A high-voltage power line inspection robot

Abstract

The present invention discloses a high-voltage power line inspection robot, which belongs to the technical field of power line maintenance equipment, and comprises two groups of first and second open rings arranged in parallel and at intervals, the first and second open rings are connected by connecting rods, the connecting rods are evenly spaced along the circumference, the first and second open rings are provided with first notches at the corresponding circumferential positions at the same time, an active displacement component and a fixed displacement component are connected between the first and second open rings, and the active displacement component is opposite to the first notch; a third open ring is slidably installed in the first open ring along the circumference, an auxiliary displacement component is fixedly installed on the third open ring, a second notch is provided on the third open ring, and an inner side of the third open ring is provided with internal teeth, and the internal teeth are meshed with gears. When a fault occurs, the robot of the present invention can automatically fall or hang in the air, which increases the safety and convenience of the maintenance personnel in repairing the robot.

Description

Technical Field

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

[0002] The high-voltage power line inspection robot is an automated device used to detect and maintain high-voltage transmission lines, designed to improve inspection efficiency and reduce labor costs and risks. Traditional high-voltage line inspections mainly rely on manual or helicopter inspections, which have problems such as low efficiency, high cost, and high risk. Especially in complex terrain or bad weather, the limitations of manual inspections are more obvious. With the expansion of the scale of power systems and the increase in the demand for intelligence, automated inspection technology has gradually become a development trend. Existing high-voltage power line robots usually work on high-altitude high-voltage lines. When the robot encounters a fault, maintenance personnel need to climb towers or use lifting equipment, which is difficult and dangerous to operate. 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, which can automatically fall or hang in the air when a fault occurs in the robot, thereby increasing the safety and convenience of maintenance personnel in inspecting the robot.

[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 two groups of first open rings and second open rings arranged in parallel and at intervals, the first open rings and the second open rings are connected by connecting rods, the connecting rods are evenly spaced along the circumference, the first open rings and the second open rings are simultaneously provided with first notches at corresponding circumferential positions, an active displacement component and a fixed displacement component are connected between the first open rings and the second open rings, the active displacement component is opposite to the first notch; a third open ring is slidably installed in the first open ring along the circumference, an auxiliary displacement component is fixedly installed on the third open ring, a second notch is provided on the third open ring, inner teeth are arranged on the inner side of the third open ring, the inner teeth are meshed with gears, the gears are connected to the output shaft of the active displacement component through a transmission component, a single tooth corresponding to the tooth shape of the inner teeth is slidably arranged in the third open ring, and the single tooth is connected to the third open ring through an elastic support component.

[0006] Furthermore, the active displacement component, the fixed displacement component and the auxiliary displacement component have the same structure. The active displacement component includes a crossbeam, a connecting rod, a universal wheel, an elastic support rod, a moving block, and a telescopic device. The two ends of the crossbeam are respectively connected to a first open ring and a second open ring. A first sliding groove is provided on the crossbeam, and a moving block is slidably arranged in the first sliding groove. The output end of the telescopic device is connected to the moving block, and the moving block is hinged to the output shaft of the universal wheel through the elastic support rod. The output shaft is also hinged to the crossbeam through the connecting rod.

[0007] Furthermore, the elastic support rod includes an inner rod, an outer rod, a sliding rod and a straight spring, one end of the inner rod is hinged to the moving block, the other end of the inner rod is slidably arranged in the outer rod, the outer rod is hinged to the output shaft at one end away from the inner rod, the inner rod is located inside the outer rod and a sliding rod is fixed to one end thereof, the sliding rod is slidably installed in a second sliding groove opened on the outside of the outer rod, and a straight spring is connected between the inner rod and the outer rod.

[0008] Furthermore, the transmission assembly includes a first bevel gear, a second bevel gear, a transmission shaft, and a shaft support. The output shaft is also connected to the first bevel gear, the first bevel gear is meshed with the second bevel gear, the second bevel gear is connected to the gear through the transmission shaft, the transmission shaft is rotatably mounted on the shaft support, the shaft support is mounted on the connecting rod, and the gear is meshed with the internal teeth.

[0009] Furthermore, the elastic support assembly includes a first arc-shaped guide rod, a first arc-shaped spring, and a slider. The single tooth is fixedly connected to the slider, and the slider is slidably installed in an arc groove opened on the inner side of the third opening ring. The third opening ring is fixed with the first arc-shaped guide rod, and the first arc-shaped guide rod slides through the arc-shaped hole opened on the slider. A first arc spring is connected between the slider and the third opening ring.

[0010] Furthermore, a ring groove for rotationally cooperating with the third opening ring is formed on the inner side of the first opening ring, a sliding seat is slidably connected in the ring groove, and the sliding seat is connected to the third opening ring via a second arc spring.

[0011] Furthermore, an opening groove is provided on the side wall of the first opening ring, and a screw is threadedly connected to the sliding seat, and the screw can slide along the opening groove.

[0012] Furthermore, a first gravity tube and a second gravity tube are fixed between the first open ring and the second open ring, the first gravity tube and the second gravity tube are adjacent to the active displacement component and the fixed displacement component, respectively, the first gravity tube and the second gravity tube are connected through an infusion tube, and an infusion pump is installed in the infusion tube.

[0013] Furthermore, a baffle is slidably mounted on the outer side of the infusion tube, a third spring is connected between the baffle and the first gravity tube and the second gravity tube, and the third spring is sleeved on the outer side of the infusion tube.

[0014] The beneficial effects of the present invention are:

[0015] The present invention discloses a high-voltage power line inspection robot, which links the active displacement component that drives the robot to move along the power line with the driving force of the third open ring to rotate. During normal inspection work, the third open ring can close the first gap to prevent the device from falling from the power cable. When a displacement failure occurs, the device stops moving, and the third open ring loses its load at the same time. The third open ring returns to its original position under the action of the elastic restoring force. At this time, the second gap is aligned with the first gap, allowing the power line to pass through. The device loses support and falls from the power line to the ground, which can facilitate subsequent maintenance of the device.

[0016] In the device of the present invention, the active displacement component and the driving force for the rotation of the third open ring are linked by a set of devices. When the main driving force fails, the third open ring can be acted on through mechanical transmission to expose the gap of the device, making the transmission more stable and making it easier for the device to fall from the power line when a failure occurs.

[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 structural schematic diagram of the inspection robot of the present invention;

[0020] Figure 2 This is a front view of the inspection robot of the present invention;

[0021] Figure 3 is a schematic diagram of the structure of the active displacement component;

[0022] Figure 4 The structure diagram of the first open ring Figure 1 ;

[0023] Figure 5 for Figure 4 A magnified view at point A;

[0024] Figure 6 The structure diagram of the first open ring Figure 2 ;

[0025] Figure 7 for Figure 6 Enlarged view at B;

[0026] Figure 8 A schematic diagram of the alignment of the first notch and the second notch.

[0027] The markings in the accompanying drawings are as follows: a first opening ring 1, a second opening ring 2, a connecting rod 3, a first notch 4, an active displacement assembly 5, a fixed displacement assembly 6, a third opening ring 7, an auxiliary displacement assembly 8, a second notch 9, an inner tooth 10, a gear 11, an output shaft 12, a single tooth 13, a crossbeam 14, a connecting rod 15, a universal wheel 16, an elastic support rod 17, a moving block 18, a telescopic device 19, a first slide groove 20, an inner rod 21, an outer rod 22, a slide rod 23, a straight spring 24, a second slide groove 25, a first bevel gear 26, a second bevel gear 27, a transmission shaft 28, a shaft support 29, a first arc guide rod 30, a first arc spring 31, a slider 32, an arc groove 33, an annular groove 34, a slide seat 35, a second arc spring 36, an opening groove 37, a screw 38, a first gravity tube 39, a second gravity tube 40, an infusion tube 41, a baffle 42, and a third spring 43. DETAILED DESCRIPTION

[0028] like Figures 1 to 8 As shown, a high-voltage power line inspection robot disclosed in the present invention comprises two sets of first open rings 1 and second open rings 2 arranged in parallel and at intervals, the first open rings 1 and the second open rings 2 are completely the same in shape and structure, and the two are coaxial. The first open ring 1 and the second open ring 2 are connected by a connecting rod 3, the connecting rods 3 are evenly spaced along the circumference, and the connecting rods 3 connect the first open ring 1 and the second open ring 2 so that the whole is in the shape of an annular tube. When in use, the power line is located at the center of the annular tube, and the first open ring 1 and the second open ring 2 are simultaneously provided with a first notch 4 at the corresponding circumferential position, and the power line can be radially disengaged from the first notch 4.

[0029] In order to ensure that the device can be displaced along the axial direction of the power line, an active displacement component 5 and a fixed displacement component 6 are connected between the first open ring 1 and the second open ring 2. The active displacement component 5 can be actively driven to allow the device to be displaced along the power line. The fixed displacement component 6 mainly plays a stabilizing role. However, in some other embodiments, the fixed displacement component 6 can also be actively driven, and the driving direction can be consistent with the displacement driving direction of the active displacement component 5. The active displacement component 5 is opposite to the first notch 4.

[0030] A third open ring 7 is slidably mounted in the first open ring 1 along the circumferential direction, an auxiliary displacement assembly 8 is fixedly mounted on the third open ring 7, and a second notch 9 is provided on the third open ring 7. An inner tooth 10 is provided on the inner side of the third open ring 7, and a gear 11 is meshed with the inner tooth 10. When the gear 11 rotates, the third open ring 7 can be driven to rotate along the circumferential direction of the first open ring 1. The gear 11 is also connected to the output shaft 12 of the active displacement assembly 5 through a transmission assembly, and a single tooth 13 corresponding to the tooth shape of the inner tooth 10 is slidably arranged in the third open ring 7, and the single tooth 13 is connected to the third open ring 7 through an elastic support assembly.

[0031] The working principle and process of the device of the present invention are as follows:

[0032] The active displacement component 5 is not started, and the third open ring 7 is rotated so that the second notch 9 is aligned with the first notch 4, so that the device can be inserted into the power line from the notch. The circumference of the circuit line is tightened by the active displacement component 5, the fixed displacement component 6 and the auxiliary displacement component 8 respectively, so that the circuit line is located on the axis of the device, and the circumferential displacement of the device is repeatedly adjusted to stabilize the device. The active displacement component 5 is started, and the active displacement component 5 can drive the device to move along the power line under the action of the friction reaction force. Due to the transmission action of the transmission component, the active displacement component 5 can drive the gear 11 to rotate at the same time, and the gear 11 can actively drive the third open ring 7 to rotate around the first open ring 1, so that the third open ring 7 can close the first notch 4 after rotation, so as to prevent the device from falling off the circuit line during inspection.

[0033] In specific operation, when the gear 11 drives the third open ring 7 to rotate around the first open ring 1 to the end, the gear 11 acts on the single tooth 13, the single tooth is subjected to force, and the single tooth 13 compresses the elastic support component by a certain displacement, thereby avoiding the first tooth of the gear 11 that is meshed with it. Subsequently, the first tooth enters the next angular position under the rotation of the gear 11, and the single tooth 13 is restored to its original position under the action of the elastic support component, and the next tooth of the gear 11 is meshed with the single tooth 13 again. The above process is repeated so that the gear 11 does not stop rotating, and the third open ring 7 will not rotate again after rotating to the extreme position, and the first gap 4 is always closed by the third open ring 7 when the device is in the working state, but when the device stops, the first gap 4 and the second gap 9 can overlap to allow the power line to pass.

[0034] When the device fails, the active displacement component 5 loses power, and the third open ring 7 returns to its original position under the action of the second arc spring 36. The third open ring 7 rotates and exposes the gap of the device. Since the fixed displacement component 6 and the auxiliary displacement component 8 are arranged on both sides of the active displacement component 5, the overall center is toward the side where the active displacement component 5 is located. Under the natural balance of gravity, the gap has a tendency to move upward, and the device can be detached from the power line. The transmission using the above method is more stable, making it easier for the device to fall from the power line when a failure occurs.

[0035] In this embodiment, the active displacement component 5, the fixed displacement component 6 and the auxiliary displacement component 8 have the same structure. Taking the active displacement component 5 as an example, the active displacement component 5 includes a crossbeam 14, a connecting rod 15, a universal wheel 16, an elastic support rod 17, a moving block 18, and a telescopic device 19. The crossbeam 14 is also parallel to the axis of the device. The two ends of the crossbeam 14 are respectively connected to the first open ring 1 and the second open ring 2. A first sliding groove 20 is provided on the crossbeam 14. A moving block 18 is slidably arranged in the first sliding groove 20. The output end of the telescopic device 19 is connected to the moving block 18. The moving block 18 is hinged to the output shaft 12 of the universal wheel 16 through the elastic support rod 17. The output shaft 12 is also hinged to the crossbeam 14 through the connecting rod 15.

[0036] Different from the fixed displacement assembly 6 and the auxiliary displacement assembly 8, a motor is connected to the output shaft 12 of the active displacement assembly 5, and the motor can actively drive the universal wheel 16 to move. The crossbeam 14 of the auxiliary displacement assembly 8 is connected to the third open ring 7 and can rotate with the third open ring 7.

[0037] In this embodiment, the elastic support rod 17 includes an inner rod 21, an outer rod 22, a slide bar 23 and a straight spring 24. One end of the inner rod 21 is hinged to the moving block 18, and the other end of the inner rod 21 is slidably arranged in the outer rod 22. The outer rod 22 is hinged to the output shaft 12 at one end away from the inner rod 21. The inner rod 21 is located in the outer rod 22 and fixed with a slide bar 23 at one end. The slide bar 23 is slidably installed in a second slide groove 25 provided on the outer side of the outer rod 22. A straight spring 24 is connected between the inner rod 21 and the outer rod 22. By setting the elastic support rod 17, the universal wheel 16 can be elastically supported. Under the elastic force, the universal wheel 16 is fully in contact with the surface of the power line, which can facilitate the displacement of the driving device.

[0038] In this embodiment, the transmission assembly includes a first bevel gear 26, a second bevel gear 27, a transmission shaft 28, and a shaft support 29. The output shaft 12 is also connected to the first bevel gear 26, the first bevel gear 26 is meshed with the second bevel gear 27, the second bevel gear 27 is connected to the gear 11 through the transmission shaft 28, the transmission shaft 28 is rotatably mounted on the shaft support 29, the shaft support 29 is mounted on the connecting rod 3, and the gear 11 is meshed with the internal teeth 10. By setting the transmission assembly, the input of the gear 11 can be affected by the active displacement assembly 5, so that it can act synchronously. When there is a fault in the device, the active displacement assembly 5 loses power, which can affect the position of the third open ring 7. The third open ring 7 returns to its original position under the action of the second arc spring 36.

[0039] In this embodiment, the elastic support assembly includes a first arc-shaped guide rod 30, a first arc-shaped spring 31, and a slider 32. The curvature of the first arc-shaped guide rod 30 is adapted to the curvature of the third open ring 7. The single tooth 13 is fixedly connected with the slider 32. The slider 32 is slidably installed in the arc groove 33 provided on the inner side of the third open ring 7. The third open ring 7 is fixed with the first arc-shaped guide rod 30. The first arc-shaped guide rod 30 slides through the arc hole provided on the slider 32. The first arc-shaped spring 31 is connected between the slider 32 and the third open ring 7. By providing the elastic support assembly, a stable elastic restoring force along the circumferential direction can be provided for the single tooth 13.

[0040] In this embodiment, a ring groove 34 is provided on the inner side of the first open ring 1 to rotate with the third open ring 7, a slide seat 35 is slidably connected in the ring groove 34, and the slide seat 35 is connected to the third open ring 7 through a second arc spring 36. An opening groove 37 is provided on the side wall of the first open ring 1, and a screw 38 is threadedly connected to the slide seat 35, and the screw 38 can slide along the opening groove 37. By adjusting the slide seat 35, the support stiffness of the second arc spring 36 can be adjusted to meet different needs.

[0041] The side of the slide 35 of the present invention is provided with a threaded hole, and the inner end of the screw 38 passes through the opening slot 37 and is threadedly connected to the threaded hole of the slide 35. The screw 38 is rotated to cause it to displace axially, so that the head of the screw 38 is displaced toward the side close to the first opening ring 1. The screw 38 is continuously rotated so that the head of the screw 38 can be closely attached to the end face of the first opening ring 1, thereby achieving locking. When the position of the slide 35 needs to be adjusted, the screw 38 is rotated in the reverse direction, and the head of the screw 38 is displaced toward the side away from the first opening ring 1, thereby achieving loosening. The screw 38 and the position of the slide 35 are synchronously adjusted along the opening slot 37. After adjusting to the specified position, the screw 38 can be rotated again to fix the position of the slide 35. Figure 6It can be understood that when adjusting the position of the slide 35, the closer the slide 35 is to the end of the third opening ring 7, the tighter the second arc spring 36 is compressed, and the greater the elastic supporting force of the second arc spring 36 is at this time; and the farther the slide 35 is from the end of the third opening ring 7, the smaller the elastic supporting force of the second arc spring 36 is.

[0042] In the device of the present invention, the second arc spring 36 is provided to provide elastic restoring force for the third open ring 7. When the first notch 4 and the second notch 9 are aligned, the first notch 4 can be closed by the second arc spring 36. When the power line is located at the first notch 4 and the second notch 9, the second arc spring 36 that can be stretched is used to limit the position. Under the action of gravity, the device falls downward, but is suspended by the second arc spring 36 to prevent the safety hazard caused by the direct fall of the device. Of course, the elastic coefficient of the second arc spring 36 can be selected as needed, so as to adjust the suspended height of the device after falling to meet different needs.

[0043] like Figure 8 As shown, the specific position and connection relationship of the second arc spring 36 are as follows: the two ends of the second arc spring 36 are respectively connected to the slide seat 35 and the third open ring 7. When the third open ring 7 rotates circumferentially relative to the first open ring 1 until the first notch 4 and the second notch 9 gradually overlap, the third open ring 7 pulls the second arc spring 36 and stretches it, stretching one end of the second arc spring 36 from one side of the first notch 4 to the other side, thereby closing the first notch 4.

[0044] In this embodiment, a first gravity tube 39 and a second gravity tube 40 are fixed between the first open ring 1 and the second open ring 2. The first gravity tube 39 and the second gravity tube 40 are adjacent to the active displacement assembly 5 and the fixed displacement assembly 6, respectively. The first gravity tube 39 and the second gravity tube 40 are connected through an infusion tube 41, and an infusion pump is installed in the infusion tube 41. By setting the gravity tube, the gravity tube is filled with hydraulic oil, and the hydraulic oil can be transmitted back and forth between the first gravity tube 39 and the second gravity tube 40 through the infusion pump. Under the active input of the infusion pump, the center position of the device can be fine-tuned to make the device more stable when it falls or is used.

[0045] In this embodiment, a baffle 42 is slidably mounted on the outer side of the infusion tube 41, and a third spring 43 is connected between the baffle 42 and the first gravity tube 39 and the second gravity tube 40, and the third spring 43 is sleeved on the outer side of the infusion tube 41. By providing the baffle 42, the baffle 42 can swing under the action of wind force, so that the inspection robot can follow the swing, and under the reciprocating swing under the action of wind force, it is easier to align the gap with the power line, thereby facilitating its falling.

[0046] 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 two groups of first and second open rings arranged in parallel and at intervals, the first and second open rings are connected by a connecting rod, the connecting rods are evenly spaced along the circumference, the first and second open rings are simultaneously provided with first notches at corresponding circumferential positions, an active displacement component and a fixed displacement component are connected between the first and second open rings, the active displacement component is opposite to the first notch; a third open ring is slidably installed in the first open ring along the circumference, an auxiliary displacement component is fixedly installed on the third open ring, a second notch is provided on the third open ring, an inner side of the third open ring is provided with internal teeth, the internal teeth are meshed with gears, and the gears are connected to the main The output shaft of the dynamic displacement assembly is slidably provided with a single tooth corresponding to the tooth shape of the inner tooth in the third open ring, and the single tooth is connected to the third open ring through an elastic support assembly; the elastic support assembly includes a first arc guide rod, a first arc spring, and a slider, the single tooth is fixedly connected to the slider, and the slider is slidably installed in an arc groove opened on the inner side of the third open ring, the third open ring is fixed with a first arc guide rod, and the first arc guide rod slides through an arc hole opened on the slider, and a first arc spring is connected between the slider and the third open ring; an annular groove is opened on the inner side of the first open ring, and a slide seat is slidably connected in the annular groove, and the slide seat is connected to the third open ring through a second arc spring.

2. A high-voltage power line inspection robot according to claim 1, characterized in that: The active displacement component has the same structure as the fixed displacement component and the auxiliary displacement component. The active displacement component includes a crossbeam, a connecting rod, a universal wheel, an elastic support rod, a moving block, and a telescopic device. The two ends of the crossbeam are respectively connected to a first open ring and a second open ring. A first sliding groove is provided on the crossbeam, and a moving block is slidably arranged in the first sliding groove. The output end of the telescopic device is connected to the moving block, and the moving block is hinged to the output shaft of the universal wheel through the elastic support rod. The output shaft is also hinged to the crossbeam through the connecting rod.

3. A high-voltage power line inspection robot according to claim 2, characterized in that: The elastic support rod includes an inner rod, an outer rod, a sliding rod and a straight spring. One end of the inner rod is hinged to the moving block, and the other end of the inner rod is slidably arranged in the outer rod. The outer rod is hinged to the output shaft at one end away from the inner rod. The inner rod is located inside the outer rod and a sliding rod is fixed to one end thereof. The sliding rod is slidably installed in a second sliding groove opened on the outside of the outer rod. A straight spring is connected between the inner rod and the outer rod.

4. A high-voltage power line inspection robot according to claim 3, characterized in that: The transmission assembly includes a first bevel gear, a second bevel gear, a transmission shaft, and a shaft support. The output shaft is also connected to the first bevel gear, the first bevel gear is meshed with the second bevel gear, the second bevel gear is connected to the gear through the transmission shaft, the transmission shaft is rotatably mounted on the shaft support, the shaft support is mounted on the connecting rod, and the gear is meshed with the internal teeth.

5. The high-voltage power line inspection robot according to claim 1, characterized in that: An opening groove is provided on the side wall of the first opening ring, and a screw is threadedly connected to the sliding seat, and the screw can slide along the opening groove.

6. A high-voltage power line inspection robot according to any one of claims 1 to 5, characterized in that: A first gravity tube and a second gravity tube are fixed between the first open ring and the second open ring, the first gravity tube and the second gravity tube are adjacent to the active displacement component and the fixed displacement component respectively, the first gravity tube and the second gravity tube are connected through an infusion tube, and an infusion pump is installed in the infusion tube.

7. A high-voltage power line inspection robot according to claim 6, characterized in that: A baffle is slidably mounted on the outer side of the infusion tube, a third spring is connected between the baffle and the first gravity tube and the second gravity tube, and the third spring is sleeved on the outer side of the infusion tube.

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