An intelligent obstacle-crossing mechanism and method for an overhead power transmission line acceptance robot

Abstract

The present invention relates to the technical field of power transmission line operation robots, and discloses an obstacle-crossing mechanism and method of an intelligent acceptance robot suitable for overhead power transmission lines, including an adjustable lifting leg fixing device and a lifting leg rotating device, wherein the adjustable lifting leg fixing device includes a parallelogram frame with four arms movably connected, and the frame is provided with a lateral adjustment mechanism for adjusting the spacing between opposite sides, and the lifting leg rotating device includes a plurality of lifting leg bodies, and the bottom of each lifting leg body is adjustable in horizontal position at the four vertices of the frame through a rotating drive assembly, and the top is provided with a wheel-foot driving assembly for hanging power transmission lines. The present invention can realize single-line obstacle crossing and double-line obstacle crossing, so that the operation robot has a strong adaptability, improves the adaptability of the entire system under different environmental conditions, and enhances the robot's anti-interference ability and operation reliability. Through this optimized design, the robot can complete the inspection task of the power transmission line more efficiently and stably.

Description

Technical Field

[0001] The present invention relates to the technical field of power transmission line fault diagnosis operation robots, and in particular to an intelligent obstacle crossing mechanism and method for an overhead power transmission line acceptance robot. Background Art

[0002] As a major component of the power system, the acceptance quality of transmission lines is crucial to the stable operation of the power system. The existing transmission line acceptance work is still mainly manual, with problems such as harsh working environment, high safety risks, high labor intensity, low work efficiency, and easy to miss quality defects. Although drone inspections can greatly improve the efficiency of acceptance work, they are easily affected by environmental and weather factors, need to be equipped with relevant acceptance equipment, and have insufficient endurance.

[0003] The transmission line quality acceptance robot can overcome the problems existing in the above-mentioned operation mode and effectively improve the quality and efficiency of the high-altitude acceptance operation of overhead transmission lines. However, there may be various obstacles on the transmission wires, such as joints, insulators, etc. The robot must ensure that its drive wheels have sufficient anti-slip ability when crossing these obstacles. At the same time, because the wires are thin and are affected by wind and other factors during high-altitude operations, the robot needs to maintain good balance and stability during the obstacle crossing process to prevent falling off or damage due to sliding or tilting. For example, the Chinese patent with application number CN202410036792.1 designs a transmission line obstacle-crossing single-conductor flying car. The device can achieve certain obstacle crossing functions, but the device has problems of slipping and insufficient stability when walking on the transmission line.

[0004] However, there may be various obstacles on the transmission lines, such as joints, insulators, etc. When the robot crosses these obstacles, it must ensure that its driving wheels have sufficient anti-slip ability. At the same time, because the wires are thin and are affected by wind when working at high altitudes, the robot needs to maintain good balance and stability during the obstacle crossing process to prevent falling off or damage due to sliding or tilting. Summary of the invention

[0005] Technical purpose: In order to overcome the above-mentioned technical problems, the present invention provides an intelligent obstacle crossing mechanism and method for an overhead transmission line acceptance robot, which can effectively help the conductor operation robot improve its obstacle crossing efficiency and avoid the high risks caused by manual maintenance and problems such as unqualified maintenance quality. It has a reasonable structure and a high degree of automation. It not only provides a new obstacle crossing mechanism option for conductor operation robots, but is also more practical for mass production and has great application prospects.

[0006] Technical solution: To achieve the above technical objectives, the present invention adopts the following technical solution:

[0007] An intelligent obstacle-crossing mechanism for an overhead power transmission line acceptance robot, characterized in that it comprises an adjustable lifting leg fixing device and a lifting leg rotating device;

[0008] The adjustable lifting leg fixing device comprises a parallelogram frame with four arms movably connected, and the frame is provided with a lateral adjustment mechanism for adjusting the distance between opposite sides;

[0009] The lifting leg rotating device comprises at least four lifting leg bodies, which are respectively installed at four vertices of the frame and are staggered on the power transmission wire in the front and rear directions of the walking direction;

[0010] A rotation drive assembly is provided at the bottom of each lifting leg body and a wheel-foot drive assembly is provided at the top. The rotation drive assembly is used to rotatably mount the lifting leg body on the frame, and the wheel-foot drive assembly is used to control the lifting leg body to be hung on the transmission line and walk on the transmission line, or to detach from the transmission line.

[0011] Preferably, in the adjustable lifting leg fixing device, the parallelogram frame is composed of a pair of lifting leg fixing plates, a pair of connecting plates and four lifting leg fixing fittings, the lifting leg fixing plates and the connecting plates are alternately connected end to end and the connection is set as a rotatable connection structure, and the four lifting leg fixing fittings are respectively installed at the four vertices of the frame for installing the lifting leg body;

[0012] The lateral adjustment mechanism is an adjustable pneumatic push rod, and the two ends of the adjustable pneumatic push rod are respectively connected to the two diagonal vertices of the frame.

[0013] Preferably, the rotary drive assembly comprises a lifting leg body connection piece, a lifting leg rotary motor, a lifting leg rotary bearing connection piece and a rotary bearing;

[0014] The bottom of the lifting leg main body connecting piece is installed on the frame, and a pair of bosses are arranged on the top. The output end of the lifting leg rotating motor is provided with a rotating bearing and a rotating shaft. One end of the lifting leg rotating bearing connecting piece is arranged between the bosses, and the other end is connected to the lifting leg main body. The rotating shaft passes through the boss and the lifting leg rotating bearing connecting piece.

[0015] Preferably, the wheel foot driving assembly includes a fixing seat, a driving wheel connecting piece, a lifting push rod main body fixing piece, a lifting push rod, a clamping wheel, a spacing adjustment motor, a spacing adjustment threaded rod, a lifting leg driving wheel, a lifting driving wheel axle, a driving wheel motor, a solenoid valve, a solenoid valve air pipe and a pressure sensor;

[0016] The fixing seat is installed on the top of the lifting leg body, a center column and a driving wheel connecting piece are arranged in the middle of the fixing seat, the bottom of the lifting push rod is installed on the driving wheel connecting piece through the lifting push rod body fixing piece, the clamping wheel is installed on the top of the lifting push rod, the solenoid valve air pipe is used to provide pneumatic driving force to the lifting push rod, and the solenoid valve controls the on and off of the solenoid valve air pipe;

[0017] The driving wheel motor and the lifting leg driving wheel are respectively located on both sides of the middle of the central column, the output end of the driving wheel motor is provided with a lifting driving wheel axle, the lifting leg driving wheel is installed on the lifting driving wheel axle, the lifting leg driving wheel is opposite to the clamping wheel and both are provided with a groove for the transmission wire to pass through;

[0018] The lifting leg driving wheel is provided with a spacing adjustment threaded rod and a spacing adjustment motor, and the pressure sensor is used to detect the pressure between the lifting leg driving wheel and the clamping wheel.

[0019] Preferably, the wheel-foot driving assembly is provided with an anti-skid assembly, which includes a nylon sleeve, a static eliminator, a static transmission line and a static elimination brush;

[0020] A nylon sleeve is provided in the groove of the lifting leg driving wheel. The static electricity eliminating brush is fixed on the central column and is located above the lifting leg driving wheel, opposite to the groove. The static electricity eliminator is arranged at the top of the central column. The static electricity eliminating brush is connected to the static electricity eliminator through a static electricity transmission line.

[0021] Preferably, the obstacle-crossing mechanism further comprises a leg thread lifting device disposed between the lifting leg body and the wheel-foot driving assembly, for adjusting the height of the wheel-foot driving assembly in the vertical direction;

[0022] The leg thread lifting device comprises an upper baffle plate of the lifting leg, a lifting motor, a thread lifting rod, a lower baffle plate of the lifting leg, an air pump connecting air pipe, a smooth lifting rod, an air pump and a rotating nut of the thread lifting rod;

[0023] The lower baffle of the lifting leg is installed on the top of the lifting leg body. A threaded lifting rod and a plurality of smooth lifting rods are provided between the lower baffle of the lifting leg and the upper baffle of the lifting leg. The bottom of the threaded lifting rod is fixed to the lower baffle of the lifting leg through a threaded lifting rod rotating nut. The lifting motor drives the threaded lifting rod to rotate, thereby driving the upper baffle of the lifting leg to move up and down.

[0024] Preferably, the obstacle surmounting mechanism is provided with a visual detection system, and the visual detection system is used to detect obstacles in the environment.

[0025] An intelligent obstacle crossing method for an overhead power transmission line acceptance robot, using the obstacle crossing mechanism to achieve single-line obstacle crossing, comprises the following steps:

[0026] The frame of the adjustable lifting leg fixing device is adjusted by the lateral adjustment mechanism, and the four lifting leg bodies are adjusted to tilt toward the inside of the frame by the rotating drive assembly until the wheel foot drive assemblies on the top of the four lifting leg bodies are located on the same center line;

[0027] The obstacle-crossing mechanism is hooked onto the power transmission line through the wheel-foot driving assembly on the top of the four lifting leg bodies, and the four lifting leg bodies are staggered forward and backward in the walking direction;

[0028] Drive the four lifting legs to move on the transmission wires;

[0029] When encountering an obstacle during walking, the wheel-foot driving assembly drives the lifting leg body walking in the front to release the power transmission line, and the rotating driving assembly drives the lifting leg body that has released the power transmission line to rotate outward to bypass the obstacle, and then rotates in the opposite direction after bypassing the obstacle, and the lifting leg body that has bypassed the obstacle is hooked onto the power transmission line again;

[0030] All lifting leg bodies are driven one by one in a front-to-back order in the walking direction to bypass obstacles.

[0031] An intelligent obstacle crossing method for an overhead power transmission line acceptance robot, using the obstacle crossing mechanism to achieve double-line obstacle crossing, comprises the following steps:

[0032] The frame of the adjustable lifting leg fixing device is adjusted by a lateral adjustment mechanism, and the four lifting leg bodies are adjusted by a rotating drive assembly so that the wheel foot drive assemblies on the top of the four lifting leg bodies are not located on the same center line;

[0033] The obstacle-crossing mechanism is hung on two parallel power transmission wires through the wheel-foot driving components on the top of the four lifting leg bodies, and the two lifting leg bodies located at the diagonal vertices of the frame are hung on different power transmission wires, and the four lifting leg bodies are staggered front and back in the walking direction;

[0034] Drive the four lifting legs to move on the transmission wires;

[0035] When encountering an obstacle during walking, the wheel-foot driving assembly drives the lifting leg body walking in the front to release the power transmission line, and the rotating driving assembly drives the lifting leg body that has released the power transmission line to rotate outward to bypass the obstacle, and then rotates in the opposite direction after bypassing the obstacle, and the lifting leg body that has bypassed the obstacle is hooked onto the power transmission line again;

[0036] All lifting leg bodies are driven one by one in a front-to-back order in the walking direction to bypass obstacles.

[0037] An acceptance robot is provided with the intelligent obstacle crossing mechanism of the overhead power transmission line acceptance robot.

[0038] Beneficial effects: Due to the adoption of the above technical solution, the present invention has the following beneficial effects:

[0039] (1) The obstacle crossing mechanism and obstacle crossing method of the present invention can realize single-line obstacle crossing and double-line obstacle crossing, so that the operating robot has strong adaptability, improves the adaptability of the entire system under different environmental conditions, and further enhances the robot's anti-interference ability and operational reliability. Through this optimized design, the robot can complete the inspection task of the transmission line more efficiently and stably.

[0040] (2) The main structure of the obstacle crossing mechanism of the present invention can be flexibly adjusted so that it can adapt to wires and transmission towers of different specifications, thereby enhancing its versatility. In addition, in response to external interference factors such as static electricity fields and strong winds, the mechanism adopts an electrostatic elimination device and combines it with a parallelogram lifting leg layout to effectively cope with the influence of the external environment. In addition, the structure is reasonably designed and has a high degree of automation, making it suitable for mass production and having broad application prospects.

[0041] (3) The obstacle crossing mechanism of the present invention has a simple structure, low manufacturing and maintenance costs, a compact structure, small retention space requirements, flexible application, and convenient operation. It can be installed and used on most transmission lines and has strong adaptability. It can solve the problem of most current conductor inspection obstacle crossing mechanisms slipping on the conductors, improve the work efficiency of the operating robot, enable the operating robot to perform long-range continuous inspection work, reduce the number of manual assisted interventions, and reduce the cost of manual inspection and risk operating costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a schematic diagram of the overall structure of an intelligent obstacle-crossing mechanism of an overhead power transmission line acceptance robot according to the present invention;

[0043] Figure 2 It is a structural schematic diagram of the adjustable lifting leg fixing device of the present invention;

[0044] Figure 3 It is a structural schematic diagram of the lifting leg rotating device of the present invention;

[0045] Figure 4 It is a structural schematic diagram of the leg thread lifting device of the present invention;

[0046] Figure 5 A three-dimensional diagram of the wheel-foot driving and anti-skid device of the present invention;

[0047] Figure 6 for Figure 5 A front view of the wheel-foot drive and anti-skid device;

[0048] Figure 7 It is a three-dimensional diagram of the lifting leg rotating device, the leg thread lifting leg device, the wheel foot drive and the anti-skid device;

[0049] Figure 8 It is a schematic diagram of the obstacle crossing device of the present invention being hung on two parallel power transmission wires;

[0050] Fig. 9 A flow chart of the obstacle crossing device of the present invention for realizing double-line obstacle crossing;

[0051] Among them, 1-adjustable lifting leg fixing device, 2-lifting leg rotating device, 3-leg thread lifting device, 4-wheel foot driving and anti-skid device;

[0052] 101-lifting leg fixing plate, 102-connecting plate, 103-adjustable pneumatic push rod, 104-lifting leg fixing fitting;

[0053] 201-lifting leg main body connecting piece, 202-lifting leg rotating motor, 203-lifting leg main body, 204-lifting leg rotating bearing connecting piece, 205-rotating bearing;

[0054] 301-upper baffle of lifting leg, 302-lifting motor, 303-threaded lifting rod, 304-lower baffle of lifting leg, 305-air pump connecting air pipe, 306-smooth lifting rod, 307-air pump, 308-threaded lifting rod rotating nut;

[0055] 401-driving wheel connector, 402-lifting push rod main body fixing part, 403-lifting push rod, 404-clamping wheel, 405-spacing adjustment motor, 406-spacing adjustment threaded rod, 407-lifting leg driving wheel, 408-nylon sleeve, 409-static eliminator, 410-static transmission line, 411-static eliminator brush, 412-lifting driving wheel axle, 413-driving wheel motor, 414-solenoid valve, 415-solenoid valve air pipe, 416-pressure sensor, 417-fixed seat. DETAILED DESCRIPTION

[0056] The specific implementation modes of the present invention are further described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0057] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0058] Embodiment 1: An intelligent obstacle-crossing mechanism for an overhead power transmission line acceptance robot, such as Figure 1 As shown, it includes an adjustable lifting leg fixing device 1, a lifting leg rotating device 2, a leg thread lifting device 3 and a wheel foot driving and anti-skid device 4;

[0059] Adjustable lifting leg fixing device 1, such as Figure 2 As shown, it includes a pair of lifting leg fixing plates 101, a pair of connecting plates 102, an adjustable pneumatic push rod 103, and four lifting leg fixing fittings 104.

[0060] The lifting leg rotating device 2 includes a rotating drive assembly, such as Figure 3 As shown, it specifically includes a lifting leg main body connecting part 201, a lifting leg rotating motor 202, a lifting leg main body 203, a lifting leg rotating bearing connecting part 204, and a rotating bearing 205.

[0061] Among them, the lifting leg fixing plate 101 and the connecting plate 102 are connected by screws and bearings to form a frame that provides stable support for the lifting legs, which is a parallelogram frame in this embodiment. The lifting leg main body connecting piece 201 is fixed on the lifting leg fixing fitting 104, which is used to connect the lifting leg main body 203 to ensure the stability and safety of the lifting leg main body 203 during movement. The adjustable pneumatic push rod 103 adjusts the distance between the lifting legs on both sides by adjusting the push rod length, and the spacing adjustment is achieved through the parallelogram frame structure, so that the obstacle crossing mechanism can flexibly adapt to conductive wires of different specifications and is suitable for transmission lines with different spacing specifications.

[0062] The lifting leg main body connector 201 and the lifting leg main body 203 are connected by bolts to ensure that the lifting leg main body 203 is firmly connected. The lifting leg rotating motor 202 drives the lifting leg main body 203 to rotate, so that the robot can flexibly deal with obstacles in different directions.

[0063] Leg thread lifting device 3, such as Figure 4 As shown, it includes an upper baffle plate 301 of a lifting leg, a lifting motor 302, a threaded lifting rod 303, a lower baffle plate 304 of a lifting leg, an air pump connecting air pipe 305, a smooth lifting rod 306, an air pump 307, and a threaded lifting rod rotating nut 308.

[0064] The upper baffle plate 301 of the lifting leg and the lower baffle plate 304 of the lifting leg are connected with four smooth lifting rods 306, and a threaded lifting rod 303 is arranged in the middle, forming the main structure of the lifting leg. The upper end of the threaded lifting rod 303 in the middle is fixed, and the lower end is driven by the motor to drive the threaded lifting rod rotating nut 308 to rotate. The lifting motor 302 drives the threaded lifting rod 303 to move up and down, thereby realizing the up and down movement of the lifting leg. This design ensures the stability and reliability of the leg threaded lifting device, and provides reliable support for the obstacle crossing operation of the wire operation robot.

[0065] The wheel-foot drive and anti-skid device 4 includes a wheel-foot drive component and an anti-skid component, such as Figure 5 and Figure 6 As shown, it specifically includes a driving wheel connecting part 401, a lifting push rod main body fixing part 402, a lifting push rod 403, a clamping wheel 404, a spacing adjustment motor 405, a spacing adjustment threaded rod 406, a lifting leg active wheel 407, a retractable and deformable nylon sleeve 408, a static eliminator 409, a static electricity transmission line 410, a static electricity eliminating brush 411, a lifting active wheel axle 412, a driving wheel motor 413, a solenoid valve 414, a solenoid valve air pipe 415, a pressure sensor 416, and a fixing seat 417.

[0066] The driving wheel connector 401 is fixed by bolts and the lower baffle plate 304 of the lifting leg, and the lifting leg driving wheel 407 is fixed by connection with the lifting driving wheel axle 412 to achieve rotation. The driving wheel motor 413 drives the lifting driving wheel axle 412 to move, thereby driving the lifting leg driving wheel 407 to move. The lifting leg driving wheel 407 is provided with a spacing adjustment threaded rod 406 and a spacing adjustment motor 405. The solenoid valve air pipe 415 drives the lifting push rod 403 to move up and down, so that the anti-skid clamping wheel 404 and the lifting leg driving wheel 407 clamp the transmission wire to prevent the obstacle crossing device from slipping when walking. This design ensures the stability and reliability of the wheel foot driving device, and plays a key role in the obstacle crossing process of the wire operation robot. The pressure sensor 416 is used to detect the pressure between the clamping wheel and the driving wheel, so that the pressure between the two is maintained near a stable value to avoid damage to the wire or increase in resistance during walking due to excessive clamping force.

[0067] A nylon sleeve 408 is provided in the groove of the lifting leg driving wheel 407, and the static eliminator 409 is arranged at the top of the central column. The static eliminator brush 411 is fixed on the central column and located above the lifting leg driving wheel 407. The static eliminator brush 411 is connected to the static eliminator 409 through the static transmission line 410. The static eliminator brush and the static eliminator device can effectively eliminate the static electricity generated by the friction between the rubber walking wheel and the transmission line, and prevent the electromagnetic field around the transmission line from interfering with the robot's electronic system (such as sensors, controllers, etc.), thereby ensuring the normal operation of its detection and control system. The static eliminator brush eliminates the static electricity generated by the friction between the wheel and the wire by contacting the transmission wire, without the need for automatic control of rotation.

[0068] The present invention designs a driving wheel with adjustable spacing, which can be flexibly adjusted according to the wires of different thicknesses, so that the transmission wires and the driving wheel fit closely together, and the anti-skid performance of the obstacle crossing mechanism is improved. In addition, in order to adapt to the change in the spacing of the walking wheels, a retractable and deformable nylon sleeve is used. Its retractable characteristics ensure that the tension between the two wheels is always maintained, which not only enhances the anti-skid effect, but also has the function of anti-static wire.

[0069] Figure 7This is a three-dimensional diagram of the lifting leg rotating device, the leg thread lifting leg device, the wheel foot drive and the anti-skid device. It can be seen that its structure is compact, so when applied to an operating robot, it requires little retention space.

[0070] In addition, the obstacle crossing mechanism of the present invention can add visual detection equipment such as camera modules and image processing modules to collect images, and then use machine vision to perform image recognition, automatically identifying and adapting to various types and shapes of obstacles on the route, such as branches, weathering layers, bird nests, etc. The above process is completed by combining visual detection equipment and lifting leg control, further improving the work efficiency of the operating robot.

[0071] Embodiment 2: The obstacle crossing mechanism described in Embodiment 1 is applied to an overhead power transmission line acceptance robot, which can realize both single-line obstacle crossing and double-line obstacle crossing.

[0072] Taking double-line obstacle crossing as an example, the following processes are included:

[0073] The frame of the adjustable lifting leg fixing device 1 is adjusted by the lateral adjustment mechanism, and the four lifting leg bodies 203 are adjusted by the rotating drive assembly so that the wheel foot drive assemblies at the top of the four lifting leg bodies 203 are not located on the same center line;

[0074] The obstacle-crossing mechanism is hooked to two parallel power transmission lines through the wheel-foot drive assembly on the top of the four lifting leg bodies 203, and the two lifting leg bodies 203 located at the diagonal vertices of the frame are hooked to different power transmission lines, and the four lifting leg bodies 203 are staggered back and forth in the walking direction;

[0075] Drive the four lifting legs to move on the transmission wires;

[0076] When encountering an obstacle during walking, the wheel-foot driving assembly drives the lifting leg body 203 walking in the front to release the power transmission line, and the rotating driving assembly drives the lifting leg body 203 that has released the power transmission line to rotate outward to bypass the obstacle, and then rotates in the opposite direction after bypassing the obstacle, and the lifting leg body 203 that has bypassed the obstacle is hooked onto the power transmission line again;

[0077] All the lifting leg bodies 203 are driven one by one in a front-to-back order in the walking direction to bypass obstacles.

[0078] Since the obstacle-crossing mechanism has multiple functional settings, the wheel-foot drive components can also be adjusted during the specific obstacle-crossing process. Figure 8 , Fig. 9 As shown in a to f in FIG. 1 , the process of an intelligent obstacle crossing method for an overhead transmission line acceptance robot in this embodiment is as follows:

[0079] 1. First, place the obstacle-crossing mechanism on a pair of parallel transmission lines, and adjust the angle and running speed of the obstacle-crossing device to ensure that it meets the needs of the current environment;

[0080] Second, when encountering obstacles such as spacers and anti-vibration hammers, the wheel-foot drive assembly on the front lifting leg body is first driven to lift upward. When a certain height is reached, the lifting leg rotation motor starts to drive the lifting leg to rotate outward to effectively bypass the obstacle;

[0081] 3. Subsequently, the anti-slip clamping wheel on the lifting leg body moves upward under the drive of the air pump. When the wire is clamped with the driving wheel and the pressure sensor on the driving wheel reaches a certain value, the driving wheel drives the entire device forward under the action of the driving motor. When the front lifting leg body bypasses the obstacle, the lifting motor and the rotating motor drive the lifting leg to return to its original position and continue to move on the wire.

[0082] Fourth, using the methods of step two and step three, complete the obstacle crossing of each lifting leg body in sequence until the last lifting leg completely bypasses the obstacle, and then its lifting motor and rotating motor are reset and restored to the initial state, and the entire obstacle crossing process is completed.

[0083] It can be seen from the above process that the obstacle crossing mechanism of the present invention can cross obstacles with two lines. Compared with the conventional single-line obstacle crossing design, the present invention can provide a more stable working environment for the robot and its visual detection system, and significantly improve the detection accuracy and inspection efficiency of the obstacle crossing mechanism. Because the double-wire obstacle crossing mechanism has more force points, the obstacle crossing mechanism can better disperse the force when working, which not only helps to balance the tension of the wire and avoid instability caused by excessive force on a single point, but also effectively absorbs and slows down mechanical vibrations caused by external factors (such as wind or wire vibration), thereby ensuring the stability and accuracy of the robot during obstacle crossing and inspection.

[0084] The obstacle crossing process designed by the present invention can efficiently deal with various obstacles during the operation of the conductive wire operation robot, ensuring the smooth completion of the inspection task. Fig. 9 The components of the static eliminator in the obstacle crossing mechanism are not shown in the figure. In fact, the static eliminator is always in working condition during the entire inspection process.

[0085] The obstacle crossing method of the present invention can also achieve single-line obstacle crossing. The difference between the single-line obstacle crossing method and the above-mentioned double-line obstacle crossing method lies mainly in the first step, which is to adjust the frame of the adjustable lifting leg fixing device through the lateral adjustment mechanism, and adjust the four lifting leg bodies to tilt toward the inside of the frame through the rotation drive assembly until the wheel foot drive assembly on the top of the four lifting leg bodies is located on the same center line. In other words, when crossing a single-line obstacle, the four legs are rotated inward by rotating the leg rotation motor, so that the centers of the four wheels are on a horizontal line, and the robot can move on a single power transmission line. If the angle of inward rotation of the mechanical leg is too large, the wheel will be subjected to a large lateral force, and the adjustable pneumatic push rod in the adjustable lifting leg fixing device can be retracted to reduce the inward rotation angle of the lifting leg.

[0086] Although specific embodiments of the present invention are described above, those skilled in the art should understand that these are merely examples and that various changes or modifications may be made to these embodiments without violating the principles and essence of the present invention.

Claims

1. An intelligent obstacle-crossing mechanism for an overhead power transmission line acceptance robot, characterized in that: Includes an adjustable lifting leg fixing device and a lifting leg rotating device; The adjustable lifting leg fixing device comprises a parallelogram frame with four arms movably connected, and the frame is provided with a lateral adjustment mechanism for adjusting the distance between opposite sides; The lifting leg rotating device comprises at least four lifting leg bodies, which are respectively installed at four vertices of the frame and are staggered on the power transmission wire in the front and rear directions of the walking direction; The parallelogram frame is composed of a pair of lifting leg fixing plates, a pair of connecting plates and four lifting leg fixing fittings. The lifting leg fixing plates and the connecting plates are connected alternately head to tail and the connection is set as a rotatable connection structure. The four lifting leg fixing fittings are respectively installed at the four vertices of the frame for installing the lifting leg body. The lateral adjustment mechanism is an adjustable pneumatic push rod, and the two ends of the adjustable pneumatic push rod are respectively connected to the two diagonal vertices of the frame; Each lifting leg body is provided with a rotation drive assembly at the bottom and a wheel-foot drive assembly at the top. The rotation drive assembly is used to rotatably mount the lifting leg body on the frame. The wheel-foot drive assembly is used to control the lifting leg body to be hooked to the transmission wire and walk on the transmission wire, or to be detached from the transmission wire. The frame of the adjustable lifting leg fixing device is adjusted through the lateral adjustment mechanism, and the four lifting leg bodies are adjusted to tilt toward the inside of the frame through the rotating drive assembly until the wheel-foot drive assemblies on the top of the four lifting leg bodies are located on the same center line, thereby realizing single-line obstacle crossing; the frame of the adjustable lifting leg fixing device is adjusted through the lateral adjustment mechanism, and the four lifting leg bodies are adjusted through the rotating drive assembly so that the wheel-foot drive assemblies on the top of the four lifting leg bodies are not located on the same center line, thereby realizing double-line obstacle crossing.

2. According to claim 1, the intelligent obstacle-crossing mechanism of the overhead power transmission line acceptance robot is characterized by: The rotary drive assembly includes a lifting leg main body connection piece, a lifting leg rotary motor, a lifting leg rotary bearing connection piece and a rotary bearing; The bottom of the lifting leg main body connecting piece is installed on the frame, and a pair of bosses are arranged on the top. The output end of the lifting leg rotating motor is provided with a rotating bearing and a rotating shaft. One end of the lifting leg rotating bearing connecting piece is arranged between the bosses, and the other end is connected to the lifting leg main body. The rotating shaft passes through the boss and the lifting leg rotating bearing connecting piece.

3. According to claim 1, the intelligent obstacle-crossing mechanism of the overhead power transmission line acceptance robot is characterized by: The obstacle-crossing mechanism further comprises a leg thread lifting device disposed between the lifting leg body and the wheel-foot driving assembly, and used for adjusting the height of the wheel-foot driving assembly in the vertical direction; The leg thread lifting device comprises an upper baffle plate of the lifting leg, a lifting motor, a thread lifting rod, a lower baffle plate of the lifting leg, an air pump connecting air pipe, a smooth lifting rod, an air pump and a rotating nut of the thread lifting rod; The lower baffle of the lifting leg is installed on the top of the lifting leg body. A threaded lifting rod and a plurality of smooth lifting rods are provided between the lower baffle of the lifting leg and the upper baffle of the lifting leg. The bottom of the threaded lifting rod is fixed to the lower baffle of the lifting leg through a threaded lifting rod rotating nut. The lifting motor drives the threaded lifting rod to rotate, thereby driving the upper baffle of the lifting leg to move up and down.

4. According to claim 1, the intelligent obstacle-crossing mechanism of the overhead power transmission line acceptance robot is characterized by: The obstacle-crossing mechanism is provided with a visual detection system, and the visual detection system is used to detect obstacles in the environment.

5. An intelligent obstacle crossing method for an overhead power transmission line acceptance robot, characterized in that: Using the obstacle crossing mechanism described in any one of claims 1 to 4 to achieve single-line obstacle crossing, comprises the following steps: The frame of the adjustable lifting leg fixing device is adjusted by the lateral adjustment mechanism, and the four lifting leg bodies are adjusted to tilt toward the inside of the frame by the rotating drive assembly until the wheel foot drive assemblies on the top of the four lifting leg bodies are located on the same center line; The obstacle-crossing mechanism is hooked onto the power transmission line through the wheel-foot driving assembly on the top of the four lifting leg bodies, and the four lifting leg bodies are staggered forward and backward in the walking direction; Drive the four lifting legs to move on the transmission wires; When encountering an obstacle during walking, the wheel-foot driving assembly drives the lifting leg body walking in the front to release the power transmission line, and the rotating driving assembly drives the lifting leg body that has released the power transmission line to rotate outward to bypass the obstacle, and then rotates in the opposite direction after bypassing the obstacle, and the lifting leg body that has bypassed the obstacle is hooked onto the power transmission line again; All lifting leg bodies are driven one by one in a front-to-back order in the walking direction to bypass obstacles.

6. An intelligent obstacle crossing method for an overhead power transmission line acceptance robot, characterized in that: Using the obstacle crossing mechanism described in any one of claims 1 to 4 to achieve double-line obstacle crossing, comprises the following steps: The frame of the adjustable lifting leg fixing device is adjusted by a lateral adjustment mechanism, and the four lifting leg bodies are adjusted by a rotating drive assembly so that the wheel foot drive assemblies on the top of the four lifting leg bodies are not located on the same center line; The obstacle-crossing mechanism is hung on two parallel power transmission wires through the wheel-foot driving components on the top of the four lifting leg bodies, and the two lifting leg bodies located at the diagonal vertices of the frame are hung on different power transmission wires, and the four lifting leg bodies are staggered front and back in the walking direction; Drive the four lifting legs to move on the transmission wires; When encountering an obstacle during walking, the wheel-foot driving assembly drives the lifting leg body walking in the front to release the power transmission line, and the rotating driving assembly drives the lifting leg body that has released the power transmission line to rotate outward to bypass the obstacle, and then rotates in the opposite direction after bypassing the obstacle, and the lifting leg body that has bypassed the obstacle is hooked onto the power transmission line again; All lifting leg bodies are driven one by one in a front-to-back order in the walking direction to bypass obstacles.

7. An acceptance robot, characterized in that: An intelligent obstacle-crossing mechanism of an overhead transmission line acceptance robot is configured as described in any one of claims 1-4.

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