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

Abstract

The application discloses an obstacle-crossing inspection and repairing device and an obstacle-crossing inspection method, and belongs to the technical field of electric power facilities. The obstacle-crossing inspection and repairing device comprises an obstacle-crossing unit, a repairing unit, an inspection unit and a main box body. The obstacle-crossing unit comprises a first obstacle-crossing arm and a second obstacle-crossing arm. The repairing unit comprises a repairing piece and a supporting piece. The supporting piece is fixedly connected to the repairing piece at a geometric center close to one end of the cable. The inspection unit comprises a detection piece fixedly installed on the first obstacle-crossing arm and the second obstacle-crossing arm. The application provides an automatic obstacle-avoiding high-voltage cable obstacle-crossing inspection and repairing device which can stably operate during work. The device is light in structure and can meet the simultaneous work of various functional module mechanisms.

Description

Technical Field

[0001] This invention relates to an obstacle-crossing inspection and repair device and an obstacle-crossing inspection method, belonging to the field of power facility technology. Background Technology

[0002] High-voltage insulators are typically installed in complex, high-altitude environments, making them susceptible to various external factors and prone to failures such as breakage, flashover, and aging. Traditional inspection and repair methods rely on manual labor, resulting in low efficiency and high safety risks, failing to meet the demands of modern power systems for rapid and accurate inspection and repair. The high-voltage cable obstacle-crossing inspection method allows for cable defect detection and insulator repair under remote supervision by personnel, significantly improving inspection efficiency and reducing costs.

[0003] However, single-arm support-driven obstacle crossing is less stable and safer than dual-arm support. Furthermore, this mechanism is primarily suitable for straight-line obstacle crossing scenarios; corner obstacle crossing places specific requirements on the surrounding environment and the robot's structure. Therefore, researching a robot capable of adapting to various high-voltage cable working environments and stably performing inspection work is of significant research importance and practical value. Summary of the Invention

[0004] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

[0005] Given the complex and variable environment on high-voltage lines, various types of obstacles such as vibration dampers, towers, and suspension clamps can become obstacles to mobile inspections. Therefore, there is an urgent need for an automatic obstacle-avoiding inspection and repair device for high-voltage cables that can automatically avoid obstacles and operate stably. This invention is proposed.

[0006] One objective of this invention is to provide an obstacle-crossing inspection and repair device that can replace traditional manual labor in performing inspection and maintenance tasks on high-voltage transmission lines, and can flexibly cope with various complex line conditions to carry out stable cable defect inspection operations.

[0007] To solve the above-mentioned technical problems, the present invention provides the following technical solution: an obstacle crossing inspection and repair device, comprising: an obstacle crossing unit, including a first obstacle crossing arm and a second obstacle crossing arm; a repair unit, including a repair component and a support component, wherein the support component is fixedly connected to one end of the repair component near the cable at its geometric center; The inspection unit includes a detection component fixedly installed on the first obstacle-crossing arm and the second obstacle-crossing arm; and a main housing, to which the first obstacle-crossing arm, the second obstacle-crossing arm, and the repair component are respectively connected.

[0008] As a preferred embodiment of the obstacle-crossing inspection and repair device of the present invention, the first obstacle-crossing arm and the second obstacle-crossing arm have the same structure, each including a pair of mirror-arranged slicing rollers and a driving component, wherein the slicing rollers are rotatably connected to the driving component; the driving component includes a driving upper arm and a driving lower arm that are rotatably connected.

[0009] As a preferred embodiment of the obstacle-crossing inspection and repair device of the present invention, the repair component includes an insulator repair component and a cable defect repair component. The insulator repair component is centrally disposed between a group of drive arms arranged in a mirror image and is rotatably connected to the drive arms. The cable defect repair component is connected to the main housing.

[0010] As a preferred embodiment of the obstacle-crossing inspection and repair device of the present invention, the insulator repair component includes a transmission housing, on which a spray gun nozzle, a cleaning nozzle and a cleaning brush are provided.

[0011] As a preferred embodiment of the obstacle-crossing inspection and repair device of the present invention, the cable defect repair component includes an annular disc, a tape bracket, and a cable fixing frame; the tape bracket and the cable fixing frame are fixedly mounted on the annular disc; the annular disc is rotatable around an eccentric shaft, and an active component and a transmission component are provided on the eccentric shaft around which the annular disc is mounted, and the tape bracket has a semi-circular notch.

[0012] As a preferred embodiment of the obstacle-crossing inspection and repair device of the present invention, the main housing is further provided with guide rollers, which are distributed on both sides of the cable defect repair component, with at least one set of guide rollers on each side.

[0013] As a preferred embodiment of the obstacle-crossing inspection and repair device of the present invention, the slicing roller is provided with an annular groove along its outer diameter, and the cross-section of the groove is an arc with a radius of 5~18mm.

[0014] As a preferred embodiment of the obstacle-crossing inspection and repair device of the present invention, the slicing roller contact surface P is provided with not less than a set of corresponding grooves and protrusions, and the grooves and protrusions are made of neodymium iron boron magnet magnetic material.

[0015] Given that the three-arm rotating obstacle crossing and the two-arm staggered obstacle crossing schemes each have their own advantages and disadvantages, when determining the robot's final inspection and obstacle crossing method and defect detection algorithm, this 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 objective of this invention is to provide an obstacle crossing inspection method that combines two-arm inspection with single-arm obstacle crossing.

[0016] As a preferred embodiment of the obstacle-crossing inspection method of the present invention, the straight-line obstacle crossing includes the following steps: The first obstacle-crossing arm on the front side of the obstacle-crossing inspection and repair device detects an obstacle on the cable; the main housing is raised, the support is slidably connected to the cable, the two slicing rollers of the first obstacle-crossing arm separate, and the slicing rollers of the second obstacle-crossing arm drive the obstacle-crossing inspection and repair device forward until the first obstacle-crossing arm crosses the obstacle; the two separated slicing rollers of the first obstacle-crossing arm return to their original positions, the main housing is lowered, the support is detached 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 device on the second obstacle-crossing arm on the rear side detects an obstacle on the cable; the main housing is raised, the support is slidably connected to the cable, the two slicing rollers of the second obstacle-crossing arm separate, and the slicing rollers of the first obstacle-crossing arm drive the obstacle-crossing inspection and repair device forward until the second obstacle-crossing arm crosses the obstacle, completing the straight-line inspection.

[0017] As a preferred embodiment of the obstacle-crossing inspection method of the present invention, corner obstacle crossing includes the following steps: When the inspection robot encounters a corner obstacle, the main housing is raised, and the support component slides into contact with the cable. The slicing roller of the first obstacle-crossing arm disengages from the cable. Subsequently, the obstacle-crossing inspection and repair device moves a certain distance under the drive of the slicing roller of the second obstacle-crossing arm. The drive component on the rear side of the inspection and repair device rotates around the vertical axis at a certain angle so that the direction of the main housing and the first obstacle-crossing arm is the same as that of the corner cable. The slicing roller of the first obstacle-crossing arm returns to its original position and engages with the corner cable. The slicing roller of the second obstacle-crossing arm disengages from the original cable. The obstacle-crossing inspection and repair device moves on the corner cable under the drive of the slicing roller of the first obstacle-crossing arm. When the entire structure is completely on the corner cable, the slicing roller and drive component of the second obstacle-crossing arm return to their original positions, restoring the dual-arm support-driven inspection. The front and rear drive components unfold and become parallel to the horizontal plane, completing the corner inspection.

[0018] The beneficial effects of this invention are: Compared with the prior art, the obstacle crossing inspection and repair device provided by the present invention applies the obstacle crossing inspection method, enabling the device to simultaneously perform functions such as moving to overcome obstacles, cable detection, and defect repair. It has a simple structure, few degrees of freedom, and relatively small mass, and can cope with various complex obstacle crossing scenarios. It also has sufficient stability when performing single-arm obstacle crossing.

[0019] This invention provides a device that simultaneously performs inspection, obstacle crossing, detection, and repair functions. By comparing several different obstacle crossing methods, a dual-arm inspection and triple-arm obstacle crossing structure was ultimately adopted. This simple structure achieves obstacle crossing functionality, and the obstacle crossing unit can assist other functional modules in working simultaneously, ensuring the stability of the device when operating on a single cable. Furthermore, a structure was designed that utilizes the separation and repositioning of two slicing rollers to achieve spatial alignment and detachment between the support arm and the cable of the obstacle crossing inspection and repair device. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a cross-sectional view of the obstacle-crossing inspection and repair device of the present invention. Figure 2 This is a top view of the obstacle-crossing inspection and repair device of the present invention; Figure 3 This is a partial assembly drawing of the obstacle-crossing inspection and repair device of the present invention; Figure 4 This is a side view of the obstacle-crossing unit of the present invention; Figure 5 This is a three-dimensional structural diagram of the obstacle-crossing unit of the present invention; Figure 6 This is a front view of the cable defect repair component of the present invention; Figure 7 This is a schematic diagram of the two-slice roller model of the present invention; Figure 8 This is a model diagram of the obstacle-crossing unit of the present invention; Figure 9 This is a diagram showing the position of the roller control motor of the present invention; Figure 10 This is a schematic diagram of the overall structure of the obstacle-crossing inspection and repair device of the present invention. Figure 11 This is a mechanical analysis diagram of the obstacle-crossing inspection and repair device of the present invention; Figure 12 This is a simplified diagram of the motion of the roller robotic arm of the present invention; Figure 13 This is a force analysis diagram of the slicing roller of the present invention; Figure 14 This is for the motion analysis of the obstacle-crossing unit of the present invention. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0023] Example 1 like Figure 1-6This 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 being fixedly connected to the end of the repair component 201 near the cable at its geometric center; an inspection unit 300, including a detection component fixedly installed on the first obstacle crossing arm 101 and the second obstacle crossing arm 102; and a main housing 400, the first obstacle crossing arm 101, the second obstacle crossing arm 102, and the repair component 201 being respectively connected to the main housing 400.

[0024] The first obstacle crossing arm 101 and the second obstacle crossing arm 102 have the same structure. Both include a pair of mirror-arranged slicing rollers 101a and a driving member 101b. The slicing rollers 101a and the driving member 101b are rotatably connected. The driving member 101b includes a driving upper arm 101b-1 and a driving lower arm 101b-2 that are rotatably connected.

[0025] The repair component 201 includes an insulator repair component 201a and a cable defect repair component 201b. The insulator repair component 201a is centrally located between a set of drive arms 101b-1 arranged in a mirror image and is rotatably connected to the drive arms 101b-1. The cable defect repair component 201b is connected to the main housing 400.

[0026] The insulator repair component 201a includes a transmission housing 201a-1, on which a spray gun nozzle Q and a cleaning device are installed. The cleaning device includes a cleaning nozzle M and a cleaning brush N. The spray gun at the end of the transmission housing, connected by the first obstacle-crossing arm 101 and the second obstacle-crossing arm 102, sprays silicon sulfide at its nozzle Q and the cleaning device to repair flashover defects in the insulator. Damaged cable insulation is repaired by wrapping and repairing it with insulating tape in the middle of the main housing 400. Four guide rollers 401 on the upper surface of the main housing 400 are used to guide the cable during the wrapping operation, further improving stability.

[0027] The insulator repair component 201a can adjust the position and orientation of the end spray nozzle Q in space by rotating the obstacle-crossing body. When a defect is detected, the cable defect repair component moves to the appropriate position, and then, similar to the obstacle-crossing process, the front slicing roller 101a releases itself from the cable. The device is supported by the rear slicing roller 101a and the central support member 202. Simultaneously, a cleaning device is installed on the outer surface of the transmission housing, including a cleaning nozzle M and a cleaning brush N. The cleaning brush N is a rotating brush used for cleaning the insulator before repair.

[0028] like Figure 6As shown, the cable defect repair component 201b includes an annular disk 201b-1, a tape holder 201b-2, and a cable fixing bracket 201b-3; the tape holder 201b-2 and the cable fixing bracket 201b-3 are fixedly mounted on the annular disk 201b-1; the annular disk 201b-1 can rotate around an eccentric shaft, and an active component and a transmission component are provided on the eccentric shaft around which the annular disk 201b-1 is located; the tape holder 201b-2 has a semi-circular notch.

[0029] For cable defect repair, insulating tape is used to wrap the damaged cable insulation layer. In terms of mechanical structure design, to achieve lightweighting, simplicity, and efficient use of space, a cable defect repair component 201b is installed on the upper side of the main housing 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, does not interfere with each other, supports the repair work, and facilitates the mechanism's reset after repair. The insulator repair component 201a is driven by a motor 101b, and an annular disk 201b-1 rotating around an eccentric shaft acts as the actuator. A tape support 201b-2 and an arc-shaped cable holder 201b-3 for securing cables are fixed on the annular disk 201b-1. The tape support 201b-2 has a semi-circular notch for support when the cable crosses obstacles. The insulating tape end can bypass the cable and be wrapped by the cable holder 201b-3 as it rotates and adheres to the cable. Simultaneously, a notch is provided on the side of the annular disk 201b-1 to accommodate high-voltage cables entering the cable defect repair component 201b from the side and adhering to the tape. The hollow center of the annular disk 201b-1 facilitates the cable's relative rotation around the tape and disk by the arc-shaped positioning device, and also helps reduce weight and enhance the stability of other functional modules. A driven component, i.e., a driven gear, is mounted on the eccentric shaft around the annular disk 201b-1 for gear meshing and transmission with the drive motor. When the high-voltage cable enters through the notch of the annular disc 201b-1 and abuts against the tape port on the arc-shaped positioning device, the motor drives the drive gear to rotate. The driven gear, under the action of gear meshing, drives the eccentric shaft and the annular disc 201b-1 to rotate. At this time, the robot as a whole continues to move forward under the action of the drive wheels, achieving the wrapping and winding of the cable insulation surface. Simultaneously, 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 conductor during the repair operation always faces directly forward. Key components of the cable defect repair component 201b include... Figure 2-14 As shown.

[0030] The main housing 400 is also provided with guide rollers 401, which are distributed on both sides of the cable defect repair component, with at least one set of guide rollers 401 on each side. In this embodiment, two sets of guide rollers 401 are provided on each side of the cable defect repair component.

[0031] The contact surface P of the slicing roller 101a is provided with at least one set of corresponding grooves 101a-2 and protrusions 101a-3, which are made of neodymium iron boron magnets. To enhance the reliability of the slicing roller 101a inspection mechanism and ensure that it can still stick together to support the robot when the motor loses power, in this embodiment, the slicing roller 101a is provided with three hemispherical protrusions 101a-3 and hemispherical grooves 101a-2, which are made of neodymium iron boron magnets. When the power is lost, the slicing roller 101a can stick together to support the cable due to the magnetic force. When it is necessary to cross an obstacle, the roller robotic arm opens under the drive of the motor, causing the two slicing rollers 101a to separate from each other.

[0032] like Figure 5 As shown, during the inspection process, the device acquires the status information of a certain point on the cable through the camera module. If a defect is detected, it will move to the defect location to repair the cable. To achieve the goal of camera inspection, a camera housing 302 needs to be set up next to the slicing roller 101a of the first obstacle-crossing arm 101. The housing structure is designed to install the inspection component. In this embodiment, the inspection component is an industrial inspection camera, which enables the camera to acquire a complete real-time image of the cable from all directions and to operate stably even in special weather conditions. In this embodiment, two industrial cameras are placed on the left and right sides under 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 cameras are not affected by weather conditions such as rain and snow.

[0033] This device possesses basic climbing and obstacle-crossing capabilities and can adapt to various high-voltage cable working environments, stably performing inspection work while providing space for other sub-modules (such as repair unit 200 and inspection unit 300). For the selection of the industrial camera, high detection accuracy is required while maintaining small size and weight. This application uses the Mercury II industrial camera (MER2-532-22GM / C) as the defect detection device, and its image processing algorithm has been optimized, providing multiple acquisition methods and enabling reliable shooting operations in various harsh environments. Its performance specifications and mechanical dimensions are shown in Table 1-1.

[0034] Table 1-1 Performance Specifications of MER2-532-22GM / C

[0035] Example 2 like Figure 3-5 This embodiment provides an obstacle-crossing inspection and repair device based on Embodiment 1. Furthermore, the inspection unit 300 is also driven by 12 motors.

[0036] Furthermore, the slicing roller 101a has an annular groove 101a-1 along its outer diameter, and the cross-section of the groove is an arc with a radius of 5~18mm.

[0037] The drive wheels used for inspection movement are mounted on both sides of the transmission box with the support of the roller robotic arms. Two motors control the spatial position of the slicing roller 101a through the rotation angle of the two roller robotic arms.

[0038] like Figure 10 As shown, there are 8 robotic arm control motors on the four front and rear roller robotic arms (each 2 motors control one roller robotic arm); and 4 front and rear slicing rollers 101a control motors, with each motor controlling the rotation of one slicing roller 101a.

[0039] Furthermore, the mechanical structure of the slicing roller 101a is as follows: Figure 7 and Figure 8 The image shows the slicing roller 101a detached from the cable. Regarding materials, considering the strength, rigidity, and weight requirements of the components, an aluminum alloy slicing hub is used. This material is lightweight, highly corrosion-resistant, and well-suited for high-voltage cable inspection. Furthermore, the contact surface between the roller and the cable is coated with a hard polyurethane anti-slip coating, which possesses excellent electrical properties, strong wear resistance, strong corrosion resistance, and low water absorption.

[0040] The split-type slicing roller 101a structure improves the stability of inspection operations while supporting suspension on cables of different sizes. For example, in this embodiment, the diameter of the high-voltage cable is 30mm, therefore the radius of the arc at the contact point between the roller and the cable is 15mm. The dimensions of the slicing roller 101a are as follows: Figure 3-4 As shown in the diagram. The inspection robot requires greater driving force to move along inclined cables. In this embodiment, the main structure of the obstacle-crossing inspection and repair device is made of 5083 aluminum-magnesium alloy with a density of 2.71 g / cm³. The overall weight of the device is approximately 30 kg. The surface of the slicing roller 101a is coated with polyurethane, and the insulation layer on the cable surface is silicone rubber. The coefficient of friction between the silicone rubber and polyurethane is 0.6, and the radius r at the contact point between the roller and the cable is 50 mm. Since different types and voltages of cables have different maximum tilt angle limitations based on their design and application, this embodiment studies a 110kV transmission line, where the maximum tilt angle of the high-voltage conductor is 30°.

[0041] When the device is in mobile inspection mode, it is subjected to gravity G and the supporting force of the cable on the robot's wheels as it moves at a constant speed on the cable. and friction The traction force on the roller arm of the inspection robot is Mechanical analysis, such as Figure 11 As shown.

[0042] From the principle of mechanical equilibrium, we get: (3-1) Since the maximum static friction force is close to the sliding friction force, this design treats them as equivalent, and the robot's weight is borne equally by the two rollers, resulting in: (3-2) Substituting equation (3-2) into equation (3-1), the traction force required by the inspection robot at the tilt angle is calculated. : (3-3) Traction force of line inspection robot The formula is formula (3-4): (3-4) In equation (3-4), For the traction force of the inspection robot on the cable, This refers to the torque of the roller drive motor. For transmission efficiency, the transmission efficiency here is taken as... r is the radius of the slicing roller 101a at the point where it contacts the cable.

[0043] According to equations (3-3) and (3-4), we get: (3-5) The relationship between the speed of the roller and the radius of the roller is shown in equation (3-6): (3-6) The high-voltage cable inspection robot designed in this project moves at an average speed of 0.4 m / s on the cable, where n is the rotational speed of the slicing roller 101a. Therefore, the rotational speed n of the walking wheel can be obtained from equation (3-6): (3-7) The power of the roller drive motor can be calculated as follows: (3-8) The power of the drive motor is calculated as follows: (3-9) With a motor power safety factor of 1.2, and considering the relevant motor parameters as well as the size and quality requirements of the robot components, the Maxon DC motor is selected as the roller drive motor for the inspection robot. Its parameters are shown in Table 2-1.

[0044] Table 2-1 Parameter Table of Maxon RE35 DC Motor (Product No. 273759)

[0045] The loosening and re-attaching of the inspection robot's slicing roller 101a to the cable is achieved through two roller robotic arms. These arms have three degrees of freedom; the rotation angles between the upper arm and the base, and between the upper arm and the lower arm, determine the spatial position of the end effector roller. The roller and robotic arm structure is as follows: Figure 5 and Figure 8 As shown, the robotic arm structure consists of four main components: a drive arm 101b-1, a drive arm 101b-2, and two connecting rods 101b-3. Two motors control the rotation angles of the connecting rods and the drive arm 101b-1, respectively. The two ends of the drive arm 101b-2 are connected to the slicing roller 101a and the connecting rods 101b-3, respectively, and the middle part is connected to the drive arm 101b-1 via a rotary joint. Let the lengths of the drive arm 101b-1, the connecting rods 101b-3, and the drive arm 101b-2 be respectively... , , , ,set up:

[0046]

[0047]

[0048]

[0049] (3-10) Since this mechanism has only three degrees of freedom, the end effector rollers can only move within the yz plane. Using the base as the fixed root node, the initial poses of the mechanism are: drive arm 101b-1 horizontal and drive arm 101b-2 vertical. The length of drive arm 101b-1 is equal to that of link 101b-3, and the length of drive arm 101b-2 is equal to that of link 101b-3. The drive arm 101b-1 and the two connecting rods 101b-3 form a parallelogram. The initial position of the drive arm 101b-1 and the connecting rods is parallel to the y-axis, while the position of the drive forearm 101b-2 and the connecting rods 101b-3 is parallel to the z-axis. Taking the root node of the base as the origin reference, the counterclockwise rotation angle of the drive arm 101b-1 and the connecting rods 101b-3 under the drive of the motor is... , The motion of the roller robotic arm in the yz plane is as follows: Figure 12 As shown.

[0050] The coordinates of the spatial position of the slicing roller 101a are: (3-11) (3-12) (3-13) The protrusions and grooves between the slicing rollers 101a, as determined in Embodiment 1, are made of magnetic material to prevent the robot from falling from the high-voltage cable in the event of motor power failure. The force analysis of a single slicing roller 101a under motor power failure is as follows regarding the magnetic attraction between the two slicing rollers 101a. Figure 13 As shown.

[0051] in The force per unit area of ​​the slicing roller 101a is evenly distributed on the arc surface where the slicing roller 101a contacts the cable. The magnetic attraction between the slicing rollers 101a Let the supporting force on the roller be . Let the horizontal direction be . Vertical direction is Since the robot is supported by two pairs of slicing rollers 101a during the inspection process, the force acting on a single slicing roller 101a group is... The traction force in the direction is While a single slicing roller 101a The traction force in the direction is ,Right now: (3-14) To calculate the slice, consider... The sum of forces in the direction. Each small surface element in The force acting in the direction can be expressed as: (3-15) in It is the angle between the small facet and the x-axis. It is the area of ​​the small face.

[0052] Integrating over the entire circular surface, we can obtain the total force in the y-direction: (3-16) according to The forces in the direction of equilibrium can be obtained as follows:

[0053] 112.5

[0054] (3-17) right Integrating along the circular surface in the direction yields... The sum of forces in the direction: (3-18) exist Forces are balanced in the direction: (3-19) That is, the minimum magnetic attraction between the two slicing rollers 101a is In this embodiment, a safety factor of 1.2 is selected, therefore the magnetic attraction force of the slicing roller 101a is finally determined to be... This ensures the overall safety and reliability of the robot in the event of unexpected situations such as motor power failure.

[0055] Example 3 This embodiment provides an obstacle-crossing inspection and repair device based on Embodiment 2. Furthermore, the overall structure of the device is a symmetrical double-arm structure with four connecting arms: a front upper arm, a front lower arm, a rear upper arm, and a rear lower arm. The front upper arm and front lower arm constitute the first obstacle-crossing arm 101, and the rear upper arm and rear lower arm constitute the second obstacle-crossing arm 102. The end of each lower arm is connected to a transmission housing, which houses components such as a motor and a spray gun. The nozzle Q of the spray gun faces the cable.

[0056] The obstacle-crossing unit 100 includes six motor controls: two dual-axis motors in the front and rear transmission housings control the rotation angle of the housing and the forearm; and a vertically mounted rotating shaft above the motors also controls the relative rotation of the upper and lower parts of the housing. The internal structure of the transmission housing is as follows... Figure 9 As shown.

[0057] Each side's drive boom 101b-1, drive arm 101b-2, and central main housing 400 are controlled by two motors, which respectively control the relative rotation of drive boom 101b-1 and drive arm 101b-2, and the relative rotation of drive boom 101b-1 and main housing 400. The motor positions are as follows... Figure 9 As shown. After determining the relative positions of the rollers and the robotic arm base, disregarding the slicing roller 101a robotic arm mounted on the transmission box body and the repair module, the composition of each mechanism and joint is as follows. Figure 4-5 As shown.

[0058] The obstacle-crossing mechanism of the inspection robot mainly consists of a main housing 400, front and rear drive arms 101b-1, front and rear drive arms 101b-2, and two transmission boxes connected to the arms. The movement of each component joint achieves the various positional requirements for different tasks. If the control box is used as the end effector, each component joint includes: rotation of the front (rear) drive arm 101b-1 around the axis of the main housing 400; rotation of the front (rear) drive arm 101b-2 around the axis of the front (rear) drive arm 101b-1; rotation of the front (rear) transmission box around the axis of the front (rear) drive arm 101b-2; and rotation of the front (rear) transmission box around the housing axis.

[0059] The kinematics of the obstacle-crossing unit, consisting of the drive boom 101b-1, drive arm 101b-2, transmission box, and main housing 400, mainly studies the displacement relationships between each joint. Through kinematic analysis, the spatial position and angular orientation of the end-effector transmission box in the base coordinate system are determined. Since the mechanism in this design has front-to-back symmetry, only the mechanism composed of the front boom needs kinematic analysis. A typical DH method is used for kinematic analysis, such as... Figure 3-13 As shown. The base joint coordinate system represents the joint connecting the main housing 400 and the boom. , This represents the joint connecting the upper arm and forearm, and the joint connecting the forearm and transmission box. The kinematic analysis diagram and DH parameter table for the single-sided obstacle crossing mechanism are shown below. Figure 14 As shown in Table 3-1.

[0060] Table 3-1 Obstacle Crossing Mechanism DH Parameters

[0061] The general formula for joint links is: (3-20) The coordinate system transformation matrix for each joint is: (3-21) (3-22) (3-23) The transformation matrix between the end-effector coordinate system and the main housing 400 coordinate system is:

[0062]

[0063] (3-24) in, , , , , .

[0064] The last column of the matrix represents the coordinates (x, y, z) of the transmission box in the 400 coordinate system of the main housing: = (3-25) Example 4 This embodiment provides an obstacle-crossing inspection and repair device based on Embodiment 3. Further, the cable defect repair component 201b includes a motor control unit: the motor drives the drive gear to rotate, and the driven gear drives the annular disk 201b-1 to rotate around the eccentric shaft. The cable undergoes insulation tape wrapping under the pressure of the arc-shaped device. The motor position is as follows... Figure 9 As shown, the two-dimensional drawing is as follows Figure 6 As shown.

[0065] Since the repair mechanism and its components are made of lightweight materials and are small in size, the compression of the wrapped and tightened cables and insulating tape is generally less than 20 Newtons. Therefore, in the analysis and calculation of the repair mechanism, only the influence of size factors on the selection of gears and motors is considered.

[0066] Assume the moving speed of the inspection robot for the repair mechanism's working status. The selected insulating tape is model CS5522-000 (HVBT-14-A), with a width of 50 mm. For winding circular high-voltage cables, 10 yards (9.144 meters) of insulating tape are required per meter of cable along the axial direction. The moving speed of the mechanism during cable repair is as follows: (3-26) Cable diameter: (3-27) From Equations 3-26 and 3-27, we can obtain the number of times the insulating tape carried by the repair mechanism needs to rotate around the cable per second during the operation: (3-28) Pick: (3-29) The driven gear rotates at a speed of The driven gear has 19 teeth and a module of 2. Its gear parameters are shown in Table 4-1. Table 4-1 M2 19 Driven Gear Parameter Table

[0067] The driving gear rotates under the drive of the repair mechanism motor, and its module is consistent with that of the driven gear, based on the center distance between the two gears. The parameters of the driving gear can be obtained from 45, as shown in Table 4-2: Table 4-2 M2 19 Drive Gear Parameter Table

[0068] The gear ratio is: (3-30) The motor shaft speed can be calculated from this: (3-31) Based on requirements such as size, precision, and weight, the motor selection for the cable repair and wrapping device in this application adopts a 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, ensuring the stable operation of the cable insulation wrapping device. The motor parameters are shown in Table 4-3. Table 4-3 ST4118M1804 Motor Parameter Table

[0069] Example 5 This embodiment provides an obstacle-crossing inspection method based on embodiment four. Furthermore, the operation process of the obstacle-crossing inspection and repair device can be divided into three stages: the moving inspection stage, the obstacle-crossing stage, and the hovering repair stage.

[0070] The device, carrying a detection camera, moves along high-voltage cables for inspection. The camera module collects relevant information about the lines, including the type of defects and the presence of obstacles. If obstacles such as vibration dampers interfere with the inspection, the robot's camera module detects the obstacle's location and performs an obstacle-crossing task. Once the obstacle is successfully crossed and the robot hovers stably on the line, it resumes its mobile inspection. When encountering tower corners requiring cable replacement, the robot rotates its robotic arm to fix its front wheel to the new cable, gradually navigating the corner and overcoming obstacles. When the inspection robot's camera detection module detects a cable defect, the repair module on the robot's middle support arm performs the appropriate repair work based on the defect type. The entire repair process is monitored by a separate camera.

[0071] While the single-arm obstacle crossing is being carried out, 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 crossing method more effective, the separation and resetting of the slicing roller 101a from the cable is achieved by the rotation of the mechanical arm of the drive member 101b to split the roller in two.

[0072] The left and right slicing rollers 101a each have three hemispherical protrusions and grooves at their central cutting surfaces. This facilitates a smoother transition during the repositioning and disengagement of the two rollers, while also ensuring their stability during normal inspection. The robotic arm controlling the position of the left and right slicing rollers 101a is powered by two motors that 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 disengage under the control of the robotic arm—a "finger release"—and when the obstacle crossing is complete and the rollers need to be repositioned, the robotic arm guides the two slicing rollers 101a to merge into a complete roller—a "finger gripping" posture. This design increases the device's obstacle-crossing flexibility, making it unrestricted by obstacles or the surrounding environment. Furthermore, the robotic arm structure provides space for the inspection camera module, allowing the various functional modules to work together effectively.

[0073] Because single-arm support-driven obstacle crossing places certain requirements on the center of gravity and support point of the mechanism, based on the working principle of double-arm staggered obstacle crossing mechanism, the following method is used: Figure 8 The mechanism shown connects the slicing roller 101a drive housing to the main housing 400, and realizes the movement of the relative position of the roller housing structure in different states through two connecting arms.

[0074] When the front arm camera detects an obstacle, the connecting forearm, driven by the connecting arm motor and the roller housing motor, moves the transmission housing forward and rotates laterally. The robot's main housing 400 rises, and the internal motors of the transmission housing drive the upper and lower layers of the transmission housing to rotate relative to each other. Simultaneously, the upper arm rotates around the connecting axis between the main housing 400 and the upper arm, driven by the motor. The main housing 400 moves outward relative to the cable. When the main housing 400 rises to the point where the cable is level with the central support roller, the motor reverses, causing the housing to return to the central position. At this point, the cable can rely on the central support roller for auxiliary support, and the overall structure transforms into a three-support structure. This structure maintains the robot's stability when overcoming obstacles. After the two front slicing rollers 101a separate, the rear roller drives the robot forward. After crossing the obstacle, the two front slicing rollers 101a reset and re-engage with the cable for driving support. The rear connecting arm overcomes obstacles in the same way as the front connecting arm, using the front roller and the middle support arm to maintain the robot's stability, and releasing the rear slicing roller 101a to achieve rear wheel obstacle crossing.

[0075] When the inspection robot encounters a corner obstacle, its movement during obstacle crossing involves the main housing 400 rising to allow the repair unit 400 to act as a second support for the cable. The front slicing roller 101a detaches from the cable. After moving a distance under the drive of the rear wheels, the connecting arm at the rear of the device rotates around its vertical axis to align the main housing 400 and the front connecting arm with the corner cable. At this point, the front slicing roller 101a returns to its original position and engages with the corner cable, while the rear slicing roller 101a detaches from the original cable. The device then moves on the corner cable under the drive of the front roller. Once the entire structure is fully positioned on the corner cable, the rear roller and rear connecting arm return to their original positions, resuming the dual-arm support drive for inspection. The front and rear connecting arms extend parallel to the horizontal plane to perform stable cable defect inspection.

[0076] 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 still stick together to support the robot when the motor loses power, the three protruding hemispheres and grooves of the slicing roller 101a in this design will be made of neodymium iron boron magnet material. When the power is lost, the slicing roller 101a can stick together to support the cable due to the magnetic force. When it is necessary to cross an obstacle, the roller robotic arm opens under the drive of the motor, causing the two slicing rollers 101a to separate from each other.

[0077] Some steps in the embodiments of the present invention can be implemented using software, and the corresponding software program can be stored in a readable storage medium, such as an optical disc or a hard disk.

[0078] 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 principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An obstacle-crossing inspection and repair device, characterized in that: The device includes, The obstacle crossing unit (100) includes a first obstacle crossing arm (101) and a second obstacle crossing arm (102). The repair unit (200) includes a repair component (201) and a support component (202), wherein the support component (202) is fixedly connected to the end of the repair component (201) near the geometric center of the cable; The repair component (201) includes an insulator repair component (201a) and a cable defect repair component (201b). The insulator repair component (201a) is centrally located between a set of drive arms (101b-1) arranged in a mirror image and is rotatably connected to the drive arms (101b-1). The cable defect repair component (201b) is connected to the main housing (400). The insulator repair component (201a) includes a transmission housing (201a-1), on which a spray gun nozzle Q, a cleaning nozzle M, and a cleaning brush N are provided; The cable defect repair component (201b) includes a ring disc (201b-1), a tape holder (201b-2), and a cable fixing bracket (201b-3). The tape holder (201b-2) and the cable fixing bracket (201b-3) are fixedly mounted on the annular disc (201b-1); The annular disk (201b-1) is rotatable around the eccentric shaft. The annular disk (201b-1) is surrounded by the eccentric shaft and is provided with an active component and a transmission component. The tape bracket (201b-2) has a semi-circular notch. The inspection unit (300) includes a detection component fixedly installed on the first obstacle crossing arm (101) and the second obstacle crossing arm (102); In addition, the main housing (400), the first obstacle crossing arm (101), the second obstacle crossing arm (102) and the repair component (201) are all connected to the main housing (400).

2. The obstacle-crossing inspection and repair device according to claim 1, characterized in that: The first obstacle crossing arm (101) and the second obstacle crossing arm (102) have the same structure, both including a pair of mirror-arranged slicing rollers (101a) and a driving member (101b), wherein the slicing rollers (101a) and the driving member (101b) are rotatably connected; The drive component (101b) includes a drive arm (101b-1) and a drive arm (101b-2) that are rotatably connected.

3. The obstacle-crossing inspection and repair device according to claim 2, characterized in that: The main housing (400) is also provided with guide rollers (401), which are distributed on both sides of the cable defect repair component, with at least one set of guide rollers (401) on each side.

4. The obstacle-crossing inspection and repair device according to claim 2, characterized in that: The slicing roller (101a) has an annular groove (101a-1) along its outer diameter, and the cross-section of the groove is an arc with a radius of 5~18mm.

5. The obstacle-crossing inspection and repair device according to claim 2, characterized in that: The slicing roller (101a) has at least one set of corresponding grooves (101a-2) and protrusions (101a-3) on its contact surface P. The grooves (101a-2) and protrusions (101a-3) are made of neodymium iron boron magnet magnetic material.

6. An obstacle-crossing inspection method, wherein the method is applied to the obstacle-crossing inspection and repair device according to any one of claims 2-5, characterized in that, The method includes, Straight-line obstacle crossing includes the following steps: The detection element on the first obstacle-crossing arm (101) at the front of the obstacle-crossing inspection and repair device detected an obstacle on the cable; The main housing (400) is raised, the support (202) is slidably connected to the cable, the two slicing rollers (101a) of the first obstacle crossing arm (101) on the front side are separated, and the slicing rollers (101a) of the second obstacle crossing arm (102) on the rear side drive the obstacle crossing inspection and repair device to move forward until the first obstacle crossing arm (101) crosses the obstacle; The two separate slicing rollers (101a) of the first obstacle crossing arm (101) are reset, the position of the main housing (400) is lowered, the support (202) is detached from the cable, and the obstacle crossing inspection and repair device moves forward until the support (202) crosses the obstacle; The obstacle-crossing inspection and repair device continues to move forward, and the detection element on the second obstacle-crossing arm (102) at the rear detects the obstacle on the cable; The main housing (400) is raised, the support (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 and completes the straight-line inspection.

7. The obstacle-crossing inspection method according to claim 6, characterized in that, The method further includes: Overcoming obstacles at corners involves the following steps: When the inspection robot encounters a corner obstacle, the main housing (400) is raised, and the support (202) is slidably connected to the cable; The slicing roller (202) of the first obstacle crossing arm (101) is disconnected from the cable. Then, the obstacle crossing inspection and repair device moves a certain distance under the drive of the slicing roller (202) of the second obstacle crossing arm (102). The driving component (101b) on the rear side of the inspection and repair device will rotate around the vertical axis by a certain angle so that the direction of the main box (400) and the first obstacle crossing arm (101) is the same as that of the corner cable. The slicing roller (202) of the first obstacle crossing arm (101) is reset and attached to the corner cable, and the slicing roller (202) of the second obstacle crossing arm (102) is disengaged from the original cable. 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 entire structure is completely on the corner cable, the slicing roller (202) and drive unit (101b) of the second obstacle crossing arm (102) are reset, the double arm support drive inspection is restored, and the front and rear drive units (101b) are unfolded parallel to the horizontal plane to complete the corner inspection.

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