Intelligent inspection robot for overhead ground wire

Abstract

The invention relates to the technical field of inspection robots, in particular to an overhead ground wire intelligent inspection robot which comprises an inspection part, two walking parts and a connecting part fixed between the two walking parts, the inspection part is connected to the upper sides of the walking parts, and the lower sides of the walking parts are rotationally connected with balance weight parts. The two counterweight parts are detachably connected; each walking part comprises a connecting seat, two L-shaped connecting frames and a walking roller, the L-shaped connecting frames are rotationally connected with the connecting seats, one end of each walking roller is rotationally connected with the corresponding L-shaped connecting frame, the two walking parts have a walking state and a separation state, and the two L-shaped connecting frames of the walking parts are arranged in a central symmetry mode in the walking state; and in a separation state, the L-shaped connecting frame rotates towards the outer side of the connecting seat. The intelligent inspection robot can be applied to existing cable facilities, can walk along the ground wire and cross obstacles without replacing existing basic accessories, and achieves efficient inspection of the overhead ground wire.

Description

Technical Field

[0001] The invention relates to the technical field of inspection robots, in particular to an overhead ground wire intelligent inspection robot. Background Art

[0002] Traditional inspection methods usually use manual inspection or manual inspection combined with drones, which are labor-intensive and inflexible, and also involve certain operational risks. Inspection robots can work around the clock and conduct inspections in autonomous or remote control modes, greatly improving work efficiency. However, due to the fact that many obstacles such as anti-vibration hammers are set on cables, existing inspection robots are not convenient to cross obstacles and walk along cables, making them inconvenient to use. To solve this problem, a Chinese patent publication number CN106374388B discloses a fully barrier-free inspection robot system and method for overhead ground wires, including an inspection robot, a barrier-free passage for a ground wire straight pole tower, and a barrier-free passage for a shock-proof hammer. The inspection robot includes a robot body, on which two side-by-side driving wheels for movement along the ground wire are provided, and a clamping wheel is provided on the front side of each driving wheel. A swivel joint is connected to the lower end of each driving wheel, and the swivel joint is fixed to both ends of the robot body frame; the barrier-free passage for the ground wire straight pole tower and the barrier-free passage for the shock-proof hammer are respectively provided at the connection between the suspension wire clamp and the shock-proof hammer and the ground wire, and the part protruding from the ground wire is arc-shaped, so as to guide the driving wheels of the inspection robot to detach from the ground wire, pass over the suspension wire clamp and the shock-proof hammer, and realize barrier-free passage.

[0003] However, the device requires a specially made straight pole tower barrier-free passage and a shock-proof hammer barrier-free passage, and the existing high-voltage cables need to be modified before they can be used. The overall investment is large and it is difficult to apply. Therefore, the present application provides an overhead ground wire intelligent inspection robot to solve the problem that the inspection robot in the prior art is inconvenient to cross obstacles and is difficult to apply to existing facilities. Summary of the invention

[0004] In order to solve the above problems, the present invention provides an overhead ground wire intelligent inspection robot.

[0005] The technical solution adopted by the present invention to solve the technical problem is: an overhead ground wire intelligent inspection robot, comprising an inspection part, two walking parts and a connecting part fixed between the two walking parts, the inspection part is connected to the upper side of the walking part, the lower side of the walking part is rotatably connected with a counterweight part, and the two counterweight parts are detachably connected; The walking part includes a connecting seat, two L-shaped connecting frames and a walking roller. The L-shaped connecting frame is rotatably connected to the connecting seat, and one end of the walking roller is rotatably connected to the L-shaped connecting frame. The two walking parts include a walking state and a separation state. In the walking state, the two L-shaped connecting frames of the walking part are centrally symmetrically arranged. In the separation state, the L-shaped connecting frame rotates toward the outside of the connecting seat, and the diameter of the walking roller gradually decreases from both ends to the middle.

[0006] As an optimization, the inspection part includes an inspection camera, and the inspection camera is arranged toward the overhead ground wire; The two walking parts are respectively a first walking part and a second walking part, the two counterweight parts are respectively a first counterweight part and a second counterweight part, and the first walking part and the second walking part are arranged in parallel front and back.

[0007] As an optimization, the length direction of the connecting seat is arranged perpendicularly to the length direction of the overhead ground wire, the lower parts of the two L-shaped connecting frames are respectively arranged on both sides of the connecting seat, the connecting seat is provided with a separation motor, and the output shaft of the separation motor is fixedly connected to the L-shaped connecting frame.

[0008] As an optimization, a driving motor is connected to the upper part of the L-shaped connecting seat, the output shaft of the driving motor is connected to the walking roller, the two walking rollers are arranged in parallel, and the middle part of the walking roller is recessed to form a contact groove.

[0009] As an optimization, the connecting part includes two connecting arms arranged in a V-shape, an auxiliary motor is arranged at the lower end of the connecting arm, and the output shaft of the auxiliary motor is fixedly connected to the other connecting arm.

[0010] As an optimization, the counterweight part includes a driving arm and a counterweight block. The upper end of the driving arm is rotatably connected to the connecting seat. The connecting seat is provided with an adjusting motor. The output shaft of the adjusting motor is connected to the driving arm. The counterweight block is connected to the lower end of the driving arm. The counterweight block is provided with an electromagnet. When the electromagnet is energized, the two counterweight blocks are magnetically connected.

[0011] As an optimization, when the walking part crosses an obstacle on the overhead ground wire, the walking part adjacent to the obstacle is converted from a walking state to a separated state, the other walking part continues to walk, and the walking part after crossing the obstacle is converted from a separated state to a walking state.

[0012] This scheme is an overhead ground wire intelligent inspection robot, which has the following benefits: The intelligent inspection robot of the present application can be applied to existing cable facilities, and can walk along the ground wire and cross obstacles without replacing existing basic accessories, thereby realizing efficient inspection of overhead ground wires; The walking part can drive the inspection part to walk along the overhead ground wire. In the process of crossing obstacles, the walking part can move and change its state by adjusting the position of the counterweight part, so that the whole device remains stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is an axial schematic diagram of the present invention.

[0014] Figure 2 It is a left side schematic diagram of the present invention.

[0015] Figure 3 It is a schematic diagram of the walking state before crossing the present invention.

[0016] Figure 4 This is a schematic diagram of the first unlocking state of the present invention.

[0017] Figure 5 This is a schematic diagram of the first crossing state of the present invention.

[0018] Figure 6 This is a schematic diagram of the first span completion state of the present invention.

[0019] Figure 7 It is a schematic diagram of the half-stride walking state of the present invention.

[0020] Figure 8 This is a schematic diagram of the second unlocking state of the present invention.

[0021] Fig. 9 This is a schematic diagram of the second crossing state of the present invention.

[0022] Fig.10 This is a schematic diagram of the second span completion state of the present invention.

[0023] Fig.11 It is a schematic diagram of the walking state after the present invention has completed the crossing.

[0024] Among them, 1. the first walking part, 2. the second walking part, 3. the first counterweight part, 4. the second counterweight part, 5. the connecting seat, 6. the L-shaped connecting frame, 7. the walking roller, 8. the separation motor, 9. the driving motor, 10. the contact groove, 11. the connecting arm, 12. the auxiliary motor, 13. the adjusting motor, and 14. the inspection camera. DETAILED DESCRIPTION

[0025] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the product of the invention is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0026] This solution also includes a controller, the position of which is set by the staff according to actual conditions during operation. The controller is used to control the electrical devices used in this solution, including but not limited to sensors, motors, telescopic rods, water pumps, solenoid valves, heating wires, heat pumps, display screens, computer input devices, switch buttons, communication equipment, lights, speakers and microphones; the controller is an Intel processor, AMD processor, PLC controller, ARM processor or a single-chip microcomputer, and the supporting motherboard, memory stick, storage medium and power supply are also used therewith. The power supply is AC or lithium battery; when a display screen is provided, a display card is also provided.

[0027] like Figure 1-3 As shown, an overhead ground wire intelligent inspection robot comprises an inspection part, two walking parts and a connecting part fixed between the two walking parts, wherein the inspection part is connected to the upper side of the walking part, the lower side of the walking part is rotatably connected with a counterweight part, and the two counterweight parts are detachably connected; The walking part includes a connecting seat 5, two L-shaped connecting frames 6 and a walking roller 7. The L-shaped connecting frame 6 is rotatably connected to the connecting seat 5, and one end of the walking roller 7 is rotatably connected to the L-shaped connecting frame 6. The two walking parts include a walking state and a separation state. In the walking state, the two L-shaped connecting frames 6 of the walking part are centrally symmetrically arranged. In the separation state, the L-shaped connecting frame 6 rotates toward the outside of the connecting seat 5, and the diameter of the walking roller 7 gradually decreases from both ends to the middle.

[0028] The walking roller 7 contacts the overhead ground wire, and the rotation of the walking roller 7 drives the entire device to move along the length direction of the overhead ground wire. The rotation direction of the L-shaped connecting frame 6 is perpendicular to the length direction of the overhead ground wire. When the connection between the walking part and the overhead cable deflects, the two walking rollers 7 rotate in opposite directions to gradually correct the position of the walking part.

[0029] like Figure 1 As shown, the inspection part includes an inspection camera 14, and the inspection camera 14 is arranged toward the overhead ground wire; The two walking parts are respectively a first walking part 1 and a second walking part 2, and the two counterweight parts are respectively a first counterweight part 3 and a second counterweight part 4. The first walking part 1 and the second walking part 2 are arranged in parallel front and back.

[0030] The inspection part may also include but is not limited to temperature / humidity sensors, smoke alarms, infrared detectors, etc. To ensure the overall operation of the device, this application should also include accessories such as controllers and power supplies.

[0031] When the device as a whole moves along the overhead ground wire, the first walking part 1 and the second walking part 2 are alternately transformed from the walking state, the crossing state and then to the walking state, so that the device as a whole crosses obstacles.

[0032] like Figure 1 As shown, the length direction of the connecting seat 5 is arranged perpendicularly to the length direction of the overhead ground wire, and the lower parts of the two L-shaped connecting frames 6 are respectively arranged on both sides of the connecting seat 5. The connecting seat 5 is provided with a separation motor 8, and the output shaft of the separation motor 8 is fixedly connected to the L-shaped connecting frame 6.

[0033] When the separation motor 8 is running, it drives the L-shaped connection frame 6 to rotate outward, so that the two L-shaped connection frames 6 are arranged in an eight shape, thereby separating the walking part from the overhead ground wire.

[0034] like Figure 1 As shown, a driving motor 9 is connected to the upper part of the L-shaped connecting seat 5 , and the output shaft of the driving motor 9 is connected to the walking roller 7 . The two walking rollers 7 are arranged in parallel, and the middle part of the walking roller 7 is recessed to form a contact groove 10 .

[0035] The contact groove 10 is used to limit the contact position between the overhead ground wire and the traveling roller 7 , and the width of the contact groove 10 is slightly larger than the diameter of the overhead ground wire.

[0036] like Figure 1 As shown, the connecting part includes two connecting arms 11 arranged in a V shape, an auxiliary motor 12 is arranged at the lower end of the connecting arm 11, and the output shaft of the auxiliary motor 12 is fixedly connected to the other connecting arm 11.

[0037] The auxiliary motor 12 is used to adjust the angle between the two connecting arms 11 to facilitate the walking part to cross obstacles.

[0038] like Figure 1 As shown, the counterweight part includes a driving arm and a counterweight block. The upper end of the driving arm is rotatably connected to the connecting seat 5. The connecting seat 5 is provided with an adjusting motor 13. The output shaft of the adjusting motor 13 is connected to the driving arm. The counterweight block is connected to the lower end of the driving arm. The counterweight block is provided with an electromagnet. When the electromagnet is energized, the two counterweight blocks are magnetically connected.

[0039] By adjusting the position of the counterweight, the center of gravity of the entire device can be changed, so that the center of gravity of the entire device can be changed at the front side, the rear side and the middle position of the entire device.

[0040] like Figure 4-Figure 11 As shown, when the walking part crosses over an obstacle on the overhead ground wire, the walking part adjacent to the obstacle is converted from a walking state to a separated state, the other walking part continues to walk, and the walking part after crossing the obstacle is converted from a separated state to a walking state.

[0041] Directions: When the inspection robot of the present application is used, the first walking part 1 and the second walking part 2 drive the device as a whole to walk along the length direction of the overhead ground wire, and the inspection part inspects the condition of the overhead ground wire; When the inspection robot encounters an obstacle while traveling along the overhead ground wire, Figure 3-Figure 11 The specific steps are as follows: like Figure 3 As shown, if the inspection robot needs to remove obstacles on the overhead cables, the controller controls the motor 13 to rotate so that the first counterweight 3 and the second counterweight 4 rotate in a direction away from the obstacle, so that the center of gravity of the inspection robot is adjusted to the side of the device as a whole away from the obstacle, and the first walking part 1 will tilt upwards, as shown in FIG. Figure 4 As shown; If the posture of the first walking part 1 is not adjusted in place, the auxiliary motor 12 can also drive the connecting arm 11 to rotate, so that the first walking part 1 is close to the second walking part 2, and then the first walking part 1 is further tilted upward, so that the walking roller 7 of the first walking part 1 is separated from the overhead ground wire; The separation motor 8 is turned on to drive the two L-shaped connecting frames 6 of the first walking part 1 to rotate outwards, so that the two L-shaped connecting frames 6 are separated. At this time, the first counterweight part 3 and the second counterweight part 4 are turned on by adjusting the motor 13 to move to the front side of the inspection robot. Under the action of the movement of the center of gravity, the first walking part 1 is lowered until the first walking part 1 is lower than the obstacle. The driving motor 9 of the second walking part 2 is driven to move the second walking part 2 along the overhead ground wire, as shown in FIG. Figure 5 The first spanning state shown; After the first walking part 1 crosses the obstacle, the first counterweight part 3 and the second counterweight part 4 are driven to rotate by adjusting the motor 13, so that the center of gravity of the device is transferred to the rear side of the inspection robot, and the first walking part 1 rises again until the walking roller 7 of the first walking part 1 is higher than the overhead ground wire. Figure 6As shown, at this time, the separation motor 8 is operated to move the two L-shaped connecting frames 6 toward each other until the two walking rollers 7 are arranged in parallel, and the first walking part 1 is reassembled to the overhead ground wire, as shown in FIG. Figure 7 As shown; Similarly, the second walking part 2 is unlocked, crossed and reassembled, such as Figure 8-Figure 11 As shown, until the inspection robot as a whole crosses the obstacle.

[0042] The above-mentioned specific embodiments are only specific cases of the present invention. The patent protection scope of the present invention includes but is not limited to the product form and style of the above-mentioned specific embodiments. Any overhead ground wire intelligent inspection robot that complies with the claims of the present invention and any appropriate changes or modifications made to it by ordinary technicians in the corresponding technical field shall fall within the patent protection scope of the present invention.

Claims

1. An overhead ground wire intelligent inspection robot, characterized in that: It includes an inspection part, two walking parts and a connecting part fixed between the two walking parts, the inspection part is connected to the upper side of the walking part, the lower side of the walking part is rotatably connected with a counterweight part, and the two counterweight parts are detachably connected; The walking part comprises a connecting seat (5), two L-shaped connecting frames (6) and a walking roller (7); the L-shaped connecting frame (6) is rotatably connected to the connecting seat (5); one end of the walking roller (7) is rotatably connected to the L-shaped connecting frame (6); the two walking parts comprise a walking state and a separation state; in the walking state, the two L-shaped connecting frames (6) of the walking part are centrally symmetrically arranged; in the separation state, the L-shaped connecting frame (6) rotates toward the outside of the connecting seat (5); and the diameter of the walking roller (7) gradually decreases from both ends to the middle.

2. The intelligent inspection robot for overhead ground wires according to claim 1, characterized in that: The inspection part comprises an inspection camera (14), and the inspection camera (14) is arranged toward the overhead ground wire; The two walking parts are respectively a first walking part (1) and a second walking part (2), and the two counterweight parts are respectively a first counterweight part (3) and a second counterweight part (4). The first walking part (1) and the second walking part (2) are arranged in parallel front and back.

3. The intelligent inspection robot for overhead ground wires according to claim 1, characterized in that: The length direction of the connecting seat (5) is arranged perpendicular to the length direction of the overhead ground wire, and the lower parts of the two L-shaped connecting frames (6) are respectively arranged on both sides of the connecting seat (5). The connecting seat (5) is provided with a separation motor (8), and the output shaft of the separation motor (8) is fixedly connected to the L-shaped connecting frame (6).

4. The intelligent inspection robot for overhead ground wires according to claim 1, characterized in that: The upper part of the L-shaped connecting seat (5) is connected to a driving motor (9), the output shaft of the driving motor (9) is connected to the walking roller (7), the two walking rollers (7) are arranged in parallel, and the middle part of the walking roller (7) is recessed to form a contact groove (10).

5. The intelligent inspection robot for overhead ground wires according to claim 1, characterized in that: The connecting part comprises two connecting arms (11) arranged in a V shape, an auxiliary motor (12) is arranged at the lower end of the connecting arm (11), and the output shaft of the auxiliary motor (12) is fixedly connected to the other connecting arm (11).

6. The intelligent overhead ground wire inspection robot according to claim 1, characterized in that: The counterweight part comprises a driving arm and a counterweight block, the upper end of the driving arm is rotatably connected to the connecting seat (5), the connecting seat (5) is provided with an adjusting motor (13), the output shaft of the adjusting motor (13) is connected to the driving arm, the counterweight block is connected to the lower end of the driving arm, and the counterweight block is provided with an electromagnet. When the electromagnet is energized, the two counterweight blocks are magnetically connected.

7. The intelligent overhead ground wire inspection robot according to claim 1, characterized in that: When the walking part crosses over an obstacle on the overhead ground wire, the walking part adjacent to the obstacle is converted from a walking state to a separated state, the other walking part continues to walk, and the walking part after crossing the obstacle is converted from a separated state to a walking state.

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