A high-voltage power line inspection robot

Abstract

The invention discloses a high-voltage power line inspection robot, which belongs to the technical field of high-voltage line detection, and comprises a head pipe and a tail pipe arranged along the axial direction, and several intermediate pipes arranged between the head pipe and the tail pipe, the head pipe and the intermediate pipe, the two adjacent intermediate pipes, and the intermediate pipe and the tail pipe are connected by hinges, the inner side of the head pipe is provided with a displacement driving device for driving the head pipe to move along the power line and a stopper for fixing the head pipe to the power line, the middle pipe is provided with an elastic guide device in contact with the outer side of the power line, the tail pipe is rotatably provided with a rotating ring and a rotating driving device for driving the rotation to rotate around the axial direction of the power line, the rotating ring is provided with a detection head, the detection head extends to the inner side of the tail pipe along the radial direction of the rotating ring and is used to detect the surface of the power line. The robot of the invention can reduce the influence of strong wind weather on the device inspection, can ensure the smoothness during the inspection, and improve the inspection efficiency.

Description

Technical Field

[0001] The invention belongs to the technical field of high-voltage line detection, and in particular relates to a high-voltage power line inspection robot. Background Art

[0002] With the rapid development of the economy, the demand for electricity continues to increase, and the coverage of high-voltage power lines is becoming increasingly extensive. These lines crisscross and cross various complex terrains, such as mountains, rivers, forests and urban areas. The traditional manual inspection method faces huge challenges. Not only is it inefficient, but in some remote and dangerous areas, the difficulty and danger of manual inspection are extremely high. There are some automated line inspection equipment in the prior art, such as a high-voltage line inspection device disclosed in CN111371037A, which includes two boxes arranged in parallel and fixed by an intermediate connecting plate, and the tops of the two boxes are respectively provided with a camera device and the left and right sides of the upper inner sides of the two boxes are respectively provided with a V-type pulley, and a transmission device is provided between the two V-type pulleys. The device can realize conventional detection of high-voltage lines under good weather conditions, but in windy weather, since the high-voltage line is easy to bend under the action of wind, this type of device cannot adapt to the bending changes of the line, and there are problems such as unsmooth detection, which affects the efficiency of inspection. Summary of the invention

[0003] In view of this, an object of the present invention is to provide a high-voltage power line inspection robot that can reduce the impact of strong winds on device inspections, ensure smoothness during inspections, and improve inspection efficiency.

[0004] In order to achieve the above object, the present invention provides the following technical solutions:

[0005] A high-voltage power line inspection robot disclosed in the present invention comprises a head tube and a tail tube arranged along an axial direction and a plurality of intermediate tubes arranged between the head tube and the tail tube, wherein the head tube and the intermediate tube, two adjacent intermediate tubes, and the intermediate tube and the tail tube are connected via hinges, a displacement driving device for driving the head tube to move along the power line and a stopper for fixing the head tube to the power line are installed on the inner side of the head tube, an elastic guide device contacting the outer side of the power line is arranged in the intermediate tube, a rotating ring and a rotating driving device for driving the rotating ring to rotate axially around the power line are rotatably installed on the tail tube, a detection head is installed on the rotating ring, the detection head extends to the inner side of the tail tube along the radial direction of the rotating ring and is used to detect the surface of the power line.

[0006] Furthermore, the displacement drive device includes a roller, a motor, a rotating shaft, a sleeve, an elastic telescopic rod, a sliding sleeve, and a support rod. The roller is coaxially fixedly connected to the rotating shaft, the rotating shaft is connected to the output end of the motor, the motor is connected to the sliding sleeve through the support rod, the sliding sleeve is slidably sleeved on the outside of the elastic telescopic rod, the elastic telescopic rod is fixedly connected to the head tube, the output end of the elastic telescopic rod is connected to the sleeve, and the sleeve is rotatably sleeved on the outside of the rotating shaft.

[0007] Furthermore, the elastic telescopic rod includes an outer rod, an inner rod slidably arranged on the inner side of the outer rod, and a spring for connecting the inner rod and the outer rod. The outer rod is fixedly arranged on the inner side of the head pipe, the sliding sleeve is slidably arranged on the outer side of the outer rod, and the inner rod is fixedly connected to the shaft sleeve at a section away from the outer rod.

[0008] Furthermore, the stopping device comprises a telescopic device installed on the inner side of the head pipe, an output end of the telescopic device is connected to an arc-shaped friction plate, and the arc-shaped friction plate can contact the surface of the roller after the telescopic device is extended.

[0009] Furthermore, the hinged component includes an hinged seat and a pin rotatably connected to the hinged seat, the pin is connected to one end of the tube, the hinged seat is connected to the other end of the tube, and the pin and the hinged seat of the same tube are staggered in the circumferential direction.

[0010] Furthermore, the elastic guiding device includes an airbag, an arc-shaped pressure plate and a ball. The airbag is annular and fixed on the inner side of the intermediate tube. A plurality of arc-shaped pressure plates are evenly distributed on the inner side of the airbag in an annular shape. A ball groove is opened on the inner side of the arc-shaped pressure plate, and the ball is rollingly installed in the ball groove.

[0011] Furthermore, an inflation port connected to the airbag is provided on the wall of the intermediate tube, and an expansion port is also provided on the wall of the intermediate tube. An expansion guide tube is installed at the expansion port, and a plug is threadedly connected to the outer end of the expansion guide tube.

[0012] Furthermore, each airbag is connected via a hose.

[0013] The beneficial effects of the present invention are:

[0014] The present invention discloses a high-voltage power line inspection robot. A plurality of tubes connected in sequence are arranged, and two adjacent tubes are hinged to each other. When encountering strong winds, the power line is bent by the influence of wind force, and the plurality of tubes on the robot can extend in a winding manner according to the bending condition of the power line. Therefore, the device of the present invention adapts to the bending changes of the high-voltage line itself, and reduces the possibility of the device getting stuck during inspection, thereby ensuring the smoothness of the inspection and improving the inspection efficiency.

[0015] In the device disclosed in the present invention, the head pipe can be fixed to the power line at any time by the stopping device. In windy weather, the elastic guide device can be activated to support the entire device, and the robot can be stabilized before inspection, thereby ensuring the accuracy of the inspection results.

[0016] In the device disclosed in the present invention, the detection head can detect multiple locations of the power line along the circumferential direction, and during the detection, the head tube can be fixed first, and the rear end can be inspected after it is stable, thereby avoiding problems such as missed detection and ensuring the integrity of the power line detection.

[0017] Other advantages, objectives and features of the present invention will be described in the following description and will be apparent to those skilled in the art to some extent, or those skilled in the art may be taught from the practice of the present invention. The objectives and other advantages of the present invention may be realized and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to make the purpose, technical solution and beneficial effects of the present invention clearer, the present invention provides the following drawings for illustration:

[0019] Figure 1 It is a schematic diagram of the structure of the robot of the present invention;

[0020] Figure 2 It is a schematic structural diagram of the head pipe of the present invention;

[0021] Figure 3 It is a structural schematic diagram of an elastic telescopic rod;

[0022] Figure 4 is a schematic diagram of the structure of the intermediate tube;

[0023] Figure 5 is a cross-sectional view of the intermediate tube;

[0024] Figure 6 Schematic diagram of the tail pipe structure.

[0025] The markings in the accompanying drawings are as follows: head pipe 1, tail pipe 2, middle pipe 3, hinge 4, displacement drive device 5, stop device 6, elastic guide device 7, rotating ring 8, rotation drive device 9, detection head 10, roller 11, motor 12, rotating shaft 13, sleeve 14, elastic telescopic rod 15, sliding sleeve 16, support rod 17, outer rod 18, inner rod 19, spring 20, telescopic device 21, arc-shaped friction plate 22, hinge seat 23, pin 24, airbag 25, arc-shaped pressure plate 26, ball 27, inflation port 28, expansion port 29, expansion guide tube 30, plug 31, hose 32. DETAILED DESCRIPTION

[0026] like Figures 1 to 6As shown, a high-voltage power line inspection robot disclosed in the present invention comprises a head pipe 1, a tail pipe 2 and a plurality of intermediate pipes 3 arranged along the axial direction and arranged between the head pipe 1 and the tail pipe 2. In the device of the present invention, the diameters of the head pipe 1, the intermediate pipe 3 and the tail pipe 2 are the same, and the inner diameter is larger than the power line. A group of robots corresponds to one power line, and the center is used to pass the power line. Multiple pipes cooperate with one power line to prevent the robot from sliding along the power line.

[0027] The head pipe 1 and the middle pipe 3, the two adjacent middle pipes 3, and the middle pipe 3 and the tail pipe 2 are connected by hinges 4. The hinges 4 can be other existing hinges, that is, the two adjacent pipes can be deflected at the hinges, thereby adapting to the bending influence of the power line in windy weather and reducing the interference between the device and the power line.

[0028] A displacement drive device 5 for driving the head tube 1 to move along the power line and a stop device 6 for fixing the head tube 1 to the power line are installed on the inner side of the head tube 1. The displacement drive device 5 is used to provide power for the movement of the device when the device is inspected, so as to realize the detection of all positions in the length direction of the power line. By setting the stop device 6, the head tube 1 can be fixed to the power line at any time. In windy weather, the robot can be stabilized before inspection, thereby ensuring the accuracy of the inspection results.

[0029] Furthermore, the present invention provides an elastic guide device 7 in contact with the outside of the power line in the middle pipe 3. The elastic guide device 7 can support the entire device when activated, and the robot can be stabilized before inspection, thereby ensuring the accuracy of the inspection result. A rotating ring 8 and a rotating drive device 9 for driving the rotating ring 8 to rotate around the axial direction of the power line are rotatably installed on the tail pipe 2. A detection head 10 is installed on the rotating ring 8. The detection head 10 extends along the radial direction of the rotating ring 8 to the inner side of the tail pipe 2 and is used to detect the surface of the power line.

[0030] In the field of ultra-high voltage power transmission, a single conductor is often unable to withstand extremely high transmission voltages. The existing technology usually adopts the form of multiple conductors in series, that is, several insulated conductors are connected in series through specific hardware and used as an "equivalent conductor". In this way, the high voltage can be distributed more evenly, avoiding problems such as corona discharge and insulation breakdown due to excessive voltage in a single conductor, thereby ensuring the safe and stable operation of the transmission line. When maintaining high-voltage lines, it is usually necessary to disconnect the high-voltage lines at the interruption point. Therefore, when using the device of the present invention, the device of the present invention can be installed in the line after it is disconnected at the joint according to the normal maintenance cycle. When the high-voltage line is maintained next time, the device of the present invention can be removed at the same time for inspection and maintenance.

[0031] Of course, in some other cases, the device can be installed outside the high-voltage line when the high-voltage line is installed, and the device can be started when it is needed. When the life of the device reaches the limit, it can be directly destroyed. In some other cases, the head pipe 1, the tail pipe 2, the middle pipe 3 and the rotating ring 8 can all adopt an arc-shaped openable and closable closed structure, so as to facilitate the installation of the device.

[0032] In an embodiment of the present invention, the rotation driving device 9 includes a ring gear, a gear and a rotation power source. The ring gear is fixed on the outside of the rotating ring 8, the ring gear is meshed with the gear, and the gear is driven to rotate by the rotation power source. The rotation power source is fixed to the tail pipe 2, and can drive the rotating ring 8 to rotate. The rotating ring 8 drives the detection head 10 to rotate, and the detection head 10 can detect multiple locations of the power line along the circumferential direction.

[0033] In this embodiment, the displacement drive device 5 includes a roller 11, a motor 12, a rotating shaft 13, a sleeve 14, an elastic telescopic rod 15, a sleeve 16, and a support rod 17. The roller 11 is coaxially fixedly connected to the rotating shaft 13, the rotating shaft 13 is connected to the output end of the motor 12, the motor 12 is connected to the sleeve 16 through the support rod 17, the sleeve 16 is slidably sleeved on the outside of the elastic telescopic rod 15, the elastic telescopic rod 15 is fixedly connected to the head tube 1, the output end of the elastic telescopic rod 15 is connected to the sleeve 14, and the sleeve 14 is rotatably sleeved on the outside of the rotating shaft 13. Under the action of the elastic telescopic rod 15, the roller 11 can always be close to the outer wall of the power line, ensuring the friction between the roller 11 and the power line, and providing power for the movement of the device. The roller 11 is made of rubber material, which can adapt to a certain degree of compression deformation and ensure the contact area between the roller 11 and the power line.

[0034] In this embodiment, the elastic telescopic rod 15 includes an outer rod 18, an inner rod 19 slidably arranged inside the outer rod 18, and a spring 20 for connecting the inner rod 19 and the outer rod 18. The spring 20 is located inside the outer rod 18, and the two ends of the spring 20 are respectively connected to the inner rod 19 and the outer rod 18 to provide an outward elastic supporting force for the inner rod 19. The outer rod 18 is fixedly arranged on the inner side of the head tube 1, and the sliding sleeve 16 is slidably sleeved on the outer side of the outer rod 18. The end of the inner rod 19 away from the outer rod 18 is fixedly connected to the shaft sleeve 14. By setting the above structure, the stability of the outward support of the roller 11 can be guaranteed.

[0035] In this embodiment, the stopper 6 includes a telescopic device 21 installed on the inner side of the head pipe 1, and the output end of the telescopic device 21 is connected to an arc-shaped friction plate 22, and the arc-shaped friction plate 22 can contact the surface of the roller 11 after the telescopic device 21 is extended. When stopping is required, the motor 12 stops, and the output end of the telescopic device 21 makes the arc-shaped friction plate 22 closely contact the surface of the roller 11, so as to prevent relative displacement between the roller 11 and the power line.

[0036] In this embodiment, the hinge 4 includes a hinge seat 23 and a pin 24 rotatably connected to the hinge seat 23. The pin 24 is connected to one end of the tube, and the hinge seat 23 is connected to the other end of the tube. The pins 24 and the hinge seat 23 of the same tube are staggered in the circumferential direction. In this way, the hinge effect in two directions can be achieved, which can better adapt to the bending changes of the power line.

[0037] In this embodiment, the elastic guide device 7 includes an airbag 25, an arc-shaped pressure plate 26 and a ball 27. The airbag 25 is annular and fixed on the inner side of the intermediate tube 3. A plurality of arc-shaped pressure plates 26 are evenly distributed on the inner side of the airbag 25. A ball groove is provided on the inner side of the arc-shaped pressure plate 26. The ball 27 is installed in a rolling manner in the ball groove. The airbag 25 provides elastic support for the arc-shaped pressure plate 26. The arc-shaped pressure plate 26 is connected to the surface of the power line through the ball 27, and can be used to guide the device when it moves, so that the device can be close to the surface of the power line, and ensure the stability of the device when it moves and inspects.

[0038] In this embodiment, an inflation port 28 connected to the airbag 25 is opened on the tube wall of the middle tube 3, and an expansion port 29 is also opened on the tube wall of the middle tube 3. An expansion guide tube 30 is installed at the expansion port 29. When the airbag 25 is over-inflated, the airbag 25 can protrude outward from the inner side of the expansion guide tube 30 to release a certain expansion pressure. The outer end of the expansion guide tube 30 is threadedly connected with a plug 31. By rotating the plug 31, the depth of the plug 31 extending into the expansion guide tube 30 can be controlled, so the expansion stiffness of the airbag 25 can be simply controlled.

[0039] In this embodiment, the airbags 25 are connected by a hose 32 and can be inflated and deflated in a unified manner, which is more convenient to use.

[0040] Finally, it should be noted that the above preferred embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail through the above preferred embodiments, those skilled in the art should understand that various changes can be made in form and details without departing from the scope defined by the claims of the present invention.

Claims

1. A high-voltage power line inspection robot, characterized in that: The invention comprises a head pipe, a tail pipe and several intermediate pipes arranged along the axial direction, wherein the head pipe and the intermediate pipe, two adjacent intermediate pipes and the intermediate pipe and the tail pipe are connected by hinges, a displacement driving device for driving the head pipe to move along the power line and a stopper for fixing the head pipe to the power line are installed on the inner side of the head pipe, an elastic guide device in contact with the outer side of the power line is arranged in the intermediate pipe, a rotating ring and a rotating driving device for driving the rotating ring to rotate around the axial direction of the power line are rotatably installed on the tail pipe, and the rotating ring A detection head is installed on it, and the detection head extends along the radial direction of the rotating ring to the inner side of the tail pipe and is used to detect the surface of the power line; the displacement driving device includes a roller, a motor, a rotating shaft, a sleeve, an elastic telescopic rod, a sliding sleeve, and a support rod. The roller is coaxially fixedly connected to the rotating shaft, the rotating shaft is connected to the output end of the motor, the motor is connected to the sliding sleeve through the support rod, the sliding sleeve is slidably sleeved on the outer side of the elastic telescopic rod, the elastic telescopic rod is fixedly connected to the head pipe, the output end of the elastic telescopic rod is connected to the sleeve, and the sleeve is rotatably sleeved on the outer side of the rotating shaft.

2. A high-voltage power line inspection robot according to claim 1, characterized in that: The elastic telescopic rod includes an outer rod, an inner rod slidably arranged on the inner side of the outer rod, and a spring for connecting the inner rod and the outer rod. The outer rod is fixedly arranged on the inner side of the head pipe, the sliding sleeve is slidably arranged on the outer side of the outer rod, and one end of the inner rod away from the outer rod is fixedly connected to the shaft sleeve.

3. A high-voltage power line inspection robot according to claim 2, characterized in that: The stopping device comprises a telescopic device installed on the inner side of the head pipe, an output end of the telescopic device is connected to an arc-shaped friction plate, and the arc-shaped friction plate can contact the surface of the roller after the telescopic device is extended.

4. A high-voltage power line inspection robot according to claim 1, characterized in that: The hinged member comprises an hinged seat and a pin rotatably connected to the hinged seat, the pin is connected to one end of the tube, the hinged seat is connected to the other end of the tube, and the pin and the hinged seat of the same tube are staggered in the circumferential direction.

5. A high-voltage power line inspection robot according to any one of claims 1 to 4, characterized in that: The elastic guiding device includes an airbag, an arc-shaped pressure plate and a ball. The airbag is annular and fixed on the inner side of the middle tube. A plurality of arc-shaped pressure plates are evenly distributed on the inner side of the airbag in an annular shape. A ball groove is opened on the inner side of the arc-shaped pressure plate. The ball is installed in the ball groove in a rolling manner.

6. A high-voltage power line inspection robot according to claim 5, characterized in that: The wall of the intermediate tube is provided with an inflation port connected to the airbag, and the wall of the intermediate tube is also provided with an expansion port, an expansion guide tube is installed at the expansion port, and a plug is threadedly connected to the outer end of the expansion guide tube.

7. A high-voltage power line inspection robot according to claim 6, characterized in that: Each airbag is connected by a hose.

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