Self-walking high-voltage transmission line inspection robot and walking mechanism thereof

Abstract

The invention discloses a self-walking high-voltage transmission line inspection robot and a walking mechanism thereof, and relates to the technical field of high-voltage line inspection, the self-walking high-voltage transmission line inspection robot comprises a robot body, a connecting frame is arranged at the top of the robot body, matched toothed plates are fixed to the two sides of the top of the connecting frame, and the walking mechanism is fixed to the top of the connecting frame; a motor is installed in the robot body, and an output wheel is fixed to the output end of the motor. Under the overall gravity effect of the robot main body, a lifting toothed plate ascends to drive a driven clamping wheel to ascend along a lifting groove, so that the driven clamping wheel can jack the bottom of a high-voltage wire, and a driving walking wheel and the driven clamping wheel can play a role in clamping and stabilizing the high-voltage wire; the problem that a driving walking wheel slips due to the fact that a high-voltage line presents a radian is effectively solved, potential threats to hardware equipment of the robot are avoided, and the problems that a robot body falls to cause safety accidents, and the safety of the surrounding environment and workers is endangered are solved.

Description

Technical Field

[0001] The invention relates to the technical field of high-voltage line inspection, and in particular to a self-propelled high-voltage transmission line inspection robot and a walking mechanism thereof. Background Art

[0002] The high-voltage line inspection robot is a device used for automatic inspection of high-voltage transmission lines. It has the advantages of improving inspection efficiency, ensuring safety and data accuracy. It travels on high-voltage lines through mobile technologies such as wheels, tracks or crawlers, is battery-powered or inductively powered, and uses wireless communication technology to transmit data. It is widely used in daily inspections of lines of different voltage levels, troubleshooting and post-disaster assessments. The technology is currently developing and is moving towards improving autonomy, sensor accuracy and functional diversity, and reducing costs.

[0003] The wheeled high-voltage line inspection robot is a type of high-voltage line inspection robot. It plays a unique role in the field of high-voltage transmission line inspection. This type of robot usually uses special wheels to contact the high-voltage line. The design and material of the wheels are carefully selected to ensure that it can move stably on the high-voltage line without causing damage to the line. Its movement principle relies on the rotation of the wheels to achieve forward, backward and position adjustment on the line. The wheeled structure is relatively simple, which makes the robot have certain stability and reliability during operation.

[0004] At present, most wheeled high-voltage line inspection robots use the method of hanging wheels directly on high-voltage lines to achieve movement. However, in the actual operating environment of high-voltage lines, it is not always an ideal flat and straight state. The line may have a certain slope change. When the robot is climbing a slope or passing through a curved part, the contact state between the wheels and the line will change, which may cause the wheels to slip, detach from the line, or the robot to tilt as a whole, which not only poses a potential threat to the robot's hardware equipment, but may also cause safety accidents, endangering the surrounding environment and the safety of workers. Summary of the invention

[0005] Based on this, the purpose of the present invention is to provide a self-propelled high-voltage transmission line inspection robot and its walking mechanism to solve the technical problem in the prior art that the wheeled high-voltage line inspection robots in the prior art often move by hanging wheels on the high-voltage lines and have poor overall stability.

[0006] To achieve the above object, the present invention provides the following technical solution: a self-propelled high-voltage transmission line inspection robot, comprising a robot body, a connecting frame is arranged on the top of the robot body, and matching tooth plates are fixed on both sides of the top of the connecting frame; A walking mechanism is fixed on the top of the connecting frame, a motor is installed inside the robot body, and an output wheel is fixed at the output end of the motor. A lifting frame is slidably connected above the motor inside the robot body, and one end of the lifting frame is movably connected to a limit wheel, and a transmission belt is sleeved on the bottom of the output wheel and the limit wheel; A stabilizing spring is fixed at one end between the top of the lifting frame and the walking mechanism. When the robot body descends due to gravity, the transmission belt is wound around two sets of transmission wheels, one set of limit wheels and the output wheel, and the transmission belt does not have the characteristic of extension. At this time, the limit wheel passively rises under the action of the transmission belt to compress the stabilizing spring, thereby not affecting the problem of interference of the transmission belt caused by the descent of the robot body. At the same time, under the action of the stabilizing spring, the transmission belt can always be kept in a taut state, so as not to affect the rotation effect of the two sets of active walking wheels; A first detection camera and a second detection camera are fixed on one side and the bottom of the robot body respectively, and a wireless module, a control module and a power supply module are arranged inside the robot body, wherein the first detection camera can be used to detect the condition of the side of the high-voltage transmission line, such as whether the appearance of the line is damaged, whether there is any abnormality in the environment around the line, etc.; The second detection camera is mainly used to monitor the situation at the bottom of the line, such as the condition of the connection between the line and the tower. Through the detection cameras in two different positions, the high-voltage transmission line can be fully inspected to improve the accuracy and comprehensiveness of the detection; The wireless module is used to realize data transmission between the robot and the remote control terminal, and transmit the images captured by the detection camera and other detection data to the control terminal in real time, so that the staff can understand the operation status of the line in time; The control module is responsible for controlling the robot's various actions, including the start and stop of the motor, the movement direction and speed of the walking mechanism, etc. The power supply module provides power support for all electronic components of the robot to ensure that the robot can work normally on the high-voltage transmission line.

[0007] A walking mechanism comprises a walking frame, the walking frame and two sets of matching tooth plates are connected in a sliding and limiting manner, and the matching tooth plates are located inside the walking frame; The traveling mechanism includes active traveling wheels, which are rotatably mounted on both sides of the top of the traveling frame, and the active traveling wheels are rollingly connected to the external high-voltage wires; Passive clamping wheel, lifting gear plate and gear, the passive clamping wheel is rotatably mounted on the top of the lifting gear plate, and the gear is rotatably mounted inside the traveling frame, and both sides of the gear are respectively meshed with the lifting gear plate and the matching gear plate; At this time, under the action of the overall gravity of the robot body, the robot body drives the two sets of matching tooth plates to descend through the connecting frame, and then under the action of the gears, the gears rotate to drive the lifting tooth plates to rise, and the lifting tooth plates rise to drive the passive clamping wheels to rise along the lifting groove, so that the passive clamping wheels can lift the bottom of the high-voltage line; That is to say, at this time, the active walking wheel and the passive clamping wheel can play a role in clamping and stabilizing the high-voltage line, and at the same time increase the friction between the active walking wheel, the passive clamping wheel and the high-voltage line, thereby effectively avoiding the problem of the active walking wheel slipping due to the curvature of the high-voltage line, thereby avoiding the problem of the robot body being separated from the line and the overall tilt of the fuselage, which not only does not pose a potential threat to the hardware equipment of the robot body, but also avoids the problem of the robot body falling and causing safety accidents, endangering the surrounding environment and the safety of the staff; The matching tooth plate and the traveling frame are connected in a sliding and limiting manner via a limiting sliding rod, and an auxiliary spring located outside the limiting sliding rod is fixed between the matching tooth plate and the traveling frame; The active walking wheel and the walking frame are rotatably connected through a rotating shaft, and a transmission wheel is fixed to one end of the outer side of the rotating shaft, and two sets of transmission wheels and transmission belts are sleeved with each other; Both sides of the walking frame are provided with lifting grooves matched with the lifting tooth plates, and the cross sections of the lifting grooves and the lifting tooth plates are both rectangular.

[0008] Furthermore, lifting rings are fixed on both sides of the top of the connecting frame, and mounting plates matching the robot body are fixed on both sides of one end of the connecting frame and are fixedly connected by screws, and a back shell is fixed on one end of the robot body.

[0009] By adopting the above technical solution, the back shell can protect the electronic components and mechanical structures inside the robot from the influence of the external environment, such as preventing rain, dust, etc. from entering the robot, thereby extending the service life of the robot and ensuring its stable operation in harsh outdoor environments.

[0010] Furthermore, guide holes are provided on both sides of the top of the two sets of matching tooth plates, and the cross-section of the guide holes is circular.

[0011] By adopting the above technical solution, the guide hole and the limiting sliding rod are connected in a sliding guide manner, thereby ensuring the stability of the lifting and lowering of the matching tooth plate.

[0012] In summary, the present invention mainly has the following beneficial effects: 1. After the two sets of active walking wheels are hung on the top of the high-voltage line in the present invention, under the action of the overall gravity of the robot body, the robot body drives the two sets of matching toothed plates to descend through the connecting frame, and then under the action of the gear, the gear rotates to drive the lifting toothed plate to rise, and the lifting toothed plate rises to drive the passive clamping wheel to rise along the lifting groove, so that the passive clamping wheel can lift the bottom of the high-voltage line. That is to say, at this time, the active walking wheel and the passive clamping wheel can play a role in clamping and stabilizing the high-voltage line, and at the same time increase the friction between the active walking wheel and the passive clamping wheel and the high-voltage line, thereby effectively avoiding the problem of the active walking wheel slipping due to the curvature of the high-voltage line, thereby avoiding the problem of the robot body being separated from the line and the overall tilting of the fuselage, not only does it not pose a potential threat to the hardware equipment of the robot, but also avoids the problem of the robot body falling and causing safety accidents, endangering the surrounding environment and the safety of staff; 2. When the robot body of the present invention descends due to gravity, since the transmission belt is wound around two sets of transmission wheels, one set of limiting wheels and the output wheel, and since the transmission belt does not have the characteristic of extension, the limiting wheel passively rises under the action of the transmission belt to compress the stabilizing spring, thereby not affecting the problem of interference with the transmission belt caused by the descent of the robot body. At the same time, under the action of the stabilizing spring, the transmission belt can always be kept in a taut state, thereby not affecting the rotation effect of the two sets of active walking wheels. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of the overall structure of the present invention from a first viewing angle; Figure 2 A schematic diagram of the internal structure of the present invention from a first viewing angle; Figure 3 A schematic diagram of the internal structure of the present invention from a second viewing angle; Figure 4 For the present invention Figure 3 A magnified image of point A; Figure 5 It is a partial structural cutaway diagram of the present invention; Figure 6 For the present invention Figure 5 The enlarged view of point B; Figure 7 It is an enlarged structural diagram of the walking frame of the present invention; Figure 8 It is an enlarged structural diagram of the connecting frame of the present invention; Fig. 9 It is a schematic diagram of the overall structure of the second viewing angle of the present invention.

[0014] In the figure: 1. Robot body; 2. Connecting frame; 3. Walking mechanism; 301. Walking frame; 302. Active walking wheel; 303. Passive clamping wheel; 304. Lifting tooth plate; 305. Lifting slot; 306. Gear; 307. Auxiliary spring; 308. Limiting sliding rod; 309. Rotating shaft; 4. Matching tooth plate; 5. Guide hole; 6. Motor; 7. Output wheel; 8. Limiting wheel; 9. Transmission wheel; 10. Transmission belt; 11. Lifting frame; 12. Stabilizing spring; 13. First detection camera; 14. Second detection camera; 15. Wireless module; 16. Lifting ring; 17. Back shell; 18. Mounting plate. DETAILED DESCRIPTION

[0015] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0016] The following describes an embodiment of the present invention based on its overall structure.

[0017] A self-propelled high-voltage transmission line inspection robot, such as Figure 1-9 As shown, it includes a robot body 1, a connecting frame 2 is arranged on the top of the robot body 1, and matching tooth plates 4 are fixed on both sides of the top of the connecting frame 2; A walking mechanism 3 is fixed on the top of the connecting frame 2, a motor 6 is installed inside the robot body 1, and an output wheel 7 is fixed at the output end of the motor 6, a lifting frame 11 is slidably connected above the motor 6 inside the robot body 1, and one end of the lifting frame 11 is movably connected to a limit wheel 8, and a transmission belt 10 is sleeved on the bottom of the output wheel 7 and the limit wheel 8; A stabilizing spring 12 is fixed at one end between the top of the lifting frame 11 and the walking mechanism 3. When the robot body 1 descends due to gravity, since the transmission belt 10 is wound around two sets of transmission wheels 9, a set of limiting wheels 8 and the output wheel 7, and since the transmission belt 10 does not have the characteristic of extension, the limiting wheel 8 passively rises under the action of the transmission belt 10 to compress the stabilizing spring 12, thereby not affecting the problem of interference of the transmission belt 10 caused by the descent of the robot body 1; At the same time, under the action of the stabilizing spring 12, the transmission belt 10 can always be kept in a taut state, so as not to affect the rotation effect of the two sets of active walking wheels 302; A first detection camera 13 and a second detection camera 14 are fixed to one side and the bottom of the robot body 1, respectively, and a wireless module 15, a control module and a power supply module are arranged inside the robot body 1, wherein the first detection camera 13 can be used to detect the condition of the side of the high-voltage transmission line, such as whether the appearance of the line is damaged, whether there is any abnormality in the environment around the line, etc.; The second detection camera 14 is mainly used to monitor the situation at the bottom of the line, such as the situation at the connection between the line and the tower. Through the detection cameras at two different positions, the high-voltage transmission line can be fully inspected to improve the accuracy and comprehensiveness of the detection; The wireless module 15 is used to realize data transmission between the robot and the remote control terminal, and transmit the images captured by the detection camera and other detection data to the control terminal in real time, so that the staff can understand the operation status of the line in time; The control module is responsible for controlling the robot's various actions, including the start and stop of the motor, the movement direction and speed of the walking mechanism, etc. The power supply module provides power support for all the robot's electronic components to ensure that the robot can work normally on the high-voltage transmission line; A walking mechanism includes a walking frame 301, the walking frame 301 and two sets of matching tooth plates 4 are slidably limitedly connected, and the matching tooth plates 4 are located inside the walking frame 301; The walking mechanism 3 includes active walking wheels 302, which are rotatably mounted on both sides of the top of the walking frame 301, and the active walking wheels 302 are rollingly connected to the external high-voltage wire. Rubber rings are arranged in the inner grooves of the active walking wheels 302 and the passive clamping wheels 303, which further increase the clamping force of the active walking wheels 302 and the passive clamping wheels 303 on the high-voltage wire, and further avoid the phenomenon of slipping. Passive clamping wheel 303, lifting gear plate 304 and gear 306, the passive clamping wheel 303 is rotatably mounted on the top of the lifting gear plate 304, and the gear 306 is rotatably mounted inside the traveling frame 301, and the two sides of the gear 306 are respectively meshed with the lifting gear plate 304 and the matching gear plate 4; At this time, under the action of the overall gravity of the robot body 1, the robot body 1 drives the two sets of matching tooth plates 4 to descend through the connecting frame 2, and then under the action of the gear 306, the gear 306 rotates to drive the lifting tooth plate 304 to rise, and the lifting tooth plate 304 rises to drive the passive clamping wheel 303 to rise along the lifting groove 305, so that the passive clamping wheel 303 can lift the bottom of the high-voltage line; That is to say, at this time, the active walking wheel 302 and the passive clamping wheel 303 can clamp the high-voltage line firmly, and at the same time increase the friction between the active walking wheel 302 and the passive clamping wheel 303 and the high-voltage line, thereby effectively avoiding the problem of the active walking wheel 302 slipping due to the curvature of the high-voltage line, thereby avoiding the problem of the robot body 1 being separated from the line and the overall tilt of the fuselage, which not only does not pose a potential threat to the hardware equipment of the robot body 1, but also avoids the problem of the robot body 1 falling and causing safety accidents, endangering the surrounding environment and the safety of staff; The matching tooth plate 4 and the traveling frame 301 are connected by sliding and limiting through a limiting sliding rod 308, and an auxiliary spring 307 located outside the limiting sliding rod 308 is fixed between the matching tooth plate 4 and the traveling frame 301; The active walking wheel 302 and the walking frame 301 are rotatably connected via a rotating shaft 309, and a transmission wheel 9 is fixed to one end of the outer side of the rotating shaft 309, and two sets of transmission wheels 9 and transmission belts 10 are mutually sleeved; Both sides of the traveling frame 301 are provided with lifting grooves 305 matched with the lifting gear plate 304, and the cross-sections of the lifting grooves 305 and the lifting gear plate 304 are both rectangular.

[0018] See also Figure 8 and Fig. 9 , both sides of the top of the connecting frame 2 are fixed with hanging rings 16, and both sides of one end of the connecting frame 2 are fixed with mounting plates 18 that match the robot body 1, and are fixedly connected by screws, and one end of the robot body 1 is fixed with a back shell 17, and the back shell 17 plays a protective role. By setting the above structure, the back shell 17 can protect the electronic components and mechanical structures inside the robot from the influence of the external environment, such as preventing rain, dust, etc. from entering the interior of the robot, thereby extending the service life of the robot and ensuring that it can operate stably in harsh outdoor environments.

[0019] See also Figure 8 Guide holes 5 are provided on both sides of the top of the two sets of matching tooth plates 4, and the cross-section of the guide holes 5 is circular, wherein the guide holes 5 and the limiting sliding rod 308 are connected by sliding guides, thereby ensuring the stability of the matching tooth plates 4 in lifting and lowering.

[0020] The working principle of the present invention is as follows: when in use, the robot body 1 is built with a power supply module and a control module, wherein the power supply module serves to supply power to the motor 6, the first detection camera 13, the second detection camera 14 and the wireless module 15, wherein the control module serves to control the whole; Two sets of lifting rings 16 are arranged on the top of the robot body 1, that is, the whole can be hoisted to the high-altitude high-voltage line by using a drone. Through the control of the drone by the staff, the two sets of active running wheels 302 are initially hung on the high-voltage line. At this time, the passive clamping wheel 303 is away from the active running wheel 302 under the action of the auxiliary spring 307, thereby facilitating the initial hanging operation of the active running wheel 302; After the two sets of active walking wheels 302 are hung on the top of the high-voltage line, under the action of the overall gravity of the robot body 1, the robot body 1 drives the two sets of matching toothed plates 4 to descend through the connecting frame 2, and then under the action of the gear 306, the gear 306 rotates to drive the lifting toothed plate 304 to rise, and the lifting toothed plate 304 rises to drive the passive clamping wheel 303 to rise along the lifting groove 305, so that the passive clamping wheel 303 can lift the bottom of the high-voltage line; That is to say, at this time, the active walking wheel 302 and the passive clamping wheel 303 can clamp the high-voltage line firmly, and at the same time increase the friction between the active walking wheel 302 and the passive clamping wheel 303 and the high-voltage line, thereby effectively avoiding the problem of the active walking wheel 302 slipping due to the curvature of the high-voltage line, thereby avoiding the problem of the robot body 1 being separated from the line and the overall tilt of the fuselage, which not only does not pose a potential threat to the hardware equipment of the robot body 1, but also avoids the problem of the robot body 1 falling and causing safety accidents, endangering the surrounding environment and the safety of staff; Furthermore, rubber rings are provided in the inner grooves of the active running wheel 302 and the passive clamping wheel 303, which further increase the clamping force of the active running wheel 302 and the passive clamping wheel 303 on the high-voltage wire, and further avoid the phenomenon of slipping; When the robot body 1 descends due to gravity, since the transmission belt 10 is wound around two sets of transmission wheels 9, one set of limiting wheels 8 and the output wheel 7, and since the transmission belt 10 does not have the characteristic of extension, the limiting wheel 8 passively rises under the action of the transmission belt 10 to compress the stabilizing spring 12, thereby not affecting the problem of interference of the transmission belt 10 caused by the descent of the robot body 1; At the same time, under the action of the stabilizing spring 12, the transmission belt 10 can always be kept in a taut state, so as not to affect the rotation effect of the two sets of active walking wheels 302; Finally, the staff remotely controls and starts the motor 6, which drives the two sets of active walking wheels 302 to rotate synchronously through the transmission belt 10, so that the present invention as a whole can perform inspection operations on the high-voltage line. Specifically, the high-voltage line is inspected by the first detection camera 13 and the second detection camera 14, and the overall detection effect is better.

[0021] Although an embodiment of the present invention has been shown and described, this specific embodiment is merely an explanation of the present invention and is not a limitation of the invention. The specific features, structures, materials or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. After reading this specification, those skilled in the art may make modifications, substitutions and variations to the embodiments without creative contributions as needed without departing from the principles and purpose of the present invention. However, as long as they are within the scope of the claims of the present invention, they are protected by patent law.

Claims

1. A self-propelled high-voltage transmission line inspection robot, comprising a robot body (1), characterized in that: A connecting frame (2) is arranged on the top of the robot body (1), and matching toothed plates (4) are fixed on both sides of the top of the connecting frame (2); A walking mechanism (3) is fixed on the top of the connecting frame (2), a motor (6) is installed inside the robot body (1), and an output wheel (7) is fixed to the output end of the motor (6), a lifting frame (11) is slidably connected above the motor (6) inside the robot body (1), and one end of the lifting frame (11) is movably connected to a limit wheel (8), and a transmission belt (10) is sleeved on the bottom of the output wheel (7) and the limit wheel (8); A stabilizing spring (12) is fixed at one end between the top of the lifting frame (11) and the walking mechanism (3).

2. The self-propelled high-voltage transmission line inspection robot according to claim 1 is characterized in that: A first detection camera (13) and a second detection camera (14) are respectively fixed to one side and the bottom of the robot body (1), and a wireless module (15), a control module and a power supply module are arranged inside the robot body (1).

3. The self-propelled high-voltage transmission line inspection robot according to claim 1 is characterized in that: Both sides of the top of the connecting frame (2) are fixed with hanging rings (16), and both sides of one end of the connecting frame (2) are fixed with mounting plates (18) that match the robot body (1) and are fixedly connected by screws.

4. The self-propelled high-voltage transmission line inspection robot according to claim 1 is characterized in that: A back shell (17) is fixed to one end of the robot body (1), and the back shell (17) plays a protective role.

5. The self-propelled high-voltage transmission line inspection robot according to claim 1 is characterized in that: Both sides of the top of the two sets of matching tooth plates (4) are provided with guide holes (5), and the cross-section of the guide holes (5) is circular.

6. A walking mechanism, applicable to the self-propelled high-voltage transmission line inspection robot according to claims 1-5, characterized in that: It comprises a walking frame (301), wherein the walking frame (301) and two sets of matching tooth plates (4) are connected in a sliding and limiting manner, and the matching tooth plates (4) are located inside the walking frame (301); A walking mechanism (3), the walking mechanism (3) comprising: Active running wheels (302), the active running wheels (302) are rotatably mounted on both sides of the top of the running frame (301), and the active running wheels (302) are rollingly connected to external high-voltage wires; A passive clamping wheel (303), an elevating toothed plate (304) and a gear (306), wherein the passive clamping wheel (303) is rotatably mounted on the top of the elevating toothed plate (304), and the gear (306) is rotatably mounted inside the traveling frame (301), and two sides of the gear (306) are respectively meshed with the elevating toothed plate (304) and the matching toothed plate (4).

7. The walking mechanism according to claim 6, characterized in that: The matching tooth plate (4) and the traveling frame (301) are connected in a sliding and limiting manner via a limiting sliding rod (308), and an auxiliary spring (307) located outside the limiting sliding rod (308) is fixed between the matching tooth plate (4) and the traveling frame (301).

8. The walking mechanism according to claim 6, characterized in that: The active walking wheel (302) and the walking frame (301) are rotatably connected via a rotating shaft (309), a transmission wheel (9) is fixed to one end outside the rotating shaft (309), and two sets of transmission wheels (9) and transmission belts (10) are sleeved together.

9. The walking mechanism according to claim 6, characterized in that: Both sides of the walking frame (301) are provided with lifting grooves (305) matching with the lifting tooth plates (304), and the lifting grooves (305) and the lifting tooth plates (304) are both rectangular in cross section.

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