring component (512) is installed at the hinge of the connecting frame A (502) and the connecting frame B (504) and is used to change the angle between the motor A (501) and the motor B (503).

3. The power inspection robot according to claim 2, characterized in that: The elastic monitoring component (512) includes a core shaft (5121), one end of which is fixed to the connecting frame A (502), and the other end of which passes through the connecting frame B (504) and is rotatably connected thereto; The arc-shaped plate (5122) has one end which is sleeved on one end of the core shaft (5121) passing through the connecting frame B (504) and is fixed thereto, and the other end thereof extends downwardly, and a semicircular groove (5123) is provided on the side surface of one end of the arc-shaped plate (5122) connected to the core shaft (5121); A spring (5124), one end of which is connected to an end of the arc plate (5122) away from the core shaft (5121), and the other end of which is connected to the side of the connecting frame B (504), and the two ends of the spring (5124) can change angles relative to the arc plate (5122) and the connecting frame B (504); A pressing plate (5125) has one end elastically hinged on the side of the connecting frame B (504); a semicircular convex point (5126) is provided at one end of the pressing plate (5125) away from the connecting frame B (504); when the arc plate (5122) rotates, the semicircular groove (5123) can be correspondingly stuck on the semicircular convex point (5126) for limiting the arc plate (5122); a pin shaft (5127) is fixedly installed on the front side of one end of the pressing plate (5125) away from the connecting frame B (504); A control strip (5128) is hinged at one end to the connecting frame B (504) and is provided with a through circular hole (5129) at the other end, and the circular hole (5129) is sleeved on the pin (5127); The L-shaped rod (51210) is fixed to one end of the control strip (5128) away from the pin (5127), and the other end of the L-shaped rod (51210) extends between the I-shaped wheel (507) and the transmission rod (505).

4. The power inspection robot according to claim 2, characterized in that: The thread groove B (510) on the corresponding I-shaped wheel (507) has the same thread direction as the thread groove A (506) on the transmission rod (505), the cross-sectional shapes of the thread groove A (506) and the thread groove B (510) are both semicircular groove structures, and the cross-sectional shape of the spiral protrusion (511) is a semicircular protrusion structure, which matches the shape of the thread groove A (506) and the thread groove B (510).

5. The power inspection robot according to claim 3, characterized in that: A torsion spring is installed at the hinge between the pressing plate (5125) and the connecting frame B (504). The hinge between the pressing plate (5125) and the connecting frame B (504) is a circular structure, and the connection between the arc plate (5122) and the core shaft (5121) is also a circular structure.

6. The power inspection robot according to claim 3, characterized in that: The L-shaped rod (51210) is tilted, and one end of the L-shaped rod (51210) away from the control strip (5128) approaches one side of the motor A (501), and the ends of the L-shaped rods (51210) of the two elastic monitoring components (512) that are close to each other are at the same distance from the axis of the I-shaped wheel (507).

7. The power inspection robot according to claim 1, characterized in that: The telescopic assembly (3) comprises a square tube A (301), a square tube B (302), a transverse plate (303) and an electric push rod (304). The square tube A (301) and the square tube B (302) are each provided with two, one end of the square tube B (302) is inserted into the square tube A (301) and is slidably connected thereto, the square tube A (301) is fixed to the U-shaped frame (1), the electric push rod (304) is located between the two square tubes A (301) and is fixed to the U-shaped frame (1), the transverse plates (303) are provided with two, one of which is fixed to one end of the two square tubes A (301) away from the U-shaped frame (1), and the other is fixed to one end of the two square tubes B (302) away from the U-shaped frame (1), the fixed end and the output end of the electric push rod (304) are respectively fixed to the two transverse plates (303), and the two transverse plates (303) are respectively connected to the two fixing forks (4).

8. The power inspection robot according to claim 1, characterized in that: The guide rail (7) is parallel to the two telescopic components (3) and is located in the middle of the U-shaped frame (1). Both ends of the guide rail (7) pass over the U-shaped frame (1). A driving slider (9) is installed on the guide rail (7). The driving slider (9) can move autonomously along the guide rail (7). The counterweight block (8) is connected to the driving slider (9).

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