Overhead transmission line inspection robot

Abstract

The invention discloses an overhead transmission line inspection robot which comprises a case, the case comprises a case body and an end cover, the end cover of the case is connected with one-way lead screw slide rail bases through a mounting seat, the one-way lead screw slide rail bases are a front arm driving mechanism and a rear arm driving mechanism respectively, and a lead screw is upwards arranged on the one-way lead screw slide rail base of the front arm driving mechanism. One end of the lead screw sequentially penetrates through a sliding block and a limiting block in the vertical direction and is connected with a stepping motor through a coupler, a one-way lead screw sliding rail top cover and a driving wheel fixing base, a driven wheel mounting base is mounted on the sliding block, a mounting groove is formed in the driven wheel mounting base, a driven wheel supporting frame is fixedly connected to the mounting groove, and a driven wheel is arranged on the driven wheel supporting frame. And the driven wheel support frame is used for fixing two groups of driven wheels through the fixing hole positions of the driven wheel support frame. The invention has the advantages of compact structure, small volume, convenience in hand holding, high rigidity, difficulty in damage, reasonable structures of the driving and driven wheels, easiness in wire hanging, high clamping force of the driving and driven wheels during walking, difficulty in wire loosening and the like.

Description

Technical Field

[0001] The invention relates to an inspection robot, in particular to an overhead power transmission line inspection robot. Background Art

[0002] This type of overhead transmission line inspection robot is often used for the inspection of high-voltage transmission lines. However, at present, many inspections of high-voltage transmission lines are still carried out using manual visual inspection, helicopter observation, drone observation, etc. Such inspection methods all have obvious disadvantages. For example, the manual observation method has a large number of blind spots, the time cost of manual inspection is high, and the observation distance is limited, and it is impossible to directly observe wading, climbing mountains, etc.; the helicopter observation method has a larger field of view than manual observation, and can be applied in more scenarios, but it is still at a certain distance from the transmission line, and human eyes or airborne cameras are required. Even at a slower flight speed, the inspection is still very difficult and costly; the drone observation method has a larger field of view than manual inspection and a lower cost than helicopters, but due to defects in the power supply system of the drone itself, the drone cannot work for a long time.

[0003] In order to solve and improve the problems of small observation field of view, high cost, short working time and restricted working environment, an overhead transmission line inspection robot with low cost and suitable for a variety of working environments is needed. Summary of the invention

[0004] In order to overcome the shortcomings of the prior art, an overhead power transmission line inspection robot is provided. The specific technical solution of the present invention is as follows: An overhead power transmission line inspection robot comprises a chassis, a driving mechanism and a top cover (20); wherein the chassis comprises a box body (1) and a box end cover (2), and a control system is installed in the chassis to control its operation; a counterweight is fixed inside the box body (1) for balancing the center of gravity of the entire robot during operation; the driving mechanism is divided into a forearm driving mechanism and a rear arm driving mechanism; the box end cover (2) is connected to a forearm driving mechanism base (3); the forearm driving mechanism is provided with a one-way lead screw slide rail base (4) connected downwardly to the forearm driving mechanism base and upwardly to a lead screw (5); one end of the lead screw (5) passes through a slider (6), a limit block (7) in a vertical direction, and is connected to a stepping motor (11) through a coupling (8), a one-way lead screw slide rail top cover (9), and a driving wheel fixing seat (10); a driven wheel mounting seat (11) is installed on the slider (6) The driven wheel mounting seat (12) is provided with a mounting groove, the mounting groove is fixedly connected to a driven wheel support frame (13), the driven wheel support frame (13) fixes two sets of driven wheels (14) through its fixing hole position, the driving wheel fixing seat (10) is provided with a mounting groove, the mounting groove is fixedly and vertically connected to a driving wheel support frame (15), the driving wheel support frame (15) is coaxially connected to a wheel hub motor (16), and the other end is limited by a nut, the wheel hub motor (16) is coaxially connected to a driving wheel (17), and is connected to an encoder fixing seat (18) by screws, the encoder fixing seat (18) fixes an encoder (19) by connecting an encoder rotating shaft, the encoder (19) is upwardly connected to a robot top cover (20) by screws, and the other end of the robot top cover (20) is connected to the driving wheel fixing seat (10) by screws.

[0005] Two load-bearing rings (21) are fixed to the rear side of the forearm driving mechanism for suspending the robot on the line, and a handle (22) is provided between the two driving mechanisms, the two ends of the handle being fixed to the front and rear arm driving mechanisms by T-nuts. The rear arm driving mechanism has the same structure as the forearm driving mechanism and will not be described in detail here.

[0006] A cooling fan (23) is fixed on the rear side of the box body and is used to dissipate heat from the circuit board inside the box body.

[0007] The corners of the chassis body (1) are all provided with rounded corner structures, and the provision of the rounded corner structures can prevent the device from scratching the skin during installation.

[0008] A camera (24) is provided on one side of the chassis, and the line working condition can be observed through the camera.

[0009] The advantages and positive effects of the present invention are: 1. Easy to enter the line: Since the overhead power transmission line inspection robot has only two sets of master and slave wheels, it does not need to strictly meet the line-forming effect of three points or more.

[0010] 2. Anti-line derailment: One driving wheel corresponds to two driven wheels to clamp the transmission line, and a total of 6 wheel structures are used to clamp it. Each set of driving and driven wheels are set in the same vertical plane without misalignment.

[0011] 3. Compact structure: The present invention has a compact structure, and highly utilizes the space inside and outside the box, making its volume smaller than similar robots and convenient for hand-held hanging wires. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0013] Figure 1 The structure of the present invention is schematically shown Figure 1 Figure 2 The structure of the present invention is schematically shown Figure 2 Figure 3 Schematic diagram of the local structure of the driving mechanism Among them: 1 is a chassis body, 2 is a chassis end cover, 3 is a forearm drive mechanism mounting seat, 4 is a one-way screw slide rail base, 5 is a screw, 6 is a slider, 7 is a limit block, 8 is a coupling, 9 is a one-way screw slide rail top cover, 10 is a driving wheel fixing seat, 11 is a stepping motor, 12 is a driven wheel mounting seat, 13 is a driven wheel support frame, 14 is a driven wheel, 15 is a driving wheel support frame, 16 is a hub motor, 17 is a driving wheel, 18 is an encoder fixing seat, 19 is an encoder, 20 is a robot top cover, 21 is a load-bearing ring, 22 is a handle, 23 is a cooling fan, and 24 is a camera. DETAILED DESCRIPTION

[0014] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0015] The working principle of this embodiment is as follows: the front and rear arm driving mechanisms are fixed to the chassis end cover, the driven wheel, the driven wheel support frame, and the slider can move up and down 50mm along the screw arrangement direction after the stepper motor is turned on, and the driving wheel and the driving wheel support frame can move up and down 30mm on the mounting groove of the driving wheel fixing seat according to different line conditions, so as to adapt to different line widths and facilitate line entry.

[0016] When suspending and hanging lines, the staff first fixes a pulley on the pole tower to which the working line belongs, passes the steel wire through the robot's load-bearing ring and pulley in sequence, and uses the lifting equipment to lift the robot. At this time, the driven wheel is at the end of the stroke. Hold the handle to lift the bottom of the robot box and hang it on the target transmission line so that the transmission line is located in the groove of the driving wheel. Start the stepper motors of the forearm drive mechanism and the rear arm drive mechanism to make the driven wheel move upward from the end of the stroke until the transmission line is clamped. At this point, the suspension and hanging line work is completed.

[0017] During operation, start the camera, start the hub motors of the forearm drive mechanism and the rear arm drive mechanism, and make the driving wheels rotate in the same direction and speed. When the robot runs to the opposite tower, the driving wheels stop suddenly and reverse, returning to the initial position. At this point, a round of inspection work is completed.

[0018] When going offline, first start the stepper motors of the front and rear arm drive mechanisms to make them rotate in the opposite direction to when hanging the line, so that the slider moves downward to the end of the stroke, then turn off the main power of the robot and remove the robot. At this point, the offline work is completed.

[0019] All actions and visual detection and analysis of this robot are realized through the control system.

[0020] The high-voltage transmission line inspection robot described in the present invention acts on a single overhead transmission line, moves on the overhead transmission line by driving a walking unit, and detects the status of the overhead transmission line through a camera, thereby realizing rapid inspection of the transmission line with high detection accuracy and safe and stable operation.

Claims

1. An overhead power transmission line inspection robot, characterized in that: The invention comprises a chassis, a driving mechanism and a top cover (20); wherein the chassis comprises a box body (1) and a box end cover (2); a control system is installed in the box body to control its operation; a counterweight is fixed inside the box body (1) for balancing the center of gravity of the entire robot during operation; the driving mechanism is divided into a forearm driving mechanism and a rear arm driving mechanism; the box end cover (2) is connected to the forearm driving mechanism base (3); the forearm driving mechanism is provided with a one-way lead screw slide rail base (4) connected downwardly to the forearm driving mechanism base and upwardly to the lead screw (5); one end of the lead screw (5) passes through a slider (6), a limit block (7) in a vertical direction, and is connected to a stepping motor (11) through a coupling (8), a one-way lead screw slide rail top cover (9), and a driving wheel fixing seat (10); a driven wheel fixing seat (12) is installed on the slider (6); The driven wheel mounting seat (12) is provided with a mounting groove, the mounting groove is fixedly connected to a driven wheel support frame (13), the driven wheel support frame (13) fixes two sets of driven wheels (14) through its fixing hole position, the driving wheel fixing seat (10) is provided with a mounting groove, the mounting groove is fixedly and vertically connected to a driving wheel support frame (15), the driving wheel support frame (15) is coaxially connected to a wheel hub motor (16), the other end of which is limited by a nut, the wheel hub motor (16) is coaxially connected to a driving wheel (17), and is connected to an encoder fixing seat (18) by screws, the encoder fixing seat (18) fixes an encoder (19) by connecting an encoder rotating shaft, the encoder (19) is upwardly connected to a robot top cover (20) by screws, and the other end of the robot top cover (20) is connected to the driving wheel fixing seat (10) by screws.

2. An overhead power line inspection robot according to claim 1, characterized in that: Two load-bearing rings (21) are fixed to the rear side of the forearm driving mechanism for suspending the robot on the line, and a handle (22) is provided between the two driving mechanisms, the two ends of the handle being fixed to the front and rear arm driving mechanisms by T-nuts. The rear arm driving mechanism has the same structure as the forearm driving mechanism and will not be described in detail here.

3. An overhead power line inspection robot according to claim 1, characterized in that: A cooling fan (23) is fixed on the rear side of the box body and is used to dissipate heat from the circuit board inside the box body.

4. The overhead power line inspection robot according to claim 1, characterized in that: The corners of the chassis body (1) are all provided with rounded corner structures, and the provision of the rounded corner structures can prevent the device from scratching the skin during installation.

5. The overhead power line inspection robot according to claim 1, characterized in that: A camera (24) is provided on one side of the chassis, and the line working condition can be observed through the camera.

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