Electric power inspection robot for double-line high-voltage line

Abstract

The invention discloses an electric power inspection robot for a double-line high-voltage line. The electric power inspection robot comprises a first inspection assembly and a second inspection assembly which are symmetrically arranged along a first preset direction, the first inspection assembly and the second inspection assembly have the same structure, each of the first inspection assembly and the second inspection assembly comprises a front driving execution mechanism and a rear driving execution mechanism which are symmetrically arranged along a second preset direction, the front driving execution mechanisms and the rear driving execution mechanisms have the same structure, and each of the first inspection assembly and the second inspection assembly further comprises an auxiliary driving execution mechanism located between the corresponding front driving execution mechanism and the corresponding rear driving execution mechanism; the front drive execution mechanism comprises a first drive execution unit and a second drive execution unit; a first driving execution unit and a second driving execution unit of the front driving execution mechanism and the rear driving execution mechanism are matched, are used for putting in / taking out a line and are used for driving along the line after being put in the line; the first driving execution units, the second driving execution units and the auxiliary driving execution mechanisms of the front driving execution mechanism and the rear driving execution mechanism are matched and used for crossing obstacles. The method can be effectively used for normal advancing and obstacle avoidance of the double-line high-voltage line, and hardware support is provided for electric power inspection of the double-line high-voltage line.

Description

Technical Field

[0001] The invention relates to a double-line high-voltage line power inspection robot, belonging to the technical field of mobile robots. Background Art

[0002] With the continuous development of mobile robot technology, some robots are used in the detection of power networks, gradually forming a new field - substation inspection robots. Although substation inspection robots have made some progress, there are still many problems that have not been well solved. At present, the research on substation inspection robot related technologies is still a hot topic worldwide.

[0003] The power inspection robot belongs to the field of mobile robots. It can conduct close-range and real-time inspection of high-altitude power equipment, timely discover hidden dangers such as line wear and insulator cracks, prevent power outages caused by faults, and ensure stable power supply; it can quickly cover a large inspection area, operate according to the set route and accuracy requirements, avoid the subjectivity and omissions of manual inspections, and improve efficiency and accuracy; it keeps inspection personnel away from dangerous environments such as high altitude and high voltage, reduces the risk of accidents such as accidental falls and electric shocks, and ensures personal safety; it can inspect power equipment in complex terrains such as mountains, canyons, and rivers and in bad weather, and can also carry special equipment to meet special needs such as live working. High-performance power inspection robots are the key to the transformation of power inspections to intelligence and automation, providing a data basis for the application of technologies such as big data and artificial intelligence, and can promote technological upgrades in the power industry. With the increasing market demand for power inspection robots, more and more manufacturers have invested in the development of inspection robots, which has promoted the advancement of their technology. In-depth understanding of substation inspection robot technology and application needs at home and abroad, and continuous improvement of the functionality, applicability and reliability of substation inspection robots are important guidelines for the future development of substation inspection robots.

[0004] In view of this, the present invention is proposed. Summary of the invention

[0005] The present invention provides a double-line high-voltage line power inspection robot, which can be effectively used for the normal travel and obstacle avoidance of the double-line high-voltage line, and provides hardware support for the double-line high-voltage line power inspection.

[0006] The technical solution of the present invention is:

[0007] A two-line high-voltage line power inspection robot comprises a first inspection component and a second inspection component which are symmetrically arranged along a first preset direction; the first inspection component and the second inspection component have the same structure, both comprise a front drive actuator and a rear drive actuator which are symmetrically arranged along the second preset direction, and the front drive actuator and the rear drive actuator have the same structure, and further comprise an auxiliary drive actuator located between the front drive actuator and the rear drive actuator; the front drive actuator comprises a first drive actuator unit and a second drive actuator unit; the first drive actuator unit and the second drive actuator unit of the front drive actuator and the rear drive actuator cooperate to place / remove the line, and to travel along the line after being placed in the line; the first drive actuator unit, the second drive actuator unit and the auxiliary drive actuator of the front drive actuator and the rear drive actuator cooperate to overcome obstacles.

[0008] Further, the first driving execution unit includes a first driving module, a second driving module, a third driving module, and a driving wheel 7; the first driving module is used to drive the driving wheel 7 to rotate; the second driving module is used for the driving wheel 7 to move along the second preset direction; the third driving module is used for the driving wheel 7 to move along the third preset direction; the second driving module and the third driving module drive the driving wheel 7 to move along the second and third preset directions, so that the driving wheel 7 has at least a first working position for line insertion / removal and a second working position for fitting the line; the second driving execution unit includes a fourth driving module and a first execution part; the fourth driving module is used to drive the first execution part to move along the third preset direction, and the fourth driving module drives the first execution part to move along the third preset direction, so that the first execution part has at least a third working position for fitting the line and a sixth working position for non-contact with obstacles; the auxiliary driving execution mechanism includes a fifth driving module and an auxiliary wheel 34; the fifth driving module is used to drive the auxiliary wheel 34 to move along the second preset direction, and the fifth driving module drives the auxiliary wheel 34 to move along the second preset direction, so that the auxiliary wheel 34 has at least a fourth working position for approaching the line and a sixth working position for moving away from the line. The fifth working position; when the driving wheels 7 of the front drive actuator and the rear drive actuator are both in the first working position, it is used for inserting / removing the line; when the driving wheel 7 of the front drive actuator is in the first working position, the first actuator of the front drive actuator is in the sixth working position, the driving wheel 7 of the rear drive actuator is in the second working position, the first actuator of the rear drive actuator is in the third working position, and the auxiliary wheel 34 is in the fourth working position, it is used for the front drive actuator to cross obstacles; when the driving wheel 7 of the front drive actuator is in the second working position, the first actuator of the front drive actuator is in the third working position, and the auxiliary wheel 34 is in the fourth working position When the actuator adopts the third working position, the driving wheel 7 of the rear drive actuator adopts the second working position, the first actuator of the rear drive actuator adopts the third working position, and the auxiliary wheel 34 adopts the fifth working position, it is used for the auxiliary drive actuator to traverse obstacles; when the driving wheel 7 of the front drive actuator adopts the second working position, the first actuator of the front drive actuator adopts the third working position, the driving wheel 7 of the rear drive actuator adopts the first working position, the first actuator of the rear drive actuator adopts the sixth working position, and the auxiliary wheel 34 adopts the fourth working position, it is used for the rear drive actuator to traverse obstacles.

[0009] Furthermore, the first preset direction, the second preset direction, and the third preset direction are perpendicular to each other.

[0010] Furthermore, the first driving module includes a servo motor I4, a block VII3, and a shaft I5; the second driving module includes a servo motor II13 and a screw III50; the third driving module includes a servo motor V58, a plate III12, and a screw IV54; the servo motor I4 installed on one side of the block VII3 is used to drive the shaft I5 arranged along the second preset direction to rotate, and the rotation of the shaft I5 drives the driving wheel 7 installed at one end of the shaft I5 to rotate; the servo motor II13 installed on the plate III12 drives the screw III50 arranged along the second preset direction to rotate, and the servo motor II13 installed on the plate III12 drives the screw III50 arranged along the second preset direction to rotate. The rotation of the screw III50 drives the block VII3 installed on the screw III50 to move along the second preset direction, and then drives the driving wheel 7 to follow the block VII3 to move along the second preset direction; the servo motor V58 drives the screw IV54 arranged along the third preset direction to rotate, and the rotation of the screw IV54 drives the plate III12 installed on the screw IV54 to move along the third preset direction. The block VII3 is slidably matched with the plate III12, and the plate III12 moves along the third preset direction, driving the driving wheel 7 and the block VII3 to follow the movement.

[0011] Furthermore, the fourth driving module includes a servo motor III26, a screw rod I28, and a block III30. The servo motor III26 is used to drive the screw rod I28 arranged along a third preset direction to rotate. The rotation of the screw rod I28 drives the block III30 installed on the screw rod I28 to be movably arranged along the third preset direction; the first actuator is installed on the side of the block III30 away from the servo motor III26.

[0012] Further, the first execution part includes a bearing seat II21, a bearing seat III31, a bearing cover II22, an idler wheel I18, an idler wheel II32, a plate VI20, and a plate IX33; wherein, the bearing seat II21 and the bearing seat III31 are fixed to the block III30 by bolts, the idler wheel I18 and the idler wheel II32 are fixed to both ends of the plate VI20 and the plate IX33 by the bearing cover I19, and the shaft arranged along the second preset direction is installed by the bearing seat II21 and the bearing seat III31 fixed on the block III30, and the plate VI20 and the plate IX33 are fastened to the shaft by the bearing cover II22.

[0013] Furthermore, the fifth driving module includes a servo motor IV43, a screw rod II36, and a block VI47. The servo motor IV43 is used to drive the screw rod II36 arranged along the second preset direction to rotate, and the block VI47 installed on the screw rod II36 is driven to be movably arranged along the second preset direction through the rotation of the screw rod II36; the auxiliary wheel 34 installed on the block VI47 is driven to be movably arranged along the second preset direction through the movement of the block VI47 along the second preset direction.

[0014] The beneficial effects of the present invention are as follows: the electric power inspection robot of the present invention has the characteristics of obstacle crossing performance, good stability, low cost, intelligence and high efficiency. The robot can replace the inspection personnel to inspect the substation, and is equipped with a variety of sensors to realize automatic movement and navigation. The implementation of the robot can reduce the labor intensity of the inspection personnel, improve the efficiency of the inspection work, ensure the life safety of the inspection personnel, improve the quality of the inspection work, and build the hidden dangers of missed inspections caused by manual inspections. From a social perspective, it can improve the safe operation level of the power grid and promote the intelligent development of power grid equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the structure of the present invention;

[0016] Figure 2 It is a schematic diagram of the front view structure of the left front drive actuator;

[0017] Figure 3 The schematic diagram of the first drive execution unit is shown in FIG. Figure 1 ;

[0018] Figure 4 The schematic diagram of the first drive execution unit is shown in FIG. Figure 2 ;

[0019] Figure 5 It is an exploded diagram of the second drive execution unit;

[0020] Figure 6 is an axonometric view of the second drive execution unit;

[0021] Figure 7 This is the front view of the auxiliary drive actuator;

[0022] Figure 8 It is the axonometric view of the auxiliary drive actuator;

[0023] Fig. 9 This is a schematic diagram of the normal monitoring work of the power inspection robot;

[0024] Fig.10 This is a schematic diagram of the power inspection robot before overcoming obstacles;

[0025] Fig.11 This is a schematic diagram of the left and right front wheels of the power inspection robot overcoming obstacles;

[0026] Fig.12 This is a schematic diagram of the auxiliary wheels and rear wheels of the power inspection robot overcoming obstacles;

[0027] Fig.13 This is a schematic diagram of the power inspection robot after it has completed the obstacle crossing;

[0028] Fig.14This is the working process diagram of the power inspection robot;

[0029] Fig.15 This is a top view of the power inspection robot;

[0030] Fig.16 Partial axonometric measurement of the power inspection robot Figure 1 ;

[0031] Fig.17 Partial axonometric measurement of the power inspection robot Figure 2 ;

[0032] The numbers in the figure are: I-left front camera, II-left front drive actuator, III-left auxiliary drive actuator, IV-left rear drive actuator, V-left rear camera, VI-right rear camera, VII-right rear drive actuator, VIII-right auxiliary drive actuator, IX-right front drive actuator, X-right front camera, XI-mounting seat, 1-slider I, 2-plate I, 3-block VII, 4-servo motor I, 5-shaft I, 6-shaft sleeve I, 7-driving wheel, 8-coupling I, 9-slide rail I, 10-bearing seat I, 11-block I, 12-plate III, 13-servo motor II, 14-plate IV, 15-plate V, 16-block II, 17-bearing seat II, 18-idler I, 19-bearing cover I, 20-plate VI, 21-bearing seat II, 22-bearing cover II, 23-slide rail II, 24-slider II, 25-plate VII, 2 6-Servo motor III, 27-Coupling II, 28-Screw I, 29-Plate VIII, 30-Block III, 31-Bearing seat III, 32-Idler II, 33-Plate IX, 34-Auxiliary wheel, 35-Bearing cover III, 36-Screw II, 37-Bearing seat IV, 38-Block IV, 39-Slide rail III, 40-Slider III, 41-Plate X, 42-Block V, 43-Servo motor IV, 44-Bevel gear Wheel I, 45-bevel gear II, 46-bearing seat V, 47-block VI, 48-sleeve II, 49-support plate I, 50-screw III, 51-bevel gear III, 52-bevel gear IV, 53-rod I, 54-screw IV, 55-support plate II, 56-support seat I, 57-coupling III, 58-servo motor V, 59-support seat II, 60-support plate III, 61-rod II, 62-plate XI. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical scheme and advantages of the embodiments of the present invention clearer, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. It should be noted that the embodiments in this application and the features in the embodiments can be combined with each other arbitrarily without conflict.

[0034] Example 1: Figure 1-17 As shown, a two-line high-voltage line power inspection robot comprises a first inspection component and a second inspection component which are symmetrically arranged along a first preset direction;

[0035] The first inspection assembly and the second inspection assembly have the same structure, both comprising a front drive actuator and a rear drive actuator symmetrically arranged along a second preset direction, and the front drive actuator and the rear drive actuator have the same structure, and further comprising an auxiliary drive actuator located between the front drive actuator and the rear drive actuator;

[0036] The front drive actuator includes a first drive actuator unit and a second drive actuator unit; the front drive actuator and the first drive actuator unit and the second drive actuator unit of the rear drive actuator cooperate to place / remove the line, and to travel along the line after placing the line; the front drive actuator, the first drive actuator unit, the second drive actuator unit and the auxiliary drive actuator cooperate to overcome obstacles.

[0037] like Figure 1 As shown in the diagram, the first patrol inspection component includes a left front drive actuator II, a left auxiliary drive actuator III, and a left rear drive actuator IV; the second patrol inspection component includes a right front drive actuator IX, a right auxiliary drive actuator VIII, and a right rear drive actuator VII; further, the first patrol inspection component also includes a left front camera I and a left rear camera V; the second patrol inspection component also includes a right front camera X and a right rear camera VI; the first patrol inspection component and the second patrol inspection component are mounted on a mounting seat XI.

[0038] Further, the first driving execution unit includes a first driving module, a second driving module, a third driving module, and a driving wheel 7; the first driving module is used to drive the driving wheel 7 to rotate; the second driving module is used to move the driving wheel 7 along the second preset direction; the third driving module is used to move the driving wheel 7 along the third preset direction; the second driving module and the third driving module drive the driving wheel 7 to move along the second and third preset directions, so that the driving wheel 7 has at least a first working position for line insertion / removal and a second working position for line bonding;

[0039] The second driving execution unit includes a fourth driving module and a first execution part; the fourth driving module is used to drive the first execution part to move along a third preset direction, and the first execution part is driven to move along the third preset direction by the fourth driving module, so that the first execution part has at least a third working position that fits the line and a sixth working position that is not in contact with obstacles;

[0040] The auxiliary drive actuator includes a fifth drive module and an auxiliary wheel 34; the fifth drive module is used to drive the auxiliary wheel 34 to move along a second preset direction, and the auxiliary wheel 34 is driven by the fifth drive module to move along the second preset direction, so that the auxiliary wheel 34 has at least a fourth working position for approaching the line and a fifth working position away from the line;

[0041] When the driving wheels 7 of the front driving actuator and the rear driving actuator are both in the first working position, it is used for inserting / removing the line;

[0042] When the driving wheel 7 of the front driving actuator adopts the first working position, the first actuator of the front driving actuator adopts the sixth working position, the driving wheel 7 of the rear driving actuator adopts the second working position, the first actuator of the rear driving actuator adopts the third working position, and the auxiliary wheel 34 adopts the fourth working position, the front driving actuator is used to overcome obstacles;

[0043] When the driving wheel 7 of the front driving actuator adopts the second working position, the first actuator of the front driving actuator adopts the third working position, the driving wheel 7 of the rear driving actuator adopts the second working position, the first actuator of the rear driving actuator adopts the third working position, and the auxiliary wheel 34 adopts the fifth working position, the auxiliary driving actuator is used to overcome obstacles;

[0044] When the driving wheel 7 of the front drive actuator adopts the second working position, the first actuator of the front drive actuator adopts the third working position, the driving wheel 7 of the rear drive actuator adopts the first working position, the first actuator of the rear drive actuator adopts the sixth working position, and the auxiliary wheel 34 adopts the fourth working position, the rear drive actuator is used to overcome obstacles.

[0045] The first preset direction, the second preset direction, and the third preset direction are perpendicular to each other.

[0046] Furthermore, the first drive module includes a servo motor I4, a block VII3, and a shaft I5; the second drive module includes a servo motor II13, a screw III50, a bevel gear III51, and a bevel gear IV52; the third drive module includes a servo motor V58, a plate III12, and a screw IV54; the servo motor I4 installed on one side of the block VII3 is used to drive the shaft I5 arranged along the second preset direction to rotate, and the rotation of the shaft I5 drives the driving wheel 7 installed at one end of the shaft I5 to rotate; the screw arranged along the second preset direction is driven by the servo motor II13 installed on the plate III12 III50 rotates, and the rotation of the screw III50 drives the block VII3 installed on the screw III50 to move along the second preset direction, thereby driving the driving wheel 7 to follow the block VII3 to move along the second preset direction; the servo motor V58 drives the screw IV54 arranged along the third preset direction to rotate, and the rotation of the screw IV54 drives the plate III12 installed on the screw IV54 to move along the third preset direction, the block VII3 is slidably matched with the plate III12, and the plate III12 moves along the third preset direction to drive the driving wheel 7 and the block VII3 to follow the movement.

[0047] Furthermore, the fourth driving module includes a servo motor III26, a screw rod I28, and a block III30. The servo motor III26 is used to drive the screw rod I28 arranged along a third preset direction to rotate. The rotation of the screw rod I28 drives the block III30 installed on the screw rod I28 to be movably arranged along the third preset direction; the first actuator is installed on the side of the block III30 away from the servo motor III26.

[0048] Further, the first execution part includes a bearing seat II21, a bearing seat III31, a bearing cover II22, an idler wheel I18, an idler wheel II32, a plate VI20, and a plate IX33; wherein, the bearing seat II21 and the bearing seat III31 are fixed to the block III30 by bolts, the idler wheel I18 and the idler wheel II32 are fixed to both ends of the plate VI20 and the plate IX33 by the bearing cover I19, and the shaft arranged along the second preset direction is installed by the bearing seat II21 and the bearing seat III31 fixed on the block III30, and the plate VI20 and the plate IX33 are fastened to the shaft by the bearing cover II22.

[0049] Furthermore, the fifth driving module includes a servo motor IV43, a screw rod II36, and a block VI47. The servo motor IV43 is used to drive the screw rod II36 arranged along the second preset direction to rotate, and the block VI47 installed on the screw rod II36 is driven to be movably arranged along the second preset direction through the rotation of the screw rod II36; the auxiliary wheel 34 installed on the block VI47 is driven to be movably arranged along the second preset direction through the movement of the block VI47 along the second preset direction.

[0050] Embodiment 2: In conjunction with the accompanying drawings, the optional specific implementation of the present invention is described as follows:

[0051] like Figure 1-17 As shown, a two-line high-voltage line power inspection robot includes a first inspection component, a second inspection component, and a mounting seat XI which are symmetrically arranged along a first preset direction; the first inspection component includes a left front drive actuator II, a left auxiliary drive actuator III, and a left rear drive actuator IV, and the second inspection component includes a right front drive actuator IX, a right auxiliary drive actuator VIII, and a right rear drive actuator VII; further, the first inspection component also includes a left front camera I and a left rear camera V; the second inspection component also includes a right front camera X and a right rear camera VI; the first inspection component and the second inspection component are installed on the mounting seat XI.

[0052] Furthermore, the front drive actuator and the rear drive actuator structure include a first drive actuator unit and a second drive actuator unit; the first drive actuator unit includes a first drive module, a second drive module, a third drive module, and a driving wheel 7; the second drive actuator unit includes a fourth drive module and a first actuator; the auxiliary drive actuator includes a fifth drive module and an auxiliary wheel 34.

[0053] Furthermore, if Figure 2-Figure 4 As shown, the first drive module includes a servo motor I4, a block VII3, a shaft I5, and also includes a slider I1, a plate I2, a coupling I8, a driving wheel 7, and a sleeve I6; the second drive module includes a servo motor II13, a screw III50, and also includes a slide rail I9, a bearing seat I10, a block I11, a plate IV14, a plate V15, a block II16, a bearing seat II17, a bevel gear III51, and a bevel gear IV52; the third drive module includes a servo motor V58, a plate III12, a screw IV54, and also includes a support plate I49, a rod I53, a support plate II55, a support seat I56, a coupling III57, a support seat II59, a support plate III60, a rod II61, and a plate XI62;

[0054] One end of the support plate II55 and the support plate III60 is fixed to the mounting seat XI by bolts, and the other ends of the support plate I55 and the support plate III60 are fixed to the support plate I49, and the servo motor V58 is fixed in the mounting seat XI by bolts; at the same time, the rod I53 and the rod II61 are fixed to the mounting seat XI by the support seat I56 and the support seat II59 respectively, and the movement direction of the plate III12 is fixed in the upper and lower directions by the copper sleeve, that is, the third preset direction;

[0055] The screw III50 is fixed by the bearing seat I10 and the bearing seat II17, and the bearing seat I10 and the bearing seat II17 are respectively fixed to the block I11 and the block II16 by bolts, and the block I11 and the block II16 are connected to the plate III12 by bolts to move together, and the slide rail I9 installed between the block I11 and the block II16 is fixed to the plate III12 by bolts;

[0056] The servo motor II13 is fixed to the plate III12 by bolts, the bevel gear IV52 is coaxial with the servo motor II13, the bevel gear III51 is coaxial with the screw III50, the block VII3 and the plate I2 are fixed to the slider I1 by bolts, the block VII3 cooperates with the screw III50 through the lead screw nut, and the slider I1 cooperates with the slide rail I9; through the meshing of the bevel gear IV52 and the bevel gear III51, and the cooperation of the block VII3 and the screw III50, the rotation of the servo motor II13 is converted into left and right sliding of the block VII3, that is, sliding in the second preset direction;

[0057] The screw IV54 is coaxially fixed with the servo motor V58 through the coupling III57, the screw IV54 is fixed on the upper support plate I49 through the bearing seat, the plate III12 is fixed on the screw IV54 through the screw nut, the servo motor I4 is fixed on the block VII3 through bolts, the shaft I5 is coaxially fixed with the servo motor I4 through the coupling I8, the driving wheel 7 is axially fixed with the shaft I5 through a key, the driving wheel 7 is radially fixed with the shaft I5 through the bushing I6, the plate IV14, the plate XI62, and the plate V15 are fixed to the plate III12 through bolts to support the plate III12; the driving wheel 7 is moved up and down by the screw IV54 transmission, the servo motor I4 is transmitted to the shaft I5 through the coupling I8, and then to the driving wheel 7, so as to realize the driving of the power inspection robot;

[0058] Furthermore, if Figure 5-Figure 6As shown, the fourth driving module includes a servo motor III26, a screw rod I28, a block III30, and also includes a slide rail II23, a slider II24, a plate VII25, a coupling II27, and a plate VIII29; wherein, the servo motor III26 and the plate VII25 are fixed to the mounting seat XI by bolts, the slide rail II23 is fixed to the plate VII25 by bolts, the screw rod I28 is coaxial with the servo motor III26 by the coupling II27, the block III30 is connected to the screw rod I28 by a lead screw nut, and the plate VIII29 is fixed to the block III30 and the slider II24 by bolts; the block III30 realizes up and down movement by the cooperation of the slider II24 and the slide rail II23, and the coaxiality of the screw rod I28 and the servo motor III26.

[0059] Furthermore, if Figure 5-Figure 6 As shown, the first execution part includes a bearing seat II21, a bearing seat III31, a bearing cover II22, an idler wheel I18, an idler wheel II32, a plate VI20, and a plate IX33, and also includes a bearing cover I19, a bearing cover II22, and a bearing seat III31; wherein, the bearing seat II21 and the bearing seat III31 are fixed to the block III30 by bolts, the idler wheel I18 and the idler wheel II32 are fixed to both ends of the plate VI20 and the plate IX33 by the bearing cover I19, and the shaft arranged along the second preset direction is installed by the bearing seat II21 and the bearing seat III31 fixed on the block III30, and the plate VI20 and the plate IX33 are fastened to the shaft by the bearing cover II22.

[0060] Furthermore, if Figure 7-Figure 8As shown, the fifth drive module includes a servo motor IV43, a screw rod II36, a block VI47, and also includes a bearing cover III35, a bearing seat IV37, a block IV38, a slide rail III39, a slider III40, a plate X41, a block V42, a bevel gear I44, a bevel gear II45, a bearing seat V46, a block VI47, and a sleeve II48; wherein the servo motor IV43, the block IV38, the block V42, and the slide rail III39 are fixed to the mounting seat XI by bolts, the bevel gear I44 is coaxial with the output shaft of the servo motor IV43, the bearing seat IV37 and the bearing seat V46 are fixed to the block IV38 and the block V42 respectively by bolts, and the screw rod II36 fixes both ends on the bearing seat IV37 and the bearing seat V46 through bearings, and the bevel gear II45 coaxial with the screw II36 meshes with the bevel gear I44. The slider III40 is fixed to the plate X41 by bolts, and the plate X41 is fixed to the block VI47 by bolts. The block VI47 realizes the movement on the screw II36 through the cooperation between the slider III40 and the slide rail III39, and the cooperation between the lead screw nut and the screw II36. The auxiliary wheel 34 is fastened to the shaft through the bearing cover III35 and then fixed through the bushing II48 and the block VI47; the auxiliary wheel 34 moves left or right to assist in completing the obstacle crossing task of the power inspection robot on the high-voltage line.

[0061] Furthermore, the servo motor provides the required main power, and the left front drive wheel II, the left auxiliary wheel mechanism III, the left rear drive wheel IV, the right rear drive wheel VII, the right auxiliary wheel mechanism VIII and the right front drive wheel IX are connected together through the mounting seat XI and the left front camera I, the left rear camera V, the right rear camera VI and the right front camera X to perform movement and detection on the high-voltage line. Fig.14 A working diagram for reference.

[0062] During operation, the servo motors in the front drive actuator and the rear drive actuator serve as the main motors, and the servo motors in the auxiliary drive actuator serve as the auxiliary motors; the working principles of the front / rear drive actuators are as follows: the up and down movement of the driving wheel 7 is achieved through the transmission of the screw IV54, and the left and right movement of the driving wheel 7 is achieved through the transmission of the screw III50; the servo motor I4 is transmitted to the shaft I5 through the coupling I8, and then to the driving wheel 7, so as to realize the driving of the power inspection robot, so that the driving wheel 7 has at least a first working position for line insertion / removal and a second working position for fitting the line; the servo motor III26 in the fourth drive module drives the first actuator to move along the third preset direction, so that the first actuator has at least a third working position for fitting the line and a sixth working position that is non-contact with obstacles. The working principle of the auxiliary drive actuator is that the servo motor IV43, block IV38, block V42, and slide rail III39 are fixed to the mounting seat XI by bolts, the bevel gear I44 is coaxial with the servo motor IV43, the bearing seat IV37 and the bearing seat V46 are respectively fixed to the block IV38 and the block V42 by bolts, the screw II36 is fixed to the bearing seat IV37 and the bearing seat V46 at both ends by bearings, the bevel gear II45 and the screw II36 are coaxially meshed with the bevel gear I44, and the slider III40 is fixed to On the plate X41, the plate X41 is fixed to the block VI47 by bolts, and the block VI47 realizes the movement on the screw II36 by the cooperation between the slider III40 and the slide rail III39 and the cooperation between the screw nut and the screw II36. The auxiliary wheel 34 is fastened to the shaft by the bearing cover III35 and then fixed by the bushing II48 and the block VI47; the auxiliary wheel 34 is driven by the servo motor IV43 to move in the second preset direction, so that the auxiliary wheel 34 has at least a fourth working position for approaching the line and a fifth working position away from the line.

[0063] The working process of the present invention is:

[0064] During the inspection, when no obstacles are encountered, the auxiliary wheel 34 is in the fifth working position; the front and rear driving wheels are in the second working position, and the front and rear first execution parts are in the third working position. The clamping line is realized through the cooperation of the driving wheel and the first execution part, and then the inspection robot is driven by the servo motor I4 in the first driving execution unit. Fig. 9 Status shown.

[0065] When the robot encounters an obstacle such as a spacer on the high-voltage line, Fig.10 In the state shown, the front driving actuator, the first driving actuator unit, the second driving actuator unit and the auxiliary driving actuator cooperate to overcome obstacles. The specific obstacle-overcoming process is as follows:

[0066] The servo motors I4 in the front and rear drive actuators stop driving; the left auxiliary drive actuator III and the right auxiliary drive actuator VIII move outward to a preset position (i.e., the fourth working position), so that the auxiliary wheel 34 is located just above the high-voltage wire (there is a small gap between the bottom surface of the auxiliary wheel 34 and the high-voltage wire / just in contact with it, so that the auxiliary wheel 34 can better switch between the fourth and fifth working positions, and at the same time, when the driving wheel in the front drive actuator is in the first working position and the idler wheel in the front drive actuator is in the sixth working position, the auxiliary wheel 34 can The left front driving wheel 7 and the right front driving wheel 7 move upward, inward and downward to the desired position (the first working position), and at the same time, the left front idler wheel I18, the left front idler wheel II32, the right front idler wheel I18 and the right front idler wheel II32 move downward to the desired position (the sixth working position). At this time, the auxiliary wheel 34 fits the high-voltage line under the action of gravity; the servo motor I4 of the left rear driving actuator and the right rear driving actuator starts to work until the left front driving wheel and the right front driving wheel complete the obstacle crossing behavior, that is, Fig.11 Status shown;

[0067] Then the left front driving wheel 7 and the right front driving wheel 7 move upward, outward and downward to the desired position (second working position), so that the left front driving wheel and the right front driving wheel are in contact with the high-voltage wire, and at the same time, the left front idler wheel I18, the left front idler wheel II32, the right front idler wheel I18 and the right front idler wheel II32 move upward to the desired position (third working position), and the left auxiliary drive actuator III and the right auxiliary drive actuator VIII move inward (fifth working position) until the obstacle is overcome;

[0068] Then the left auxiliary drive actuator III and the right auxiliary drive actuator VIII complete the obstacle crossing and move outward to the required position (the fourth working position) to perform supporting and auxiliary functions. Fig.12 The state shown; then the rear driving wheel moves upward, inward and downward to the desired position (first working position), and at the same time the rear idler moves downward to the desired position (sixth working position), at which time the auxiliary wheel 34 fits the high-voltage line under the action of gravity; the servo motor I4 that controls the rotation of the left front driving wheel and the right front driving wheel starts to work until the left rear driving wheel and the right rear driving wheel complete the obstacle crossing behavior, and then the left rear driving wheel and the right rear driving wheel move upward, outward and downward to the desired position (second working position), so that the left rear driving wheel and the right rear driving wheel fit the high-voltage line, and at the same time the left rear idler I18, the left rear idler II32, the right rear idler I18, and the right rear idler II32 move upward to the desired position (third working position); the left auxiliary wheel mechanism III and the right auxiliary wheel mechanism VIII move inward to the preset position (fifth working position); that is, Fig.13Then the servo motors I4 of the front and rear driving wheels are controlled to continue driving, and the power inspection robot starts normal monitoring work.

[0069] The specific implementation modes of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above implementation modes, and various changes can be made within the knowledge scope of ordinary technicians in this field without departing from the purpose of the present invention.

Claims

1. A two-line high-voltage power line inspection robot, characterized in that: It includes a first inspection component and a second inspection component which are symmetrically arranged along a first preset direction; The first inspection assembly and the second inspection assembly have the same structure, both comprising a front drive actuator and a rear drive actuator symmetrically arranged along a second preset direction, and the front drive actuator and the rear drive actuator have the same structure, and further comprising an auxiliary drive actuator located between the front drive actuator and the rear drive actuator; The front drive actuator includes a first drive actuator unit and a second drive actuator unit; the front drive actuator and the first drive actuator unit and the second drive actuator unit of the rear drive actuator cooperate to place / remove the line, and to travel along the line after placing the line; the front drive actuator, the first drive actuator unit, the second drive actuator unit and the auxiliary drive actuator cooperate to overcome obstacles.

2. The double-line high-voltage power line inspection robot according to claim 1 is characterized in that: The first driving execution unit comprises a first driving module, a second driving module, a third driving module, and a driving wheel (7); the first driving module is used to drive the driving wheel (7) to rotate; the second driving module is used to drive the driving wheel (7) to move along a second preset direction; the third driving module is used to drive the driving wheel (7) to move along a third preset direction; the second driving module and the third driving module drive the driving wheel (7) to move along the second and third preset directions, so that the driving wheel (7) has at least a first working position for inserting / removing a line and a second working position for attaching a line; The second driving execution unit includes a fourth driving module and a first execution part; the fourth driving module is used to drive the first execution part to move along a third preset direction, and the first execution part is driven to move along the third preset direction by the fourth driving module, so that the first execution part has at least a third working position that fits the line and a sixth working position that is not in contact with obstacles; The auxiliary drive actuator comprises a fifth drive module and an auxiliary wheel (34); the fifth drive module is used to drive the auxiliary wheel (34) to move along a second preset direction, and the auxiliary wheel (34) is driven by the fifth drive module to move along the second preset direction, so that the auxiliary wheel (34) has at least a fourth working position for approaching the line and a fifth working position away from the line; When the driving wheels (7) of the front driving actuator and the rear driving actuator are both in the first working position, they are used for inserting / removing the line; When the driving wheel (7) of the front driving actuator adopts the first working position, the first actuator of the front driving actuator adopts the sixth working position, the driving wheel (7) of the rear driving actuator adopts the second working position, the first actuator of the rear driving actuator adopts the third working position, and the auxiliary wheel (34) adopts the fourth working position, the front driving actuator is used to overcome obstacles; When the driving wheel (7) of the front driving actuator adopts the second working position, the first actuator of the front driving actuator adopts the third working position, the driving wheel (7) of the rear driving actuator adopts the second working position, the first actuator of the rear driving actuator adopts the third working position, and the auxiliary wheel (34) adopts the fifth working position, the auxiliary driving actuator is used to overcome obstacles; When the driving wheel (7) of the front driving actuator is in the second working position, the first actuator of the front driving actuator is in the third working position, the driving wheel (7) of the rear driving actuator is in the first working position, the first actuator of the rear driving actuator is in the sixth working position, and the auxiliary wheel (34) is in the fourth working position, the rear driving actuator is used to overcome obstacles. The first preset direction, the second preset direction, and the third preset direction are perpendicular to each other.

3. The double-line high-voltage power line inspection robot according to claim 2 is characterized in that: The first driving module comprises a servo motor I (4), a block VII (3), and a shaft I (5); the second driving module comprises a servo motor II (13), a screw III (50); and the third driving module comprises a servo motor V (58), a plate III (12), and a screw IV (54); the servo motor I (4) installed on one side of the block VII (3) is used to drive the shaft I (5) arranged along the second preset direction to rotate, and the rotation of the shaft I (5) drives the driving wheel (7) installed at one end of the shaft I (5) to rotate; The servo motor II (13) installed on the plate III (12) drives the screw III (50) arranged along the second preset direction to rotate, and the rotation of the screw III (50) drives the block VII (3) installed on the screw III (50) to move along the second preset direction, thereby driving the driving wheel (7) to follow the block VII (3) to move along the second preset direction; the servo motor V (58) drives the screw IV (54) arranged along the third preset direction to rotate, and the rotation of the screw IV (54) drives the plate III (12) installed on the screw IV (54) to move along the third preset direction, and the block VII (3) is slidably matched with the plate III (12), and the plate III (12) moves along the third preset direction, driving the driving wheel (7) and the block VII (3) to follow the movement.

4. The double-line high-voltage power line inspection robot according to claim 2 is characterized in that: The fourth driving module comprises a servo motor III (26), a screw rod I (28), and a block III (30). The servo motor III (26) is used to drive the screw rod I (28) arranged along a third preset direction to rotate. The rotation of the screw rod I (28) drives the block III (30) installed on the screw rod I (28) to be movably arranged along the third preset direction. The first actuator is installed on the side of the block III (30) away from the servo motor III (26).

5. The double-line high-voltage power line inspection robot according to claim 2 is characterized in that: The first actuator comprises a bearing seat II (21), a bearing seat III (31), a bearing cover II (22), an idler wheel I (18), an idler wheel II (32), a plate VI (20), and a plate IX (33); wherein the bearing seat II (21) and the bearing seat III (31) are fixed to the block III (30) by bolts, the idler wheel I (18) and the idler wheel II (32) are fixed to both ends of the plate VI (20) and the plate IX (33) by the bearing cover I (19), and the shaft arranged along the second preset direction is installed by the bearing seat II (21) and the bearing seat III (31) fixed to the block III (30), and the plate VI (20) and the plate IX (33) are fastened to the shaft by the bearing cover II (22).

6. The double-line high-voltage power line inspection robot according to claim 2, characterized in that: The fifth driving module comprises a servo motor IV (43), a screw rod II (36), and a block VI (47). The servo motor IV (43) is used to drive the screw rod II (36) arranged along a second preset direction to rotate, and the rotation of the screw rod II (36) drives the block VI (47) installed on the screw rod II (36) to be movably arranged along the second preset direction; and the movement of the block VI (47) along the second preset direction drives the auxiliary wheel (34) installed on the block VI (47) to be movably arranged along the second preset direction.

Images