Obstacle-crossing inspection repair device and obstacle-crossing inspection method

Abstract

The invention discloses an obstacle crossing inspection repair device and an obstacle crossing inspection method, and belongs to the technical field of electric power facilities. The obstacle-crossing inspection and repair device comprises an obstacle-crossing unit which comprises a first obstacle-crossing arm and a second obstacle-crossing arm; the repairing unit comprises a repairing piece and a supporting piece, and the supporting piece is fixedly connected to the end, close to the cable, of the geometric center of the repairing piece; the inspection unit comprises detection pieces fixedly mounted on the first obstacle crossing arm and the second obstacle crossing arm; and a main case. The invention provides the automatic obstacle-crossing inspection and repair device for the high-voltage cable, which can automatically avoid obstacles and stably operate during working, is light in structure, and can meet the requirement of simultaneous working of all functional module mechanisms.

Description

Technical Field

[0001] The invention relates to an obstacle inspection and repair device and an obstacle inspection and repair method, belonging to the technical field of electric power facilities. Background Art

[0002] High-voltage insulators are usually installed in high-altitude complex environments and are susceptible to various external factors, making them prone to failures such as breakage, flashover, and aging. Traditional inspection and repair methods rely on manual labor, which has problems such as low efficiency and high safety risks, and cannot meet the needs of modern power systems for fast and accurate inspection and repair. The high-voltage cable obstacle inspection method can detect cable defects and repair insulators only under remote supervision of staff, greatly improving inspection efficiency and reducing costs.

[0003] However, single-arm support driving obstacle crossing is not as stable and safe as double-arm support, and this mechanism is mainly suitable for straight-line obstacle crossing scenarios. Corner obstacle crossing has corresponding requirements for the surrounding environment and robot structure. Therefore, it is of great research significance and practical value to study a robot that can adapt to various high-voltage cable working environments and can stably perform inspection work. Summary of the invention

[0004] The purpose of this section is to summarize some aspects of embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the specification abstract and the invention title of this application to avoid blurring the purpose of this section, the specification abstract and the invention title, and such simplifications or omissions cannot be used to limit the scope of the present invention.

[0005] In view of the complex and changeable environment on high-voltage lines, various types of obstacles such as anti-vibration hammers, towers, suspension clamps and other components will become obstacles for mobile inspections. There is an urgent need for an automatic obstacle-crossing inspection and repair device for high-voltage cables that can automatically avoid obstacles and work stably, and the present invention is proposed.

[0006] One of the purposes of the present invention is to provide an obstacle inspection and repair device that can replace traditional manual inspection and maintenance tasks on high-voltage transmission lines, and can flexibly respond to various complex line conditions and perform stable cable defect inspection operations.

[0007] In order to solve the above technical problems, the present invention provides the following technical solutions: an obstacle crossing inspection and repair device, comprising: an obstacle crossing unit, comprising a first obstacle crossing arm and a second obstacle crossing arm; a repair unit, comprising a repair member and a support member, wherein the support member is fixedly connected to an end of the repair member near the cable at the geometric center;

[0008] The inspection unit comprises a detection component fixedly mounted on the first obstacle crossing arm and the second obstacle crossing arm; and a main box body, wherein the first obstacle crossing arm, the second obstacle crossing arm and the repair component are respectively connected to the main box body.

[0009] As a preferred solution of the obstacle crossing inspection and repair device of the present invention, wherein: the first obstacle crossing arm and the second obstacle crossing arm have exactly the same structure, both comprising a pair of mirror-arranged slicing rollers and a driving member, the slicing rollers are rotatably connected to the driving member; the driving member comprises a rotatably connected driving upper arm and a driving lower arm.

[0010] As a preferred solution of the obstacle inspection and repair device of the present invention, the repair part includes an insulator repair component and a cable defect repair component, the insulator repair component is centrally arranged between a group of mirror-image driving arms and is rotationally connected to the driving arms, and the cable defect repair component is connected to the main box.

[0011] As a preferred solution of the obstacle inspection and repair device of the present invention, the insulator repair component includes a transmission box body, and the transmission box body is provided with a spray gun port, a cleaning nozzle and a cleaning brush.

[0012] As a preferred solution of the obstacle inspection and repair device of the present invention, the cable defect repair component includes an annular disk, a tape holder and a cable fixing frame; the tape holder and the cable fixing frame are fixedly arranged on the annular disk; the annular disk can rotate around an eccentric shaft, and an active part and a transmission part are arranged on the eccentric shaft surrounded by the annular disk, and the tape holder is provided with a semicircular notch.

[0013] As a preferred solution of the obstacle inspection and repair device of the present invention, guide rollers are also arranged on the main box body, and the guide rollers are distributed on both sides of the cable defect repair component, and at least one group of guide rollers is arranged on each side.

[0014] As a preferred solution of the obstacle inspection and repair device of the present invention, the slicing roller is provided with an annular groove along the outer diameter, and the cross-section of the groove is an arc with a radius of 5 to 18 mm.

[0015] As a preferred solution of the obstacle inspection and repair device of the present invention, the slicing roller contact surface P is provided with at least one set of corresponding grooves and protrusions, and the grooves and protrusions are made of neodymium iron boron magnet magnetic material.

[0016] In view of the fact that the two obstacle crossing schemes of three-arm rotating obstacle crossing and two-arm staggered obstacle crossing have their own advantages and disadvantages, when determining the robot's final inspection and obstacle crossing method and defect detection algorithm, the present invention comprehensively considers the operating environment and task requirements of the obstacle crossing inspection and repair device to ensure that the inspection and repair tasks can be completed efficiently. Therefore, another object of the present invention is to provide an obstacle crossing inspection method with two-arm inspection and single-arm obstacle crossing.

[0017] As a preferred solution of the obstacle inspection method of the present invention, the straight-line obstacle inspection includes the following steps:

[0018] The first obstacle crossing arm on the front side of the obstacle crossing inspection and repair device detects the obstacle on the cable; the main box body is raised, the support is slidably connected to the cable, the two slicing rollers of the first obstacle crossing arm on the front side are separated, and the slicing rollers of the second obstacle crossing arm on the rear side drive the obstacle crossing inspection and repair device to move forward until the first obstacle crossing arm crosses the obstacle; the two separated slicing rollers of the first obstacle crossing arm are reset, the main box body is lowered, the support is disengaged from the cable, and the obstacle crossing inspection and repair device moves forward until the support crosses the obstacle; the obstacle crossing inspection and repair device continues to move forward, and the detection member on the second obstacle crossing arm on the rear side detects the obstacle on the cable; the main box body is raised, the support is slidably connected to the cable, the two slicing rollers of the second obstacle crossing arm on the rear side are separated, and the slicing rollers of the first obstacle crossing arm on the front side drive the obstacle crossing inspection and repair device to move forward until the second obstacle crossing arm crosses the obstacle, completing the linear inspection.

[0019] As a preferred solution of the obstacle inspection method of the present invention, the corner obstacle inspection includes the following steps:

[0020] When the inspection robot encounters a corner obstacle, the position of the main box is raised, and the support is slidably connected to the cable; the slicing roller of the first obstacle crossing arm is detached from the cable, and then the obstacle crossing inspection and repair device moves a certain distance under the drive of the slicing roller of the second obstacle crossing arm, and the driving member on the rear side of the inspection and repair device will rotate a certain angle around the vertical axis to make the direction of the main box and the first obstacle crossing arm the same as the corner cable; the slicing roller of the first obstacle crossing arm is reset to fit the corner cable, and the slicing roller of the second obstacle crossing arm is detached from the original cable, and the obstacle crossing inspection and repair device moves on the corner cable driven by the slicing roller of the first obstacle crossing arm; when the overall structure is completely on the corner cable, the slicing roller and driving member of the second obstacle crossing arm are reset, and the double-arm support drive inspection is restored, and the front and rear driving members are unfolded and parallel to the horizontal plane to complete the corner inspection.

[0021] The beneficial effects of the present invention are:

[0022] Compared with the prior art, the obstacle inspection and repair device provided by the present invention applies an obstacle inspection method, so that the device simultaneously has the functions of mobile obstacle crossing, cable detection, and defect repair. It has a simple structure, few degrees of freedom, and relatively small mass. It can cope with various complex obstacle crossing scenarios and has sufficient stability when performing single-arm obstacle crossing.

[0023] The present invention provides a device with the functions of inspection, obstacle crossing, detection, and repair. By comparing several different obstacle crossing methods, a double-arm inspection and three-arm obstacle crossing structure is finally adopted to achieve the obstacle crossing function with a simple structure, and the obstacle crossing unit can assist other functional module mechanisms to work simultaneously, ensuring the stability of the device working on a single cable. At the same time, a structure is designed to achieve the fitting support and separation of the support arm of the obstacle crossing inspection and repair device and the cable in the spatial posture by separating and resetting the two slicing rollers. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0025] Figure 1 This is a cross-sectional view of the general assembly of the obstacle inspection and repair device of the present invention;

[0026] Figure 2 This is a top view of the obstacle inspection and repair device of the present invention;

[0027] Figure 3 This is a diagram of the obstacle inspection and repair device of the present invention;

[0028] Figure 4 It is a side view of the obstacle crossing unit of the present invention;

[0029] Figure 5 This is a three-dimensional structural diagram of the obstacle crossing unit of the present invention;

[0030] Figure 6 This is a front view of the cable defect repair component of the present invention;

[0031] Figure 7 It is a schematic diagram of the two-slicing roller model of the present invention;

[0032] Figure 8 This is a model diagram of the obstacle crossing unit of the present invention;

[0033] Fig. 9 This is a position diagram of the roller control motor of the present invention;

[0034] Fig.10 This is a general structural model diagram of the obstacle inspection and repair device of the present invention;

[0035] Fig.11 This is a mechanical analysis diagram of the obstacle inspection and repair device of the present invention;

[0036] Fig.12 A schematic diagram of the motion of the roller mechanical arm of the present invention;

[0037] Fig.13 This is a force analysis diagram of the slicing roller of the present invention;

[0038] Fig.14 This is the motion analysis of the obstacle crossing unit of the present invention. DETAILED DESCRIPTION

[0039] In order to make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0040] Embodiment 1

[0041] like Figure 1-6 An embodiment of the present invention provides an obstacle crossing inspection and repair device, which includes an obstacle crossing unit 100, including a first obstacle crossing arm 101 and a second obstacle crossing arm 102; a repair unit 200, including a repair component 201 and a support component 202, the support component 202 is fixedly connected to an end of the repair component 201 close to the cable at the geometric center; an inspection unit 300, including a detection component 301 fixedly installed on the first obstacle crossing arm 101 and the second obstacle crossing arm 102; and a main box 400, the first obstacle crossing arm 101, the second obstacle crossing arm 102 and the repair component 201 are respectively connected to the main box 400.

[0042] The first obstacle crossing arm 101 and the second obstacle crossing arm 102 have the same structure, and both include a pair of mirror-set slicing rollers 101a and a driving member 101b, wherein the slicing roller 101a is rotatably connected to the driving member 101b; the driving member 101b includes a rotatably connected driving upper arm 101b-1 and a driving lower arm 101b-2.

[0043] The repair component 201 includes an insulator repair component 201a and a cable defect repair component 201b. The insulator repair component 201a is centrally arranged between a group of mirror-arranged driving arms 101b-1 and is rotationally connected to the driving arms 101b-1. The cable defect repair component 201b is connected to the main box 400.

[0044] The insulator repair component 201a includes a transmission box 201a-1, on which a spray gun port Q and a cleaning device are provided, and the cleaning device includes a cleaning nozzle M and a cleaning brush N. The spray gun at the end of the transmission box connected by the first obstacle crossing arm 101 and the second obstacle crossing arm 102, its spray gun port Q and the cleaning device are used to spray silicon sulfide for repairing the flashover defects of the insulator, and the damaged cable insulation layer is wrapped and repaired by the insulating tape winding mechanism in the middle of the main box 400 of the device, and the four guide rollers 401 on the upper surface of the main box 400 are used for cable guidance during winding operation, further improving stability.

[0045] The insulator repair component 201a can realize the position of the end spray gun port Q in space and the direction of the spray gun port by rotating and moving the obstacle-crossing body. When a defect is detected, the cable defect repair component body moves to a suitable position, and then the front slicing roller 101a and the cable are loosened in the same way as the obstacle-crossing process, and the device is supported by the rear slicing roller 101a and the middle support 202. At the same time, a cleaning device is installed on the outer surface of the transmission box, including a cleaning nozzle M and a cleaning brush N. The cleaning brush N is a rotating brush used for cleaning before insulator repair.

[0046] like Figure 6 As shown, the cable defect repair component 201b includes an annular disk 201b-1, a tape holder 201b-2 and a cable fixing frame 201b-3; the tape holder 201b-2 and the cable fixing frame 201b-3 are fixedly arranged on the annular disk 201b-1; the annular disk 201b-1 can rotate around an eccentric axis, and an active part and a transmission part are arranged on the eccentric axis surrounded by the annular disk 201b-1, and the tape holder 201b-2 is provided with a semicircular notch.

[0047] For cable defect repair, the insulation tape is used to repair the insulation layer damage of the cable. In terms of mechanical structure design, in order to achieve lightness and simplicity and reasonable use of device space, it is decided to install a cable defect repair component 201b on the upper side of the main box 400, between the first obstacle crossing arm 101 and the second obstacle crossing arm 102, for repairing the damaged area. This component does not affect the normal operation of other components, the components do not interfere with each other, and supports the repair operation and the reset of the mechanism after the repair is completed.

[0048] The insulator repair component 201a is driven by a motor as a driving part 101b, and the annular disk 201b-1 rotating around the eccentric shaft is used as an actuator. A tape holder 201b-2 and an arc-shaped cable fixing frame 201b-3 for fixing the cable are fixed on the annular disk 201b-1, wherein the tape holder 201b-2 has a semicircular notch for the support required when the cable crosses obstacles, and the insulating tape port can bypass the cable and rotate forward in accordance with the cable by the cable fixing frame 201b-3 to carry out tape winding. At the same time, a notch is opened on the side of the annular disk 201b-1 to accommodate the high-voltage cable entering the cable defect repair component 201b from the side and fitting the tape. The hollowing out of the middle of the annular disk 201b-1 is conducive to the cable being pulled by the arc-shaped positioning device around the tape and the disk for relative rotation, and is also conducive to reducing the mass and enhancing the stability of other functional modules. A follower, i.e., a driven gear, is installed on the eccentric shaft around which the annular disk 201b-1 is used for gear meshing transmission connected to the drive motor. When the high-voltage cable enters through the gap of the annular disk 201b-1 and fits with the tape port on the arc-shaped positioning device, the motor drives the active gear to rotate, and the driven gear drives the eccentric shaft and the annular disk 201b-1 to rotate under the action of the gear meshing transmission. At this time, the robot as a whole continues to move forward under the action of the driving wheel to achieve the coating and winding of the cable insulation surface. At the same time, four guide rollers 401 are installed on the front and rear sides of the repair device to ensure that the relative movement direction of the high-voltage wire is always facing forward during the repair operation. Important parts of the cable defect repair component 201b are as follows: Figure 2-14 shown.

[0049] The main box 400 is also provided with guide rollers 401, which are distributed on both sides of the cable defect repairing component, and each side is provided with at least one set of guide rollers 401. In this embodiment, two sets of guide rollers 401 are provided on each side of the cable defect repairing component.

[0050] The slicing roller 101a fitting surface P is provided with at least one set of corresponding grooves 101a-2 and protrusions 101a-3, and the grooves 101a-2 and protrusions 101a-3 are made of NdFeB magnet magnetic material. In order to enhance the reliability of the inspection mechanism of the slicing roller 101a and ensure that they can fit together to support the robot when the motor is powered off, the slicing roller 101a in this embodiment is provided with three hemispherical protrusions 101a-3 and hemispherical grooves 101a-2, which are made of NdFeB magnet magnetic material. The slicing roller 101a can fit and support on the cable due to the magnetic force in the power-off state. When it is necessary to cross obstacles, the roller mechanical arm is opened under the drive of the motor to drive the two slicing rollers 101a to separate from each other.

[0051] like Figure 5As shown, during the inspection process, the device obtains the status information of a certain part of the cable through the camera module. If a defect is detected, it will move to the defective position to repair the cable. In order to achieve the goal of camera detection, it is necessary to set a camera box 302 next to the slicing roller 101a of the first obstacle crossing arm 101. The detection part 301 is designed and installed in the box structure. In this embodiment, the detection part 301 adopts an industrial detection camera, so that the camera can obtain a full range of complete real-time pictures of the cable, and can still operate stably under special weather conditions. In this embodiment, two left and right industrial cameras are placed on the lower edge of the support plate of the two slicing rollers 101a, and the outer side of the support plate is modified and extended to ensure that the camera can be protected from interference from weather environments such as rain and snow.

[0052] This set of devices has basic climbing and obstacle crossing functions, and can adapt to various high-voltage cable working environments, stably perform inspection work, and leave space for the remaining sub-modules (such as repair unit 200 and inspection unit 300). For the selection of industrial cameras, high detection accuracy is required under the premise of small size and weight. This application scheme uses the Mercury II Industrial Camera (MER2-532-22GM / C) as a defect detection device, and optimizes its image processing algorithm, providing a variety of acquisition methods, and can reliably shoot in a variety of harsh environments. Its performance specifications and mechanical dimensions are shown in Table 1-1.

[0053] Table 1-1 MER2-532-22GM / C performance specifications

[0054]

[0055] Embodiment 2

[0056] like Figure 3-5 This embodiment provides an obstacle inspection and repair device based on the first embodiment. Furthermore, the inspection unit 300 is also driven by 12 motors.

[0057] Furthermore, an annular groove 101a-1 is formed along the outer diameter of the slicing roller 101a, and the cross-section of the groove is an arc with a radius of 5 to 18 mm.

[0058] The driving wheels for patrol movement are installed on the two sides of the transmission box with the support of the roller mechanical arm. The two motors control the spatial position of the slicing roller 101a respectively through the rotation angles of the two roller mechanical arms.

[0059] like Fig.10 As shown, 8 mechanical arms on the front and rear four roller mechanical arms control motors (every 2 motors control one roller mechanical arm); the front and rear four slicing rollers 101a control motors, and each motor controls the rotation of one slicing roller 101a.

[0060] Furthermore, the mechanical structure of the slicing roller 101a is as follows: Figure 7 and Figure 8 As shown, the slicing roller 101a is separated from the cable. In terms of materials, considering the strength, rigidity, quality and other requirements of the components, the slicing wheel hub is made of aluminum alloy. This material has the characteristics of light weight and strong corrosion resistance, which can be well suited for high-voltage cable inspection. In addition, the contact surface between the roller and the cable is sprayed with hard polyurethane anti-slip paint, which has good electrical properties, strong wear resistance, strong corrosion resistance and low water absorption.

[0061] The separated slicing roller 101a structure improves the stability of the inspection operation and supports hanging on cables of different sizes. For example, the diameter of the high-voltage cable used in this embodiment is 30 mm, so the arc radius at the contact point between the middle of the wheel and the cable is 15 mm. Figure 3-4 As shown in . When the inspection robot moves on the inclined cable, it needs a greater driving force. In this embodiment, the main structure of the obstacle inspection and repair device is made of 5083 aluminum-magnesium alloy with a density of 2.71g / cm. The weight of the whole device is approximately 30kg. The surface of the slicing roller 101a is polyurethane coated, and the insulating layer on the cable surface is silicone rubber. The friction coefficient between silicone rubber and polyurethane is 0.6, and the radius r of the contact position between the roller and the cable is 50mm. Since cables of different types and voltages have different maximum inclination angle limits according to design and use, this embodiment studies 110kV transmission lines, and the maximum inclination angle of high-voltage conductors is 30°.

[0062] When the device is in the mobile inspection state, the device is subject to gravity G and the support force F of the cable on the robot roller when walking at a constant speed on the cable. N and friction F f The traction force on the roller arm of the inspection robot is F t , mechanical analysis such as Fig.11 shown.

[0063] According to the principle of mechanical balance:

[0064] 2F t -Gsinθ-2F f =0 (3-1)

[0065] Since the maximum static friction force is close to the sliding friction force, this design treats the two equivalently, and the weight of the robot is evenly borne by the two rollers, and we get:

[0066]

[0067] Substituting formula (3-2) into formula (3-1), we can calculate the traction force F required by the inspection robot at the inclined angle: t :

[0068]

[0069] Traction force F of the line patrol robot t The formula is formula (3-4):

[0070]

[0071] In formula (3-4), F t is the traction force of the inspection robot on the cable, T t is the torque of the roller drive motor, η r is the transmission efficiency, where the transmission efficiency is η r =0.9, r is the roller radius at the contact position between the slicing roller 101a and the cable.

[0072] According to formula (3-3) and formula (3-4), we can get:

[0073]

[0074] The relationship between the roller's movement speed and roller radius is as shown in formula (3-6):

[0075] v=2πrn (3-6)

[0076] The average speed of the high-voltage cable inspection robot designed in this paper moving on the cable is 0.4m / s, where n is the rotation speed of the slicing roller 101a. Therefore, the rotation speed n of the walking wheel can be obtained from formula (3-6):

[0077]

[0078] The power calculation of the roller drive motor can be obtained:

[0079]

[0080] The power of the driving motor is obtained as:

[0081]

[0082] The motor power safety factor is 1.2. Combined with the motor-related parameters and the size and quality requirements of the robot components, the maxon DC motor is selected as the roller drive motor of the inspection robot. Its parameters are shown in Table 2-1.

[0083] Table 2-1 maxonRE35 DC motor parameter table (product number 273759)

[0084]

[0085] The loosening and resetting of the inspection robot slicing roller 101a and the cable are realized by two roller mechanical arms. The mechanical arms have three degrees of freedom. The rotation angle between the upper arm and the base, and the rotation angle between the upper arm and the lower arm determine the spatial position of the end roller. The roller and the mechanical arm structure are as follows: Figure 5 and Figure 8 As shown. The structure of the robot arm consists of four main parts: a driving arm 101b-1, a driving arm 101b-2 and two connecting rods 101b-3, wherein the left and right motors respectively control the rotation angle of the connecting rod and the driving arm 101b-1, the two ends of the driving arm 101b-2 are respectively connected to the slicing roller 101a and the connecting rod 101b-3, and the middle part is connected to the driving arm 101b-1 through a rotating joint. Assume that the lengths of the driving arm 101b-1, the connecting rod 101b-3 and the driving arm 101b-2 are l1, l2, l3, l4+l5 respectively, and set:

[0086] l1=135

[0087] l2=135

[0088] l3=30

[0089] l4=30

[0090] l5=242.8 (3-10)

[0091] Since the mechanism has only three degrees of freedom, the position of the end roller only moves in the yz plane. The machine base is used as a fixed root node, and the driving arm 101b-1 is horizontal and the driving arm 101b-2 is vertical as the initial position of the mechanism. The length of the driving arm 101b-1 is equal to the connecting rod 101b-3, and the length of the driving arm 101b-2 is equal to the connecting rod 101b-3. That is, a parallelogram is formed between the driving arm 101b-2l4 part, the driving arm 101b-1, and the two connecting rods 101b-3. The initial position direction of the driving arm 101b-1 and the connecting rod is parallel to the y-axis direction, and the position of the driving arm 101b-2 and the connecting rod 101b-3 is parallel to the z-axis direction. Taking the root node of the base as the origin reference system, the driving arm 101b-1 and the connecting rod 101b-3 rotate counterclockwise by the motor at angles of θ1 and θ2. The motion of the roller robot in the yz plane is as follows: Fig.12 shown.

[0092] The coordinates of the spatial position of the slicing roller 101a are:

[0093] y=l1cosθ1-l5cos(90-θ1-θ2)=l1cosθ1-l5sin(θ1+θ2) (3-11)

[0094] z=l1sinθ1+l5sin(90-θ1-θ2)=l1sinθ1+l5cos(θ1+θ2) (3-12)

[0095] (y, z) = (l1cosθ1-l5sin(θ1+θ2), l1sinθ1+l5cos(θ1+θ2)) (3-13)

[0096] According to the embodiment 1, the protrusion and groove materials between the slicing rollers 101a are made of magnetic materials to prevent the robot from falling from the high-voltage cable when the motor loses power. For the attraction force of the magnetic material between the two slicing rollers 101a, the force analysis of a single slicing roller 101a when the motor loses power is as follows: Fig.13 shown.

[0097] Where σ is the force per unit area of ​​the slicing roller 101a, which is evenly distributed on the arc surface where the slicing roller 101a contacts the cable, F2 is the magnetic attraction between the slicing rollers 101a, and F3 is the support force on the rollers. Let the horizontal direction be x and the vertical direction be y. Since the robot is supported by two pairs of slicing rollers 101a in the front and rear during the inspection process, the traction force on a single slicing roller 101a in the y direction is 0.5G, and the traction force on a single slicing roller 101ay direction is 0.25G, that is:

[0098] F3=0.25G=75N (3-14)

[0099] To calculate the slice, consider the sum of the forces in the y direction. The force on each small surface element in the y direction can be expressed as:

[0100] dF y =σ·sin(θ)·dA (3-15)

[0101] Where θ is the angle between the small facet and the x-axis, and dA is the area of ​​the small facet.

[0102] Integrating over the entire circular surface gives the total force in the y direction:

[0103]

[0104] According to the force balance in the y direction, we can get:

[0105] F3=F y

[0106] 112.5σ=75N

[0107] σ=0.667N / m 2 (3-17)

[0108] Integrating the circular surface in the x-direction gives the total force in the x-direction:

[0109]

[0110] The forces in the x-direction are balanced:

[0111] F2=F x =75N (3-19)

[0112] That is, the minimum magnetic attraction force between the two slicing rollers 101a is 75N. In this embodiment, the safety factor is selected as 1.2, and the magnetic attraction force of the slicing roller 101a is finally selected to be 80N, ensuring the overall safety and reliability of the robot in unexpected situations such as motor power failure.

[0113] Embodiment 3

[0114] This embodiment provides an obstacle crossing inspection and repair device based on the second embodiment. Furthermore, the overall structure of the device is a double-arm symmetrical structure, with four front and rear connecting arms, including: a front upper arm, a front lower arm, a rear upper arm, and a rear lower arm, wherein the front upper arm and the front lower arm are the first obstacle crossing arm 101, and the rear upper arm and the rear lower arm are the second obstacle crossing arm 102. The end of each lower arm is connected to a transmission box, in which the motor, spray gun and other parts are stored, and the spray gun mouth Q of the spray gun faces the cable.

[0115] The obstacle crossing unit 100 includes 6 motor controls: 2 dual-axis motors in the front and rear transmission boxes control the rotation angle of the box and the forearm, and the vertically mounted motor upper rotating shaft also controls the relative rotation of the upper and lower parts of the box. Fig. 9 shown.

[0116] The driving arm 101b-1, driving arm 101b-2 and central main box 400 on each side are controlled by two motors to respectively control the relative rotation of the driving arm 101b-1 and the driving arm 101b-2, and the relative rotation of the driving arm 101b-1 and the main box 400. The motor position is as follows Fig. 9 After determining the relative position of the roller and the mechanical arm base, ignoring the slicing roller 101a mechanical arm and the repair module installed on the transmission box body, the composition of each mechanism and joint is as shown in FIG. Figure 4-5 shown.

[0117] The obstacle crossing mechanism of the inspection robot is mainly composed of a main box body 400, front and rear driving arms 101b-1, front and rear driving small arms 101b-2, and two front and rear transmission boxes connected to the small arms. The various posture requirements of different work contents are achieved through the movement of the joints of each component. If the control box is used as the end effector, each front and rear component joint includes: the front (rear) driving arm 101b-1 rotates around the main box body 400 axis, the front (rear) driving small arm 101b-2 rotates around the front (rear) driving arm 101b-1 axis, the front (rear) transmission box rotates around the front (rear) driving small arm 101b-2 axis, and the front (rear) transmission box rotates around the box body axis.

[0118] The kinematics of the obstacle crossing unit composed of the driving arm 101b-1, the driving arm 101b-2, the transmission box and the main box 400 mainly studies the displacement relationship between each joint. Through kinematic solution, the spatial position and angle posture of the terminal transmission box in the base coordinate system are obtained. Since the mechanism designed this time has the characteristics of front-to-back symmetry, it is only necessary to perform kinematic analysis on the mechanism composed of the front arm. The typical DH method is used for kinematic analysis, such as Figure 3-13 As shown. O0-x0y0 is the base joint coordinate system, representing the joint connecting the main box 400 and the upper arm; O1-x1y1 and O2-x2y2 represent the joint connecting the upper arm and the lower arm, and the joint connecting the lower arm and the transmission box. The motion analysis diagram and DH parameter table of the unilateral obstacle crossing mechanism are shown in Fig.14 , as shown in Table 3-1.

[0119] Table 3-1 DH parameters of obstacle crossing mechanism

[0120]

[0121] The general formula of the joint link is:

[0122]

[0123] The coordinate system transformation matrix of each joint is:

[0124]

[0125]

[0126]

[0127] The transformation matrix between the terminal transmission box coordinate system and the main box 400 coordinate system is:

[0128]

[0129] Among them, θ 1+2+3 =θ1+θ2+θ3,θ 1-2-3 =θ1-θ2-θ3,θ2+3 =θ2+θ3,θ 1+2 =θ1+θ2,θ 1-2 =θ1-θ2.

[0130] The last column of the matrix is ​​the coordinates (x, y, z) of the transmission box in the main box 400 coordinate system:

[0131]

[0132] Embodiment 4

[0133] This embodiment provides an obstacle inspection and repair device based on the third embodiment. Further, the cable defect repair component 201b includes a motor control: the motor drives the driving gear to rotate, and the driven gear drives the annular disk 201b-1 surface to rotate around the eccentric axis. The cable is wrapped with an insulating tape under the compression of the arc device. The motor position is as follows: Fig. 9 As shown, the two-dimensional drawing is as follows Figure 6 shown.

[0134] Since the repair mechanism and its components are made of lightweight materials and are small in size, the compression of the wrapped cables and insulating tapes is generally below 20 Newtons. Therefore, in the process of analysis and calculation of the repair mechanism, only the influence of size factors on the selection of gears and motors is considered.

[0135] Assume that the mobile speed of the inspection robot in the working state of the repair mechanism is v = 5 cm / s, the selected insulating tape model is CS5522-000 (HVBT-14-A), and the width of the insulating tape is 50 mm. For the winding of circular high-voltage cables, 10 yards (9.144 meters) of insulating tape is required for each meter of cable in the axial direction. The moving speed of the mechanism during cable repair is:

[0136] v=5 cMm / s (3-26)

[0137] Cable diameter:

[0138] d=3cm (3-27)

[0139] From equations 3-26 and 3-27, we can get the number of times the insulating tape carried by the repair mechanism needs to rotate around the cable per second during the operation:

[0140]

[0141] Pick:

[0142] n=5r / s (3-29)

[0143] The driven gear speed is n=5r / s, the number of driven gear teeth is 19, the module is 2, and its gear parameters are shown in Table 4-1:

[0144] Table 4-1 M219 driven gear parameter table

[0145]

[0146] The driving gear rotates under the drive of the repair mechanism motor, and its module is consistent with the driven gear. According to the center distance a=45 between the two gears, the parameters of the driving gear can be obtained, as shown in Table 4-2:

[0147] Table 4-2 M219 driving gear parameter table

[0148]

[0149] The transmission ratio of the two gears is:

[0150]

[0151] From this, the motor shaft speed can be calculated:

[0152] n1=i×n2=6.84r / s (3-31)

[0153] The motor is selected based on the requirements of size, precision, weight, etc. The cable repair winding and covering device of this application adopts NEMA 17 stepper motor, model ST4118. In terms of adaptability, the NEMA 17 series stepper motor is suitable for the installation space and power requirements of the repair device, and provides stable driving force and speed, which can ensure the stable operation of the cable insulation layer winding device. The motor parameters are shown in Table 4-3:

[0154] Table 4-3 ST4118M1804 motor parameter table

[0155]

[0156] Embodiment 5

[0157] This embodiment provides an obstacle inspection method based on the fourth embodiment. Furthermore, the operation process of the obstacle inspection and repair device can be divided into three stages: mobile inspection stage, obstacle crossing stage, and hovering repair stage.

[0158] The device carries a detection camera and moves along the high-voltage cable for inspection. The camera module collects relevant information about the line, including the type of defect and whether there are obstacles. If other obstacles such as anti-vibration hammers interfere with the mobile inspection, the robot camera module detects the location of the obstacle and performs the obstacle-crossing task. After finally crossing the obstacle and hovering stably on the line, the mobile inspection state is restored. When the tower corner needs to replace the cable for inspection, the robot rotates the mechanical arm to fix the front wheel to the new cable and gradually cross the corner obstacle. When the camera detection module of the inspection robot detects a cable defect, the repair module on the middle support arm of the robot will perform the corresponding repair operation according to the defect type, and the repair process will also be monitored by a separate camera throughout.

[0159] While traversing obstacles with a single arm, in order to improve structural stability, the support member 202 in the middle of the device can be used as an auxiliary support. At the same time, in order to make the obstacle traversal method more effective, the slicing roller 101a is separated from and reset by rotating the mechanical arm of the driving member 101b to split the roller into two.

[0160] The left and right slicing rollers 101a are provided with three hemispherical protrusions and grooves at the middle cutting surface, so that the transition between the two slicing rollers 101a during the reset and separation process is smoother, and they can be kept fixed during normal inspection. The mechanical arm that controls the position of the left and right slicing rollers 101a is controlled by two motors to drive the rotation angles of the upper arm 101b-1 and the lower arm 101b-2 respectively. Its working principle is similar to that of human fingers. When the inspection robot encounters an obstacle, the two slicing rollers 101a are separated from each other under the control of the mechanical arm, that is, "the fingers are loosened"; when the obstacle crossing is completed and the rollers need to be reset and driven, the mechanical arm guides the two slicing rollers 101a to merge into a complete roller, that is, the "finger clamping" posture. This design can increase the flexibility of the device in crossing obstacles, without being restricted by obstacles and the surrounding environment. At the same time, the structure of the mechanical arm also reserves a placement position for the inspection camera module, so that each functional module can work in coordination with each other.

[0161] Since the single-arm support-driven obstacle crossing mechanism has certain requirements on the center of gravity position and support point, based on the working principle of the double-arm staggered obstacle crossing mechanism, the following method is used: Figure 8 The mechanism shown in the figure connects the slicing roller 101a driving box with the main box 400, and realizes the movement of the relative position of the roller box structure in different states through two connecting arms.

[0162] When the forearm camera detects an obstacle, the connecting arm drives the transmission box to move forward and rotate under the drive of the connecting arm motor and the roller box motor, the robot main box 400 is raised, and the motor inside the transmission box drives the upper and lower layers of the transmission box to rotate relative to each other. At the same time, the upper arm rotates around the connecting shaft between the main box 400 and the upper arm under the drive of the motor, and the main box 400 moves outward relative to the cable. When the main box 400 rises to the point where the cable is flush with the middle support roller, the motor reverses to return the box to the middle position. At this time, the cable can rely on the middle support roller as an auxiliary support, and the overall structure is transformed into a three-support structure. This structure can maintain the stability of the robot overcoming obstacles. After the two slicing rollers 101a on the front side are separated, the rear roller drives the robot to move forward. After crossing the obstacle, the two slicing rollers 101a on the front side are reset and the cable is fitted to drive the support. The obstacle crossing method of the rear connecting arm is the same as that of the front connecting arm. The front roller and the middle support arm are used to maintain the stability of the robot, and the rear wheel obstacle crossing is achieved by loosening the rear slicing roller 101a.

[0163] When the inspection robot encounters a corner obstacle, the connecting small arm and the straight line obstacle crossing movement mode, the main box 400 is lifted so that the repair unit 400 device serves as the second support of the cable, and the front slicing roller 101a is separated from the cable. Then, after the mechanism moves a certain distance under the drive of the rear wheel, the connecting large arm on the rear side of the device will rotate around the vertical axis to a certain angle so that the direction of the main box 400 and the front connecting arm is the same as the corner cable. At this time, the front slicing roller 101a is reset to fit the corner cable, and the rear slicing roller 101a is separated from the original cable. The device moves on the corner cable driven by the front roller. When the overall structure is completely on the corner cable, the rear roller and the rear connecting arm are reset, and the double-arm support drive inspection is restored. The front and rear connecting arms are unfolded and parallel to the horizontal plane to perform stable cable defect inspection operations.

[0164] It should be noted that in order to enhance the reliability of the inspection mechanism of the slicing roller 101a and ensure that it can fit together and support the robot when the motor loses power, the three raised hemispheres and grooves of the slicing roller 101a in this design will use neodymium iron boron magnets. The slicing roller 101a can fit and support on the cable due to the magnetic force when the power is off. When it is necessary to overcome obstacles, the roller robot arm opens under the drive of the motor to drive the two slicing rollers 101a to separate from each other.

[0165] Some steps in the embodiments of the present invention may be implemented using software, and the corresponding software program may be stored in a readable storage medium, such as a CD or a hard disk.

[0166] 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, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An obstacle inspection and repair device, characterized in that: The device comprises, An obstacle crossing unit (100) comprises a first obstacle crossing arm (101) and a second obstacle crossing arm (102); A repair unit (200) comprises a repair piece (201) and a support piece (202), wherein the support piece (202) is fixedly connected to an end of the repair piece (201) at a geometric center close to the cable; The inspection unit (300) comprises a detection member (301) fixedly mounted on the first obstacle crossing arm (101) and the second obstacle crossing arm (102); And, the main box (400), the first obstacle crossing arm (101), the second obstacle crossing arm (102) and the repairing member (201) are respectively connected to the main box (400).

2. The obstacle inspection and repair device according to claim 1, characterized in that: The first obstacle crossing arm (101) and the second obstacle crossing arm (102) are completely identical in structure, and both comprise a pair of slicing rollers (101a) and a driving member (101b) arranged in a mirror image, wherein the slicing rollers (101a) are rotatably connected to the driving member (101b); The driving member (101b) comprises a driving large arm (101b-1) and a driving small arm (101b-2) which are rotatably connected.

3. The obstacle inspection and repair device according to claim 2, characterized in that: The repair component (201) comprises an insulator repair component (201a) and a cable defect repair component (201b); the insulator repair component (201a) is centrally arranged between a group of mirror-image driving arms (101b-1) and is rotationally connected to the driving arms (101b-1); and the cable defect repair component (201b) is connected to the main box (400).

4. The obstacle inspection and repair device according to claim 3 is characterized in that: The insulator repair component (201a) comprises a transmission housing (201a-1), and a spray gun port Q, a cleaning nozzle M and a cleaning brush N are arranged on the transmission housing (201a-1).

5. The obstacle inspection and repair device according to claim 4, characterized in that: The cable defect repair component (201b) comprises an annular disk (201b-1), an adhesive tape holder (201b-2) and a cable fixing frame (201b-3); The adhesive tape support (201b-2) and the cable fixing frame (201b-3) are fixedly arranged on the annular disk (201b-1); The annular disk (201b-1) is capable of rotating around an eccentric shaft, an active component and a transmission component are arranged on the eccentric shaft around which the annular disk (201b-1) is arranged, and the tape support (201b-2) is provided with a semicircular notch.

6. The obstacle inspection and repair device according to claim 5, characterized in that: The main box (400) is also provided with guide rollers (401), and the guide rollers (401) are distributed on both sides of the cable defect repair component, with at least one group of guide rollers (401) being provided on each side.

7. The obstacle inspection and repair device according to claim 5, characterized in that: The slicing roller (101a) is provided with an annular groove (101a-1) along the outer diameter, and the cross section of the groove is an arc with a radius of 5 to 18 mm.

8. The obstacle inspection and repair device according to claim 5, characterized in that: The slicing roller (101a) fitting surface P is provided with at least one set of corresponding grooves (101a-2) and protrusions (101a-3), and the grooves (101a-2) and protrusions (101a-3) are made of neodymium iron boron magnet magnetic material.

9. An obstacle inspection method, the method being applied to the obstacle inspection and repair device according to any one of claims 1 to 8, characterized in that: The method comprises, Straight-line obstacle traversal includes the following steps: The detection member (301) on the first obstacle crossing arm (101) at the front side of the obstacle crossing inspection and repair device detects an obstacle on the cable; The main box (400) is raised, the support member (202) is slidably connected to the cable, the two slicing rollers (101a) of the first obstacle crossing arm (101) at the front are separated, and the slicing rollers (101a) of the second obstacle crossing arm (102) at the rear drive the obstacle crossing inspection and repair device to move forward until the first obstacle crossing arm (101) crosses the obstacle; The two separated slicing rollers (101a) of the first obstacle crossing arm (101) are reset, the main box (400) is lowered, the support member (202) is separated from the cable, and the obstacle crossing inspection and repair device moves forward until the support member (202) crosses the obstacle; The obstacle-crossing inspection and repair device continues to move forward, and the detection member (301) on the second obstacle-crossing arm (102) at the rear side detects the obstacle on the cable; The main box (400) is raised, the support member (202) is slidably connected to the cable, the two slicing rollers (101a) of the rear second obstacle crossing arm (102) are separated, and the slicing rollers (101a) of the front first obstacle crossing arm (101) drive the obstacle crossing inspection and repair device to move forward until the second obstacle crossing arm (102) crosses the obstacle, completing the straight line inspection.

10. The obstacle inspection method according to claim 9, characterized in that: The method further comprises: Corner obstacle crossing includes the following steps: When the inspection robot encounters a corner obstacle, the main box (400) is raised, and the support member (202) is slidably connected to the cable; The slicing roller (202) of the first obstacle crossing arm (101) is separated from the cable, and then the obstacle crossing inspection and repair device is driven by the slicing roller (202) of the second obstacle crossing arm (102) to move a certain distance, and then the driving member (101b) at the rear side of the inspection and repair device rotates around the vertical axis to a certain angle so that the direction of the main box (400) and the first obstacle crossing arm (101) is the same as the corner cable; The slicing roller (202) of the first obstacle crossing arm (101) is reset to fit the corner cable, the slicing roller (202) of the second obstacle crossing arm (102) is separated from the original cable, and the obstacle crossing inspection and repair device moves on the corner cable under the drive of the slicing roller (202) of the first obstacle crossing arm (102); When the whole structure is completely on the corner cable, the slicing roller (202) and the driving member (101b) of the second obstacle crossing arm (102) are reset, the double-arm support driving inspection is restored, and the front and rear driving members (101b) are unfolded and parallel to the horizontal plane to complete the corner inspection.

Images