Obstacle-crossing high-voltage line inspection robot and obstacle-crossing detection control method thereof

Abstract

The invention relates to the technical field of high-voltage line inspection, in particular to an obstacle-crossing high-voltage line inspection robot and an obstacle-crossing detection control method thereof.The obstacle-crossing high-voltage line inspection robot comprises a control box and a cable, and a first transmission block sliding left and right is arranged on the top face of the control box; big arms are rotationally arranged on the two sides of the top face of the control box, small arms are rotationally arranged on the peripheries of one ends of the big arms, and second transmission blocks are rotationally arranged at one ends of the small arms; and the top surfaces of the second transmission block and the first transmission block are rotationally provided with inspection mechanisms which sleeve the periphery of the cable in a crimping manner. According to the invention, the height and direction of the inspection mechanism are convenient to change through the rotating arrangement of the large arm and the small arm, the inspection mechanism can cross a large obstacle through adjustment during obstacle crossing, and when the inspection mechanism needs to cross a line supporting tower, the inspection mechanism can cross the line supporting tower in a large range and can effectively cross the line supporting tower through adjustment of the large arm and the small arm, so that the inspection of the large obstacle is realized, and the obstacle crossing range is expanded; and meanwhile, a plurality of cables can be conveniently inspected at the same time, and the inspection range is widened.

Description

Technical Field

[0001] The invention relates to the technical field of high-voltage line inspection, and in particular to a high-voltage line inspection robot capable of surmounting obstacles, and a detection and obstacle-surmounting control method of the high-voltage line inspection robot capable of surmounting obstacles. Background Art

[0002] As the main power transmission facility, high-voltage transmission lines play a major role in the development of national public facilities and social life, and undertake the task of transmitting electricity. Because high-voltage transmission lines are exposed metal lines, they are constantly damaged by the environment or human life. Because they are often exposed to the natural environment, it is easy to cause various faults. If they are not discovered and eliminated in time, it is easy to cause damage to the power system. Therefore, in order to ensure the safe and stable operation of the transmission lines, it is necessary to conduct regular inspections of the transmission lines.

[0003] As disclosed in the Chinese patent with authorization announcement number CN117220191A, the obstacle crossing process and effect are as follows: "The overall structure of the robot is composed of four cantilevers with the same structure, and the structure is simple. When the robot needs to cross an obstacle, the support rods of the four groups of cantilevers are lifted up in turn under the action of the electric push rod and automatically tilted toward the 45° slope of the cantilever box, thereby driving the fixedly connected walking wheels and motors to tilt in turn, thereby realizing the cantilever's automatic obstacle avoidance in turn. The four groups of cantilever support rods repeat the above-mentioned obstacle avoidance process of lifting and tilting in turn, so as to realize the robot's automatic obstacle crossing during the high-voltage line inspection process, and the obstacle crossing process is simple and efficient."

[0004] However, the adjustment range of the walking wheels is limited during the obstacle crossing process. When inspecting the cables between the support towers, it is impossible to cross the support towers effectively, and the obstacle crossing range is limited. In addition, during the inspection process, multiple cables cannot be inspected at the same time, and the inspection range is limited, thereby reducing the inspection efficiency of the high-voltage line inspection robot. Summary of the invention

[0005] The present invention aims at the deficiencies in the prior art and provides the following technical solutions:

[0006] A high-voltage line inspection robot capable of surmounting obstacles comprises a control box and cables, wherein a first transmission block which slides left and right is arranged on the top surface of the control box; large arms are rotatably arranged on both sides of the top surface of the control box, a small arm is rotatably arranged on the periphery of one end of the large arm, and a second transmission block is rotatably arranged on one end of the small arm; an inspection mechanism which is crimped and sleeved on the periphery of the cable is rotatably arranged on the top surfaces of the second transmission block and the first transmission block, and the inspection mechanism is telescopically arranged up and down.

[0007] As an improvement of the above technical solution, the inspection mechanism includes a connecting box, a moving component and a swing limiting component. The connecting box is rotatably arranged on the top surface of the first transmission block, the moving component is arranged on the periphery of one side of the connecting box, and the swing limiting component is arranged on the periphery of the other side of the connecting box. The moving component includes a first parallel connecting rod, a roller motor, a driving wheel and a first bracket. One end of the first parallel connecting rod is rotatably connected to the connecting box, and the other end is rotatably connected to the first bracket. The roller motor is fixedly arranged on the first bracket, and the power output end of the roller motor is fixedly connected to the driving wheel, and the power output end of the roller motor passes through the driving wheel. The swing limiting component is sleeved on the periphery of the end of the power output end of the roller motor, and the driving wheel is sleeved on the periphery of the cable.

[0008] As an improvement of the above technical solution, a supporting mechanism for driving the connecting box to move up and down and rotate is arranged in the first transmission block, and the supporting mechanism includes a hydraulic cylinder and an adjusting motor. The hydraulic cylinder is arranged in the first transmission block, and the top end of the hydraulic cylinder is fixedly connected to the adjusting motor, and the power output end of the adjusting motor is fixedly connected to the bottom surface of the connecting box.

[0009] As an improvement of the above technical solution, the swing limiting component includes a special-shaped brake pad, an electromagnet mounting plate, an electromagnet, a compression spring, a second parallel connecting rod and a second bracket. One end of the second parallel connecting rod is rotatably connected to the connecting box, and the other end is rotatably connected to the second bracket. The second bracket is slidably sleeved on the periphery of the end of the roller motor power output end, the bottom surface of the second bracket is fixedly connected to the compression spring, the bottom end of the compression spring is fixedly connected to the electromagnet, the electromagnet mounting plate is sleeved on the periphery of the electromagnet, the electromagnet mounting plate is arranged on the second bracket, the special-shaped brake pad is rotatably arranged on both sides of the second bracket, one end of the special-shaped brake pad is a hook-type structure, and the other end is sleeved on the periphery of the cable.

[0010] As an improvement of the above technical solution, a power mechanism for driving the first parallel link and the second parallel link to rotate is arranged in the connecting box, and the power mechanism includes a worm, a first worm gear and a second worm gear. The worm is rotatably arranged in the connecting box, one side of the outer periphery of the worm is meshingly connected with the first worm gear, and the other side is meshingly connected with the second worm gear. The first worm gear is rotatably arranged in the connecting box, and the first worm gear is fixedly connected to the first parallel link. The second worm gear is rotatably arranged in the connecting box, and the second worm gear is fixedly connected to the second parallel link. A servo motor for driving the worm to rotate is arranged on the top surface of the inner wall of the connecting box.

[0011] As an improvement of the above technical solution, the top surface of the control box is provided with an adjustment mechanism for driving the first transmission block to slide left and right, and the adjustment mechanism includes a guide rail seat, a screw motor, a screw and a track slide rod. The guide rail seats are fixedly arranged on both sides of the top surface of the control box, the screw rod is rotatably arranged between the guide rail seats, the screw motor is fixedly arranged on the guide rail seat, the power output end of the screw motor is fixedly connected to the screw rod, the screw rod is threadedly connected to the first transmission block, the track slide rod is fixedly arranged between the guide rail seats, and the first transmission block is slidably connected to the track slide rod.

[0012] A detection and obstacle control method for a high-voltage line inspection robot capable of surmounting obstacles comprises the following steps:

[0013] S1: Installation: According to the straight direction of the cable, rotate the connection box to make the cable parallel to the driving wheel, then set the inspection robot around the cable. According to the arrangement of the cable, set the driving wheel around the cable in three situations;

[0014] The first method: adjust the boom, the forearm and the first transmission block to a straight line, at which time the drive wheels are all sleeved on the periphery of the same cable;

[0015] The second method: rotate one of the upper and lower arms to create an angle difference between the upper and lower arms and the linear position of the first transmission block. At this time, the drive wheels can be respectively placed around the outer periphery of the two cables.

[0016] The third method: rotate the upper arm and the lower arm so that the drive wheels correspond to the three cables respectively. At this time, the drive wheels can be respectively placed on the periphery of the three cables;

[0017] S2: Walking: The roller motor starts to rotate the driving wheel, so that the inspection robot walks around the cable for inspection;

[0018] S3: Obstacle crossing: When the inspection robot crosses obstacles outside the cable while walking outside the cable.

[0019] As an improvement of the above technical solution, the obstacle control method of the obstacle crossing mode is divided into two obstacle crossing methods, specifically the following steps:

[0020] S1: Overcoming a small obstacle: The driving wheel at the front end is raised by starting the hydraulic cylinder, and the driving wheel at the rear end continues to move forward, so that the driving wheel at the front end passes the obstacle, and then the driving wheel at the front end is again set on the outer periphery of the cable and moves forward urgently, so that the driving wheels pass the obstacles in turn;

[0021] S2: Overcoming the obstacle of the pull-wire hook and the obstacle of the support tower: the driving wheel at the front end approaches the obstacle, and the rotation of the worm drives the first worm gear and the second worm gear to rotate, thereby causing the first parallel link and the second parallel link to swing, and then driving the first bracket and the second bracket to swing, so that the second bracket is separated from the power output end of the roller motor, and the driving wheel is separated from the cable, and then the driving wheel is moved over the obstacle in sequence through the cooperation of the upper arm, the lower arm, the hydraulic cylinder and the screw motor.

[0022] Beneficial effects of the present invention:

[0023] Through the rotation setting of the upper arm and the lower arm, it is convenient to change the height and direction of the inspection mechanism. When crossing obstacles, it can be adjusted to cross larger obstacles. When it is necessary to cross the cable support tower, the upper arm and the lower arm can be adjusted to cross a large range. It can effectively cross the cable support tower to realize the inspection of larger obstacles and improve the obstacle crossing range. The rotation setting of the upper arm and the lower arm also facilitates the simultaneous inspection of multiple cables, thereby improving the inspection range. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a stereogram of the present invention;

[0025] Figure 2 It is another perspective stereogram of the present invention;

[0026] Figure 3 It is the front view of the present invention;

[0027] Figure 4 This is an enlarged view of the positional relationship between the connection box and the driving wheel of the present invention;

[0028] Figure 5 This is a diagram of the rotation adjustment state of the upper arm and the lower arm of the present invention;

[0029] Figure 6 It is a schematic diagram of the enlarged structure inside the connection box of the present invention.

[0030] : Figure numerals: 10, control box; 101, guide rail seat; 1011, lead screw motor; 20, first transmission block; 201, lead screw; 202, track slide; 203, first parallel connecting rod; 204, special-shaped brake pad; 205, roller motor; 206, driving wheel; 207, connecting box; 2071, worm; 2072, first worm gear; 2073, second worm gear; 208, electromagnet mounting plate; 209, electromagnet; 210, compression spring; 211, second parallel connecting rod; 212, first bracket; 213, second bracket; 30, cable; 40, upper arm; 401, lower arm; 402, second transmission block. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solution and advantages of the present invention more clear, the present invention is further described in detail below. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0032] Please refer to Figure 1-Figure 6 As shown, the present invention provides a high-voltage line inspection robot capable of overcoming obstacles, comprising a control box 10 and a cable 30, wherein a first transmission block 20 is provided on the top surface of the control box 10 for sliding left and right;

[0033] A large arm 40 is rotatably provided on both sides of the top surface of the control box 10, a small arm 401 is rotatably provided on one end of the large arm 40, and a second transmission block 402 is rotatably provided on one end of the small arm 401;

[0034] The second transmission block 402 and the top surface of the first transmission block 20 are both rotatably provided with a patrol mechanism crimped and sleeved on the periphery of the cable 30, and the patrol mechanism is telescopically arranged up and down.

[0035] In this embodiment, the first transmission block 20 is slidably arranged on the top surface of the control box 10, and a large arm 40 is rotatably arranged on both sides of the top surface of the control box 10. One end of the large arm 40 is rotatably connected to a small arm 401. The small arm 401 is a support rod type structure, which is rotatably arranged on both sides of the large arm 40. A second transmission block 402 is rotatably arranged between adjacent ends of the small arm 401, so that the inspection mechanism on both sides above the control box 10 can be adjusted in position, and the large arm 40 and the small arm 401 can be adjusted to Figure 4 The inspection mechanism can be adjusted at multiple angles to facilitate the inspection of cables 30 in various states, and can inspect multiple cables at the same time to increase the inspection range; wherein the inspection mechanism is telescopically arranged up and down to facilitate crossing obstacles.

[0036] Among them, through the rotation setting of the upper arm 40 and the lower arm 401, it is convenient to change the height and direction of the inspection mechanism, and when crossing obstacles, it can be adjusted to cross larger obstacles, and when it is necessary to cross the cable support tower, the upper arm 40 and the lower arm 401 can be adjusted to cross a large range, and the cable support tower can be effectively crossed to achieve crossing inspection of larger obstacles and improve the obstacle crossing range, and the rotation setting of the upper arm 40 and the lower arm 401 is also convenient for simultaneous inspection of multiple cables, thereby improving the inspection range.

[0037] The inspection mechanism includes a connecting box 207, a moving component and a swing limiting component. The connecting box 207 is rotatably arranged on the top surface of the first transmission block 20, the moving component is arranged on the periphery of one side of the connecting box 207, and the swing limiting component is arranged on the periphery of the other side of the connecting box 207. The moving component includes a first parallel connecting rod 203, a roller motor 205, a driving wheel 206 and a first bracket 212. One end of the first parallel connecting rod 203 is rotatably connected to the connecting box 207, and the other end is rotatably connected to the first bracket 212. The roller motor 205 is fixedly arranged on the first bracket 212, and the power output end of the roller motor 205 is fixedly connected to the driving wheel 206, and the power output end of the roller motor 205 passes through the driving wheel 206. The swing limiting component is sleeved on the periphery of the end of the power output end of the roller motor 205, and the driving wheel 206 is sleeved on the periphery of the cable 30.

[0038] A supporting mechanism for driving the connecting box 207 to move up and down and rotate is arranged in the first transmission block 20. The supporting mechanism includes a hydraulic cylinder and an adjusting motor. The hydraulic cylinder is arranged in the first transmission block 20. The top of the hydraulic cylinder is fixedly connected to the adjusting motor. The power output end of the adjusting motor is fixedly connected to the bottom surface of the connecting box 207.

[0039] By setting the driving wheel 206, the driving wheel 206 is sleeved on the outer periphery of the cable 30, and the driving of the roller motor 205 can make the driving wheel 206 move around the outer periphery of the cable 30, and inspect the cable 30 during the moving process.

[0040] The height of the driving wheel 206 can be changed by adjusting the hydraulic cylinder to facilitate overcoming obstacles, and the direction of the connection box 207 can be changed by adjusting the driving energy of the motor.

[0041] The swing limiting component includes a special-shaped brake pad 204, an electromagnet mounting plate 208, an electromagnet 209, a compression spring 210, a second parallel connecting rod 211 and a second bracket 213. One end of the second parallel connecting rod 211 is rotatably connected to the connecting box 207, and the other end is rotatably connected to the second bracket 213. The second bracket 213 is slidably sleeved on the periphery of the power output end of the roller motor 205. The bottom surface of the second bracket 213 is fixedly connected to the compression spring 210. The bottom end of the compression spring 210 is fixedly connected to the electromagnet 209. The electromagnet mounting plate 208 is sleeved on the periphery of the electromagnet 209. The electromagnet mounting plate 208 is arranged on the second bracket 213. The special-shaped brake pad 204 is rotatably arranged on both sides of the second bracket 213. One end of the special-shaped brake pad 204 is a hook-type structure, and the other end is sleeved on the periphery of the cable 30.

[0042] A power mechanism for driving the first parallel link 203 and the second parallel link 211 to rotate is arranged in the connecting box 207, and the power mechanism includes a worm 2071, a first worm gear 2072 and a second worm gear 2073. The worm 2071 is rotatably arranged in the connecting box 207, one side of the outer periphery of the worm 2071 is meshingly connected with the first worm gear 2072, and the other side is meshingly connected with the second worm gear 2073. The first worm gear 2072 is rotatably arranged in the connecting box 207, and the first worm gear 2072 is fixedly connected to the first parallel link 203. The second worm gear 2073 is rotatably arranged in the connecting box 207, and the second worm gear 2073 is fixedly connected to the second parallel link 211. A servo motor for driving the worm 2071 to rotate is arranged on the top surface of the inner wall of the connecting box 207.

[0043] The servo motor can drive the worm 2071 to rotate, and the worm 2071 drives the first worm gear 2072 and the second worm gear 2073 to rotate, wherein Figure 5 As shown, the first worm gear 2072 and the second worm gear 2073 are one-third of the circular gear, which can drive the worm 2071 to rotate forward and reversely. The forward and reverse rotation of the worm 2071 can make the first worm gear 2072 and the second worm gear 2073 swing up and down, thereby driving the first parallel link 203 and the second parallel link 211 to swing. The swing of the first parallel link 203 and the second parallel link 211 can drive the first bracket 212 and the second bracket 213 to swing, thereby enabling the driving wheel 206 to detach from the cable 30, and the second bracket 213 to detach from the end of the power output end of the roller motor 205, so that it is convenient to cross the obstacles on the cable 30, and at the same time, it can cross the larger obstacles by disengaging. When a smaller obstacle appears on the cable, under the action of the compression spring 210, the driving wheel 206 can be fine-tuned in height to facilitate crossing the smaller obstacle.

[0044] Among them, the equipment is provided with three driving wheels 206, and the three driving wheels 206 are all adjusted separately, so when one of the driving wheels 206 needs to cross an obstacle, the other two can play a supporting role. When encountering larger obstacles during the inspection process, the obstacles can be passed in turn, and when it is necessary to cross the support tower, the driving wheel 206 can be separated from the cable 30 through the rotation of the worm 2071. At this time, the driving wheel 206 is adjusted by the rotation of the upper arm 40 and the lower arm 401 to facilitate the driving wheel 206 to cross the support tower, and then the driving wheel 206 is put on the outer periphery of the cable 30 again to inspect the cable 30 urgently, and then the support tower is passed in turn in the same way to increase the inspection range, and it can cross larger obstacles and increase the obstacle crossing range.

[0045] Among them, through the setting of the special-shaped brake pad 204, one end of the special-shaped brake pad 204 is a hook-type structure hung on the periphery of the cable 30, so as to limit the cable 30 and prevent it from leaving the inspection range during the inspection process. The inspection process is carried out in real time by setting an inspection equipment on the top surface of the connection box 207.

[0046] The top surface of the control box 10 is provided with an adjustment mechanism for driving the first transmission block 20 to slide left and right, the adjustment mechanism includes a guide rail seat 101, a screw motor 1011, a screw 201 and a track slide 202, the guide rail seat 101 is fixedly arranged on both sides of the top surface of the control box 10, the screw 201 is rotatably arranged between the guide rail seats 101, the screw motor 1011 is fixedly arranged on the guide rail seat 101, the power output end of the screw motor 1011 is fixedly connected to the screw 201, the screw 201 is threadedly connected to the first transmission block 20, the track slide 202 is fixedly arranged between the guide rail seats 101, and the first transmission block 20 is slidably connected to the track slide 202.

[0047] The starting of the screw motor 1011 can drive the screw 201 to rotate, and the screw 201 is threadedly connected to the first transmission block 20, so that the rotation of the screw 201 can drive the first transmission block 20 to slide left and right, wherein the first transmission block 20 can be limited under the limiting action of the track slide bar 202 to ensure the linear movement of the first transmission block 20.

[0048] Among them, when it is necessary to overcome obstacles, the obstacle overcoming adjustment of the driving wheel 206 set on the top surface of the first transmission block 20 is the same as the above-mentioned adjustment method, and the horizontal position of the first transmission block 20 can be adjusted by rotating the screw rod 201, so as to speed up the obstacle overcoming speed and improve the inspection efficiency.

[0049] Among them, the rotation of the upper arm 40, the lower arm 401 and the connecting box 207 is also driven by a motor, and the lower arm 401 and the second transmission block 402 are also driven by a motor, and the motor is the same as the roller motor 205, the screw motor 1011, the adjustment motor and the servo motor, and the control method is also the same, and they are all a type of stepper motor.

[0050] Among them, the calculation of motor torque is:

[0051]

[0052] The precision of the design task is 0.03mm (the lead of the screw is selected as 5)

[0053] From the formula

[0054] The motor's pitch angle is 1.8°

[0055] Given that lead Ph = 5 mm and material density ρ = 7.85 × 10 -3 kg / cm 3

[0056] Screw moment of inertia:

[0057]

[0058] Total inertia on the motor shaft: J = J S +J W =1.52+2.4=3.92kg·cm 2

[0059] Inertia torque on the motor shaft: T J =J×δ=3.92×1.8=7.056N·m

[0060] Because the positive pressure acting on the guide rail is 0

[0061] So the equivalent friction torque on the motor shaft is: T μ =0N·m

[0062]

[0063] Therefore, the total load torque on the motor shaft during no-load starting is

[0064] T q =T J +T μ +T0=7.056+0+0.354≈7.51N·m

[0065] T1=T W +T μ +T0=5.59+0+0.354≈5.994N·m

[0066] The following table shows the motor model

[0067]

[0068] In summary, the motors that meet the requirements include 86HS85, 110HS12, 110HS20 and other motors, which fully guarantee to meet the design requirements. This solution uses 110HS20 stepper motor for control. Its body length is 150mm and its static torque is 20Nm. The specific parameters are shown in the motor model table. Available drivers are M860 and MA1080.

[0069] Among them, when the inspection robot is working, the big arm 40 and the small arm 401 bear the weight load of the entire inspection robot. The combination of the big arm 40 and the small arm 401 is collectively referred to as the arm below. In addition, according to the action requirements of the inspection robot, when the robot crosses an obstacle, one of the two arms always bears all the loads, and the other arm is stationary or unloaded. Therefore, the bending moment of this arm is relatively large. In order to prevent the stress on the arm from being greater than the allowable strength required by the inspection robot, the travel of the inspection robot on the track must be limited in signal control so that the inspection robot has a stable speed.

[0070] Calibration of the boom:

[0071] (1) Strength check at both ends

[0072] First calculate when the load arm is at both ends of the translation track and in a balanced state: the total bending moment borne by the load arm must be less than or equal to the required bending moment, that is, M (total) ≤ 50Nm.

[0073]

[0074] 17kg×9.8×1m+4kg×9.8×0.6m-15kg×9.8×0.5m=18.62Nm<=50Nm.

[0075] The calculated bending moment of the boom 40 is less than the allowable bending moment and the value is not large. Therefore, when the arms are suspended at both ends, the bending moment requirement of the boom 40 is met.

[0076] (2) Calculation of limit position

[0077] When the center of the main box body moves toward the other end, the bending moment borne by the arm 40 will gradually increase, and the bending moment borne by the arm 40 will reach the maximum required bending moment at a certain position. Now assume that the distance between the center of gravity of the main box body and the load arm is s at this time.

[0078] According to the moment equilibrium condition:

[0079] M(total)=50Nm

[0080]

[0081] 9.8×7kg×1m+4kg×9.8×0.6-15kg×9.8×s=50

[0082] The calculated length is s=0.2867m, that is, the position where the main box reaches the maximum required bending moment of the boom 40 is 0.2867m from the center of gravity of the main box to the load arm, that is, during the control process, the distance from the main box to the load arm must not be greater than 0.2867m.

[0083] (3) Bending strength check of upper arm 40

[0084] According to the formula, the normal stress under the bending moment is:

[0085]

[0086] According to stress and strain analysis, the points with the largest tensile stress are located at the upper and lower edges of the dangerous section, and the stress is the largest when suspended alone. The bending moment M is calculated based on the allowable bending moment of 50Nm. The section bending coefficient W=y should be calculated based on the maximum value of y, that is, ymax, where ymax=30.775mm.

[0087] The cross-section bending coefficient is:

[0088]

[0089] Finally, the bending stress of the dangerous section is:

[0090]

[0091] The value of the bending stress is less than the allowable stress of the material and is not large, so no fracture or the like will occur in the dangerous section of the boom 40 .

[0092] A detection and obstacle control method for a high-voltage line inspection robot capable of surmounting obstacles comprises the following steps:

[0093] S1: Installation: According to the linear direction of the cable 30, the connection box 207 is rotated to make the cable 30 parallel to the driving wheel 206, and then the inspection robot is set on the outer periphery of the cable 30. According to the arrangement of the cable 30, the driving wheel 206 is set on the outer periphery of the cable 30 in three cases;

[0094] The first method is to adjust the upper arm 40, the lower arm 401 and the first transmission block 20 to a straight line, and the driving wheels 206 are all sleeved on the periphery of the same cable 30;

[0095] The second method is to rotate one of the upper arm 40 and the lower arm 401 to generate an angle difference between the upper arm 40 and the linear position of the first transmission block 20. At this time, the driving wheel 206 can be respectively mounted on the outer periphery of the two cables 30.

[0096] The third method: rotating the upper arm 40 and the lower arm 401 so that the driving wheels correspond to the three cables 30 respectively, and the driving wheels 206 can be respectively sleeved on the periphery of the three cables 30;

[0097] S2: Walking: The roller motor 205 is started to rotate the driving wheel 206, so that the inspection robot walks and inspects the outer periphery of the cable 30;

[0098] S3: Obstacle crossing: When the inspection robot walks around the cable 30 , it crosses obstacles outside the cable 30 .

[0099] The obstacle control method of the obstacle crossing mode is divided into two obstacle crossing methods, and the specific steps are as follows:

[0100] S1: Overcoming a small obstacle: The driving wheel 206 at the front end is raised by starting the hydraulic cylinder, and the driving wheel 206 at the rear end continues to move forward, so that the driving wheel 206 at the front end passes over the obstacle, and then the driving wheel 206 at the front end is again sleeved on the outer periphery of the cable 30 and moves forward urgently, so that the driving wheel 206 passes over the obstacle in turn;

[0101] S2: Overcoming the obstacle of the pull-wire hook and the obstacle of the support tower: the driving wheel 206 at the front end approaches the obstacle, and the worm 2071 rotates to drive the first worm gear 2072 and the second worm gear 2073 to rotate, thereby causing the first parallel link 203 and the second parallel link 211 to swing, and then driving the first bracket 212 and the second bracket 213 to swing, so that the second bracket 213 is separated from the power output end of the roller motor 205, and the driving wheel 206 is separated from the cable 30, and then the driving wheel 206 is moved over the obstacle in sequence through the cooperation of the upper arm 40, the lower arm 401, the hydraulic cylinder and the screw motor 1011.

[0102] Among them, in the process of crossing obstacles, when the driving wheel 206 is respectively sleeved on the outside of two cables 30 or three cables 30, in the process of passing through the pull hook obstacle and the cable support tower obstacle, the driving wheel 206 at the front end is adjusted to detach from the cable 30, and then the hydraulic cylinder, the upper arm 40 and the lower arm 401 are adjusted to make the driving wheel 206 at the front end cross the obstacle of the cable 30 above the first transmission block 20, and after crossing, it is first sleeved on the outside of the cable 30 above the first transmission block 20 and walks. When the driving wheel 206 completely crosses the obstacle, it is adjusted through the hydraulic cylinder, the upper arm 40 and the lower arm 401 to be respectively sleeved on the outside of two or three cables 30 for inspection, wherein it can be freely adjusted and inspected.

[0103] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them.

Claims

1. A high-voltage line inspection robot capable of surmounting obstacles, comprising a control box (10) and a cable (30), characterized in that: The top surface of the control box (10) is provided with a first transmission block (20) which slides left and right; Both sides of the top surface of the control box (10) are rotatably provided with a large arm (40), one end of the large arm (40) is rotatably provided with a small arm (401), and one end of the small arm (401) is rotatably provided with a second transmission block (402); The top surfaces of the second transmission block (402) and the first transmission block (20) are both rotatably provided with inspection mechanisms which are crimped and sleeved on the periphery of the cable (30), and the inspection mechanisms are telescopically arranged up and down.

2. The obstacle-surmounting high-voltage line inspection robot according to claim 1, characterized in that: The inspection mechanism comprises a connection box (207), a moving component and a swing limiting component. The connection box (207) is rotatably arranged on the top surface of the first transmission block (20). The moving component is arranged on the periphery of one side of the connection box (207). The swing limiting component is arranged on the periphery of the other side of the connection box (207). The moving component comprises a first parallel connecting rod (203), a roller motor (205), a driving wheel (206) and a first bracket (212). The first parallel connecting rod (203) is One end is rotatably connected to the connection box (207), and the other end is rotatably connected to the first bracket (212); the roller motor (205) is fixedly arranged on the first bracket (212); the power output end of the roller motor (205) is fixedly connected to the driving wheel (206), and the power output end of the roller motor (205) passes through the driving wheel (206); the swing limiting component is sleeved on the periphery of the end of the power output end of the roller motor (205), and the driving wheel (206) is sleeved on the periphery of the cable (30).

3. The high-voltage line inspection robot capable of overcoming obstacles according to claim 2, characterized in that: A support mechanism for driving the connection box (207) to move up and down and rotate is arranged in the first transmission block (20), and the support mechanism comprises a hydraulic cylinder and an adjusting motor. The hydraulic cylinder is arranged in the first transmission block (20), the top end of the hydraulic cylinder is fixedly connected to the adjusting motor, and the power output end of the adjusting motor is fixedly connected to the bottom surface of the connection box (207).

4. The obstacle-surmounting high-voltage line inspection robot according to claim 2, characterized in that: The swing limiting component comprises a special-shaped brake pad (204), an electromagnet mounting plate (208), an electromagnet (209), a compression spring (210), a second parallel connecting rod (211) and a second bracket (213); one end of the second parallel connecting rod (211) is rotatably connected to the connecting box (207), and the other end is rotatably connected to the second bracket (213); the second bracket (213) is slidably sleeved on the periphery of the power output end of the roller motor (205); the second bracket (213) is 13) The bottom surface is fixedly connected to the compression spring (210), the bottom end of the compression spring (210) is fixedly connected to the electromagnet (209), the electromagnet mounting plate (208) is sleeved on the periphery of the electromagnet (209), the electromagnet mounting plate (208) is arranged on the second bracket (213), the special-shaped brake pad (204) is rotatably arranged on both sides of the second bracket (213), one end of the special-shaped brake pad (204) is in a hook-type structure, and the other end is sleeved on the periphery of the cable (30).

5. The obstacle-surmounting high-voltage line inspection robot according to claim 4, characterized in that: A power mechanism for driving the first parallel link (203) and the second parallel link (211) to rotate is arranged in the connection box (207), and the power mechanism comprises a worm (2071), a first worm gear (2072) and a second worm gear (2073). The worm (2071) is rotatably arranged in the connection box (207), one side of the outer periphery of the worm (2071) is meshingly connected with the first worm gear (2072), and the other side is meshingly connected with the second worm gear (2073). The first worm gear (2072) is rotatably arranged in the connection box (207), and the first worm gear (2072) is fixedly connected to the first parallel link (203). The second worm gear (2073) is rotatably arranged in the connection box (207), and the second worm gear (2073) is fixedly connected to the second parallel link (211). A servo motor for driving the worm (2071) to rotate is arranged on the top surface of the inner wall of the connection box (207).

6. The obstacle-surmounting high-voltage line inspection robot according to claim 1, characterized in that: The top surface of the control box (10) is provided with an adjustment mechanism for driving the first transmission block (20) to slide left and right, the adjustment mechanism comprising a guide rail seat (101), a screw motor (1011), a screw rod (201) and a track slide bar (202), the guide rail seat (101) is fixedly arranged on both sides of the top surface of the control box (10), the screw rod (201) is rotatably arranged between the guide rail seats (101), the screw motor (1011) is fixedly arranged on the guide rail seat (101), the power output end of the screw motor (1011) is fixedly connected to the screw rod (201), the screw rod (201) is threadedly connected to the first transmission block (20), the track slide bar (202) is fixedly arranged between the guide rail seats (101), and the first transmission block (20) is slidably connected to the track slide bar (202).

7. A detection and obstacle control method for a high-voltage line inspection robot capable of surmounting obstacles, using the high-voltage line inspection robot capable of surmounting obstacles as claimed in any one of claims 1 to 6, characterized in that: The following steps are involved: S1: Installation: According to the linear direction of the cable (30), the connection box (207) is rotated to make the cable (30) parallel to the driving wheel (206), and then the inspection robot is sleeved on the outer periphery of the cable (30). According to the arrangement of the cable (30), the driving wheel (206) is sleeved on the outer periphery of the cable (30) in three situations; The first method is to adjust the upper arm (40), the lower arm (401) and the first transmission block (20) to a straight line, and at this time, the driving wheels (206) are all sleeved on the periphery of the same cable (30); The second method is to rotate one of the large arm (40) and the small arm (401) to generate an angle difference between the large arm (40) and the linear position of the first transmission block (20), and then the driving wheel (206) can be respectively mounted on the outer periphery of the two cables (30); The third method is to rotate the upper arm (40) and the lower arm (401) so that the driving wheels correspond to the three cables (30) respectively. In this case, the driving wheels (206) can be respectively mounted on the periphery of the three cables (30); S2: Walking: The roller motor (205) is started to rotate the driving wheel (206), so that the inspection robot walks and inspects the outer periphery of the cable (30); S3: Obstacle crossing: When the inspection robot walks around the cable (30), it crosses obstacles outside the cable (30).

8. The obstacle detection and control method of a high-voltage line inspection robot capable of surmounting obstacles according to claim 7, characterized in that: The obstacle control method of the obstacle crossing mode is divided into two obstacle crossing methods, and the specific steps are as follows: S1: passing over a smaller obstacle: the driving wheel (206) at the front end is raised by starting the hydraulic cylinder, and the driving wheel (206) at the rear end continues to move forward, so that the driving wheel (206) at the front end passes over the obstacle, and then the driving wheel (206) at the front end is again sleeved on the outer periphery of the cable (30) and moves forward urgently, so that the driving wheel (206) passes over the obstacle in turn; S2: Overcoming the obstacle of the pull-wire hook and the obstacle of the support tower: the driving wheel (206) at the front end approaches the obstacle, and the worm (2071) rotates to drive the first worm gear (2072) and the second worm gear (2073) to rotate, thereby causing the first parallel connecting rod (203) and the second parallel connecting rod (211) to swing, and then driving the first bracket (212) and the second bracket (213) to swing, so that the second bracket (213) is separated from the power output end of the roller motor (205), and the driving wheel (206) is separated from the cable (30), and then the driving wheel (206) is moved over the obstacle in sequence through the cooperation of the upper arm (40), the lower arm (401), the hydraulic cylinder and the screw motor (1011).

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